CN115477137A - Bulk material storage yard material taking system and method - Google Patents
Bulk material storage yard material taking system and method Download PDFInfo
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- CN115477137A CN115477137A CN202210825699.XA CN202210825699A CN115477137A CN 115477137 A CN115477137 A CN 115477137A CN 202210825699 A CN202210825699 A CN 202210825699A CN 115477137 A CN115477137 A CN 115477137A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G43/00—Control devices, e.g. for safety, warning or fault-correcting
- B65G43/08—Control devices operated by article or material being fed, conveyed or discharged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G15/00—Conveyors having endless load-conveying surfaces, i.e. belts and like continuous members, to which tractive effort is transmitted by means other than endless driving elements of similar configuration
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/005—Control arrangements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
- B65G2201/04—Bulk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/02—Control or detection
- B65G2203/0208—Control or detection relating to the transported articles
- B65G2203/0258—Weight of the article
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
- B65G2203/041—Camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2203/00—Indexing code relating to control or detection of the articles or the load carriers during conveying
- B65G2203/04—Detection means
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Abstract
The invention relates to a bulk material yard reclaiming system and a method, comprising the following steps: the device comprises a movable material taking conveying chain and a belt conveyor with a belt scale, wherein the movable material taking conveying chain is composed of at least two movable material taking integrated machines which are connected end to end through relay modules; remove and get material all-in-one include: the material taking device comprises a chassis and a vehicle body, wherein the vehicle body is connected with the material taking device; the extracting device includes: the chain wheels are arranged at two ends of the material taking frame and used for supporting the chain to circularly rotate, one chain wheel is provided with a chain driving mechanism, and a plurality of scraping plates which circularly move along with the chain are arranged on the chain; the vehicle body is also provided with a rake. The invention realizes a conveying chain by connecting a plurality of mobile material taking all-in-one machines in series and connecting the mobile material taking all-in-one machines with the belt conveyor, and each material taking all-in-one machine can grab the scattered materials stacked on the ground and can convey the scattered materials to the belt conveyor. The invention can be flexibly adjusted according to the size of the material pile, and improves the loading efficiency.
Description
Technical Field
The invention relates to a bulk material yard taking system and a bulk material yard taking method, in particular to a mechanical transportation system and a bulk material yard taking method, which are used for collecting and loading bulk materials stacked on the ground onto a belt for conveying and transporting.
Background
In coal gathering stations, ports, even enterprises such as power generation, metallurgy, chemical engineering and the like, a large number of bulk material yards are formed due to the large loading, unloading and turnover of bulk materials, and various types of horizontal material taking machines play an important role in the production operation of the bulk material yards. The bulk material yard usually selects an open area with flat terrain, and stacks thousands of tons of bulk materials on the ground level, the horizontal reclaimer is used for grabbing or digging the bulk materials stacked on the ground, and stacking the collected bulk materials on a belt conveyor, and then conveying the bulk materials to the final destination of a batching machine, a combustion furnace and the like or a transport tool such as a train, a cabin and the like through the belt conveyor, so that the horizontal reclaimer is a leading device of a bulk material transport chain.
At present, the common horizontal reclaimer in a large bulk material yard is mainly divided into a bridge type reclaimer, a door type reclaimer, a semi-door type reclaimer and the like. The efficiency of the reclaimers for collecting the bulk materials stacked on the ground is very high, and the reclaimers can quickly and continuously grab or dig the bulk materials stacked on the ground. These ground reclaimers are large stationary devices, and in order to be able to get the material in the corners of the yard, the size of the yard is large and the size of the reclaimer is large, at least extending to the corners of the yard. The horizontal reclaimer has the advantages of large floor area, high cost, need of pre-manufacturing civil foundation, long installation and construction period, and long service life and incapability of replacing yard sites once a permanent structure is built. Generally, a medium-sized bulk material yard and a small-sized bulk material yard are only formed by selecting a flat zone as the yard, cannot bear huge horizontal reclaimers, and can only use general engineering machinery such as a loader, an excavator and the like to replace the horizontal reclaimer, but the general engineering machinery serving as the horizontal reclaimer can only shovel the ground bulk materials to the belt conveyor one by one, so that the efficiency is very low, and the requirement for quick and continuous conveying of the belt conveyor is difficult to meet. How to load the ground materials onto the belt conveyor quickly, continuously and at low cost by a movable horizontal reclaimer without any civil engineering but only selecting a flat stacking place is a problem to be solved.
Disclosure of Invention
In order to overcome the problems of the prior art, the invention provides a bulk material yard taking system and a bulk material yard taking method. The system and the method combine a plurality of mobile material taking all-in-one machines and a belt conveyor together, and a conveying chain system and a method for continuously grabbing and placing bulk materials stacked on the ground on a belt conveyor are formed along the edge of a material pile. The material taking system and the method have the capability of continuously taking materials, can be flexibly combined according to the size of the material pile, and can realize sectional relay so as to finish the material taking work on the material piles with different sizes.
The purpose of the invention is realized as follows: a bulk material yard reclaiming system comprising: the device comprises a movable material taking conveying chain and a belt conveyor with a belt scale, wherein the movable material taking conveying chain is composed of at least two movable material taking integrated machines which are connected end to end through relay modules; remove and get material all-in-one include: the material taking device comprises a chassis with a walking mechanism, wherein a vehicle body capable of rotating 360 degrees is arranged on the chassis, a connecting arm capable of swinging up and down is arranged at the front end of the vehicle body, and the connecting arm is connected with the material taking device; the extracting device include: the chain type automatic feeding device comprises a long rectangular material taking frame, wherein chain wheels for supporting a chain to circularly run are arranged at two ends of the material taking frame, one chain wheel is provided with a chain driving mechanism, and a plurality of scraping plates which circularly move along with the chain are arranged on the chain; the material taking rack is characterized in that the vehicle body is also provided with a material rake which can swing up and down and reciprocate left and right, and the material rake is hinged with the vehicle body or the material taking rack.
Furthermore, the relay module is a section of groove body connecting the input end and the output end of the front and the rear material taking devices.
Furthermore, the relay modules are respectively arranged at an input end groove body and an output end groove body of the input end and the output end of the material taking device, and the horizontal height of the output end groove body is higher than that of the input end groove body.
Furthermore, a power battery or a hydraulic station driven by an internal combustion engine is distributed in the chassis and the vehicle body.
Furthermore, the chassis is a wheel type or crawler type walking mechanism.
Furthermore, a wireless communication module is arranged in the vehicle body.
Furthermore, the mobile material taking all-in-one machine is provided with a position positioning module used indoors or outdoors.
Furthermore, the vehicle body is provided with a laser radar and a video monitor for detecting the surrounding environment of the movable material taking all-in-one machine.
Furthermore, an inertial navigation sensor for detecting the posture of the vehicle body is arranged in the vehicle body.
A bulk material yard reclaiming method using the reclaiming system comprises the following steps:
step 2, the head machine enters a material taking station: taking a mobile material taking all-in-one machine as a head machine head to enter a bulk material yard, enabling the mobile material taking all-in-one machine to reach an operation position capable of being connected with a belt conveyor through a laser radar, a video monitor and an inertial navigation sensor, and enabling the output end of a material taking device to be lapped on the belt conveyor;
step 3, multiple devices enter a material taking station: after the head machine is in place, the multiple moving material taking integrated machines are connected to a specified position end to end through the relay modules, the position precision control requirements of the multiple moving material taking integrated machines and the relative position precision requirement of the multiple moving material taking integrated machines and the head machine are ensured, finally, the tail machine moves to the specified position, the position precision control requirements and the relative position precision requirement of the tail machine and the middle machine are ensured, and the direct relay modules of the material taking machines are mutually overlapped;
step 4, taking materials: starting a belt conveyor, starting and adjusting the material taking devices of all the mobile material taking all-in-one machines to take materials and convey, and simultaneously using a rake to interfere the material pile to enable bulk materials to roll off continuously from the upper part of the material pile and enter the material taking devices, and pushing the bulk materials to move by scrapers;
step 5, propelling: after a period of material taking, the amount of the materials at the edge of the material pile is reduced, and each mobile material taking all-in-one machine needs to be pushed towards the center of the material pile so as to obtain more bulk materials; through the material taking and pushing processes, the bulk materials in the material pile are conveyed to the belt conveyor, and the purpose of conveying the bulk materials stacked on the flat ground to the loading machine is achieved.
The invention has the advantages and beneficial effects that: the invention realizes a conveying chain by connecting a plurality of mobile material taking all-in-one machines in series and connecting the mobile material taking all-in-one machines with the belt conveyor, and each material taking all-in-one machine can grab the scattered materials stacked on the ground and can convey the scattered materials to the belt conveyor. The number of the material taking all-in-one machines is determined according to the number of the material taking all-in-one machines which can be arranged according to the edge length of the material pile, so that the material taking all-in-one machines can be flexibly mastered according to the size of the material pile, the arrangement process of the material taking all-in-one machines can completely realize mechanical continuous operation, and the loading efficiency is improved. Compared with the existing large-scale horizontal material taking machine, the invention does not need any civil engineering, only needs a flat field, and is particularly suitable for the horizontal material taking operation of small and medium-sized scattered stacking fields.
Drawings
The invention is further illustrated by the following figures and examples.
FIG. 1 is a schematic diagram of a system according to an embodiment of the present invention;
fig. 2 is a schematic structural view of a mobile material taking all-in-one machine according to a first embodiment of the present invention, which is a view from a direction a in fig. 1;
fig. 3 is a schematic structural view of a material taking device according to a first embodiment of the present invention, which is a view along direction C in fig. 2.
Detailed Description
The first embodiment is as follows:
the present embodiment is a bulk material yard taking system, as shown in fig. 1, 2 and 3. The embodiment comprises the following steps: the material taking and conveying device comprises a movable material taking conveying chain 01 consisting of at least two movable material taking integrated machines 1 which are connected end to end through a relay module 101, and a belt conveyor 02 which is connected with the movable material taking conveying chain and is provided with a belt scale, and is shown in figure 1. Remove and get material all-in-one include: from chassis 101 of taking running gear, be equipped with the automobile body 102 that can 360 degrees rotations on the chassis, the front end of automobile body be equipped with the linking arm 103 that can the luffing motion, the linking arm be connected with extracting device 104, as shown in fig. 2. The extracting device include: the chain type scraper chain type material taking rack comprises a long rectangular material taking rack 1041, wherein chain wheels 1043 for supporting a chain 1042 to circularly move are arranged at two ends of the material taking rack, one chain wheel is provided with a chain driving mechanism 1044, and a plurality of scraper plates 1045 which circularly move along with the chain are arranged on the chain, as shown in fig. 3. The material rake is hinged with the vehicle body or the material taking frame.
The main equipment that this embodiment used is reclaiming all-in-one for band conveyer and many removal. The mobile material taking all-in-one machine is provided with a chassis with self-walking capability and a material taking device similar to a scraper. Due to the base plate with self-walking capability, the movable material taking integrated machine can be flexibly moved in a stock ground to take materials. The operation of the moving process can be manual (a cab is arranged on the vehicle body), remote control or artificial intelligent operation (the cab is not arranged on the vehicle body).
The material pile 03 (shown in figure 1) flows into the front and the lower part of a scraper of the material taking device in two modes of self-flow collapse and induced collapse through rake interference, the material taking device pulls the scraper through a chain, so that the material flows along the movement direction of the scraper and flows into a belt conveyor under the action of gravity, and the material taking operation is completed.
The sizes of the stockpiles in the yard are often inconsistent, the size of the working face is relatively large, and the working face with the length of about three to forty meters is often formed. The material taking device is limited by the load and the size of a vehicle, the movable material taking integrated machine cannot carry a material taking device with overlong length, at the moment, if a single material taking vehicle is adopted to work, the working face can be covered by about 10 meters at most once, and only the edge of a fixed belt conveyor in a field can be used for material taking operation, so that the efficiency is very low.
In order to solve the problem, in the embodiment, the relay modules are used for connecting a plurality of mobile material taking all-in-one machines end to form a straight line or a broken line, so that a mobile material taking conveying chain on a working surface is formed together, and bulk materials are continuously transmitted by the plurality of mobile material taking all-in-one machines to form a continuous bulk material flow. Corresponding to the operation working faces with different length and size, the movable material taking conveying chains with different lengths can be configured by changing the number of the movable material taking integrated machines.
The material extracting apparatus described in this embodiment is a scraper-like apparatus. Unlike a conventional scraper, when the bulk material is conveyed, the bulk material is usually deposited on the scraper, and the scraper pushes the bulk material deposited on the scraper to move. The bulk material of the material taking device is piled on the ground, the scraper pushes the bulk material on the ground to move, and the bulk material has certain friction with the ground. When the bulk cargo is between two extracting device, because the scraper blade of the preceding machine lifts up, has reduced and has promoted bulk cargo thrust, and the scraper blade of the later machine has not fallen yet, can not effectual promotion bulk cargo, therefore the bulk cargo probably piles up between two extracting device. To solve this problem, the present embodiment employs a relay module. The relay module is used for conveying the bulk materials output by the previous material taking device to the next material taking device continuously, so that the conveying efficiency is improved. The relay module can be in various forms, such as an integral groove-shaped object, bulk materials are continuously extruded into the groove from one end of the groove under the pushing of the previous material taking device and continuously extruded to flow forwards, and the bulk materials are pushed out of the groove when the bulk materials are pushed by a scraper of the next material taking device. The whole groove can be connected with the former machine and move in the transition process, can be connected with the latter machine and move integrally, or can be separated from the former machine and the latter machine and move independently. The groove can also be divided into two sections which are respectively connected with the front machine and the rear machine to form a feeding port and a discharging port of a material taking device. The horizontal height of the feeding port is slightly lower than that of the discharging port, so that the discharging port of the previous material taking device can be lapped on the feeding port of the next material taking device to form transmission relay when an integral conveying chain is formed.
The chassis described in this embodiment is provided with a self-propelled arrangement, and may be the chassis of a wheeled vehicle, or a tracked chassis. The self-propelled power can be an internal combustion engine or an electric motor. In the case of an electric motor, power batteries are required to be disposed on the chassis and in the vehicle body. The power battery has larger weight and just becomes a good counterweight. Other power can be driven by electricity such as 360 degrees rotations of the vehicle body, scraper plate operation power of the material taking device, power of lifting of the material taking device, lifting power of the material rake and the like, and a hydraulic station can be arranged to realize hydraulic power.
In order to realize remote control operation or artificial intelligence operation, the vehicle body can be provided with laser radar, video monitoring and other settings so as to monitor the environment around the vehicle body, and is provided with an inertial navigation system, a satellite positioning or indoor positioning device and a wireless communication module for transmitting information and control signals so as to monitor the motion attitude and the working state of the mobile material taking all-in-one machine.
The second embodiment:
the present embodiment is an improvement of the above embodiment, and relates to a refinement of the relay module in the above embodiment, where the relay module is a section of groove body connecting the input end and the output end of the front and rear material taking devices.
The trough body in the embodiment is a relatively independent structure, or is connected with a front (or rear) machine and moves together with the machine, or moves independently. The advantage of moving alone lies in two machines before can the nimble linking, even if two machines are not on a straight line, also can fine linking.
Example three:
the present embodiment is an improvement of the above embodiment, and relates to a refinement of the relay module in the above embodiment, in which the relay module is respectively disposed at an input end slot body and an output end slot body of the input end and the output end of the material taking device, and a horizontal height of the output end slot body is higher than that of the input end slot body.
This embodiment gets extracting device's of all-in-one at a removal both ends and respectively set up one section cell body, as input (mouth) and output (mouth). The horizontal height of the input end is lower than the output end, so that when the front and rear material taking devices of the two movable material taking integrated machines are connected, the output port of the front material taking device is connected with the input port of the rear material taking device in an overlapping mode, omission of bulk materials is avoided, and conveying efficiency is improved.
Example four:
the present embodiment is an improvement of the above embodiments, and is a refinement of the above embodiments regarding the chassis and the vehicle body, in which the power battery or the hydraulic station driven by the internal combustion engine is distributed.
The technical scheme provided by the embodiment is actually two power modes: one is electric power and the other is internal combustion engine power. When electric power is used as the energy source, a power battery or a cable can be adopted for supplying power. If the internal combustion engine is used as power, a hydraulic station is arranged in the vehicle body, and wheels or a crawler belt are driven to run and other moving parts are driven through hydraulic transmission. Of course, the hydraulic station may be driven by an electric motor, in an electro-hydraulic transmission manner.
Example five:
the present embodiment is an improvement of the above-mentioned embodiment, and is a refinement of the above-mentioned embodiment regarding to the chassis, and the chassis described in the present embodiment is a wheel type or crawler type running mechanism.
The chassis can be transformed by using the chassis of the existing engineering machinery such as an excavator and the like, and facilities such as a material taking device, a material rake and the like are additionally arranged.
Example six:
the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment with respect to the vehicle body, in which the vehicle body is provided with a wireless communication module.
The wireless communication module can be a common radio frequency remote control module and also can be a wireless radio frequency network communication module used by a wireless communication network, so that unified management and control can be carried out in a plurality of devices, and the wireless communication module can be connected with an artificial intelligence control system to realize artificial intelligence control.
Example seven:
the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment on the mobile material taking all-in-one machine, and the mobile material taking all-in-one machine described in the embodiment is provided with a position positioning module used indoors or outdoors.
Because the position of getting the material all-in-one in the course of the work that removes is constantly changeable, consequently need real-time understanding to remove the accurate position of getting the material all-in-one, this embodiment has set up position location module in the automobile body for this reason. The position positioning module uses a satellite positioning mode outdoors, a UWB high-precision positioning system can be used indoors, and a Beidou and GPS satellite positioning system can be used outdoors.
Example eight:
the embodiment is the improvement of above-mentioned embodiment, is the refinement about the automobile body of above-mentioned embodiment, the automobile body on be equipped with the laser radar and the video monitor of surveying removal material all-in-one machine surrounding environment.
Laser radar and video monitor can install in the automobile body four corners to and the automobile body both sides, can also install these facilities additional on the chassis for safety, so that obtain more environmental information on every side, avoid appearing the incident.
Example nine:
the present embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding a vehicle body, and an inertial navigation sensor for detecting a vehicle body posture is disposed in the vehicle body described in the present embodiment.
For realizing automatic control, the posture of the moving and material taking integrated machine body needs to be known at any time, including information such as a static posture (posture when stopping moving), a moving posture (posture when pushing or transferring), a moving trend and the like. The posture of the vehicle body comprises various information such as the relative position of the vehicle body and the chassis, the motion direction of the vehicle body along with the chassis and the like. The whole movement of the moving and material taking integrated machine, such as the propulsion in the material taking process, the movement of transition and the like, needs to know the current posture of the vehicle body and the posture trend in the movement process, so that the information needs to be sensed by the inertial navigation sensor and is transmitted to the central controller for control.
Example ten:
the embodiment is a bulk material yard taking method using the taking system in the embodiment, and the method comprises the following steps:
The material pile is generally a rectangular bottom surface quadrangular prism or a cone, the belt conveyor is arranged on one side of the material pile, and the edge of the material pile vertical to the belt conveyor is arranged to be used as an operation surface.
Step 2, the head machine enters a material taking station: a movable material taking integrated machine is used as a head machine head and firstly enters a bulk material storage yard to serve as a laser radar, a video monitor and an inertial navigation sensor, so that the movable material taking integrated machine reaches an operation position capable of being connected with a belt conveyor, and the output end of a material taking device is connected onto the belt conveyor in an overlapping mode.
In this embodiment, the moving material-taking integrated machine close to the belt conveyor on one working surface is called a head machine, the moving material-taking integrated machine far away from the belt conveyor is called a tail machine, and the rest of the middle machines are called middle machines. The number of the head machine and the tail machine is respectively 1, and the number of the middle machines is determined according to the size of a material pile and the operable length of a material taking device of a single movable material taking all-in-one machine.
The method comprises the following steps of firstly opening a head machine to form a feeding field, stopping the head machine at one side of a belt conveyor, stopping a material taking device of the material taking all-in-one machine along the edge of a material pile, and enabling the material taking device to be in a vertical or nearly vertical state with the belt conveyor.
Step 3, multiple devices enter a material taking station: after the head machine is in place, the multiple movable material taking all-in-one machines are connected to the designated position end to end through the relay modules, the position precision control requirements of the multiple movable material taking all-in-one machines and the relative position precision requirements of the multiple movable material taking all-in-one machines and the head machine are met, finally the tail machine moves to the designated position, the position precision control requirements and the relative position precision requirements of the tail machine and the middle machine are met, and the relay modules of the material taking devices of the movable material taking all-in-one machines are mutually overlapped.
The material taking devices of the mobile material taking integrated machines are connected together through the relay modules to form a material taking conveying chain extending along the edge of the material pile. The material taking and conveying chain can be a straight line or a broken line close to the straight line.
And relay modules connected with other material taking machines are arranged on two sides of the material taking device of each movable material taking all-in-one machine. After the material taking devices of the adjacent moving material taking integrated machines are aligned with each other and close to each other, the relay modules are used for butt joint, so that bulk material flows driven by the material taking devices can continuously flow under the adjacent material taking devices through the relay modules, and the purpose of material relay continuous transmission is achieved.
And each mobile material taking all-in-one machine determines the position through satellite positioning and the attitude through inertial navigation in the moving process, and performs motion displacement control through a wireless communication module.
Step 4, taking materials: the belt conveyor is started, the material taking devices of the mobile material taking all-in-one machines are started and adjusted to take materials and convey, the rakes are used for interfering the material piles, the bulk materials are enabled to roll off from the upper portions of the material piles continuously and enter the material taking devices, the bulk materials are pushed by the scraper blades to move, the scraper blades of the mobile material taking all-in-one machines not only take away the bulk materials at the edges of the material piles, but also take away the bulk materials pushed by the material taking devices of the connected previous mobile material taking all-in-one machines, and the bulk materials are sent to the material taking devices of the next mobile material taking all-in-one machines to form a continuous material flow conveying chain.
The tail material taking vehicle is responsible for taking away materials on the working surface of the tail material taking vehicle and transmitting the materials to the middle material taking vehicle; the middle material taking vehicle is responsible for receiving material flow of the upper-stage material taking vehicle, taking materials from a working surface and transmitting the material flow to the lower-stage material taking vehicle; the head material taking trolley is responsible for taking materials from the working face, receives the material flow of the material taking trolley at the upper stage, and finally conveys the materials taken down from the whole working face to the belt conveyor. In the material taking process, the material harrow is continuously used for interfering the upper part of the material pile, so that the bulk material on the upper part of the material pile continuously falls down, the taken bulk material is filled, and a virtuous circle is formed.
And 5, advancing: after a period of material taking, the material quantity at the edge of the material pile is reduced, and all the mobile material taking all-in-one machines need to be pushed towards the center of the material pile so as to obtain more bulk materials; through the material taking and pushing processes, the bulk materials in the material pile are conveyed to the belt conveyor, and the bulk materials stacked on the flat ground are conveyed to the loading machine.
The propelled process also can include constantly getting the material, impel simultaneously getting the material promptly, and each platform removes gets the material all-in-one, can impel together, also can impel respectively, only need look after two removal material all-in-ones around to avoid breaking away from the conveying chain.
In the material taking process, the real-time material taking amount can be detected according to the data of the belt weigher, and the forward advancing speed of each mobile material taking all-in-one machine is pre-judged according to the material taking amount and the size of a working surface, so that continuous automatic material taking is formed.
Finally, it should be noted that the above is only for illustrating the technical solution of the present invention and not for limiting, although the present invention has been described in detail with reference to the preferred arrangement, it should be understood by those skilled in the art that the technical solution of the present invention (such as the form of the mobile material taking all-in-one machine, the form and collocation of the belt conveyor, the sequence of the steps, etc.) can be modified or substituted equivalently without departing from the spirit and scope of the technical solution of the present invention.
Claims (10)
1. A bulk material yard reclaiming system, comprising: the device comprises a movable material taking conveying chain and a belt conveyor with a belt scale, wherein the movable material taking conveying chain is composed of at least two movable material taking integrated machines which are connected end to end through relay modules; remove and get material all-in-one include: the material taking device comprises a chassis with a walking mechanism, wherein a vehicle body capable of rotating 360 degrees is arranged on the chassis, a connecting arm capable of swinging up and down is arranged at the front end of the vehicle body, and the connecting arm is connected with the material taking device; the extracting device include: the chain-driven chain scraper device comprises a long rectangular material taking frame, wherein chain wheels for supporting a chain to circularly rotate are arranged at two ends of the material taking frame, one chain wheel is provided with a chain driving mechanism, and a plurality of scraper plates which circularly move along with the chain are arranged on the chain; the material taking rack is characterized in that the vehicle body is also provided with a material rake which can swing up and down and reciprocate left and right, and the material rake is hinged with the vehicle body or the material taking rack.
2. The reclaiming system as claimed in claim 1, wherein the relay module is a section of groove body connecting the input end and the output end of the two reclaiming devices in front and at the back.
3. The material taking system as claimed in claim 1, wherein the relay module is an input end slot body and an output end slot body which are respectively arranged at the input end and the output end of the material taking device, and the horizontal height of the output end slot body is higher than that of the input end slot body.
4. A reclaiming system as claimed in claim 2 or claim 3 wherein power batteries or internal combustion engine driven hydraulic stations are distributed in the chassis and body.
5. The reclaiming system as set forth in claim 4 wherein said chassis is a wheeled or tracked vehicle.
6. The reclaiming system as claimed in claim 5 wherein a wireless communication module is provided in the body.
7. The reclaiming system as claimed in claim 6 wherein the mobile reclaimer assembly machine is provided with a position locating module for indoor or outdoor use.
8. The reclaiming system as claimed in claim 7 wherein the vehicle body is provided with a laser radar and a video monitor for detecting the environment around the mobile reclaiming all-in-one machine.
9. The reclaiming system as claimed in claim 8 wherein an inertial navigation sensor is provided in the body for detecting attitude of the body.
10. A bulk material yard reclaiming method using the reclaiming system of claim 9, wherein the method comprises the steps of:
step 1, setting a belt conveyor: a belt conveyor is arranged on one side of the material pile;
step 2, the head machine enters a material taking station: the method comprises the following steps that a mobile material taking all-in-one machine is used as a head machine head and firstly enters a bulk material storage yard, the mobile material taking all-in-one machine reaches an operation position capable of being connected with a belt conveyor through a laser radar, a video monitor and an inertial navigation sensor, and the output end of a material taking device is connected to the belt conveyor in a lap joint mode;
step 3, a plurality of devices enter a material taking station: after the head machine is in place, the multiple moving and material taking integrated machines are connected to a specified position end to end through the relay modules, the respective position precision control requirements and the relative position precision requirements of the head machine are guaranteed, finally, the tail machine moves to the specified position, the position precision control requirements and the relative position precision requirements of the tail machine and the middle machine are guaranteed, and the direct relay modules of the material taking machines are mutually overlapped;
step 4, taking materials: starting a belt conveyor, starting and adjusting the material taking devices of all the mobile material taking all-in-one machines to take materials and convey, and simultaneously using a rake to interfere the material pile to enable bulk materials to roll off continuously from the upper part of the material pile and enter the material taking devices, and pushing the bulk materials to move by scrapers;
step 5, propelling: after a period of material taking, the amount of the materials at the edge of the material pile is reduced, and each mobile material taking all-in-one machine needs to be pushed towards the center of the material pile so as to obtain more bulk materials; through the material taking and pushing processes, the bulk materials in the material pile are conveyed to the belt conveyor, and the bulk materials stacked on the flat ground are conveyed to the loading machine.
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