CN115477137B - Bulk storage yard material taking system and method - Google Patents
Bulk storage yard material taking system and method Download PDFInfo
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- CN115477137B CN115477137B CN202210825699.XA CN202210825699A CN115477137B CN 115477137 B CN115477137 B CN 115477137B CN 202210825699 A CN202210825699 A CN 202210825699A CN 115477137 B CN115477137 B CN 115477137B
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- 239000013590 bulk material Substances 0.000 claims description 21
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Classifications
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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
- B65G2203/042—Sensors
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- Engineering & Computer Science (AREA)
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Abstract
The invention relates to a bulk storage yard material taking system and method, comprising the following steps: at least two movable material taking conveying chains formed by the movable material taking integrated machines connected end to end through a relay module, and a belt conveyor with a belt scale connected with the movable material taking conveying chains; the mobile material taking all-in-one machine comprises: the chassis and the vehicle body are connected with the material taking device; the extracting device includes: the device comprises a material taking frame, wherein chain wheels for supporting chains to circularly run are arranged at two ends of the material taking frame, one of the chain wheels is provided with a chain driving mechanism, and a plurality of scraping plates which circularly move along with the chains are arranged on the chain; the vehicle body is also provided with a rake. According to the invention, a plurality of mobile material taking integrated machines are connected in series and connected with the belt conveyor, so that one conveying chain is realized, and each material taking integrated machine can grab 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 storage yard material taking system and method, in particular to a mechanical conveying system and method, which are used for collecting and loading bulk materials stacked on the ground onto a belt conveyor for transfer conveying.
Background
In enterprises such as coal gathering and transporting stations, ports, power generation, metallurgy, chemical industry and the like, a large number of bulk material storage yards are formed due to the large number of loading, unloading and turnover of bulk materials, and various forms of horizontal reclaimers play an important role in the production operation of the bulk material storage yards. The bulk material storage yard usually selects a flat open area, stacks thousands of tons of bulk materials on the ground level, and the horizontal reclaimer has the functions of grabbing or digging the bulk materials stacked on the ground, stacking the collected bulk materials on a belt conveyor, and then conveying the bulk materials to a final destination such as a batching machine, a combustion furnace and the like or to a transport means such as a train, a cabin and the like through the belt conveyor, so to speak, the horizontal reclaimer is a tap device of a bulk material transport chain.
The common horizontal reclaimer forms of large-scale bulk cargo storage yards at present mainly divide into bridge reclaimer, gate reclaimer, half gate reclaimer etc.. The reclaimer has very high efficiency for collecting the ground stacked bulk materials, and can grab or dig the bulk materials stacked on the ground rapidly and continuously. These level extractors are all large, stationary devices that are sized to access the material in the corners of the yard, and therefore, how large the material yard is, the reclaimer should be, and at least should extend to the corners of the yard. The land-leveling machine has large occupied area and high cost, a civil foundation needs to be prefabricated, the installation and construction period is long, and once the land-leveling machine is built into a permanent structure, the land-leveling machine can be used for a long time and cannot be used for selecting a yard site. In general, a middle-sized and small-sized bulk material storage yard is only a flat area which is used as a storage yard, a huge horizontal reclaimer cannot be born, and general engineering machinery such as a loader, an excavator and the like can be used for replacing the horizontal reclaimer, but the general engineering machinery used as the horizontal reclaimer can only scoop bulk materials on the ground onto a belt conveyor one by one, so that the efficiency is quite low, and the quick and continuous conveying requirement of the belt conveyor is hardly met. The problem to be solved is that the ground materials are quickly, continuously and low-cost loaded on the belt conveyor by a movable horizontal reclaimer instead of any civil engineering.
Disclosure of Invention
In order to overcome the problems in the prior art, the invention provides a bulk storage yard material taking system and a bulk storage yard material taking method. The system and the method combine a plurality of mobile material taking integrated machines with a belt conveyor together, and form a conveying chain system and a method for continuously grabbing bulk materials piled on the ground and placing the bulk materials on the belt conveyor 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 segment relay to finish the material taking work of the material piles with different sizes.
The purpose of the invention is realized in the following way: a bulk storage yard reclaiming system comprising: at least two movable material taking conveying chains formed by the movable material taking integrated machines connected end to end through a relay module, and a belt conveyor with a belt scale connected with the movable material taking conveying chains; the mobile material taking all-in-one machine comprises: the device comprises a chassis with a travelling mechanism, wherein a vehicle body capable of rotating by 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 a material taking device; the extracting device includes: the device comprises a strip rectangular material taking frame, wherein chain wheels for supporting chains to circularly run are arranged at two ends of the material taking frame, one of the chain wheels is provided with a chain driving mechanism, and a plurality of scraping plates which circularly move along with the chains are arranged on the chains; the vehicle body is also provided with a rake capable of swinging up and down and reciprocating left and right, and the rake is hinged with the vehicle body or the material taking frame.
Further, the relay module is a section of groove body connecting the input end and the output end of the front material taking device and the rear material taking device.
Furthermore, the relay module is respectively arranged at the input end groove body and the 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.
Further, the chassis and the vehicle body are internally provided with power batteries or hydraulic stations driven by an internal combustion engine.
Further, the chassis is a wheeled or crawler-type running mechanism.
Further, a wireless communication module is arranged in the vehicle body.
Furthermore, the mobile material taking all-in-one machine is provided with a position locating module used indoors or outdoors.
Further, a laser radar and a video monitor for detecting the surrounding environment of the mobile material taking integrated machine are arranged on the vehicle body.
Further, an inertial navigation sensor for detecting the posture of the vehicle body is arranged in the vehicle body.
A bulk material storage yard material taking method using the material taking system comprises the following steps:
step 1, setting a belt conveyor: a belt conveyor is arranged at one side of the material pile;
step 2, the head machine enters a material taking station: firstly, a movable material taking integrated machine is taken as a head machine to enter a bulk material storage yard, the movable material taking integrated 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 lapped on the belt conveyor;
step 3, a plurality of devices enter a material taking station: after the head machine is in place, the plurality of mobile material taking integrated machines are connected to the designated positions 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, and finally the tail machine is moved to the designated positions, the position precision control requirements and the relative position precision requirements of the middle machine are guaranteed, and the relay modules of the material taking machines are directly overlapped with each other;
step 4, material taking: starting a belt conveyor, starting and adjusting the material taking devices of all the mobile material taking integrated machines to take materials and convey the materials, simultaneously using a material rake to interfere with a material pile, enabling bulk materials to fall off continuously from the upper part of the material pile, entering the material taking devices, pushing the bulk materials to move by a scraper, taking away the bulk materials at the edge of the material pile by the scraper of each mobile material taking integrated machine, taking away the bulk materials pushed by the material device of the connected previous mobile material taking integrated machine, and feeding the bulk materials to the material taking device of the next mobile material taking integrated machine to form a continuous material flow conveying chain;
step 5, propelling: after a period of material taking, the material quantity at the edge of the material pile is reduced, each mobile material taking all-in-one machine needs to be pushed in the center direction of the material pile so as to obtain more bulk materials, each mobile material taking all-in-one machine can simultaneously take materials at a certain speed and push the materials forward, and can also take materials in a stop state, and after the current materials are taken, the mobile material taking all-in-one machines push the materials forward for a certain distance and stop, and then continue to take materials; the bulk materials in the material pile are conveyed to the belt conveyor through the material taking and pushing processes, so that the bulk materials piled on the flat ground are conveyed to the loading machine.
The invention has the advantages and beneficial effects that: according to the invention, a plurality of mobile material taking integrated machines are connected in series and connected with the belt conveyor, so that one conveying chain is realized, and each material taking integrated machine can grab scattered materials stacked on the ground and can convey the scattered materials to the belt conveyor. The number of the material taking integrated machines is determined according to the number of the material taking integrated machines which can be arranged according to the edge length of the material pile, so that the material taking integrated machines can be flexibly mastered according to the size of the material pile, the arrangement process of the material taking integrated machines can completely realize mechanical continuous operation, and the loading efficiency is improved. Compared with the existing large-scale horizontal material taking machinery, the horizontal material taking machine does not need any civil engineering, only needs to have a flat field, and is particularly suitable for horizontal material taking operation of small and medium-sized scattered storage fields.
Drawings
The invention is further described below with reference to the drawings 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 diagram of the mobile material taking integrated machine according to an embodiment of the present invention, which is a view in a direction a in fig. 1;
fig. 3 is a schematic structural view of the material taking device according to an embodiment of the present invention, and is a view in the direction C in fig. 2.
Detailed Description
Embodiment one:
the embodiment is a bulk storage yard material taking system, as shown in fig. 1, 2 and 3. The embodiment comprises the following steps: at least two movable material taking and conveying chains 01 formed by the movable material taking and conveying integrated machines 1 connected end to end through the relay modules 101 and a belt conveyor 02 with a belt scale connected with the movable material taking and conveying chains are shown in fig. 1. The mobile material taking all-in-one machine comprises: from chassis 101 of taking running gear, the chassis on be equipped with can 360 degrees rotatory automobile body 102, the front end of automobile body be equipped with the link arm 103 that can swing from top to bottom, the link arm be connected with extracting device 104, as shown in fig. 2. The extracting device includes: the rectangular material taking frame 1041, the material taking frame both ends are equipped with the sprocket 1043 that support chain 1042 circulated operation, and one of them sprocket has chain drive mechanism 1044, be equipped with a plurality of scraper blades 1045 along with chain circulation motion on the chain, as shown in fig. 3. The vehicle body is also provided with a rake 105 capable of swinging up and down and reciprocating left and right, and the rake is hinged with the vehicle body or the material taking frame.
The main equipment used in the embodiment is a belt conveyor and a plurality of mobile material taking integrated machines. The mobile material taking integrated machine is provided with a chassis with self-walking capability and a material taking device similar to a scraper. Due to the chassis with self-walking capability, the movable material taking integrated machine can flexibly move in a material yard to carry out material taking operation. The operation in the moving process can be manual (a cab is arranged on the car body), remote control or artificial intelligent operation (the cab is not arranged on the car body).
The material pile 03 (see fig. 1) flows into the front and the lower part of the scraping plate of the material taking device through two modes of self-flow collapse and induced collapse through interference of the material rake, the material taking device pulls the scraping plate through a chain, so that materials flow along the moving direction of the scraping plate, flow into the belt conveyor under the action of gravity, and material taking operation is completed.
The size of the material piles in the storage yard is often inconsistent, the size of the working surface is relatively large, and the working surface with the length of about thirty meters is often generated. The mobile material taking integrated machine is limited by the load and the size of the vehicle, and the material taking integrated machine cannot be provided with a material taking device with an overlong length, so that if a single material taking vehicle is adopted to work, the working surface can be covered by about 10 meters at most at one time, and the material taking operation can be carried out only on the edge of a belt conveyor fixed in a field, so that the efficiency is quite low.
In order to solve the problem, the embodiment uses the relay module to connect the plurality of mobile material taking integrated machines end to end, arrange the mobile material taking integrated machines into a straight line or a folding line, form a mobile material taking conveying chain on a working surface together, and continuously transfer bulk materials in the plurality of mobile material taking integrated machines to form a continuous bulk material flow. The movable material taking and conveying chains with different lengths can be configured by changing the number of the movable material taking integrated machines corresponding to the working surfaces with different length sizes.
The reclaimer device described in this embodiment is a facility similar to a scraper machine. Unlike conventional scrapers, the bulk material is generally deposited on the scraper while being transported, and the scraper pushes the bulk material deposited on the scraper to move. The bulk materials of the material taking device are piled on the ground, the scraping plate pushes the bulk materials on the ground to move, and the bulk materials and the ground have certain friction. When the bulk material is between the two material taking devices, the pushing force for pushing the bulk material is reduced because the scraper of the former machine is lifted, and the scraper of the latter machine is not fallen down, so that the bulk material cannot be effectively pushed, and therefore, the bulk material can be accumulated between the two material taking devices. To address this problem, the present embodiment employs a relay module. The relay module is used for continuously conveying bulk materials output by the last material taking device and the next material taking device, so that the transmission efficiency is improved. The relay module can be in various forms, such as an integral groove, and bulk materials are continuously extruded into the groove from one end of the groove under the pushing of the last material taking device, continuously extruded and flowed forwards, and pushed out of the groove when the scraping plate of the next material taking device can push the bulk materials. The whole groove can be connected with the former machine and move in the transition process, can also be connected with the latter machine and move in the whole, or can be separated from the former machine and the latter machine and move independently. The groove can be divided into two sections which are respectively connected with a front machine and a rear machine to form a feeding hole and a discharging hole of the material taking device. The horizontal height of the feeding hole is slightly lower than that of the discharging hole, so that the discharging hole of the previous material taking device can be lapped on the feeding hole of the subsequent material taking device when the integral conveying chain is formed, and a transmission relay is formed.
The chassis described in this embodiment may be a wheeled vehicle chassis, or a crawler chassis, with a self-propelled arrangement. 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 provided on the chassis and in the vehicle body. The weight of the power battery is large, and the power battery just becomes a good counterweight. Other power such as 360-degree rotation of a vehicle body, scraper running power of the material taking device, lifting power of a material rake and the like can be driven electrically, and a hydraulic station can be arranged to realize hydraulic power.
In order to realize remote control operation or artificial intelligent operation, the vehicle body can be provided with a laser radar, video monitoring and the like to monitor the surrounding environment of 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 gesture and the working state of the mobile material taking integrated machine.
Embodiment two:
the embodiment is an improvement of the embodiment, and relates to refinement of the relay module, wherein 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 of the present embodiment is a relatively independent structure, or is connected to and moves with a front (or rear) machine, or moves alone. The advantage of the independent movement is that the front machine and the rear machine can be flexibly connected, and even if the two machines are not on the same straight line, the two machines can be well connected.
Embodiment III:
the embodiment is an improvement of the embodiment, and relates to refinement of the relay module in the embodiment, the relay module is an input end groove body and an output end groove body which are respectively arranged at the input end and the output end of the material taking device, and the level of the output end groove body is higher than that of the input end groove body.
In this embodiment, two ends of a material taking device of a mobile material taking integrated machine are respectively provided with a section of groove body, which is used as an input end (port) and an output end (port). The horizontal height of the input end is lower than that of 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 one is lapped on the input port of the rear one, the omission of bulk materials is avoided, and the conveying efficiency is improved.
Embodiment four:
the present embodiment is a modification of the above embodiment, and is a refinement of the above embodiment with respect to 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 electricity is used as the energy source, a power battery or a cable can be used for supplying power. If the internal combustion engine is used as power, a hydraulic station is required to be arranged in the vehicle body, and the vehicle is driven to walk through hydraulic transmission to drive wheels or tracks and drive other moving parts. Of course, the hydraulic station may be driven by an electric motor in an electro-hydraulic manner.
Fifth embodiment:
the embodiment is a modification of the above embodiment, and is a refinement of the above embodiment with respect to a chassis, where the chassis is a wheeled or crawler-type running mechanism.
The chassis can be modified by using the chassis of the engineering machinery such as the existing excavator, 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 embodiment, and is a refinement of the embodiment about a vehicle body, and a wireless communication module is arranged in the vehicle body.
The wireless communication module can be a common radio frequency remote control module or a wireless radio frequency network communication module used by a wireless communication network so as to perform unified management and control in a plurality of devices, and can be connected with an artificial intelligent control system to realize artificial intelligent control.
Embodiment seven:
the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment about a mobile material taking integrated machine, where the mobile material taking integrated machine is provided with a position locating module used indoors or outdoors.
Because the position of the mobile material taking integrated machine in the working process is continuously changed, the accurate position of the mobile material taking integrated machine needs to be known in real time, and therefore, the position positioning module is arranged in the vehicle body in the embodiment. The position locating module uses a satellite locating mode outdoors, a UWB high-precision locating system can be used indoors, and a Beidou and GPS satellite locating system can be used outdoors.
Example eight:
the embodiment is an improvement of the embodiment, and is a refinement of the embodiment about a vehicle body, and the vehicle body is provided with a laser radar and a video monitor for detecting the surrounding environment of the mobile material taking integrated machine.
The laser radar and the video monitor can be arranged at four corners of the vehicle body and at two sides of the vehicle body, and the facilities can be additionally arranged on the chassis for safety so as to obtain more surrounding environment information and avoid safety accidents.
Example nine:
the present embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment with respect to the vehicle body, in which an inertial sensor for detecting the posture of the vehicle body is provided.
In order to realize automatic control, the posture of the body of the mobile material taking all-in-one machine needs to be known at any time, including information such as a static posture (the posture when the mobile material taking all-in-one machine stops moving), a moving posture (the posture when the mobile material taking all-in-one machine advances or transitions), a moving trend and the like. The posture of the vehicle body comprises the relative position of the vehicle body and the chassis, and the vehicle body moves along with the chassis in various aspects. The integral movement of the mobile material taking integrated machine, such as propulsion in the material taking process, transition movement 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 an inertial navigation sensor and transmitted to a central controller for control.
Example ten:
the embodiment is a bulk material yard material taking method using the material taking system described in the above embodiment, and the steps of the method are as follows:
step 1, setting a belt conveyor: a belt conveyor is arranged at one side of the material pile.
The material pile is generally a quadrangular prism with a rectangular bottom surface or a cone, and the belt conveyor is arranged on one side of the material pile, and the edge of the material pile perpendicular to the belt conveyor is set aside as a working surface.
Step 2, the head machine enters a material taking station: a movable material taking integrated machine is used as a head machine, firstly enters a bulk material storage yard to be used as a sensor for passing through a laser radar, a video monitor and an inertial navigation device, 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 lapped on the belt conveyor.
In this embodiment, on a working surface, a moving and taking integrated machine close to a belt conveyor is called a head machine, a moving and taking integrated machine far away from the belt conveyor is called a tail machine, and the rest of the middle is called a middle machine. The number of the middle machines is 1 according to the size of a material pile and the operable length of a material taking device of a single movable material taking integrated machine.
At the beginning of the establishment of the material taking and conveying chain, firstly, a head machine is started to a material feeding field and is stopped at one side of a belt conveyor, and a material taking device of the material taking integrated machine is stopped along the edge of a material pile and is in a vertical or nearly vertical state with the belt conveyor.
Step 3, a plurality of devices enter a material taking station: after the head machine is in place, the plurality of mobile material taking integrated machines are connected to the designated positions 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, and finally the tail machine is moved to the designated positions, the position precision control requirements and the relative position precision requirements of the middle machine are guaranteed, and the relay modules of the material taking devices of the mobile material taking integrated machines are mutually overlapped.
The material taking devices of the movable 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 take-off conveyor chain may be a straight line or a broken line that approximates a straight line.
And the two sides of the material taking device of each movable material taking integrated machine are provided with relay modules connected with other material taking machines. After the material taking devices of the adjacent movable material taking integrated machines are aligned to each other and are close to each other, the material taking devices are in butt joint by using the relay modules, so that bulk material flows driven by the material taking devices can continuously flow into the adjacent material taking devices through the relay modules, and the purpose of continuous material relay transmission is achieved.
Each mobile material taking all-in-one machine determines a position through satellite positioning and a posture through inertial navigation in the moving process, and performs motion displacement control through a wireless communication module.
Step 4, material taking: the belt conveyor is started, the material taking devices of all the movable material taking integrated machines are started and adjusted to take materials and convey the materials, meanwhile, a material rake is used for disturbing a material pile, so that bulk materials continuously roll off from the upper part of the material pile and enter the material taking devices, the bulk materials are pushed to move by the scraping plates, the scraping plates of all the movable material taking integrated machines take away the bulk materials at the edges of the material pile, meanwhile, the bulk materials pushed by the material devices of the connected previous movable material taking integrated machines are taken away, and the bulk materials are sent to the material taking devices of the next movable material taking integrated machines to form a continuous material flow conveying chain.
The tail material taking vehicle is responsible for taking away the 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 in charge of receiving the material flow of the material taking vehicle at the upper stage, taking materials from the working surface of the middle material taking vehicle and transmitting the material flow to the material taking vehicle at the lower stage; the head material taking vehicle is responsible for taking materials of the working face of the head material taking vehicle, receives the material flow of the upper-stage material taking vehicle, and finally conveys the materials taken down by the whole working face to the belt conveyor. The material rake is used for continuously interfering with the upper part of the material pile in the material taking process, so that the bulk material on the upper part of the material pile continuously falls down to fill the removed bulk material, and a virtuous circle is formed.
Step 5, propelling: after a period of material taking, the material quantity at the edge of the material pile is reduced, each mobile material taking all-in-one machine needs to be pushed in the center direction of the material pile so as to obtain more bulk materials, each mobile material taking all-in-one machine can simultaneously take materials at a certain speed and push the materials forward, and can also take materials in a stop state, and after the current materials are taken, the mobile material taking all-in-one machines push the materials forward for a certain distance and stop, and then continue to take materials; the bulk materials in the material pile are conveyed to the belt conveyor through the material taking and pushing processes, so that the bulk materials piled on the flat ground are conveyed to the loading machine.
The pushing process can also comprise continuous material taking, namely pushing and material taking simultaneously, and all the mobile material taking integrated machines can be pushed together or pushed separately, and only the front mobile material taking integrated machine and the rear mobile material taking integrated machine need to be cared for so as to avoid separating 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 scale, and the forward advancing speed of each movable material taking integrated machine is pre-judged according to the material taking amount and the size of the working face, so that continuous automatic material taking is formed.
Finally, it should be noted that the foregoing is merely illustrative of the technical solution of the present invention and not limiting, and although the present invention has been described in detail with reference to the preferred arrangement, it will be understood by those skilled in the art that modifications and equivalent substitutions may be made to the technical solution of the present invention (such as the form of the mobile reclaimer unit, the form and arrangement of the belt conveyor, the sequence of steps, etc.), without departing from the spirit and scope of the technical solution of the present invention.
Claims (1)
1. A bulk storage yard reclaiming method, the method comprising the steps of: at least two movable material taking conveying chains formed by the movable material taking integrated machines connected end to end through a relay module, and a belt conveyor with a belt scale connected with the movable material taking conveying chains; the mobile material taking all-in-one machine comprises: the device comprises a chassis with a travelling mechanism, wherein a vehicle body capable of rotating by 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 a material taking device; the extracting device includes: the device comprises a strip rectangular material taking frame, wherein chain wheels for supporting chains to circularly run are arranged at two ends of the material taking frame, one of the chain wheels is provided with a chain driving mechanism, and a plurality of scraping plates which circularly move along with the chains are arranged on the chains; the vehicle body is also provided with a rake capable of swinging up and down and reciprocating left and right, and the rake is hinged with the vehicle body or the material taking frame; the relay module is an input end groove body and an output end groove 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 groove body is higher than that of the input end groove body; the chassis and the vehicle body are internally provided with power batteries or hydraulic stations driven by an internal combustion engine; the chassis is a wheeled or crawler-type travelling mechanism; a wireless communication module is arranged in the vehicle body; the mobile material taking integrated machine is provided with a position positioning module used indoors or outdoors; the vehicle body is provided with a laser radar and a video monitor for detecting the surrounding environment of the mobile material taking integrated machine; an inertial navigation sensor for detecting the posture of the vehicle body is arranged in the vehicle body; the method is characterized by comprising the following steps:
step 1, setting a belt conveyor: a belt conveyor is arranged at one side of the material pile;
step 2, the head machine enters a material taking station: firstly, a movable material taking integrated machine is taken as a head machine to enter a bulk material storage yard, the movable material taking integrated 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 lapped on the belt conveyor;
step 3, a plurality of devices enter a material taking station: after the head machine is in place, the plurality of mobile material taking integrated machines are connected to the designated positions 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, and finally the tail machine is moved to the designated positions, the position precision control requirements and the relative position precision requirements of the middle machine are guaranteed, and the relay modules of the material taking machines are directly overlapped with each other;
step 4, material taking: starting a belt conveyor, starting and adjusting the material taking devices of all the mobile material taking integrated machines to take materials and convey the materials, simultaneously using a material rake to interfere with a material pile, enabling bulk materials to fall off continuously from the upper part of the material pile, entering the material taking devices, pushing the bulk materials to move by a scraper, taking away the bulk materials at the edge of the material pile by the scraper of each mobile material taking integrated machine, taking away the bulk materials pushed by the material device of the connected previous mobile material taking integrated machine, and feeding the bulk materials to the material taking device of the next mobile material taking integrated machine to form a continuous material flow conveying chain;
step 5, propelling: after a period of material taking, the material quantity at the edge of the material pile is reduced, each mobile material taking all-in-one machine needs to be pushed in the center direction of the material pile so as to obtain more bulk materials, each mobile material taking all-in-one machine can simultaneously take materials at a certain speed and push the materials forward, and can also take materials in a stop state, and after the current materials are taken, the mobile material taking all-in-one machines push the materials forward for a certain distance and stop, and then continue to take materials; the bulk materials in the material pile are conveyed to the belt conveyor through the material taking and pushing processes, so that the bulk materials piled on the flat ground are conveyed to the loading machine.
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