CN115724235A - Ship unloader and control method thereof - Google Patents

Abstract

The invention relates to the technical field of port equipment, in particular to a control method of a ship unloader and the ship unloader. The control method of the ship unloader comprises the steps of acquiring the position information of a ship hatch of an operating ship in real time; acquiring position information of a material taking device in real time; acquiring the relative distance between the ship hatch and the material taking device according to the position information of the ship hatch and the position information of the material taking device; judging whether the relative distance reaches a preset deceleration limit value or not; if the preset deceleration limit value is reached, controlling the material taking device to execute the deceleration step, and judging whether the relative distance reaches a preset parking limit value; and if the preset stopping limit value is reached, controlling the material taking device to execute a stopping step. The invention provides a control method of a ship unloader, which prevents the ship unloader from colliding with a cabin opening.

Description

Control method of ship unloader and ship unloader

technical field

The invention relates to the technical field of port equipment, in particular to a control method of a ship unloader and the ship unloader.

Background technique

Ship unloader is the executive equipment for bulk bulk material loading and unloading, reducing energy consumption, reducing pollution and improving automation are the urgent needs of bulk cargo terminals and power plant terminals.

At present, traditional ship unloaders include bridge-type grab ship unloaders. The bridge-type grab ship unloaders will cause environmental problems such as material leakage and dust during use. The single-machine efficiency is not high and the energy utilization efficiency is low. aspect limitations.

In an existing chain bucket ship unloader, the reclaiming device adopts a wide and shallow hopper, and the running trolley travels along the ship's width direction on the arm frame, and the arm frame can be raised and lowered along the door legs of the mast to drive the reclaiming device. Chain bucket arm lifting.

However, during the ship unloading operation, the chain bucket arm of the reclaiming device is likely to cause damage to the hull or the chain bucket arm due to touching the hatch of the ship, and even cause the ship unloader to capsize.

Contents of the invention

Therefore, the technical problem to be solved by the present invention is to overcome the defect that the chain bucket arm of the ship unloader in the prior art is easy to touch the ship hatch and cause damage to the hull or the chain bucket arm, thereby providing a method to ensure that the chain bucket arm will not A control method of a ship unloader touching a hatch of a ship and the ship unloader.

In order to solve the above problems, the present invention provides a control method of a ship unloader, comprising:

Obtain the location information of the hatch of the workboat in real time;

Obtain the location information of the reclaiming device in real time;

Acquiring the relative distance between the hatch of the ship and the material retrieving device according to the position information of the hatch of the ship and the position information of the material retrieving device;

judging whether the relative distance reaches a preset deceleration limit value;

If the preset deceleration limit value is reached, the reclaiming device is controlled to perform a deceleration step, and it is judged whether the relative distance reaches the preset stop limit value;

If the preset stop limit value is reached, the reclaiming device is controlled to perform a stop step.

Optionally, the acquiring the location information of the hatch of the working boat in real time includes acquiring the outline of the working boat in real time through a ship scanner, and identifying the location information of the hatch of the boat according to the outline.

Optionally, the real-time acquisition of the position information of the reclaiming device includes acquiring the position information of the reclaiming device through an encoder, and both the deceleration limit value and the parking limit value are preset in the encoder the relative distance.

Optionally, the method further includes: acquiring a deceleration signal of a deceleration limit on the boom, and performing the deceleration step according to the deceleration signal.

Optionally, the step of decelerating includes: controlling the operating trolley of the reclaiming device to decelerate to a first operating speed, and controlling the operating trolley to run at the first operating speed, the first operating speed being the Run at 10% of the preset maximum running speed of the trolley.

Optionally, the method further includes: obtaining a parking signal of an end limit on the boom, and executing the parking step according to the parking signal.

Optionally, the stopping step includes: controlling the operating trolley of the reclaiming device to decelerate to a second operating speed and start automatic brake parking, the second operating speed being the preset maximum operating speed of the operating trolley 2%.

The present invention also provides a ship unloader, comprising a gantry, an arm frame, a material retrieving device, a ship scanner and a control system, the gantry includes door legs; the arm frame is suitable for lifting and moving along the door legs; For excavating materials, it includes a running trolley, a chain bucket arm and a hopper chain. The hopper chain is formed by connecting a plurality of hoppers end to end in sequence. The hopper chain is arranged around the outer peripheral side of the chain bucket arm. The chain bucket The arm is adapted to move along the length direction of the boom under the drive of the running trolley; the running trolley is provided with an encoder; the boat scanner is arranged at the bottom of the boom; the control system and the running trolley , the encoder and the ship scanner are respectively connected in communication, and are suitable for implementing the above-mentioned control method of the ship unloader.

Optionally, it also includes two deceleration limit stops, one of which is set on the end of the boom close to the workboat, and the other one of which is set on the boom and close to the door. The position where the frame fits.

Optionally, it also includes two end stops, one end limit is set at the end of the boom close to the work boat, and the other end limit is set on the boom and the door The position where the frame fits.

The present invention has the following advantages:

1. The control method of the ship unloader provided by the present invention obtains the relative distance between the hatch of the ship and the chain bucket arm of the reclaiming device in real time, according to the relative distance, the preset deceleration limit value and the preset stop limit value, real-time Adjust the coordinates of the chain bucket arm of the reclaiming device to prevent the chain bucket arm from colliding with the hatch of the ship. When the relative distance reaches the preset deceleration limit value, the running car of the reclaiming device is controlled to perform the deceleration step; when the relative distance reaches the preset stop limit value, the running car of the reclaiming device is controlled to perform the parking step, and the forward direction is automatically cut off source of power to ensure that the chain arm does not touch the hatch.

Description of drawings

In order to more clearly illustrate the specific implementation of the present invention or the technical solutions in the prior art, the following will briefly introduce the accompanying drawings that need to be used in the specific implementation or description of the prior art. Obviously, the accompanying drawings in the following description The drawings show some implementations of the present invention, and those skilled in the art can obtain other drawings based on these drawings without any creative work.

Fig. 1 is the flowchart one of the control method of the ship unloader of the present invention;

Fig. 2 is the flow chart two of the control method of the ship unloader of the present invention;

Fig. 3 is the flow chart three of the control method of the ship unloader of the present invention;

Fig. 4 is the schematic diagram of ship unloader of the present invention;

Fig. 5 is the schematic diagram of the reclaiming device of the present invention;

Fig. 6 is a partial enlarged view 1 in Fig. 5;

Fig. 7 is a partial enlarged view 2 in Fig. 5;

Fig. 8 is a schematic diagram of the cooperative state of the rocking mechanism and the reclaiming device of the present invention;

Fig. 9 is a schematic diagram of multiple swing positions of the reclaiming device of the present invention;

Fig. 10 is a partial schematic view of the hopper chain of the present invention;

Fig. 11 is the schematic diagram of hopper of the present invention;

Fig. 12 is a partial schematic diagram of the jib lifting system of the ship unloader of the present invention;

Figure 13 shows an enlarged view of part A of Figure 12;

Figure 14 shows a bottom view of Figure 12;

Explanation of reference signs:

11. Door leg; 1101. Guide rail; 13. Running trolley; 20. Cabin; 30. Material; 40. Wharf foundation; 50. Ship scanner; 60. Deceleration limit; 70. End limit;

100, material reclaiming device; 101, drive motor; 102, drive sprocket wheel; 103, rotary shaft; 104, chain bucket arm; 1051, first reversing sprocket wheel; 1052, second reversing sprocket wheel; 106, tension Push rod; 107, cover; 108, tensioning sprocket; 110, hopper chain; 111, hopper; 112, connecting plate; 113, hopper back plate; 114, ear plate;

120, lifting section; 130, first descending section; 140, second descending section; 150, feeding section; 160, unloading section;

200, swing mechanism; 201, tension cylinder of swing mechanism; 202, traction rope of swing mechanism; 203, redirection pulley of swing mechanism; 204, damping oil cylinder of swing mechanism; 205, damping pulley; 206, traction hinge point;

210, the first swing state; 220, the second swing state; 230, the third swing state.

600. Boom lifting system; 601. Boom; 6011. Connecting seat; 602. Traction mechanism; 603. Pulley assembly; 6031. First pulley; 6032. Second pulley; 6033. Third pulley; 604. Transmission part; 605, rolling structure; 6051, roller; 6052, elastic damping member; 606, locking structure; 607, energy-saving structure; 6071, counterweight; 6072, energy-saving rope.

Detailed ways

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Apparently, the described embodiments are some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer" etc. The indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the referred device or element must have a specific orientation, or in a specific orientation. construction and operation, therefore, should not be construed as limiting the invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection. Connected, or integrally connected; it can be mechanically connected or electrically connected; it can be directly connected or indirectly connected through an intermediary, and it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present invention according to specific situations.

In addition, the technical features involved in the different embodiments of the present invention described below may be combined with each other as long as there is no conflict with each other.

As shown in Figures 4 to 14, this embodiment discloses a ship unloader, including a gantry, a jib 601, a reclaiming device 100, a ship scanner 50 and a control system, the gantry includes a door leg 11; the jib 601 is suitable for moving up and down along the door leg 11; the reclaiming device 100 is used to dig the material 30, including a running trolley 13, a chain bucket arm 104 and a hopper chain 110, and the hopper chain 110 is composed of a plurality of hoppers 111 in sequence. The hopper chain 110 is arranged around the outer peripheral side of the chain bucket arm 104, and the chain bucket arm 104 is suitable for moving along the length direction of the boom 601 driven by the running trolley 13; The running trolley 13 is provided with an encoder; the boat scanner 50 is arranged at the bottom of the boom 601; the control system is connected to the running trolley 13, the encoder and the boat scanner 50 respectively.

As shown in Figure 1, the control method of the ship unloader performed by the control system of the ship unloader of the present embodiment includes:

Obtain the position information of the cabin 20 of the workboat in real time;

Obtain the position information of the reclaiming device 100 in real time;

According to the position information of the 20 mouth of the cabin and the position information of the material retrieving device 100, the relative distance between the 20 mouth of the cabin and the material retrieving device 100 is obtained;

judging whether the relative distance reaches a preset deceleration limit value;

If the preset deceleration limit value is reached, control the reclaiming device 100 to perform a deceleration step, and judge whether the relative distance reaches the preset stop limit value;

If the preset stop limit value is reached, the reclaiming device 100 is controlled to perform a stop step.

The relative distance between the cabin 20 mouth and the chain bucket arm 104 of the reclaiming device 100 is obtained in real time, and the chain bucket arm 104 of the reclaiming device 100 is adjusted in real time according to the relative distance, the preset deceleration limit value and the preset stop limit value coordinates to prevent the chain bucket arm 104 from colliding with the 20 mouths of the cabin. When the relative distance reaches the preset deceleration limit value, the operation dolly 13 of the control reclaiming device 100 executes the deceleration step; when the relative distance reaches the preset stop limit value, the operation dolly 13 of the control reclaimer 100 executes the parking step, Automatically cut off the power source in the forward direction, to ensure that the chain bucket arm 104 can not touch the cabin 20 mouth. Preferably, after the parking step is performed, manual intervention is performed in the next step of retrieving and unloading operations.

In this embodiment, the real-time acquisition of the position information of the cabin 20 of the workboat includes acquiring the outline of the workboat in real time through the ship scanner 50, and identifying the position information of the cabin 20 opening according to the outline . The location information of the cabin 20 can be coordinate information. Preferably, the boat scanner 50 is a laser scanner.

In this embodiment, the real-time acquisition of the position information of the retrieving device 100 includes obtaining the position information of the reclaiming device 100 through an encoder, and the deceleration limit value and the parking limit value are both in the encoder. The preset relative distance. Preferably, the encoder can be installed on the running trolley 13 of the reclaiming device 100 , and can move along with the running trolley 13 to acquire the position information of the running trolley 13 in real time.

As shown in FIG. 2 , the control method of the ship unloader in this embodiment further includes: acquiring a deceleration signal of the deceleration limit 60 on the jib 601 , and executing the deceleration step according to the deceleration signal. When the running trolley 13 of the reclaiming device 100 moves from the safe area to the deceleration limit 60, the deceleration limit 60 sends a deceleration signal, and the driving motor of the running trolley 13 will start to perform the deceleration step. Preferably, manual intervention is performed after the deceleration step. Prevent the chain bucket arm 104 from exceeding the moving range and crashing into other structures on the jib frame 601 or deviating from the track.

In this embodiment, the deceleration step includes: controlling the operating trolley 13 of the reclaiming device 100 to decelerate to a first operating speed, and controlling the operating trolley 13 to run at the first operating speed, the first operating The speed is 10% of the preset maximum running speed of the running car 13 . After the speed of the running trolley 13 is reduced, the difficulty of parking the running trolley 13 can be reduced, and the collision between the running trolley 13 and other structures on the jib 601 or detachment from the track can be avoided. And when running at 10% of the preset maximum running speed of the running car 13, the running car 13 is easier to stop.

As shown in FIG. 3 , the control method of the ship unloader in this embodiment further includes: acquiring a stop signal of the terminal limit 70 on the jib 601 , and executing the stop step according to the stop signal. When the running trolley 13 of the reclaiming device 100 moves to the end limit 70, the end limit 70 sends a stop signal, and the drive motor of the running trolley 13 will start to perform the parking step. Preferably, manual intervention is performed after the parking step. Prevent the chain bucket arm 104 from exceeding the moving range and crashing into other structures on the jib frame 601 or deviating from the track.

In this embodiment, the stopping step includes: controlling the running trolley 13 of the reclaiming device 100 to decelerate to a second running speed and start automatic brake parking, the second running speed is preset by the running trolley 13 2% of maximum operating speed. The second operating speed is relatively small, and the braking power is small, and it is easier to realize.

The ship unloader provided in this embodiment includes a gantry, a jib 601, a reclaiming device 100, a ship scanner 50 and a control system, the gantry includes a door leg 11; the jib 601 is suitable for lifting along the door leg 11 Mobile; the reclaiming device 100 is used to dig the material 30, including a running trolley 13, a chain bucket arm 104 and a hopper chain 110. The hopper chain 110 is formed by connecting a plurality of hoppers 111 end to end in sequence, and the hopper chain 110 surrounds The outer peripheral side of the chain bucket arm 104 is arranged, and the chain bucket arm 104 is suitable for moving along the length direction of the boom 601 driven by the running trolley 13; the running trolley 13 is provided with an encoder; The ship scanner 50 is arranged at the bottom of the jib 601 ; the control system communicates with the running trolley 13 , the encoder and the ship scanner 50 respectively. The control system is used to implement the above-mentioned control method of the ship unloader. The ship scanner 50 can be used to scan and obtain the outline of the workboat in real time, and identify the position information of the opening of the cabin 20 according to the outline. The running trolley 13 is provided with an encoder, and the encoder can obtain the position information of the running trolley 13 and the position information of the chain bucket arm 104 in real time, and can preset the deceleration limit value and the parking limit value of the chain bucket arm 104 to control The system can control the chain bucket arm 104 according to the relative distance between the cabin 20 mouth and the chain bucket arm 104 of the reclaiming device 100, the preset deceleration limit value and the preset parking limit value, and prevent the chain bucket arm 104 from Collision work boat and its cabin 20 ports.

In the ship unloader of this embodiment, it also includes two deceleration limiters 60, one of the deceleration limiters 60 is set at the end of the boom 601 close to the work boat, and the other deceleration limiter 60 is set at the The position on the arm frame 601 matched with the door frame. The movement of the chain bucket arm 104 is controlled by two deceleration limiters 60 to prevent the chain bucket arm 104 from colliding with the boom 601 and other structures on the boom 601 when running on the boom 601, causing the chain bucket arm 104 or the boom to Damage to other structures such as 601.

In the ship unloader of this embodiment, two end limit stops 70 are also included, one end limit 70 is set at the end of the boom 601 close to the work boat, and the other end limit 70 is set at The position on the arm frame 601 matched with the door frame. The movement of the chain bucket arm 104 is controlled by the two end points 70 to prevent the chain bucket arm 104 from colliding with the boom 601 and other structures on the boom 601 when running on the boom 601, causing the chain bucket arm 104 or the boom to Damage to other structures such as 601.

The ship unloader with the jib lifting system 600 of the present embodiment also includes a swing reclaimer assembly, including a reclaimer 100, a rotary shaft 103 and a swing mechanism 200, the reclaimer 100 is suitable for digging materials 30; the rotary shaft 103 Hingedly connected with the reclaimer 100, the reclaimer 100 is suitable for swinging around the rotary shaft 103; the swing mechanism 200 is flexibly connected with the traction hinge point 206 of the reclaimer 100; the swing mechanism 200 is suitable for pulling The reclaiming device 100 is such that the reclaiming device 100 is maintained at a first preset position when it is not subjected to an external force; It is arranged at a distance from the center of the rotary shaft 103 , and the moment of the reclaiming device under the action of gravity makes the reclaiming device have a tendency to move towards the land side.

Preferably, the retrieving device 100 includes a hopper chain 110 connected end-to-end by a plurality of hoppers 111 in sequence, and the hopper chain 110 moves back and forth in a loop so as to use the hoppers 111 to dig out the material 30. The specific structural form of the retrieving device is described below. Describe in detail.

Specifically, the swing mechanism 200 includes a swing mechanism tension cylinder 201 and a swing mechanism traction rope 202; one end of the swing mechanism traction rope 202 is connected to the traction hinge point 206, and the other end is connected to the swing mechanism tension cylinder 201. The tensioning cylinder 201 of the rocking mechanism is adapted to facilitate the movement of the reclaiming device 100 toward the land side when extended, and drive the reclaiming device 100 to move toward the sea side when contracted.

One end of the wire rope is connected to the tensioning oil cylinder 201 of the swing mechanism, and after bypassing the fixed pulley block connected at the end of the damping oil cylinder, the other end is connected with the traction hinge point 206 at the bottom of the reclaiming device 100 . The movement of the wire rope is driven by the expansion and contraction of the tensioning oil cylinder, thereby being able to pull the swing of the reclaiming device 100 .

Preferably, the tensioning oil cylinder 201 of the rocking mechanism is suitable for actively adjusting the angle of the material retrieving device 100 as required. Preferably, when the material retrieving device 100 is subjected to an external force, the tension cylinder 201 of the rocking mechanism does not extend or contract accordingly.

Preferably, the swinging reclaiming assembly of this embodiment is preferably applied in a ship unloader, and the ship unloader extends out of the boom 601 , and the reclaiming device 100 is installed on the boom 601 . And specifically, the material retrieving device 100 is hingedly connected to the arm frame 601 through a rotary shaft 103 , so that the material reclaiming device 100 can swing around the rotary shaft 103 relative to the arm frame 601 . The upper part of the retrieving device 100 is hingedly connected to the rotary shaft 103 , so that the retrieving device 100 is suitable for swinging around the rotary shaft 103 . The middle or middle lower part of the retrieving device 100 is provided with a traction hinge point 206, and the swing mechanism 200 is flexibly connected with the traction hinge point 206, specifically, it can be connected with the traction hinge point 206 through a swing mechanism traction rope 202, so that the material retrieving The device 100 is maintained at a first preset position without external force; in the first preset position, a vertical line passing through the center of gravity of the reclaiming device 100 is spaced apart from the axis center of the rotary shaft 103, and The torque of the reclaiming device under the action of gravity makes the reclaiming device have a tendency to move towards the land side. Under the action of its own gravity, the retrieving device has a tendency to revolve around the rotating shaft 103 and move towards the land side.

It should be noted that the vertical line passing through the center of gravity of the reclaiming device is spaced apart from the axis of the rotary shaft 103, which means that the vertical line passing through the center of gravity of the reclaiming device does not pass through the rotating shaft The axis of 103, that is, the axis of the rotary shaft 103 in the vertical direction is not on the same straight line as the center of gravity of the reclaiming device.

The swing mechanism 200 provides traction to the reclaiming device 100, so that the reclaiming device 100 is maintained at a first preset position when no external force is applied. In this position, there is always a direction toward the land side. torque, which is balanced by the tension of the swing mechanism 200 . When the reclaimer 100 moves from the sea side to the land side, relying on the gravity of the reclaimer 100 itself, which weighs tens of tons, the reclaimer 100 can always be pushed to the front end of the moving direction, so that the front of the hopper to the material is convenient. Excavation, even if the retrieving material encounters certain resistance, it can be overcome. When the reclaiming device 100 moves from the land side to the sea side, the posture of the reclaiming device 100 is always kept stable by relying on the pulling force of the traction wire rope.

And when the cabin encounters a surge situation suddenly, in the ship width direction, if the force exerted by the surge on the ship and the reclaiming device 100 is towards the sea side, the reclaiming device 100 will have a tendency to swing clockwise. The power of the surge is applied to the reclaiming device 100, which will only reduce the pulling force of the wire rope. If the moment of the surge force on the rotating shaft 103 exceeds the moment of gravity on the rotating shaft 103, the reclaiming device 100 will rotate slightly clockwise. Swing in the direction, turn the force of the surge into a swing, and avoid transmitting the force to the structure of the ship unloader. If the force exerted by the surge on the ship and the reclaiming device 100 is towards the land side, the reclaiming device 100 is subject to reclaiming resistance, gravity and wire rope tension, and suddenly receives the power of the surge, which will cause the tension of the wire rope to increase rapidly. The force suffered by the pulley at the end of the damping cylinder will also increase rapidly. When the threshold is exceeded, the damping cylinder is released, the length of the wire rope increases, and the reclaimer 100 swings counterclockwise to reach a new equilibrium state. The force applied to the reclaiming device 100 during the surge is transformed into the swing of the reclaiming device 100, which will not act on the structure of the chain bucket ship unloader, ensuring the safety of the structure under the surge.

In the swing reclaiming assembly provided in this embodiment, the reclaiming device 100 is pulled by the swing mechanism 200, so that the reclaiming device 100 is maintained at the first preset position without external force; and in the first preset position, the vertical line passing through the center of gravity of the reclaiming device 100 is spaced apart from the axis of the rotary shaft 103, and the moment of the reclaiming device under the action of gravity makes the reclaiming device have a direction toward the land The trend of lateral movement; so that the reclaimer can use the moment generated by its own gravity to assist reclaiming, and at the same time avoid the impact of the material moving with the ship on the reclaiming arm under the action of the surge, and avoid the impact force from being transmitted to the ship unloader The structure ensures the safety and reliability of the structure.

Specifically, the swing mechanism 200 further includes a swing mechanism diverting pulley 203 , which is arranged between the swing mechanism tension cylinder 201 and the traction hinge point 206 , and is in sliding contact with the swing mechanism traction rope 202 .

Specifically, the swing mechanism 200 also includes a swing mechanism damping cylinder 204 and a damping pulley 205; the damping pulley 205 is connected to the free end of the swing mechanism damping cylinder 204, and is in sliding contact with the swing mechanism traction rope 202; The damping pulley 205 is arranged between the reversing pulley 203 of the swing mechanism and the traction hinge point 206;

The damping cylinder 204 of the rocking mechanism is suitable for extending when the material reclaiming device 100 receives a moment toward the land side greater than a preset threshold, and shrinks when the reclaiming device 100 receives a moment toward the sea side .

Preferably, the damping oil cylinder 204 of the rocking mechanism can follow the elongation according to the external force of the material reclaiming device 100 , and then adjust the angle of the material reclaiming device 100 . If the material retrieving device 100 is subjected to a moment towards the land side, the material reclaiming device 100 pulls the swing mechanism traction rope 202, and if the force of the swing mechanism traction rope 202 is greater than the preset threshold value of the swing mechanism damping cylinder 204, the swing mechanism damping cylinder 204 Elongation; if the material retrieving device 100 is subjected to a moment towards the sea side, the material retrieving device 100 reduces the force on the pulling rope 202 of the swing mechanism, thereby causing the damping cylinder to shrink.

When a surge occurs, the damping oil cylinder 204 of the swing mechanism will stretch or shrink according to the direction of the force. The amount will return to the state before the surge, and the angle of the reclaiming device 100 will also return to the state before the surge. The swing reclaiming assembly provided in this embodiment is provided with a swing mechanism to damp the oil cylinder 204, and when the reclaiming device 100 is subjected to a moment toward the land side, it is elongated, and when the reclaimer 100 is subjected to a moment toward the sea side so that the length of the swing mechanism traction rope 202 can be voluntarily adjusted according to the stressed situation of the reclaiming device 100, so that the retrieving device 100 can reach a new equilibrium state quickly after being stressed, and ensure that the reclaiming device 100 is not affected by the surge. The applied force is transformed into the rocking action of the reclaiming device 100, which will not act on the structure of the chain bucket ship unloader, thus ensuring the safety of the structure under surge.

Specifically, the tensioning oil cylinder 201 of the swing mechanism is adapted to expand and contract in the horizontal direction.

Specifically, the damping oil cylinder 204 of the swing mechanism is adapted to expand and contract in the horizontal direction.

Optionally, the stroke of the tension cylinder of the rocking mechanism is greater than the stroke of the damping cylinder of the rocking mechanism.

Preferably, the force threshold of the tensioning oil cylinder 201 of the rocking mechanism is greater than the stress threshold of the damping oil cylinder 204 of the rocking mechanism, so that the response of the tensioning oil cylinder 201 of the rocking mechanism is slower than that of the damping oil cylinder 204 of the rocking mechanism. reaction.

The stroke of the tensioning oil cylinder 201 of the swing mechanism is large and the response is slow; the stroke of the damping cylinder 204 of the swing mechanism is small and the response is fast.

Specifically, the contraction of the tension cylinder 201 of the rocking mechanism is suitable for increasing the angle between the axis of the reclaiming device 100 along its length direction and the vertical direction;

The extension of the tension cylinder 201 of the rocking mechanism is suitable for reducing the angle between the axis of the reclaiming device 100 along its length direction and the vertical direction.

Since the hatch of the cabin is provided with a coaming, it is difficult to take out the material below the coaming in the normal operating position of the reclaimer 100. Therefore, the swing reclaimer assembly provided in this embodiment can also drive the reclaimer 100 according to Angle adjustment is required.

Under normal working conditions, the material reclaiming device 100 is in the angular position of the first swing state 210. When the material reclaiming device needs to be adjusted from the first swing state 210 to the second swing state 220, the tension cylinder 201 of the swing mechanism is stretched out to take The feeding device 100 can be adjusted to the second swing state 220 under the action of the gravitational moment. When it is necessary to adjust from the first swing state 210 to the third swing state 230 , the tension cylinder 201 of the swing mechanism is retracted, and the wire rope traction and reclaiming device 100 is adjusted to the third swing state 230 . By adjusting different postures, it is convenient to empty the corner materials of the cabin and reduce the amount of cleaning.

The swing retrieving assembly provided in this embodiment can stretch the tension cylinder 201 through the swing mechanism, and drive the reclaiming device to make a small swing around the rotary shaft 103, thereby changing the axis and vertical direction of the reclaiming device 100 along its length direction. Adjust the posture of the reclaiming device to make the reclaiming device swing to a certain angle, so that it is convenient to enter the corner of the cabin to dig materials. Reduce the amount of cleaning and improve the actual use efficiency.

The ship unloader with boom lifting system 600 in this embodiment includes boom 601, running trolley 13 and the above-mentioned swinging reclaiming assembly, running trolley 13 is arranged on the boom 601, and is suitable for The frame 601 moves in the length direction; the swing reclaiming assembly is installed on the running trolley 13 , and the running direction of the running trolley 13 is parallel to the rotation plane of the reclaiming device 100 .

Specifically, both the swing mechanism tension cylinder 201 and the swing mechanism damping cylinder 204 are fixed on the running trolley 13 ; the rotating shaft 103 is fixedly arranged on the running trolley 13 .

Specifically, the reclaiming device 100 is provided with a hopper chain 110 formed by connecting a plurality of hoppers 111 end to end in sequence, and the force direction of the hopper chain 110 when digging the material 30 is the same as that of the reclaiming device 100 . The turning planes of the hopper chains 110 are parallel to each other, and the opening direction of the hopper chain 110 faces the sea side when digging the material 30 .

Preferably, the ship unloader is arranged on the wharf foundation 40 and extends to the sea side through the boom 601 . Preferably, the material retrieving device 100 is suitable for extending into the cabin 20 to facilitate digging of the material 30 .

Preferably, one movement of the reclaiming device only takes materials from the front in the direction of the ship's width, and the main loads on the reclaiming device are all within the plane where the reclaiming device is located, which is beneficial to prolonging the life of the equipment and improving the efficiency.

Although the L-type chain bucket ship unloader in the prior art solves the environmental protection problems such as material leakage, but the feeding head of the L-type chain bucket adopts a horizontal rotation feeding method, which easily makes the lower end of the vertical arm of the chain bucket bear a large load. Horizontal force is prone to excessive twisting of the reclaiming arm, which will lead to failure of the reclaiming arm revolving mechanism and boom revolving mechanism. In the feeding method of rotary stacking extrusion, the feeding width is determined by the three parameters of chain bucket pitch, chain speed and chain bucket movement speed, but these parameters also restrict each other. If the speed is too fast, the feeding width will be affected. If the speed is too slow, it will affect the overall lifting efficiency, so the way of rotary reclaiming limits the further improvement of efficiency.

In order to solve the problem that the ship unloader is unreasonably stressed and easily damaged and the unloading efficiency is low, the reclaiming device provided in this embodiment includes a chain bucket arm 104, a hopper chain 110, a drive unit and a rotary shaft 103; a hopper chain 110 It is formed by connecting a plurality of hoppers 111 end to end in sequence, and the hopper chain 110 is arranged around the outer peripheral side of the chain bucket arm 104; the driving unit is suitable for driving the hopper chain 110 to run relative to the chain bucket arm 104; 103 is hingedly connected with the chain bucket arm 104, and the chain bucket arm 104 is suitable for swinging around the rotary shaft 103; The swivel planes are parallel.

Preferably, the chain bucket arm 104 is used as the main structure of the reclaiming device to support other structural components. In this embodiment, the chain bucket arm 104 may be a metal frame extending along the length direction.

Preferably, the force direction of the hopper chain 110 when excavating the material 30 is the extension direction of the material picking section 150 .

The hopper chain 110 is formed by connecting a plurality of hoppers 111 end-to-end in sequence. The hopper chain 110 is ring-shaped, and is adapted to run relative to the chain bucket arm 104 driven by a driving unit. The hopper chain 110 is provided with a plurality of hoppers 111, so that during the reciprocating movement, the hoppers 111 are used to dig materials, and after the materials are lifted to a certain height, the materials 30 are dumped, and then continue to dig materials, so back and forth. In this embodiment, the material 30 may be coal, corn, wheat and other grains, or other materials that can be accommodated in the hopper 111 .

Preferably, the material retrieving device in this embodiment is preferably applied in a ship unloader, and the ship unloader extends out of the arm frame 601 , and the chain bucket arm 104 is installed on the arm frame 601 . And specifically, the chain bucket arm 104 is hingedly connected to the boom frame 601 through a rotary shaft 103 , so that the chain bucket arm 104 can swing around the rotary shaft 103 relative to the boom frame 601 . And further, the force direction of the hopper chain 110 when excavating the material 30 is parallel to the rotation plane of the chain bucket arm 104, so that the chain bucket arm 104 itself will not bear the load when the reclaiming device is working. When the torsional force of the hopper chain 110 is too large when digging the material 30, the chain bucket arm 104 will swing freely around the rotary shaft 103 under the action of the force, and the main load on the reclaiming device is in the process of taking within the plane where the feeding device is located, avoiding failure of the chain bucket arm 104 due to excessive force, which is beneficial to prolonging the service life of the equipment and improving the efficiency.

The material retrieving device provided in this embodiment, by setting the rotary shaft 103, makes the chain bucket arm 104 suitable for swinging around the rotary shaft 103; The rotation planes of the chain bucket arm 104 are parallel to each other, so as to ensure that the main load on the reclaiming device is within the plane of the reclaiming device, the force is more reasonable, the operation reliability is improved, and the failure of the chain bucket arm 104 is avoided due to excessive force , which is conducive to the extension of equipment life and the improvement of efficiency.

Further, the opening direction of the hopper 111 is parallel to the rotation plane of the hopper chain 110, and the opening direction of the hopper 111 is parallel to the rotation plane of the chain bucket arm 104, further, the opening direction of the hopper 111 is parallel to the The feeding device is parallel to the translation direction of the arm frame 601, that is, adopts the front feeding method, so that the hopper 111 can more directly shovel the material into the hopper when digging the material, and the working efficiency is greatly improved. Adopting the way of feeding from the front can also prevent the material pile from being squeezed on the head of the reclaiming head, and avoid large lateral excavation resistance.

Specifically, the rotary shaft 103 is hinged to the upper part of the chain bucket arm 104;

A vertical line passing through the center of gravity of the reclaiming device is spaced apart from the axis of the rotary shaft 103 .

It should be noted that the vertical line passing through the center of gravity of the reclaiming device is spaced apart from the axis of the rotary shaft 103, which means that the vertical line passing through the center of gravity of the reclaiming device does not pass through the rotating shaft The axis of 103, that is, the axis of the rotary shaft 103 in the vertical direction is not on the same straight line as the center of gravity of the reclaiming device. In order to maintain this state, this embodiment is flexibly connected with the traction hinge point 206 of the material reclaiming device 100 by setting the swing mechanism 200; Maintain the first preset position without external force; when in the first preset position, the vertical line passing through the center of gravity of the retrieving device 100 is spaced apart from the axis center of the rotary shaft 103, and the retrieving The moment of the feeding device under the action of gravity makes the feeding device have a tendency to move towards the land side.

The material retrieving device provided in this embodiment, by making the vertical line passing through the center of gravity of the material reclaiming device and the shaft center of the said rotary shaft 103, be arranged at intervals, so that the material reclaiming device always has a tendency to move towards the front end of the material reclaiming And moment, so as to increase the pressure of the reclaiming device on the material. The reclaiming device can use the moment generated by its own gravity to always maintain the movement trend towards the head of the hopper, which is convenient for retrieving materials and reduces energy consumption.

The reclaimer is roughly constructed in a herringbone shape. At the initial position, the center of gravity and the hinge point of the reclaimer are not on a straight line, and there is a moment; during excavation, the reclaimer can use the moment generated by its own gravity to always maintain a direction The movement trend of the head of the hopper, if it encounters resistance, such as hardened material, the hopper can rely on its own gravity to always hold the head against the hardened material, improve the breaking force on the hardened material, and wait for the hopper to dig out the material in front of it. Continue to move forward, so as to improve the efficiency of reclaiming, reduce the extra force, even without the need of extra force, the reclaimer can use its own gravity to complete the reclaiming, reducing energy consumption.

Specifically, the drive unit includes a drive motor 101 and a drive sprocket 102; Drive the hopper chain 110 to run.

Preferably, the output shaft at the end of the drive motor 101 is decelerated and connected to the drive sprocket 102, and the drive sprocket 102 is located on the upper part of the reclaiming device.

Specifically, the rotation axis of the drive sprocket 102 coincides with the axis of the rotary shaft 103 .

Specifically, the retrieving device further includes: two tensioning sprockets 108, arranged at one end away from the drive sprocket 102 along the length direction of the chain bucket arm 104;

The two tensioning sprockets 108 are suitable for extending the hopper chain 110 , and make at least a partial area of the hopper chain 110 form a pick-up section 150 suitable for contacting the material 30 .

The two tensioning sprockets 108 are located at the bottom of the reclaimer, and the two tensioning sprockets 108 can extend the lower part of the hopper chain 110, so that when a plurality of hoppers run here, they can It is in the state of opening forward, so that it is convenient for multiple hoppers to take materials at the same time and improve the efficiency of taking materials.

Specifically, the retrieving device further includes: a tensioning push rod 106 is arranged between the two tensioning sprockets 108, and is suitable for keeping the two tensioning sprockets 108 in a relatively far apart state so as to tension the two tensioning sprockets 108. The hopper chain 110 described above. Thereby, the tension of the hopper chain 110 is ensured, and the length of the retrieving section 150 is maintained.

Specifically, a lifting section 120 suitable for lifting the material 30 is formed between the end of the picking section 150 and the drive sprocket 102 .

It should be noted that the end of the material fetching section 150 refers to the end of the hopper chain 110 in a state of contact with the material 30 along the rotation direction of the hopper chain 110 . Correspondingly, the head end of the material fetching section 150 refers to the head end of the hopper chain 110 in a state of contact with the material 30 along the rotation direction of the hopper chain 110 .

Preferably, the lifting section 120 in this embodiment is a straight section. By setting the material lifting section 120 as a straight line section, the hopper is always kept on a straight line to ensure the stability of the material lifting process.

Specifically, after the hopper chain 110 walks around the driving sprocket 102 from the end of the lifting section 120, it changes the orientation of the opening of the hopper 111 and completes the discharge; the driving sprocket 102 and the A first reversing sprocket 1051 is arranged between the head ends of the retrieving section 150; the hopper chain 110 forms a first descending section 130 between the driving sprocket 102 and the first reversing sprocket 1051, And a second descending section 140 is formed between the first deflecting sprocket 1051 and the head end of the feeding section 150 ; the second descending section 140 is set at an angle to the first descending section 130 .

Preferably, a first redirecting sprocket 1051 is provided between the drive sprocket 102 and the head end of the retrieving section 150, so that the hopper chain 110 forms the first descending section 130 and the second descending section 140, and the The second descending section 140 is set at an angle to the first descending section 130, so that the overall structure of the hopper chain 110 is roughly herringbone, that is, on the upper part of the reclaiming device, the distance between the hopper lifted by the load and the hopper dropped by the empty load is relatively small. close, so that the upper structure of the reclaiming device is smaller, and at the lower part of the reclaiming device, after being redirected by the first redirecting sprocket 1051, the lifting hopper and the descending hopper will be far away from each other, and the descending hopper is bent at an angle, so that the retrieving The lower part of the material device forms a shape similar to a triangle, which is convenient for setting the material picking section 150 .

Preferably, by adopting a herringbone-shaped reclaiming device, the method of front-side feeding of the hopper edge line with a higher force-efficiency ratio is adopted. At the bottom of the herringbone structure, in order to allow the reclaiming arm to dig out the hatch coaming For the material below the board, the bottom of the retrieving device is provided with a retrieving section 150 of sufficient length, so that the hopper can dig the material at a high speed in the direction of the ship's width, and the efficiency is greatly improved.

The traditional L-shaped reclaiming head realizes the material entering the hopper by sweeping left and right, but the deep and narrow reclaiming device is not easy to unload when unloading, and this rotary feeding method must use L-shaped The reclaiming device is equipped with a deep and narrow hopper to realize rotary pile extrusion feeding. The reclaiming device provided in this embodiment adopts a herringbone-shaped front retrieving head. Compared with the traditional chain bucket ship unloader, the structure is simpler, and at the same time, the force on the bottom of the entire reclaiming device is more uniform, and the cost is also lower.

Specifically, a second redirection sprocket 1052 is provided between the drive sprocket 102 and the first redirection sprocket 1051, and the hopper chain 110 is connected between the drive sprocket 102 and the second redirection sprocket. A discharge section 160 is formed between the sprockets 1052 .

Preferably, a collecting device such as a funnel may be provided at a position relatively lower than the discharge section 160 to facilitate the subsequent transfer of materials. The arrangement of the unloading section 160 can reduce the interference of the empty hopper moving downwards on the fully loaded hopper that needs to be unloaded, so as to ensure efficient unloading.

Preferably, a dustproof case 107 is provided outside the hopper chain 110 to prevent dust. The hopper is only exposed at the lower part of the reclaimer.

Due to the rotary feeding method used by the traditional chain bucket ship unloader, the chain bucket needs to use a deep and narrow hopper to facilitate digging, and the deep and narrow chain bucket is not easy to unload when unloading. And because the hopper of this embodiment adopts the mode of feeding from the front, the hopper can be set as a wide and shallow hopper, which is convenient for materials to enter and pour out.

The hopper chain 110 is formed by alternately connecting hoppers 111 and connecting plates 112, the two ends of the hopper 111 are provided with lugs 114, the lugs 114 are provided with shaft holes, and the connecting plates 112 are also provided with shaft holes. The ear plate 114 is hinged with the connecting plate 112, thereby connecting all the hoppers together to form a hopper chain.

The reclaiming device of the traditional chain bucket ship unloader adopts a chain drive, the reclaiming chain bucket is installed between two chains, and the driving device drives the chain to drive the chain bucket to move. This transmission mode has high requirements on the performance of the chain, and the chain is easily damaged and needs to be replaced regularly, resulting in high maintenance costs.

Preferably, in the reclaiming device provided in this embodiment, the hopper back plate 113 of the hopper 111 can directly participate in the transmission, cancel the traditional chain drive, use the connecting plate and the hopper back plate to drive, and use the connecting plate to connect each hopper. Make the hopper part of the transmission. The hopper is not only the working mechanism when digging materials, but also participates in the transmission as a part of the hopper chain, which increases the stress area and improves the reliability.

Preferably, the driving sprocket and the reversing sprocket act on the connecting plate, the connecting plate is connected with the pin on the back plate, and the connecting plate is outside the hopper, so that it will not interfere with the hopper during driving and reversing. The connecting plate is made of high-strength material to ensure the reliability of driving and turning.

The ship unloader in this embodiment also includes a boom lifting system 600, the boom lifting system 600 includes a traction mechanism 602, a pulley assembly 603, a transmission member 604 and an energy-saving structure 607, and the traction mechanism 602 is arranged on the boom 601 The pulley assembly 603 includes a first pulley 6031, and the first pulley 6031 is connected to the top of the door leg 11; one end of the transmission member 604 is connected with the traction mechanism 602, and the other end goes around the first pulley 6031 with the The arm frame 601 is connected; the arm frame 601 is suitable for rising or falling along the door leg 11 through the control of the traction mechanism 602 and the transmission member 604; the energy-saving structure 607 is connected with the arm frame 601 for To balance the weight of the boom 601 .

Through the jib lifting system 600, the overall lifting of the jib 601 can be realized, and the height of the jib 601 and the chain bucket arm 104 can be adjusted conveniently in a wide range, which greatly improves the overall loading and unloading efficiency, and at the same time effectively improves the Safety of ship unloaders in weather. And without the cooperation of multiple structures, one end of the boom 601 and the chain bucket arm 104 transmission part 604 can be connected with the boom 601, and the other end can be connected with the traction mechanism 602 arranged on the boom 601 after bypassing the first pulley 6031 , the first pulley 6031 is arranged on the top of the door leg 11 to generate a height difference, which is convenient for controlling the lifting of the boom 601 . The energy-saving structure 607 balances the effective weight of the boom 601 when it is lifted, can effectively reduce the installed capacity of the motor in the traction mechanism 602, reduce the energy consumption of the boom 601 lifting, and achieve energy-saving effects.

In this embodiment, the pulley assembly 603 further includes a second pulley 6032, the second pulley 6032 is connected to the boom 601, one end of the transmission member 604 is connected to the traction mechanism 602, and the other end is wound around After passing the second pulley 6032 and the first pulley 6031, it is connected with the boom 601. The setting of the second pulley 6032 reduces the pressure on the transmission member 604, making the boom 601 easier to lift. In a specific embodiment, the arm frame 601 is provided with a protruding column extending upward, and the second pulley 6032 is arranged on the protruding post, which reduces the length of the transmission member 604 .

In this embodiment, there are multiple sets of the pulley assembly 603 and the transmission member 604 , and each door leg 11 is matched with one set of the pulley assembly 603 . The traction mechanism 602 can have one group, and one group of traction mechanism 602 controls the pulley assembly 603 near the four door legs 11 at the same time; or, the traction mechanism 602 can also have two groups, and one group of traction mechanism 602 simultaneously controls the pulley assembly 603.

In this embodiment, the transmission member 604 is a steel wire rope.

Specifically, in the implementation, when the ship unloader is working, when the chain bucket arm 104 trolley needs to operate in deep tanks or needs to be raised and lowered significantly in the depth direction of the ship due to water level changes, the boom lifting system 600 is used to move the chain bucket arm 104 and the chain bucket The arm 104 trolley and the boom 601 are lifted or lowered as a whole.

In this embodiment, the pulley assembly 603 further includes a third pulley 6033, the third pulley 6033 is connected to the top of the door leg 11, the energy-saving structure 607 includes a counterweight 6071 and an energy-saving rope 6072; the energy-saving rope One end of 6072 is connected with the arm frame 601 , and the other end is connected with the counterweight 6071 around the third pulley 6033 .

When the boom 601 rises under the control of the boom lifting system 600, the counterweight 6071 descends, and the counterweight 6071 balances the effective weight when the boom 601 is lifted, which can effectively reduce the installed capacity of the motor in the traction mechanism 602. Capacity, reduce the energy consumption of boom 601 rising, and realize the energy saving effect. When the boom 601 descends under the control of the boom lifting system 600, the counterweight 6071 rises to balance the effective weight of the boom 601 when it descends, slow down the descending speed of the boom 601, and effectively reduce the The installed capacity of the motor can reduce the energy consumption of the boom 601 and realize the energy saving effect. In a preferred embodiment, the weight of the counterweight 6071 is close to the total weight of the jib 601 when it is unloaded, and the effective weight of the jib 601 is reduced when the jib 601 is lifted through the mutual offset relationship between the counterweight 6071 and the jib 601 .

In this embodiment, the top of the door leg 11 is connected to a beam, the first pulley 6031 is connected to the bottom of the beam, and there are two third pulleys 6033, and the two third pulleys 6033 are respectively connected to The third pulley 6033 at both ends of the top of the beam and close to the counterweight 6071 extends from the beam to the side of the door leg 11 . The third pulley 6033 close to the counterweight 6071 extends to the side of the door leg 11, and the counterweight 6071 bypassing the third pulley 6033 can hang down on the side of the door leg 11 under the action of gravity, and connect with the door leg 11 There is an interval between them to prevent the counterweight 6071 from being attached to the door leg 11 and rubbing against the door leg 11 to generate noise and cause damage to the door leg 11 .

In a preferred embodiment, the first pulley 6031 and the third pulley 6033 are staggered vertically to prevent friction or entanglement between the transmission member 604 and the energy-saving rope 6072 .

The ship unloader with the boom lifting system 600 in this embodiment further includes a rolling structure 605 , one end of the rolling structure 605 is connected to the boom 601 , and the other end is rollingly matched with the door leg 11 . Setting the rolling structure 605 not only reduces the friction between the door leg 11 and the bracket, reduces noise, but also guides the lifting direction of the boom 601 along the direction of the door leg 11 .

In this embodiment, the rolling structure 605 includes a roller 6051 connected to the arm frame 601 and rollingly matched with the door leg 11 . In a specific embodiment, the rolling structure 605 further includes a rolling frame, the rolling frame is arranged on the arm frame 601, and the rolling wheels 6051 are connected to the rolling frame.

In this embodiment, the rolling structure 605 further includes an elastic damping member 6052 , and the roller 6051 is connected to the arm frame 601 through the elastic damping member 6052 . The elastic damping member 6052 can reduce the impact of vibration on the arm frame 601 during the rolling process of the roller 6051 .

In this embodiment, the side facing the arm frame 601 on the door leg 11 is the first side, the two sides adjacent to the first side are the second side, and the first side and the second side are At least one guide rail 1101 is provided on both sides, and the rollers 6051 are suitable for lifting and lowering along the guide rail 1101 .

The guide rail 1101 is used to guide the roller 6051 to prevent the roller 6051 from derailing and affect the lifting of the boom 601 . Specifically, the guide rail 1101 includes a guide bar and a guide groove disposed on the guide bar, and the guide wheels are adapted to move along the guide groove.

In this embodiment, the boom 601 is provided with connecting seats 6011 distributed at intervals, and one connecting seat 6011 is arranged on both sides of each door leg 11, and each connecting seat 6011 faces the One end of the second side is connected to at least one set of rolling structures 605 . The connecting seats 6011 are respectively located on both sides of the door leg 11, and limit and guide the door leg 11 on both sides.

The ship unloader with the jib lifting system 600 in this embodiment also includes a locking structure 606, each of the connecting seats 6011 is provided with the locking structure 606, and the locking structure 606 is used to lock the The boom 601 is locked at a corresponding height. In a preferred embodiment, the locking structure 606 may be a hydraulic cylinder. In another preferred embodiment, the locking structure 606 may be a rail clamp.

In this embodiment, before the boom 601 is raised and lowered, the locking structure 606 is released, the transmission member 604 is driven by the traction mechanism 602 to pull the boom 601, the roller 6051 rolls on the surface of the door leg 11, and the elastic damping member 6052 can reduce the rolling The impact of the vibration in the process on the boom 601, when the traction is in place and the boom 601 rises or falls to a suitable height, the locking structure 606 clamps the door leg 11 from both sides, fixes the height position of the boom 601, and lifts The process is over.

Apparently, the above-mentioned embodiments are only examples for clear description, rather than limiting the implementation. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And the obvious changes or changes derived therefrom are still within the scope of protection of the present invention.

Claims (10)

1. A method of controlling a ship unloader, comprising:

acquiring position information of a cabin (20) port of an operation ship in real time;

acquiring position information of a material taking device (100) in real time;

acquiring the relative distance between the port of the cabin (20) and the material taking device (100) according to the position information of the port of the cabin (20) and the position information of the material taking device (100);

judging whether the relative distance reaches a preset deceleration limit value or not;

if the preset deceleration limit value is reached, controlling the material taking device (100) to execute a deceleration step, and judging whether the relative distance reaches the preset parking limit value;

and if the preset stopping limit value is reached, controlling the material taking device (100) to perform a stopping step.

2. The control method of the ship unloader according to claim 1, wherein the acquiring the position information of the port of the cabin (20) of the work ship in real time includes acquiring an outline of the work ship in real time by a ship type scanner and recognizing the position information of the port of the cabin (20) based on the outline.

3. The method of claim 1, wherein the obtaining of the position information of the material extracting device (100) in real time includes obtaining the position information of the material extracting device (100) by an encoder, and the deceleration limit value and the stop limit value are the relative distances preset in the encoder.

4. The control method of the ship unloader according to any one of claims 1 to 3, further comprising: and acquiring a deceleration signal of the deceleration limit on the arm support (601), and executing the deceleration step according to the deceleration signal.

5. The control method of the ship unloader according to claim 4, wherein the decelerating step includes: controlling the running trolley (13) of the material taking device (100) to decelerate to a first running speed, and controlling the running trolley (13) to run at the first running speed, wherein the first running speed is 10% of the preset maximum running speed of the running trolley (13).

6. The control method of the ship unloader according to any one of claims 1 to 3, further comprising: and acquiring a stop signal of the terminal limit on the arm support (601), and executing the stop step according to the stop signal.

7. The control method of the ship unloader according to claim 6, wherein the parking step comprises: and controlling the running trolley (13) of the material taking device (100) to decelerate to a second running speed, and then starting to automatically brake and stop, wherein the second running speed is 2% of the preset maximum running speed of the running trolley (13).

8. A ship unloader, comprising:

a portal comprising a leg (11);

the arm support (601) is suitable for moving up and down along the door leg (11);

the material taking device (100) is used for digging materials (30) and comprises a running trolley (13), a bucket arm (104) and a bucket chain (110), wherein the bucket chain (110) is formed by sequentially connecting a plurality of buckets (111) end to end, the bucket chain (110) is arranged around the outer periphery of the bucket arm (104), and the bucket arm (104) is suitable for moving along the length direction of an arm support (601) under the driving of the running trolley (13); an encoder is arranged on the running trolley (13);

the ship-shaped scanner (50) is arranged at the bottom of the arm support (601);

-a control system, communicatively connected to said running carriage (13), said encoder and said ship scanner (50), respectively, and adapted to perform the control method of the ship unloader according to any one of claims 1 to 7.

9. The ship unloader of claim 8, further comprising two deceleration limits (60), one deceleration limit (60) being provided at an end of the boom (601) near the work ship, and the other deceleration limit (60) being provided at a position on the boom (601) where it engages with the gantry.

10. The ship unloader according to claim 8 or 9, further comprising two end stops (70), one end stop (70) being provided at an end of the boom (601) close to the work ship, and the other end stop (70) being provided at a position on the boom (601) cooperating with the mast.

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