Ship unloader and control method thereof

Abstract

The present invention relates to the technical field of port equipment, and in particular to a ship unloader and a control method thereof. The ship unloader includes a portal seat, an arm, a slewing device, a pitching device and a material taking device. The arm is connected above the portal seat; the slewing device is arranged on the portal seat, and is suitable for driving the arm to slew relative to the portal seat; the pitching device is suitable for driving the arm to pitch relative to the horizontal line; the material taking device is connected to one end of the arm, and includes a chain bucket arm, a bucket chain, a driving unit and a slewing shaft. The bucket chain is composed of a plurality of buckets connected end to end in sequence, and the bucket chain is arranged around the outer peripheral side of the chain bucket arm; the driving unit is suitable for driving the bucket chain to operate relative to the chain bucket arm; the slewing shaft is hingedly connected to the chain bucket arm, and the chain bucket arm is suitable for swinging around the slewing shaft; the force direction of the bucket chain when digging materials is parallel to the slewing plane of the chain bucket arm. In the ship unloader provided by the present invention, the force on the material taking device is more reasonable, and the operation reliability is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of port equipment, and in particular to a ship unloader and a control method thereof. Background Art

[0002] Ship unloaders are executive equipment used for loading and unloading of bulk materials. Currently, most traditional ship unloaders are bridge-type grab ship unloaders. They may cause environmental problems such as material leakage and dust during use. At the same time, the efficiency of a single machine is not high and the energy utilization efficiency is low, which has many limitations.

[0003] Although the L-type chain bucket ship unloader in the prior art solves environmental problems such as material spillage, the L-type chain bucket reclaiming head adopts a horizontal rotation feeding method, which easily causes the lower end of the chain bucket vertical arm to bear a large horizontal force, and is prone to excessive torsion of the reclaiming arm, thereby causing failures of the reclaiming arm revolving mechanism and the arm frame revolving mechanism. In the rotary stacking feeding method, the feeding width is jointly determined by three parameters: the chain bucket pitch, the chain speed, and the chain bucket movement speed. However, these parameters also restrict each other. Too fast speed will affect the feeding width, and too slow speed will affect the overall lifting efficiency. Therefore, the rotary reclaiming method limits the further improvement of efficiency.

[0004] Therefore, ensuring the rationality of the force on the ship unloader and improving the ship unloading efficiency are issues that need to be addressed urgently. Summary of the invention

[0005] Therefore, the technical problem to be solved by the present invention is to overcome the defects of the prior art that the ship unloader is easily damaged due to unreasonable force and has low ship unloading efficiency, thereby providing a ship unloader with a material taking device having reasonable force and high efficiency and a control method thereof.

[0006] In order to solve the above problems, the present invention provides a ship unloader, including a portal seat, a boom, a slewing device, a pitching device and a material-grabbing device, the boom is connected above the portal seat; the slewing device is arranged on the portal seat, and is suitable for driving the boom to slew relative to the portal seat; the pitching device is suitable for driving the boom to pitch relative to the horizontal line; the material-grabbing device is connected to one end of the boom, and includes a chain bucket arm, a bucket chain, a driving unit and a slewing shaft, the bucket chain is composed of a plurality of buckets connected end to end in sequence, and the bucket chain is arranged around the outer peripheral side of the chain bucket arm; the driving unit is suitable for driving the bucket chain to operate relative to the chain bucket arm; the slewing shaft is hingedly connected to the chain bucket arm, and the chain bucket arm is suitable for swinging around the slewing shaft; the force direction of the bucket chain when digging materials is parallel to the slewing plane of the chain bucket arm.

[0007] Optionally, the rotating device comprises:

[0008] A first rotary structure, disposed on the door seat, comprising a first rotary gear;

[0009] A second rotating structure, connected to the boom, comprising a second rotating gear, the second rotating gear meshing with the first rotating gear;

[0010] The rotary drive structure is arranged on the door seat and connected with the first rotary structure, and is suitable for driving the first rotary gear to rotate.

[0011] Optionally, one of the first rotating gear and the second rotating gear is an internal gear, and the other one is an external gear.

[0012] Optionally, the pitch device comprises:

[0013] A pitch seat, fixedly connected to the top of the slewing device, and the top end of which is hinged to the pitch hinge point of the boom;

[0014] The pitch driving structure is hinged on the arm and spaced apart from the pitch hinge point. The power output end of the pitch driving structure is hinged to the lower side of the pitch seat.

[0015] Optionally, the boom comprises a front beam and a rear beam, the front beam being located between the material taking device and the pitch hinge; and a balancing piece is provided on the end of the rear beam away from the pitch hinge.

[0016] Optionally, it also includes a conveying device, which is connected to the material taking device and is suitable for conveying the materials excavated by the material taking device to land.

[0017] Optionally, the conveying device comprises:

[0018] A first conveying mechanism, arranged on the arm frame, one end of which is connected to the material taking device;

[0019] A first funnel, arranged on the arm support, comprising a first feed port and a first discharge port, wherein the first feed port is connected to the other end of the first conveying mechanism;

[0020] A second conveying mechanism is arranged on the gate seat, with one end of the second conveying mechanism being located below the first discharge port;

[0021] A second hopper, disposed on the gate seat, comprising a second feed port and a second discharge port, wherein the second feed port is connected to the other end of the second conveying mechanism;

[0022] The third conveying mechanism is arranged on land and is located below the second discharge port.

[0023] Optionally, it also includes a swing mechanism, which is flexibly connected to the traction hinge of the material picking device; the swing mechanism is suitable for pulling the material picking device so that the material picking device is maintained in a first preset position when not subject to external force; and in the first preset position, the vertical line passing through the center of gravity of the material picking device is spaced apart from the axis of the rotating shaft, and the torque of the material picking device under the action of gravity makes the material picking device tend to move toward the land side.

[0024] Optionally, the swing mechanism comprises:

[0025] Swing mechanism tensioning cylinder;

[0026] A traction rope of the swing mechanism, one end of which is connected to the traction hinge point, and the other end of which is connected to the tensioning cylinder of the swing mechanism;

[0027] The tensioning cylinder of the swing mechanism is suitable for facilitating the movement of the material taking device toward the land side when extended, and driving the material taking device to move toward the sea side when contracted.

[0028] This embodiment also provides a control method for a ship unloader, wherein the rotating device drives the boom to rotate, driving the material taking device to produce a fan-shaped displacement, and pauses for a preset time T after each rotation of the boom by a preset angle α, and the material taking device takes material within the preset time T.

[0029] The present invention has the following advantages:

[0030] 1. In the ship unloader provided by the present invention, the material taking device is provided with a rotating shaft so that the chain bucket arm is suitable for swinging around the rotating shaft; and the force direction of the bucket chain when digging materials is parallel to the rotating plane of the chain bucket arm, thereby ensuring that the main load on the material taking device is within the plane where the material taking device is located, the force is more reasonable, the operation reliability is improved, and the chain bucket arm is prevented from malfunctioning due to excessive force, which is beneficial to extending the equipment life and improving the efficiency.

[0031] 2. In the control method of the ship unloader provided by the present invention, the rotary device pauses for a preset time T each time it rotates a preset angle α, and the material taking device always keeps the front feeding of the hopper within the preset time T, so the feeding effect is good. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0033] Figure 1A schematic diagram of a ship unloader provided by the present invention is shown;

[0034] Figure 2 A top view of the ship unloader provided by the present invention is shown;

[0035] Figure 3 A schematic diagram of a material taking area of ​​a ship unloader provided by the present invention is shown;

[0036] Figure 4 A schematic diagram of a material taking device provided by the present invention is shown;

[0037] Figure 5 for Figure 4 Partial magnification Figure 1 ;

[0038] Figure 6 for Figure 4 Partial magnification Figure 2 ;

[0039] Figure 7 It is a partial schematic diagram of the hopper chain of the present invention;

[0040] Figure 8 It is a schematic diagram of the hopper of the present invention;

[0041] Fig. 9 It is a schematic diagram of the coordination state between the swing mechanism and the material taking device of the present invention;

[0042] Fig.10 It is a schematic diagram of multiple swing position states of the material taking device of the present invention;

[0043] Description of reference numerals:

[0044] 1. Portal; 2. Arm; 21. Front beam; 22. Rear beam; 23. Balance member; 3. Rotating device; 31. First rotating structure; 32. Second rotating structure; 33. Rotating drive structure; 4. Pitching device; 41. Pitching seat; 42. Pitching hinge; 43. Pitching drive structure; 5. Traveling mechanism; 61. Second conveying mechanism; 62. Second funnel; 63. Third conveying mechanism; 7. Cabin; 8. Materials; 9. Wharf foundation;

[0045] 100, material taking device; 101, driving motor; 102, driving sprocket; 103, rotating shaft; 104, chain bucket arm; 1051, first redirecting sprocket; 1052, second redirecting sprocket; 106, tensioning push rod; 107, cover; 108, tensioning sprocket; 110, bucket chain; 111, bucket; 112, connecting plate; 113, bucket back plate; 114, ear plate;

[0046] 120, material lifting section; 130, first descending section; 140, second descending section; 150, material taking section; 160, material unloading section;

[0047] 200, swing mechanism; 201, swing mechanism tensioning cylinder; 202, swing mechanism traction rope; 203, swing mechanism redirection pulley; 204, swing mechanism damping cylinder; 205, damping pulley; 206, traction hinge;

[0048] 210, first swing state; 220, second swing state; 230, third swing state. DETAILED DESCRIPTION

[0049] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0051] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0052] In addition, the technical features involved in the different embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0053] like Figures 1 to 10As shown, this embodiment discloses a ship unloader, including a portal 1, a boom 2, a slewing device 3, a pitching device 4 and a retrieving device 100, wherein the boom 2 is connected above the portal 1; the slewing device 3 is arranged on the portal 1, and is suitable for driving the boom 2 to slew relative to the portal 1; the pitching device 4 is suitable for driving the boom 2 to pitch relative to the horizontal line; the retrieving device 100 is connected to one end of the boom 2, and includes a chain bucket arm 104, a bucket chain 110, a driving unit and a slewing shaft 103. The bucket chain 110 is formed by connecting a plurality of buckets 111 end to end in sequence, and the bucket chain 110 is arranged around the outer peripheral side of the chain bucket arm 104; the driving unit is suitable for driving the bucket chain 110 to rotate relative to the chain bucket arm 104; the rotary shaft 103 is hingedly connected to the chain bucket arm 104, and the chain bucket arm 104 is suitable for swinging around the rotary shaft 103; the force direction of the bucket chain 110 when digging materials 8 is parallel to the rotary plane of the chain bucket arm 104. Specifically, the ship unloader in this embodiment also includes a walking mechanism 5, which is connected to the bottom of the gate seat 1 and is suitable for driving the gate seat 1 to move along the length of the ship.

[0054] The material taking device 100 is provided with a rotating shaft 103 so that the chain bucket arm 104 is suitable for swinging around the rotating shaft 103; and the force direction of the bucket chain 110 when digging materials 8 is parallel to the rotating plane of the chain bucket arm 104, thereby ensuring that the main loads on the material taking device 100 are within the plane where the material taking device 100 is located, the force is more reasonable, the operation reliability is improved, and the chain bucket arm 104 is prevented from malfunctioning due to excessive force, which is conducive to extending the life of the equipment and improving efficiency. The rotating device 3 assists the material taking device 100 in fan-shaped material taking in the horizontal plane; the walking mechanism 5 assists the material taking device 100 in taking materials in the direction of the ship length; the pitching device 4 assists the material taking device 100 in taking materials in the depth direction of the ship, that is, the height direction.

[0055] In this embodiment, the slewing device 3 includes a first slewing structure 31, a second slewing structure 32 and a slewing driving structure 33. The first slewing structure 31 is arranged on the door seat 1 and includes a first slewing gear. The second slewing structure 32 is connected to the arm frame 2 and includes a second slewing gear, and the second slewing gear is meshed with the first slewing gear. The slewing driving structure 33 is arranged on the door seat 1 and connected to the first slewing structure 31, and is suitable for driving the first slewing gear to slew. The second slewing gear rotates under the drive of the first slewing gear, and drives the arm frame 2 fixedly connected thereto to slew relative to the door seat 1.

[0056] Specifically, one of the first rotating gear and the second rotating gear is an internal gear, and the other one is an external gear.

[0057] In this embodiment, the pitch device 4 includes a pitch seat 41 and a pitch drive structure 43. The pitch seat 41 is fixedly connected to the top of the rotating device 3, and the top end is hinged to the pitch hinge 42 of the arm 2; the pitch drive structure 43 is hinged to the arm 2 and is spaced apart from the pitch hinge 42, and the power output end of the pitch drive structure 43 is hinged to the lower side of the pitch seat 41.

[0058] Specifically, the pitch seat 41 is fixedly connected to the top of the first fixed structure. The top of the pitch seat 41 is hinged to the pitch hinge 42 of the boom 2 through the pitch rotation axis. The pitch seat 41 includes a pitch plate protruding upward, and the pitch plate has two opposite pieces. The pitch plate is triangular, and the top angle of the pitch plate is smoothly transitioned, and is hinged to the pitch hinge 42 of the boom 2. The pitch seat 41 also includes an extension plate extending obliquely downward, and the power output end of the pitch drive structure 43 is suitable for being hinged to one end of the extension plate away from the pitch hinge 42, so as to increase the pitch range of the boom 2. The pitch drive structure 43 can be a pitch cylinder.

[0059] In this embodiment, the boom 2 includes a front beam 21 and a rear beam 22 , wherein the front beam 21 is located between the material taking device 100 and the pitch hinge 42 ; a balancing member 23 is provided at one end of the rear beam 22 away from the pitch hinge 42 for balancing the counterweight of the boom 2 .

[0060] The ship unloader of this embodiment further comprises a conveying device, which is connected to the material taking device 100 and is suitable for conveying the material 8 excavated by the material taking device 100 to land.

[0061] Specifically, the conveying device includes a first conveying mechanism, a first hopper, a second conveying mechanism 61, a second hopper 62 and a third conveying mechanism 63. The first conveying mechanism is arranged on the arm 2, and one end is connected to the material taking device 100; the first hopper is arranged on the arm 2, including a first feed port and a first discharge port, and the first feed port is connected to the other end of the first conveying mechanism; the second conveying mechanism 61 is arranged on the gate seat 1, and one end is located below the first discharge port; the second hopper 62 is arranged on the gate seat 1, including a second feed port and a second discharge port, and the second feed port is connected to the other end of the second conveying mechanism 61; the third conveying mechanism 63 is arranged on land and is located below the second discharge port. The first conveying mechanism can be a belt conveyor, and even with a pitch angle, the material 8 can be transported from the material taking device 100 to the first hopper. The first funnel and the second conveying mechanism 61 are connected through a funnel interface, and the material 8 can fall from the first funnel to the second conveying mechanism 61, and then be conveyed to the second funnel 62 through the second conveying mechanism 61, and then fall from the second funnel 62 to the third conveying mechanism 63, and the conveying direction of the third conveying mechanism 63 is the ship length direction. A material blocking plate is provided on the rear beam 22, and the material blocking plate cooperates with the first funnel to prevent the material 8 from overflowing to the rear beam 22.

[0062] like Figures 4 to 8 As shown, in this embodiment, the chain bucket arm 104 is used as the main structure of the material taking device 100 to support other structural components. In this embodiment, the chain bucket arm 104 can be a metal frame extending in the length direction. The force direction of the bucket chain 110 when digging the material 8 is the extension direction of the material taking section 150.

[0063] The hopper chain 110 is formed by connecting a plurality of hoppers 111 in sequence end to end. The hopper chain 110 is constructed in a ring shape and is suitable for operating relative to the chain bucket arm 104 under the drive of the driving unit. The hopper chain 110 is provided with a plurality of hoppers 111, so that during the cyclic reciprocating motion, the hoppers 111 are used to dig the material 8, and after the material 8 is lifted to a certain height, the material 8 is dumped, and then the material 8 is continued to be dug, and so on. In this embodiment, the material 8 can be coal, and can also be grains such as corn and wheat, or other substances that can be accommodated in the hopper 111.

[0064] Preferably, the chain bucket arm 104 is mounted on the front beam 21 of the boom 2. Specifically, the chain bucket arm 104 is hingedly connected to the boom 2 via a swivel shaft 103, so that the chain bucket arm 104 can swing relative to the boom 2 around the swivel shaft 103. Furthermore, the force direction of the bucket chain 110 when digging materials 8 is parallel to the swivel plane of the chain bucket arm 104, so that when the material taking device 100 is working, the chain bucket arm 104 itself will not be subjected to additional force, and when the torsional force of the bucket chain 110 when digging materials 8 is too large, the chain bucket arm 104 will swing freely around the swivel shaft 103 under the action of the force, and the main loads on the material taking device 100 are all within the plane where the material taking device 100 is located, so that the chain bucket arm 104 is prevented from being overstressed and malfunctioning, which is beneficial to extending the life of the equipment and improving efficiency.

[0065] The material taking device 100 provided in this embodiment is provided with a rotating shaft 103 so that the chain bucket arm 104 is suitable for swinging around the rotating shaft 103; and the force direction of the bucket chain 110 when digging materials 8 is parallel to the rotating plane of the chain bucket arm 104, thereby ensuring that the main loads on the material taking device 100 are within the plane where the material taking device 100 is located, the force is more reasonable, the operating reliability is improved, and the chain bucket arm 104 is prevented from malfunctioning due to excessive force, which is beneficial to extending the life of the equipment and improving efficiency.

[0066] Furthermore, 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. Furthermore, the opening direction of the hopper 111 during feeding is toward the material, that is, a front feeding method is adopted, so that the hopper 111 can shovel the material 8 into the hopper more directly when digging the material 8, greatly improving the working efficiency. The front feeding method can also prevent the material 8 from being piled up on the head of the material taking head, avoiding large lateral excavation resistance.

[0067] Specifically, the rotary shaft 103 is hinged to the upper portion of the chain bucket arm 104;

[0068] A vertical line passing through the center of gravity of the material taking device 100 is spaced apart from the axis of the rotary shaft 103 .

[0069] It should be noted that the vertical line passing through the center of gravity of the material-retrieving device 100 and the axis of the rotating shaft 103 are arranged at intervals, which means that the vertical line passing through the center of gravity of the material-retrieving device 100 does not pass through the axis of the rotating shaft 103, that is, the axis of the rotating shaft 103 and the center of gravity of the material-retrieving device 100 are not on the same straight line along the vertical direction. In order to maintain this state, this embodiment flexibly connects the traction hinge 206 of the material-retrieving device 100 by setting a swing mechanism 200; the swing mechanism 200 is suitable for traction of the material-retrieving device 100, so that the material-retrieving device 100 is maintained in the first preset position when it is not subjected to external force; in the first preset position, the vertical line passing through the center of gravity of the material-retrieving device 100 and the axis of the rotating shaft 103 are arranged at intervals, and the torque of the material-retrieving device 100 under the action of gravity makes the material-retrieving device 100 have a tendency to move toward the land side direction.

[0070] The material picking device 100 provided in this embodiment is arranged so that the vertical line passing through the center of gravity of the material picking device 100 is spaced apart from the axis of the rotating shaft 103, so that the material picking device 100 always has a tendency and torque to move toward the front end of the material picking, thereby increasing the pressure of the material picking device 100 on the material 8. The material picking device 100 can use the torque generated by its own gravity to always maintain a tendency to move toward the head of the hopper, which facilitates material picking and reduces energy consumption.

[0071] The material taking device 100 is roughly constructed in a herringbone shape. In the initial position, the center of gravity and the hinge point of the material taking device 100 are not in a straight line, and there is a torque. During the excavation operation, the material taking device 100 can use the torque generated by its own gravity to always maintain the movement trend toward the head of the hopper. If it encounters resistance, such as compacted material 8, the hopper can rely on its own gravity to always keep the head against the compacted material 8, thereby increasing the force to break the compacted material 8 and waiting for the hopper to excavate the material 8 in front before continuing to move forward, thereby improving the material taking efficiency and reducing additional force. The material taking device 100 can even use its own gravity to complete the material taking without additional force, thereby reducing energy consumption.

[0072] Specifically, the driving unit includes:

[0073] Driving motor 101;

[0074] The driving sprocket 102 has an outer peripheral side that is in contact with the hopper chain 110 . The driving motor 101 is adapted to drive the hopper chain 110 to operate via the driving sprocket 102 .

[0075] Preferably, the output shaft at the end of the driving motor 101 is connected to the driving sprocket 102 after being reduced in speed, and the driving sprocket 102 is located at the upper part of the material taking device 100 .

[0076] Specifically, the rotation axis of the driving sprocket 102 coincides with the axis of the rotating shaft 103 .

[0077] Specifically, the material taking device 100 further includes: two tensioning sprockets 108 , which are arranged along the length direction of the chain bucket arm 104 at one end away from the driving sprocket 102 ;

[0078] The two tensioning sprockets 108 are suitable for stretching the bucket chain 110 and allowing at least a partial area of ​​the bucket chain 110 to form a material taking section 150 suitable for contacting the material 8 .

[0079] The two tensioning sprockets 108 are located at the lower part of the material taking device 100. The two tensioning sprockets 108 can stretch the lower part of the hopper chain 110 so that multiple hoppers can be in an open forward state when running here, thereby facilitating multiple hoppers to take materials at the same time and improving the material taking efficiency.

[0080] Specifically, the material taking device 100 further includes: a tensioning push rod 106 disposed between the two tensioning sprockets 108, adapted to keep the two tensioning sprockets 108 relatively away from each other to tension the bucket chain 110. Thus, the bucket chain 110 is tensioned and the length of the material taking section 150 is maintained.

[0081] Specifically, a lifting section 120 suitable for lifting the material 8 is formed between the end of the material taking section 150 and the driving sprocket 102 .

[0082] It should be noted that the end of the material taking section 150 refers to the end of the hopper chain 110 in the rotation direction of the hopper chain 110, where the hopper chain 110 is in contact with the material 8. Correspondingly, the head end of the material taking section 150 refers to the head end of the hopper chain 110 in the rotation direction of the hopper chain 110, where the hopper chain 110 is in contact with the material 8.

[0083] Preferably, the material lifting section 120 in this embodiment is a straight line section. By setting the material lifting section 120 as a straight line section, the hopper is always kept in a straight line, ensuring that the process of lifting the material 8 is stable.

[0084] Specifically, after the hopper chain 110 passes around the driving sprocket 102 from the end of the lifting section 120, the direction of the opening of the hopper 111 is changed and the unloading is completed;

[0085] A first redirecting sprocket 1051 is provided between the driving sprocket 102 and the head end of the material taking section 150; the hopper chain 110 forms a first descending section 130 between the driving sprocket 102 and the first redirecting sprocket 1051, and forms a second descending section 140 between the first redirecting sprocket 1051 and the head end of the material taking section 150;

[0086] The second descending section 140 is disposed at an angle to the first descending section 130 .

[0087] Preferably, by providing a first redirecting sprocket 1051 between the driving sprocket 102 and the head end of the material picking section 150, the bucket chain 110 forms a first descending section 130 and a second descending section 140, and the second descending section 140 is arranged at an angle to the first descending section 130, so that the overall structure of the bucket chain 110 is roughly herringbone, that is, in the upper part of the material picking device 100, the loaded bucket and the empty bucket are closer, so that the upper structure of the material picking device 100 is smaller, and in the lower part of the material picking device 100, after being redirected by the first redirecting sprocket 1051, the lifting bucket and the lowering bucket will move away from each other, and the lowering bucket will bend at an angle, so that the lower part of the material picking device 100 forms a triangle-like shape, which is convenient for setting the material picking section 150.

[0088] Preferably, by adopting a herringbone feeding device 100, a method of feeding from the front of the bucket mouth edge line with a higher force efficiency ratio is adopted. At the bottom of the herringbone structure, in order to allow the feeding arm to dig the material 8 under the hatch coaming, a feeding section 150 of sufficient length is arranged at the bottom of the feeding device 100, so that the hopper can dig the material 8 at high speed in the ship width direction, and the efficiency is greatly improved.

[0089] The traditional L-shaped reclaiming head sweeps left and right to allow the material 8 to enter the hopper, but the deep and narrow reclaiming device 100 is not easy to unload cleanly when unloading, and this rotary feeding method must use the L-shaped reclaiming device 100 and match it with a deep and narrow hopper to achieve rotary stacking feeding. The reclaiming device 100 provided in this embodiment adopts a front reclaiming head with a herringbone structure. Compared with the traditional chain bucket ship unloader, it has a simpler structure, and the force on the bottom of the entire reclaiming device 100 is more uniform, and the cost is also lower.

[0090] Specifically, a second redirecting sprocket 1052 is disposed between the driving sprocket 102 and the first redirecting sprocket 1051 , and the hopper chain 110 forms a discharge section 160 between the driving sprocket 102 and the second redirecting sprocket 1052 .

[0091] Preferably, a collecting device such as a funnel can be provided at a relatively lower position of the unloading section 160 to facilitate the subsequent transfer of the material 8. By providing the unloading section 160, the interference of the empty hopper moving downward with the full hopper that needs to be unloaded can be reduced, thereby ensuring efficient unloading.

[0092] Preferably, a dustproof cover 107 is provided outside the hopper chain 110 to prevent dust. The hopper is only exposed at the lower part of the material taking device 100.

[0093] Due to the rotary feeding method used by the conventional chain bucket ship unloader, the chain bucket needs to be a deep and narrow bucket to facilitate digging, and the deep and narrow chain bucket is not easy to unload cleanly during unloading. However, the bucket of this embodiment adopts the front feeding method, so the bucket can be set to a wide and shallow bucket, which is convenient for the material 8 to enter and pour out.

[0094] The hopper chain 110 is formed by alternately connecting hoppers 111 and connecting plates 112. Ear plates 114 are provided at both ends of the hopper 111. The ear plates 114 are provided with shaft holes. The connecting plates 112 are also provided with shaft holes. The ear plates 114 and the connecting plates 112 are hinged with pins, so that all the hoppers are connected together to form a hopper chain.

[0095] The reclaiming device 100 of the conventional chain bucket ship unloader adopts chain transmission, 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 method has high requirements on the performance of the chain, and the chain is easy to be damaged and needs to be replaced regularly, which has high maintenance costs.

[0096] Preferably, in the material taking device 100 provided in this embodiment, the hopper back plate 113 of the hopper 111 can directly participate in the transmission, eliminating the traditional chain transmission, using the connecting plate 112 and the hopper back plate for transmission, and using the connecting plate 112 to connect the hoppers together, so that the hopper becomes a part of the transmission. The hopper is not only a working mechanism for digging materials 8, but also participates in the transmission as a part of the hopper chain 110, which increases the force bearing area and improves reliability.

[0097] Preferably, the driving sprocket and the redirecting sprocket act on the connecting plate 112, which is connected to the pin on the back plate, and the connecting plate 112 is outside the hopper, so that it will not interfere with the hopper during driving and redirection. The connecting plate 112 is made of high-strength material to ensure reliability during driving and redirection.

[0098] Preferably, the ship unloader is arranged on the dock foundation 9 and extends to the sea side through the boom 2. Preferably, the material taking device 100 is suitable for extending into the cabin 7 to facilitate the excavation of the material 8.

[0099] Preferably, the material taking device 100 only takes materials in the front direction of the ship width during one movement, and the main loads on the material taking device 100 are all within the plane where the material taking device 100 is located, which is beneficial to extending the life of the equipment and improving the efficiency.

[0100] The specific working process of the ship unloader provided in this embodiment is described in detail below:

[0101] During operation, the drive motor drives the drive sprocket to rotate, and the drive sprocket drives the connecting plate 112 to move, thereby driving the entire hopper chain 110 to rotate. The hopper moves downward from the drive sprocket to the head end of the material taking section, and begins to feed the material from the front of the hopper mouth edge line. The hopper continues to move from the head end of the material taking section to the end of the material taking section. After the hopper moves to the end of the material taking section, it is lifted upward, passes through the lifting section 120, and finally the hopper flips at the drive sprocket to pour out the material 8, completing a working cycle.

[0102] like Figures 9 and 10 The ship unloader in this embodiment also includes a swing mechanism 200, which is flexibly connected to the traction hinge 206 of the material picking device 100; the swing mechanism 200 is suitable for pulling the material picking device 100 so that the material picking device 100 is maintained in the first preset position when not subject to external force; and in the first preset position, the vertical line passing through the center of gravity of the material picking device 100 is spaced apart from the axis of the rotating shaft 103, and the torque of the material picking device under the action of gravity makes the material picking device have a tendency to move toward the land side.

[0103] Specifically, the swing mechanism 200 includes:

[0104] Swing mechanism tensioning cylinder 201;

[0105] A swing mechanism traction rope 202, one end of which is connected to the traction hinge 206, and the other end of which is connected to the swing mechanism tensioning cylinder 201;

[0106] The swing mechanism tensioning cylinder 201 is suitable for facilitating the movement of the material taking device 100 toward the land side when extended, and driving the material taking device 100 to move toward the sea side when contracted.

[0107] One end of the wire rope is connected to the tensioning cylinder 201 of the swing mechanism, and after passing through the fixed pulley block connected to the end of the damping cylinder, the other end is connected to the traction hinge 206 at the bottom of the material taking device 100. The extension and contraction of the tensioning cylinder drives the wire rope to move, thereby pulling the swing of the material taking device 100.

[0108] Preferably, the swing mechanism tensioning cylinder 201 is suitable for actively adjusting the angle of the material taking device 100 as needed. Preferably, when the material taking device 100 is subjected to an external force, the swing mechanism tensioning cylinder 201 does not extend or contract with the movement.

[0109] Preferably, the material taking device 100 is installed on the arm 2. Specifically, the material taking device 100 is hingedly connected to the arm 2 via a rotating shaft 103, so that the material taking device 100 can swing relative to the arm 2 around the rotating shaft 103. Figure 6As shown, the upper part of the material-retrieving device 100 is hingedly connected to the rotating shaft 103, so that the material-retrieving device 100 is suitable for swinging around the rotating shaft 103. A traction hinge 206 is provided in the middle or lower middle part of the material-retrieving device 100, and the swing mechanism 200 is flexibly connected to the traction hinge 206, specifically, it can be connected to the traction hinge 206 through the swing mechanism traction rope 202, so that the material-retrieving device 100 is maintained in the first preset position when not subjected to external force; in the first preset position, the vertical line passing through the center of gravity of the material-retrieving device 100 is spaced from the axis of the rotating shaft 103, and the moment of the material-retrieving device under the action of gravity makes the material-retrieving device have a tendency to move toward the land side. Under the action of its own gravity, the material-retrieving device has a tendency to move around the rotating shaft 103 and toward the land side.

[0110] It should be noted that the vertical line passing through the center of gravity of the material picking device is spaced apart from the axis of the rotating shaft 103, which means that the vertical line passing through the center of gravity of the material picking device does not pass through the axis of the rotating shaft 103, that is, the axis of the rotating shaft 103 and the center of gravity of the material picking device are not on the same straight line in the vertical direction.

[0111] The swing mechanism 200 provides traction to the material taking device 100, so that the material taking device 100 is maintained at the first preset position when not subject to external force. At this position, there is always a torque toward the land side, and this torque is balanced by the pulling force of the swing mechanism 200. When the material taking device 100 moves from the sea side to the land side, relying on the gravity of the material taking device 100 weighing tens of tons, the material taking device 100 can always be pushed to the front end of the movement direction, which is convenient for the hopper to dig the material 8 from the front, even if the material taking encounters certain resistance, it can be overcome. When the material taking device 100 moves from the land side to the sea side, relying on the pulling force of the traction wire rope, the posture of the material taking device 100 is always kept stable.

[0112] When the cabin 7 suddenly encounters a surge, in the direction of the ship width, if the force exerted by the surge on the ship and the material-removing device 100 is toward the sea side, the material-removing device 100 will tend to swing clockwise. At this time, the force of the surge applied to the material-removing device 100 will only reduce the tension of the wire rope. If the torque of the surge force on the rotating shaft 103 exceeds the torque of the gravity on the rotating shaft 103, the material-removing device 100 will swing slightly in the clockwise direction to convert the surge force into a swing, thereby avoiding the force being transmitted to the ship unloader structure. If the force exerted by the surge on the ship and the reclaiming device 100 is in the landward direction, the reclaiming device 100 is subject to the reclaiming resistance, gravity and wire rope tension, and is suddenly subjected to the force of the surge, which will rapidly increase the wire rope tension. At this time, the force exerted on the pulley at the end of the damping cylinder will also rapidly increase. When the threshold is exceeded, the damping cylinder is released, the wire rope length increases, and the reclaiming device 100 swings counterclockwise to reach a new equilibrium state. The force exerted on the reclaiming device 100 during the surge is converted 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.

[0113] The swinging material-grabbing assembly provided in the present embodiment pulls the material-grabbing device 100 by the swinging mechanism 200, so that the material-grabbing device 100 is maintained in the first preset position when not subjected to external force; and in the first preset position, the vertical line passing through the center of gravity of the material-grabbing device 100 is spaced apart from the axis of the rotating shaft 103, and the torque of the material-grabbing device under the action of gravity makes the material-grabbing device have a tendency to move toward the land side; thereby, the material-grabbing device can utilize the torque generated by its own gravity to assist in material-grabbing, while avoiding the impact of the material 8 moving with the ship under the action of surge on the material-grabbing arm, avoiding the impact force from being transmitted to the structure of the ship unloader, and ensuring the safety and reliability of the structure.

[0114] Specifically, the swing mechanism 200 further includes:

[0115] The swing mechanism redirection pulley 203 is arranged between the swing mechanism tensioning cylinder 201 and the traction hinge 206 , and is in sliding contact with the swing mechanism traction rope 202 .

[0116] Specifically, the swing mechanism 200 further includes:

[0117] Swing mechanism damping cylinder 204;

[0118] A 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;

[0119] The damping pulley 205 is disposed between the swing mechanism redirecting pulley 203 and the traction hinge 206;

[0120] The rocking mechanism damping cylinder 204 is adapted to extend when the moment applied to the material taking device 100 in the landward direction is greater than a preset threshold, and to contract when the material taking device 100 is applied to the seaward direction.

[0121] Preferably, the swing mechanism damping cylinder 204 can follow the extension amount according to the external force applied to the material taking device 100, thereby adjusting the angle of the material taking device 100. If the material taking device 100 is subjected to a torque in the landward direction, the material taking 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 of the swing mechanism damping cylinder 204, the swing mechanism damping cylinder 204 extends; if the material taking device 100 is subjected to a torque in the seaward direction, the material taking device 100 reduces the force applied to the swing mechanism traction rope 202, thereby causing the damping cylinder to contract.

[0122] When a surge occurs, the swing mechanism damping oil cylinder 204 extends or contracts according to the force direction. When the surge ends, the force on the swing mechanism traction rope 202 is restored to the state before the surge, and the extension of the swing mechanism damping oil cylinder 204 will be restored to the state before the surge, and the angle of the material picking device 100 will also be restored to the state before the surge. The swing material picking assembly provided in this embodiment is provided with a swing mechanism damping oil cylinder 204, and extends when the material picking device 100 is subjected to a torque in the landward direction, and contracts when the material picking device 100 is subjected to a torque in the seaward direction; thus, the length of the swing mechanism traction rope 202 can be adjusted automatically according to the force condition of the material picking device 100, so that the material picking device 100 can quickly reach a new equilibrium state after being subjected to force, and ensure that the force applied to the material picking device 100 during the surge is converted into the swinging action of the material picking device 100, and will not act on the structure of the chain bucket ship unloader, thereby ensuring the safety of the structure under the surge.

[0123] Specifically, the rocking mechanism tensioning cylinder 201 is suitable for extending and retracting in the horizontal direction.

[0124] Specifically, the rocking mechanism damping cylinder 204 is suitable for extending and retracting in the horizontal direction.

[0125] Optionally, the stroke of the tensioning cylinder of the rocking mechanism is greater than the stroke of the damping cylinder of the rocking mechanism.

[0126] Preferably, the force threshold of the swing mechanism tensioning cylinder 201 is greater than the force threshold of the swing mechanism damping cylinder 204 , so that the reaction of the swing mechanism tensioning cylinder 201 when subjected to force is slower than that of the swing mechanism damping cylinder 204 .

[0127] The swing mechanism tensioning cylinder 201 has a large stroke and a slow response; the swing mechanism damping cylinder 204 has a small stroke and a fast response.

[0128] Specifically, the contraction of the tensioning cylinder 201 of the swing mechanism is suitable for increasing the angle between the axis of the material taking device 100 along its length direction and the vertical direction;

[0129] The elongation of the tensioning cylinder 201 of the rocking mechanism is suitable for reducing the angle between the axis of the material taking device 100 along its length direction and the vertical direction.

[0130] Since a coaming is provided at the hatch of the cabin 7, the material 8 below the coaming is difficult to be taken out when the material taking device 100 is in the normal operating position. Therefore, the swing material taking assembly provided in this embodiment can also drive the material taking device 100 to adjust the angle as needed.

[0131] Under normal working conditions, the material taking device 100 is at an angle of the first swing state 210. When the material taking device needs to be adjusted from the first swing state 210 to the second swing state 220, the swing mechanism tensioning cylinder 201 extends, and the material taking device 100 can be adjusted to the second swing state 220 under the action of gravity torque. When it is necessary to adjust from the first swing state 210 to the third swing state 230, the swing mechanism tensioning cylinder 201 retracts, and the wire rope pulls the material taking device 100 to adjust to the third swing state 230. By adjusting different postures, it is convenient to empty the leftover materials 8 in the cabin 7 and reduce the amount of cabin cleaning.

[0132] The swing material taking assembly provided in this embodiment can drive the material taking device to swing slightly around the rotating shaft 103 by extending and retracting the swing mechanism tensioning cylinder 201, thereby changing the angle between the axis of the material taking device 100 along its length direction and the vertical direction, adjusting the posture of the material taking device, and making the material taking device swing to a certain angle, so as to facilitate entering the corner of the cabin to dig materials 8. Reduce the amount of cabin cleaning and improve the actual use efficiency.

[0133] Specifically, the material taking device 100 is provided with a hopper chain 110 formed by multiple hoppers 111 connected end to end in sequence. The force direction of the hopper chain 110 when digging materials 8 is parallel to the rotation plane of the material taking device 100, and the opening direction of the hopper chain 110 when digging materials 8 is toward the sea side.

[0134] Preferably, the material taking device only takes material in the front direction of the ship width in one movement, and the main loads on the material taking device are within the plane where the material taking device is located, which is beneficial to extending the life of the equipment and improving the efficiency.

[0135] This embodiment also provides a control method for a ship unloader, wherein the slewing device 3 drives the arm 2 to slew, driving the material taking device to generate a fan-shaped displacement, and the arm 2 pauses for a preset time T each time it rotates a preset angle α, and the material taking device takes material within the preset time T. The slewing device 3 pauses for a preset time T each time it rotates a preset angle α, and the material taking device always keeps the front feeding of the hopper within the preset time T, so that the feeding effect is good.

[0136] The control method of the ship unloader in this embodiment specifically includes the following steps:

[0137] S1, the rotating device 3 drives the arm 2 to rotate in sequence along the first direction relative to the gate seat 1 by a preset angle α, then pauses for a preset time T, and controls the material taking device to take materials within the preset time T;

[0138] S2, after the material taking device rotates in a fan shape from one end close to the land side to the other end close to the land side according to step S1, the walking mechanism 5 moves a preset distance L in the second direction;

[0139] S3, after the slewing device 3 drives the arm 2 to rotate in sequence along the third direction relative to the gate seat 1 by the preset angle α, it pauses for the preset time T and controls the material taking device to take the material within the preset time T;

[0140] S4, after the material taking device rotates in a fan shape from one end close to the land side to the other end close to the land side according to step S3, the walking mechanism 5 moves the preset distance L along the second direction;

[0141] S5, looping through steps S1 to S4 in sequence, until the walking mechanism 5 moves to the first land limit position, then controlling the pitch device 4 to drive the material picking device to descend to a preset height H, looping through and reversely executing steps S1 to S4; until the walking mechanism 5 moves to the second land limit position, then controlling the pitch device 4 to drive the material picking device to descend to the preset height H, and continuing to loop through steps S1 to S4.

[0142] One of the first direction and the third direction is a clockwise direction, and the other is a counterclockwise direction. The second direction is the ship's length direction, that is, the traveling direction of the traveling mechanism 5 .

[0143] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A ship unloader, characterized in that: include: Door seat (1); An arm (2) connected above the door seat (1); A rotating device (3), arranged on the door seat (1), suitable for driving the arm frame (2) to rotate relative to the door seat (1); A pitch device (4) adapted to drive the arm (2) to pitch relative to a horizontal line; A material taking device (100) is connected to one end of the arm (2), and comprises a chain bucket arm (104), a bucket chain (110), a driving unit and a rotating shaft (103); the bucket chain (110) is formed by a plurality of buckets (111) connected end to end in sequence, and the bucket chain (110) is arranged around the outer peripheral side of the chain bucket arm (104); the driving unit is suitable for driving the bucket chain (110) to rotate relative to the chain bucket arm (104); the rotating shaft (103) is hingedly connected to the chain bucket arm (104), and the chain bucket arm (104) is suitable for swinging around the rotating shaft (103); the force direction of the bucket chain (110) when digging materials (8) is parallel to the rotating plane of the chain bucket arm (104); The rotating device (3) comprises: A first rotating structure (31), arranged on the door seat (1), comprising a first rotating gear; A second rotating structure (32), connected to the arm (2), comprising a second rotating gear, the second rotating gear meshing with the first rotating gear; A rotary drive structure (33), arranged on the door seat (1) and connected to the first rotary structure (31), suitable for driving the first rotary gear to rotate; The pitch device (4) comprises: A pitch seat (41) is fixedly connected to the top of the rotating device (3), and the top end is hinged to the pitch hinge point (42) of the arm (2); A pitch driving structure (43) is hinged on the arm (2) and is spaced apart from the pitch hinge point (42); a power output end of the pitch driving structure (43) is hinged to a lower side of the pitch seat (41); Also included is a conveying device, comprising: A first conveying mechanism, arranged on the arm (2), one end of which is connected to the material taking device (100); A first hopper, arranged on the arm (2), comprising a first feed port and a first discharge port, wherein the first feed port is connected to the other end of the first conveying mechanism; A second conveying mechanism (61) is arranged on the gate seat (1), with one end located below the first discharge port; A second hopper (62) is arranged on the gate seat (1), comprising a second feed port and a second discharge port, wherein the second feed port is connected to the other end of the second conveying mechanism (61); A third conveying mechanism (63) is arranged on land and is located below the second discharge port; It also includes a swing mechanism (200) flexibly connected to the traction hinge (206) of the material-retrieving device (100); the swing mechanism (200) is suitable for towing the material-retrieving device (100) so that the material-retrieving device (100) is maintained at a first preset position when not subjected to external force; and when in the first preset position, a vertical line passing through the center of gravity of the material-retrieving device (100) is spaced from the axis of the rotary shaft (103), and the torque of the material-retrieving device (100) under the action of gravity causes the material-retrieving device (100) to have a tendency to move toward the land side direction; The swing mechanism (200) comprises: Swing mechanism tensioning cylinder (201); A swing mechanism traction rope (202), one end of which is connected to the traction hinge (206), and the other end of which is connected to the swing mechanism tensioning cylinder (201); The swing mechanism tensioning cylinder (201) is suitable for facilitating the movement of the material taking device (100) towards the land side when extended, and for driving the material taking device (100) to move towards the sea side when contracted.

2. The ship unloader according to claim 1, characterized in that: One of the first rotating gear and the second rotating gear is an internal gear, and the other is an external gear.

3. The ship unloader according to claim 1 or 2, characterized in that: The arm (2) comprises a front beam (21) and a rear beam (22); the front beam (21) is located between the material taking device (100) and the pitch hinge (42); and a balancing piece (23) is provided on the end of the rear beam (22) away from the pitch hinge (42).

4. The ship unloader according to claim 1 or 2, characterized in that: The conveying device is connected to the material taking device (100) and is suitable for conveying the material (8) excavated by the material taking device (100) to land.

5. A control method for a ship unloader according to any one of claims 1 to 4, characterized in that: The rotating device (3) drives the arm (2) to rotate, thereby driving the material picking device (100) to generate a fan-shaped displacement, and pauses for a preset time T after each rotation of the arm (2) by a preset angle α, and the material picking device (100) picks up materials within the preset time T.

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