A ship unloader protection device and a ship unloader

Abstract

The application provides a ship unloader protection device and a ship unloader, and relates to the technical field of ship unloader machinery. The ship unloader protection device comprises a plurality of anti-overturning devices and a protective material taking device. The plurality of anti-overturning devices are installed at the bottom of a horizontal rotating device. The anti-overturning devices are connected with a carrying platform through the control of a second driving motor. The horizontal rotating device moves on the carrying platform through a track traveling device. The carrying platform is fixedly connected with the ground. The application introduces the anti-overturning device, further improves the stability and safety of the ship unloader, and effectively transfers the material to the ship unloader through the protective material taking device. The protective material taking device has the functions of preventing the material (mainly coal) from flying in the transfer process and reducing vibration in the material taking process.

Description

Technical Field

[0001] This invention relates to the field of ship unloader mechanical technology, specifically to a ship unloader protection device and a ship unloader. Background Technology

[0002] Ship unloaders are large pieces of equipment used for unloading cargo (especially bulk cargo), and are widely used in logistics fields such as ports, docks, and shipyards. Ship unloaders have high operating efficiency, capable of quickly unloading large quantities of cargo from ship holds, improving the efficiency of logistics transportation and playing a vital role in the development of the modern logistics industry. However, due to the complex and changing environment and heavy loads encountered during operation, ship unloaders also pose some potential safety hazards. Therefore, the research and application of protective devices for ship unloaders have become important safeguards to ensure their safe and stable operation.

[0003] Existing ship unloaders (such as CN210393006U) typically have the following problems:

[0004] 1. Ship unloaders need to work in complex and ever-changing environments, are prone to tipping over, and lack devices to prevent them from tipping over;

[0005] 2. The material handling device lacks protective functions and its function can be easily affected by collisions. Summary of the Invention

[0006] The present invention provides a ship unloader protection device and a ship unloader, which solves at least one of the technical problems mentioned in the background art.

[0007] To solve the above-mentioned technical problems, the present invention discloses a ship unloader protection device, including a plurality of anti-tipping devices, which are installed at the bottom of a horizontal rotating device. The anti-tipping devices are connected to the mounting platform by controlling a second drive motor. The horizontal rotating device travels on the mounting platform via a tracked traveling device, and the mounting platform is fixedly connected to the ground.

[0008] Preferably, the anti-tipping device includes an anti-tipping device housing, a mounting platform having a vertical through hole for the lower part of the anti-tipping device housing to pass through, and a plurality of lifting racks being provided on the upper outer side of the anti-tipping device housing; the lifting racks mesh with a second gear, and the second gear is fixedly connected to the output shaft of the lifting motor through a reducer; the lifting motor is fixed on the bottom surface inside the horizontal rotating device; a plurality of upper support pins and a plurality of lower support pins are arranged at intervals along the periphery of the anti-tipping device housing, and the anti-tipping device housing is hinged to the upper ends of the upper support pins and the lower ends of the lower support pins.

[0009] Preferably, the anti-tipping device further includes: a second drive motor and two vertically symmetrical first bevel gears; the second drive motor is installed at the top of the housing of the anti-tipping device; the output end of the second drive motor is fixed to the first bevel gears via a second support shaft and a transmission shaft; the two vertical first bevel gears are fixed together by a third support shaft.

[0010] Two sets of symmetrical connection structures are provided, each set connected to two first bevel gears. Each set of connection structures includes several sets of connection components, which are arranged at intervals along the circumference of the third support shaft. Each connection component includes a second bevel gear meshing with one side of the first bevel gear. The second bevel gear is fixedly connected to one end of a threaded shaft, and the other end of the threaded shaft is connected to the outer shell of the anti-tipping device through a bearing seat. The threaded shaft is helically connected to a threaded transfer disc, and the outer surface of the threaded transfer disc is rigidly connected to one end of an L-shaped moving rod. The other end of the upper L-shaped moving rod is movably hinged to the inner side of the upper support pin, and the other end of the lower L-shaped moving rod is movably hinged to the inner side of the lower support pin.

[0011] The thrust bearing is installed at the bottom of the anti-tipping device housing via a support column; the end of the support column away from the thrust bearing is connected to the first bevel gear below via a key; the thrust bearing is reinforced and fixed to the inner wall of the anti-tipping device housing via a third fixing strip.

[0012] Preferably, it also includes a protective material handling device. The second robotic arm is connected to the rotating end of the horizontal rotating device via a connecting device. The protective material handling device includes: a dustproof shell, which is connected to the working end of the second robotic arm. The dustproof shell is wider at the top and narrower at the bottom. The inner side of the wider section of the dustproof shell is fixed to the drive motor placement box via several first fixing strips. The drive motor is placed inside the drive motor placement box. The output end of the drive motor is fixedly connected to the screw via the drive motor placement box and a coupling. A spiral transport strip is spirally wound and rigidly connected to the screw. The screw is fixed to the cleaning rod near the drive motor placement box via a second fixing strip. The cleaning rod is completely fitted to the inner side of the dustproof shell.

[0013] Preferably, the protective material handling device further includes:

[0014] A fixed ring is connected to the upper part of the dustproof shell; a plurality of first protective strips are arranged at intervals along the periphery of the fixed ring, and the first protective strips slide through the limiting ring provided on the fixed ring; a rack segment is provided at the upper end of the first protective strip near the dustproof shell, and the rack segment meshes with a first gear; the first gear is connected to the output end of a first drive motor through a reducer; the first drive motor is fixed on the fixed ring.

[0015] The lower end of the first protective strip is rigidly connected to the second protective strip; a second hinge seat is installed on the side of the second protective strip away from the dustproof shell, and one end of the second connecting rod is hinged to the second protective strip through the second hinge seat; the other end of the second connecting rod is hinged to one end of the third connecting rod; the other end of the third connecting rod is hinged to the third hinge seat provided on the third protective strip; the upper end of the third protective strip is hinged to the end of the second protective strip away from the first protective strip.

[0016] Preferably, a shock-absorbing disc is installed at the end of the third protective strip. The shock-absorbing disc includes: a support disc, which is fixedly connected to the third protective strip via a fixing post; a plurality of first grooves are provided on the support disc, and the bottom of the first grooves is fixedly connected to a first spring; the other end of the first spring is fixedly connected to a first limiting disc; the first limiting disc is rigidly connected to a first support shaft, which passes through the first limiting disc and extends into the first spring; the other end of the first support shaft is rigidly connected to a shock-absorbing arc surface; the periphery of the first support shaft is hinged to one end of a plurality of fourth connecting rods via a plurality of fourth hinge seats; the other end of the fourth connecting rod is hinged to a first hinge seat; the bottom surface of the first hinge seat is rigidly connected to a second limiting disc; the second limiting disc is slidably connected to a sliding groove provided on the inner side of the shock-absorbing base; the shock-absorbing base is fixed to a side plate, and the side plate is fixed to the surface of the support disc; a second spring is installed inside the shock-absorbing base, and the second spring is fixed to the second limiting disc and the shock-absorbing base respectively.

[0017] A ship unloader includes a protective device and a control room. The control room and a horizontal rotating device are mounted on top of the tracked traveling device. A vertical transport device is mounted on top of the horizontal rotating device for transporting materials. A through-slot is formed in the upper part of the vertical transport device, and a horizontal telescopic device is installed in the through-slot. A fixed column is mounted on top of the vertical transport device, and the fixed column is fixedly connected to the horizontal telescopic device via several fixed ropes. The horizontal telescopic device is fixedly installed with the horizontal transport device, which passes through the through-slot in the upper part of the vertical transport device. One end of the horizontal transport device is fixedly connected to a limit box, and the other end of the horizontal transport device is hinged to a first robotic arm via a servo motor. The end of the first robotic arm away from the horizontal transport device is hinged to a second robotic arm via a servo motor.

[0018] Preferably, it also includes a plurality of conveying pipes, which are respectively installed in the second robotic arm, the first robotic arm, the horizontal conveying device, the vertical conveying device, and the horizontal rotating device. At the same time, the conveying pipes in the second robotic arm, the first robotic arm, the horizontal conveying device, the vertical conveying device, and the horizontal rotating device are sequentially connected. The inlet end of the conveying pipe of the second robotic arm is connected to the outlet end of the protective material handling device. An external material conveying device is placed on the side of the horizontal rotating device, and the material is transported to the external material conveying device through the conveying pipe in the horizontal rotating device.

[0019] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0020] The accompanying drawings are provided to further illustrate the invention and form part of the specification. They are used in conjunction with embodiments of the invention to explain the invention and do not constitute a limitation thereof. In the drawings:

[0021] Figure 1 This is a schematic diagram of the overall structure of the present invention;

[0022] Figure 2 This is a cross-sectional view of the protective material handling device of the present invention;

[0023] Figure 3 This is a schematic diagram of the top structure of the protective material handling device of the present invention;

[0024] Figure 4 This is a schematic diagram of the internal structure of the first protective strip in the protective material handling device of the present invention;

[0025] Figure 5 This is a cross-sectional view of the shock-absorbing disc in the protective material handling device of the present invention;

[0026] Figure 6 for Figure 5 A magnified structural diagram of region A in the diagram;

[0027] Figure 7 This is a cross-sectional view of the anti-tipping device of the present invention;

[0028] Figure 8 for Figure 7 A magnified structural diagram of region B in the diagram.

[0029] In the diagram: 1. Platform; 2. Tracked travel device; 3. Horizontal rotation device; 4. Control room; 5. Vertical transport device; 6. Limit box; 7. Fixed column; 8. Fixed rope; 9. Horizontal telescopic device; 10. Horizontal transport device; 11. First robotic arm; 12. Second robotic arm; 13. Protective material handling device; 1301. Threaded section; 1302. Dustproof shell; 1303. Fixing ring; 1304. Clamping ring; 1305. Clamping stud; 1306. First drive motor; 1307. 1308. First gear; 1309. First protective strip; 1310. Second protective strip; 1311. Third protective strip; 1312. First connecting rod; 1313. Third connecting rod; 1314. Drive motor housing box; 1315. First fixing strip; 1316. Screw; 1317. Spiral conveyor strip; 1318. Pneumatic cylinder; 1319. First pneumatic push rod; 1320. Second pneumatic push rod; 1321. Shock-absorbing spring; 1322. Shock-absorbing disc; 1323. Support 1324. Support disc; 1325. Shock-absorbing arc surface; 1326. First support shaft; 1327. First limiting disc; 1328. First spring; 1329. Side plate; 1320. Fourth connecting rod; 1331. First hinge seat; 1332. Second limiting disc; 1333. Second spring; 1334. Shock-absorbing base; 1335. Cleaning rod; 14. Second fixing bar; 15. Anti-tipping device; 1401. Lifting motor; 1402. Second gear; 1403. Lifting rack; 1404. 1405. Anti-tipping device housing; 1406. Upper support pin; 1407. Lower support pin; 1408. Third fixing bar; 1409. Thrust bearing; 1410. Support column; 1411. Second drive motor; 1412. Second support shaft; 1413. Transmission shaft; 1414. First bevel gear; 1415. Second bevel gear; 1416. Third support shaft; 1417. Threaded shaft; 1418. Threaded transfer disc; 1419. L-shaped moving rod; 1410. Bearing seat; 15. Vertical through hole. Detailed Implementation

[0030] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0031] Furthermore, in this invention, the use of terms such as "first" and "second" is for descriptive purposes only and does not specifically refer to any order or sequence, nor is it intended to limit the invention. They are merely used to distinguish components or operations described using the same technical terms and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the technical solutions and features of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. If a combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0032] The present invention provides the following embodiments.

[0033] Example 1

[0034] This invention provides a protective device for a ship unloader, such as... Figure 1 , Figures 7-8 As shown, it includes several anti-tipping devices 14, which are installed at the bottom of the horizontal rotating device 3. The anti-tipping devices 14 are connected to the platform 1 by controlling the second drive motor 1410. The horizontal rotating device 3 travels on the platform 1 via the tracked traveling device 2, and the platform 1 is fixedly connected to the ground.

[0035] Preferably, the anti-tipping device 14 includes an anti-tipping device housing 1404. The mounting platform 1 is provided with a vertical through hole 15 for the lower part of the anti-tipping device housing 1404 to pass through. A plurality of lifting racks 1403 are provided on the upper outer side of the anti-tipping device housing 1404. The lifting racks 1403 mesh with a second gear 1402. The second gear 1402 is fixedly connected to the output shaft of the lifting motor 1401 through a reducer. The lifting motor 1401 is fixed on the bottom surface inside the horizontal rotating device 3. A plurality of upper support pins 1405 and a plurality of lower support pins 1406 are arranged at intervals along the periphery of the anti-tipping device housing 1404. The anti-tipping device housing 1404 is hinged to the upper end of the upper support pins 1405 and the lower end of the lower support pins 1406. Preferably, a second groove is provided on the side of the anti-tipping device housing 1404 at the positions corresponding to the upper support pin 1405 and the lower support pin 1406, and the upper support pin 1405 and the lower support pin 1406 can be inserted into the second groove.

[0036] The anti-tipping device 14 further includes: a second drive motor 1410 and two vertically symmetrical first bevel gears 1413. The second drive motor 1410 is installed at the top of the housing 1404 of the anti-tipping device. The output end of the second drive motor 1410 is fixed to the first bevel gears 1413 through a second support shaft 1411 and a transmission shaft 1412. The two upper and lower first bevel gears 1413 are fixed together by a third support shaft 1415.

[0037] Two sets of symmetrical connection structures are provided, each connected to two first bevel gears 1413. Each connection structure includes several sets of connection components, which are spaced apart along the circumference of the third support shaft 1415. Each connection component includes a second bevel gear 1414, which meshes with one side of the first bevel gear 1413. The second bevel gear 1414 is fixedly connected to one end of a threaded shaft 1416, and the other end of the threaded shaft 1416 is connected to the anti-tipping device housing 1404 via a bearing seat 1419. The threaded shaft 1416 is helically connected to a threaded transfer plate 1417, and the outer surface of the threaded transfer plate 1417 is rigidly connected to one end of an L-shaped moving rod 1418. The other end of the upper L-shaped moving rod 1418 is movably hinged to the inner side of the upper support pin 1405, and the other end of the lower L-shaped moving rod 1418 is movably hinged to the inner side of the lower support pin 1406.

[0038] The thrust bearing 1408 is installed at the bottom of the anti-tipping device housing 1404 via a support column 1409; the end of the support column 1409 away from the thrust bearing 1408 is connected to the first bevel gear 1413 below via a key; the thrust bearing 1408 is reinforced and fixed to the inner wall of the anti-tipping device housing 1404 via a third fixing strip 1407.

[0039] The working principle and beneficial effects of the above technical solution are as follows:

[0040] 1. The anti-tipping device 14 effectively improves the stability and safety of the ship unloader. The anti-tipping device 14 is located at the bottom of the horizontal rotating device 3 and can be fixed to the platform 1 by controlling the second drive motor 1410, which helps to prevent the ship unloader from tipping over during operation;

[0041] 2. The anti-tipping device housing 1404 is hinged to the upper support pin 1405 and the lower support pin 1406. When the anti-tipping device 14 is at rest, the upper support pin 1405 and the lower support pin 1406 are embedded in the second groove on the anti-tipping device housing 1404. When the ship unloader is working, the second drive motor 1410 drives the first bevel gear 1413 and the second bevel gear 1414, causing the threaded shaft 1416 to rotate and the threaded transfer plate 1417 and the L-shaped moving rod 1418 to move horizontally, thereby pushing out the upper support pin 1405 and the lower support pin 1406, so that the anti-tipping device 14 is stuck in the middle of the mounting platform 1, thereby enhancing the structural stability of the ship unloader and effectively preventing the ship unloader from tipping over.

[0042] 3. By controlling devices such as the lifting motor 1401, precise control of the anti-tipping device 14 can be achieved, thereby driving the anti-tipping device 14 to extend when the unloader moves to the loading platform 1. This helps to adjust the working state of the device when needed, ensuring that the anti-tipping device 14 does not affect the movement of the unloader.

[0043] 4. The anti-tipping device 14 incorporates transmission and connection structures, such as the lifting rack 1403, the first bevel gear 1413, and the second bevel gear 1414. This structural innovation enables the anti-tipping device to work collaboratively in multiple ways. When the anti-tipping device 14 extends, the upper support pin 1405 and the lower support pin 1406 are pushed out, saving motion control time and achieving a highly efficient anti-tipping function.

[0044] In summary, by introducing the anti-tipping device 14, the ship unloader protection device further enhances the stability and safety of the ship unloader, and provides benefits such as multiple protections, precise control, and structural innovation, ensuring the reliability and stability of the ship unloader during operation.

[0045] The present invention solves the following problems mentioned in the background art: existing ship unloaders (such as CN210393006U) usually have the following problems: ship unloaders need to work in complex and changeable environments, are prone to overturning, and lack devices to prevent ship unloaders from overturning.

[0046] Example 2, based on Example 1, such as Figure 1-6As shown, it also includes a protective material handling device 13. The second robotic arm 12 is connected to the rotating end of the horizontal rotating device 3 via a connecting device. The protective material handling device 13 includes a dustproof shell 1302, which is connected to the working end of the second robotic arm 12. The dustproof shell 1302 is wider at the top and narrower at the bottom. The inner side of the wider section of the dustproof shell 1302 is fixed to the drive motor housing 1314 by several first fixing strips 1315. The drive motor is placed inside the drive motor housing 1314, and the output end of the drive motor passes through the drive motor housing 1314 and... A coupling is fixedly connected to a screw 1316; a spiral transport strip 1317 is spirally wound and rigidly connected to the screw 1316; the screw 1316 is fixed to a cleaning rod 1334 near the drive motor housing 1314 by a second fixing strip 1335; the cleaning rod 1334 is completely fitted to the inner side of the dustproof shell 1302; preferably, the protective material handling device 13 includes a threaded section 1301, which is threadedly connected to the working end of the second robotic arm 12, and the other end of the threaded section 1301 is rigidly connected to the dustproof shell 1302;

[0047] Preferably, the protective material handling device 13 further includes:

[0048] A fixing ring 1303 is connected to the upper part of the dustproof shell 1302; a plurality of first protective strips 1308 are arranged at intervals along the periphery of the fixing ring 1303, and the first protective strips 1308 slide through the limiting ring provided on the fixing ring 1303; a rack segment is provided on the upper end of the first protective strip 1308 near the dustproof shell 1302, and the rack segment meshes with a first gear 1307; the first gear 1307 is connected to the output end of a first drive motor 1306 through a reducer; the first drive motor 1306 is fixed on the fixing ring 1303.

[0049] The lower end of the first protective strip 1308 is rigidly connected to the second protective strip 1309; a second hinge seat is installed on the side of the second protective strip 1309 away from the dustproof shell 1302, and one end of the second connecting rod 1312 is hinged to the second protective strip 1309 through the second hinge seat; the other end of the second connecting rod 1312 is hinged to one end of the third connecting rod 1313; the other end of the third connecting rod 1313 is hinged to the third hinge seat provided on the third protective strip 1310; the upper end of the third protective strip 1310 is hinged to the end of the second protective strip 1309 away from the first protective strip 1308.

[0050] The working principle and beneficial effects of the above technical solution are as follows: 1. The protective material handling device 13 can effectively transfer materials to the unloader, making the unloader's operation more efficient and automated. At the same time, the cleaning rod 1334 and dustproof shell 1302 inside the device help keep the device clean and reduce the accumulation and contamination of materials (mainly coal);

[0051] 2. The dust cover 1302 can prevent materials (mainly coal) from scattering during the transfer process, thereby reducing environmental pollution; the configuration of the first protective strip 1308, the second protective strip 1309, and the third protective strip 1310 can drive the protective material handling device 13 to protect it when it is close to an obstacle, effectively protecting the normal operation of the equipment and extending the service life of the equipment.

[0052] 3. The use of the first drive motor 1306 and related gear rack device enables the third protective strip 1310 to achieve automatic up and down lifting motion control. When protection is needed, the third protective strip 1310 can be lowered in time for protection. This automatic motion control improves the convenience and stability of the protection operation.

[0053] 4. Through the reasonable combination of components such as screw 1316 and spiral conveyor 1317, the complex movement and control of the device are realized, so that the protective material handling device 13 can efficiently absorb the material to be transported (mainly coal).

[0054] In summary, the protective material handling device 13 of Embodiment 1 has significant beneficial effects in terms of automation, dust prevention, protection, automatic control, structural innovation and vibration reduction design, which can improve the working efficiency of the ship unloader and the reliability of the equipment.

[0055] The present invention solves the following problems mentioned in the background art: existing ship unloaders (such as CN210393006U) usually have the following problems: the material handling device does not have a protective function and the function of the material handling device is easily affected by collision.

[0056] Example 3, based on Example 2, such as Figures 1-6As shown, a shock-absorbing disc 1322 is installed at the end of the third protective strip 1310. The shock-absorbing disc 1322 includes a support disc 1323, which is fixedly connected to the third protective strip 1310 via a fixing post. The support disc 1323 has several first grooves, the bottom of which is fixedly connected to a first spring 1327. The other end of the first spring 1327 is fixedly connected to a first limiting disc 1326. The first limiting disc 1326 is rigidly connected to a first support shaft 1325, which passes through the first limiting disc 1326 and extends into the first spring 1327. The other end of the first support shaft 1325 is connected to a shock-absorbing arc surface. 1324 is rigidly connected; the periphery of the first support shaft 1325 is hinged to one end of several fourth connecting rods 1329 via several fourth hinge seats; the other end of the fourth connecting rod 1329 is hinged to a first hinge seat 1330; the bottom surface of the first hinge seat 1330 is rigidly connected to a second limiting disc 1331; the second limiting disc 1331 is slidably connected to a sliding groove provided on the inner side of the shock-absorbing base 1333; the shock-absorbing base 1333 is fixed on a side plate 1328, and the side plate 1328 is fixed on the surface of the support disc 1323; a second spring 1332 is installed inside the shock-absorbing base 1333, and the second spring 1332 is fixed to the second limiting disc 1331 and the shock-absorbing base 1333 respectively.

[0057] The beneficial effects of the above technical solution are as follows: 1. The dustproof shell 1302 can prevent materials (mainly coal) from scattering during the transfer process, thereby reducing environmental pollution; the configuration of the first protective strip 1308, the second protective strip 1309, the third protective strip 1310 and the shock-absorbing disc 1322 can drive the protective material handling device 13 to protect it when it is close to an obstacle, effectively protecting the normal operation of the equipment and extending the service life of the equipment;

[0058] 2. The damping devices such as the first spring 1327 and the second spring 1332 in the damping disc 1322 can effectively reduce vibration and impact, protect the device and equipment from external forces, ensure the stability and safety of the device, and reduce the risk of accidents.

[0059] Example 4, based on Example 2 or 3, such as Figure 2 and Figure 4As shown, it also includes: a pneumatic cylinder 1318; the first protective strip 1308 is a shell structure; the pneumatic cylinder 1318 is installed inside the upper end of the first protective strip 1308; the bottom end of the pneumatic cylinder 1318 is connected to the first pneumatic push rod 1319; the second pneumatic push rod 1320 is installed inside the first pneumatic push rod 1319; the first pneumatic push rod 1319 and the second pneumatic push rod 1320 are slidably connected; a shock-absorbing spring 1321 is sleeved on the second pneumatic push rod 1320; one end of the shock-absorbing spring 1321 is fixed to a limiting ring provided on the second pneumatic push rod 1320; the other end of the shock-absorbing spring 1321 is fixed to the bottom end of the first pneumatic push rod 1319; the bottom end of the second pneumatic push rod 1320 is hinged to one end of the first connecting rod 1311; the other end of the first connecting rod 1311 is movably hinged to the hinge joint of the second connecting rod 1312 and the third connecting rod 1313.

[0060] The working distance and beneficial effects of the above technical solution are as follows: 1. The use of devices such as pneumatic cylinder 1318, protective strip and connecting rod enables the third protective strip 1310 to realize automatic swing motion control, and can drive the third protective strip 1310 to approach the dust cover 1302 suction port in time when protection is needed, so as to provide more comprehensive protection.

[0061] 2. The introduction of shock-absorbing spring 1321 helps to reduce or suppress vibrations and impacts generated during loading and unloading, thereby improving the stability and smooth operation of the device;

[0062] 3. The design of the first pneumatic push rod 1319 and the second pneumatic push rod 1320, combined with the shock-absorbing spring 1321, can control the displacement amplitude of the second pneumatic push rod 1320 when the pneumatic cylinder 1318 is working, and prevent the device from becoming unstable or out of control due to the second pneumatic push rod 1320 extending or retracting excessively.

[0063] 3. The introduction of the first link 1311, the second link 1312 and the third link 1313 can enhance the structural strength and stability of the device, which helps to withstand greater collision loads during protection and improves the safety and durability of the device;

[0064] In summary, these new components and structures have added many beneficial effects to the ship unloader protection device, such as vibration reduction, structural reinforcement, and safety enhancement, making the ship unloader more stable, safe, and reliable during loading and unloading.

[0065] Example 5, based on any one of Examples 1-4, such as Figure 1As shown, the ship unloader also includes a control room 4. The control room 4 and a horizontal rotating device 3 are mounted on top of the tracked traveling device 2. A vertical transport device 5 is mounted on top of the horizontal rotating device 3 for transporting materials. A through-slot is opened on the upper part of the vertical transport device 5, and a horizontal telescopic device 9 is installed in the through-slot. A fixed column 7 is installed on top of the vertical transport device 5, and the fixed column 7 is fixedly connected to the horizontal telescopic device 9 by several fixed ropes 8. The horizontal telescopic device 9 is fixedly installed with a horizontal transport device 10, which passes through the through-slot opened on the upper part of the vertical transport device 5. One end of the horizontal transport device 10 is fixedly connected to a limit box 6, and the other end of the horizontal transport device 10 is hinged to a first robotic arm 11 via a servo motor. The end of the first robotic arm 11 away from the horizontal transport device 10 is hinged to a second robotic arm 12 via a servo motor. The horizontal rotating device is existing technology.

[0066] It also includes several conveying pipes, which are installed in the second robotic arm 12, the first robotic arm 11, the horizontal conveying device 10, the vertical conveying device 5, and the horizontal rotating device 3, respectively. The conveying pipes in the second robotic arm 12, the first robotic arm 11, the horizontal conveying device 10, the vertical conveying device 5, and the horizontal rotating device 3 are sequentially connected. The inlet end of the conveying pipe of the second robotic arm 12 is connected to the outlet end of the protective material handling device 13. An external material conveying device is placed on the side of the horizontal rotating device 3, and materials are transported to the external material conveying device through the conveying pipes within the horizontal rotating device 3. The horizontal conveying device 10 may include a horizontal rod and a horizontally arranged conveying pipe within the horizontal rod; the vertical conveying device 5 may include a vertical outer shell and a vertically arranged conveying pipe within the vertical outer shell; the horizontal telescopic device 9 may be a telescopic rod, used to drive the horizontal conveying device 10 to move horizontally along a through-slot opened on the upper part of the vertical conveying device 5.

[0067] The beneficial effects of the above technical solution are as follows: 1. The ship unloader of the present invention introduces multiple functional components such as a tracked traveling device 2, a control room 4, a horizontal rotating device 3, a vertical transport device 5, a horizontal telescopic device 9, a horizontal transport device 10, a first robotic arm 11, a second robotic arm 12, and an external material conveying device. This integrated design enables the ship unloader to perform a variety of material handling tasks and improves the overall efficiency of the device.

[0068] 2. The protective material handling device 13 transports materials (mainly coal) from the transport ship to the unloader, and then conveys the materials (mainly coal) to an external material conveying device through the conveying pipes within the second robotic arm 12, the first robotic arm 11, the horizontal conveying device 10, the vertical conveying device 5, and the horizontal rotating device 3, thereby transporting them to the target location. This configuration allows the unloader to efficiently transport materials to the target location, achieving more flexible material handling. This means that the unloader can work in conjunction with other material handling equipment to better meet complex material handling needs and improve the unloader's flexibility.

[0069] 3. The horizontal transport device 10, the horizontal rotation device 3, the first robotic arm 11 and the second robotic arm 12 enable the ship unloader to operate and transport in multiple directions, giving it greater flexibility and adaptability, which helps to adapt to different scenarios and material handling needs.

[0070] In summary, this ship unloader, while achieving anti-tipping functionality, incorporates multiple functional components and structures, realizing beneficial effects such as multi-functional integration, material conveying and transportation, external material handling, and operational flexibility, thereby enhancing the overall performance and application value of the ship unloader.

[0071] Example 6

[0072] Based on Example 5, an anti-rollover control system is also included, which includes:

[0073] Wind speed sensor, which is installed on the top of fixed column 7, is used to detect wind speed;

[0074] A distance sensor is installed on the horizontal telescopic device 9 to detect the extension distance (extension through slot) of the center of gravity of the horizontal transport device 10.

[0075] Automatic controller, which is installed in control room 4;

[0076] First, the automatic controller calculates the overturning torque of the unloader based on the wind speed information detected by the wind speed sensor. Then, the automatic controller calculates the overturning torque of the unloader itself based on the displacement of the end of the horizontal conveyor 10 detected by the distance sensor and the material density. Finally, the automatic controller comprehensively determines whether to control the anti-tipping device 14 to operate based on the obtained overturning torques. The specific control process is as follows:

[0077] Step 1: The automatic controller calculates the overturning torque M1 of the unloader based on the wind speed information v detected in real time by the wind speed sensor.

[0078]

[0079] Where: M1 is the overturning torque of the unloader caused by the wind, η is the wind force coefficient (1≤η≤2), S is the windward area of ​​the unloader, l is the vertical distance from the center of mass of the unloader to the ground, ρ0 is the air density, v is the wind speed detected by the wind speed sensor, ε is the difference coefficient between the maximum windward area of ​​the unloader and the windward area of ​​the vertical transport device 5 as determined by the experiment (0<ε<1), R is the bottom radius of the vertical transport device 5, h0 is the height of the vertical transport device 5; P is the ambient wind pressure.

[0080] Step 2: Based on the horizontal displacement x1 of the end of the horizontal conveying device 10 (the end closest to the material handling device) relative to the center of mass of the unloader, detected by the distance sensor, and the material density, the automatic controller calculates the overturning torque M2 of the unloader itself.

[0081]

[0082] Where: M2 is the overturning torque of the unloader itself on the unloader; G1, G2, G3, and G4 are the weights of the horizontal transport device 10 and its internal conveying pipes, the first robotic arm 11 and its internal conveying pipes, the second robotic arm 12 and its internal conveying pipes, and the protective material handling device 13 and its internal conveying pipes, respectively; ρ is the density of the material (e.g., coal); r1, r2, r3, and r4 are the inner diameters of the conveying pipes in the horizontal transport device 10, the first robotic arm 11, the second robotic arm 12, and the protective material handling device 13, respectively; l1, l2, l3, and l4 are the lengths of the conveying pipes in the horizontal transport device 10, the first robotic arm 11, the second robotic arm 12, and the protective material handling device 13, respectively; g is the acceleration due to gravity; α1, α2, α3, and α4 are the position coefficients of the center of mass of the horizontal transport device 10, the first robotic arm 11, the second robotic arm 12, and the protective material handling device 13 relative to their lengths (0 ≤ α). j <1), θ1, θ2, θ3, and θ4 are the deflection angles of the horizontal transport device 10, the first robotic arm 11, the second robotic arm 12, and the protective material handling device 13 relative to the vertical plane (specifically, θ1 = -90°); π is 3.14; sin is sine;

[0083] Step 3: The automatic controller obtains the comprehensive judgment coefficient σ based on the calculated M1 and M2:

[0084] M3=G(l1-x1)+G′y (3)

[0085] σ=max{M3-(M2+M1cosθ)ln(1+β),G′y-M1 sinθ}-M δ (4)

[0086] Where: M3 is the torque of the main parts of the ship unloader on the ship unloader itself, G is the weight of the limit box 6, G′ is the total weight of the track travel device 2, the horizontal rotation device 3 and the vertical transport device 5, y is the height of the ship unloader's center of gravity above the ground, σ is the comprehensive judgment coefficient, θ is the angle between the wind direction detected by the wind speed sensor and the vertical plane, β is the experimentally determined warning coefficient (greater than 1), M δ The safety torque (greater than 0) is set according to the operating conditions; cos is the cosine.

[0087] Step 4: The automatic controller determines whether to activate the anti-rollover device 14 based on the magnitude of the comprehensive judgment coefficient σ. If σ is greater than 0, the anti-rollover device 14 is activated.

[0088] The beneficial effects of the above technical solution are as follows:

[0089] 1. Wind speed and distance sensors were introduced to monitor environmental factors (such as wind speed) and equipment status (such as the extension distance of the horizontal transport device) in real time, and to calculate the overturning torque of the unloader caused by the wind and the overturning torque of the unloader itself. By comparing the comprehensive judgment coefficient σ, automatic anti-tipping control of the unloader was achieved, greatly improving the safety of the unloader;

[0090] 2. The anti-tipping control system automates the calculation and judgment process through an automatic controller. It performs complex calculations based on real-time sensor data and preset parameters, and intelligently controls the operation of the anti-tipping device 14 based on the calculation results. This intelligent control method improves the operating efficiency and accuracy of the unloader.

[0091] 3. The calculation and judgment process of the anti-tipping control system considers various factors, such as wind speed, center of gravity position, and material density, enabling the ship unloader to make appropriate anti-tipping control decisions under different operating conditions. Simultaneously, a safety torque M, set according to the operating conditions, is introduced. δ This provides sufficient time for driving the anti-tipping device 14, enhancing the device's adaptability and stability in various environments.

[0092] 4. The introduction of an automatic controller and a precise calculation mechanism reduces the degree of human intervention. The system can autonomously determine whether the anti-tipping device 14 needs to be activated, thereby reducing the workload of the operator and reducing the risk of human error.

[0093] In summary, the anti-tipping control system of this ship unloader protection device achieves intelligent and highly adaptable anti-tipping control through the coordinated action of wind speed sensors, distance sensors, and automatic controllers, thereby improving the safety and operational efficiency of the ship unloader.

[0094] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A protective device for a ship unloader, characterized in that: It includes several anti-overturning devices (14), which are installed at the bottom of the horizontal rotating device (3). The anti-overturning devices (14) are connected to the platform (1) by controlling the second drive motor (1410). The horizontal rotating device (3) travels on the platform (1) via the tracked traveling device (2), and the platform (1) is fixedly connected to the ground. The anti-tipping device (14) includes an anti-tipping device housing (1404), and a mounting platform (1) is provided with a vertical through hole (15) for the lower part of the anti-tipping device housing (1404) to pass through. The upper outer side of the anti-tipping device housing (1404) is provided with a plurality of lifting racks (1403); the lifting racks (1403) mesh with the second gear (1402), and the second gear (1402) is fixedly connected to the output shaft of the lifting motor (1401) through a reducer; the lifting motor (1401) is fixed on the bottom surface inside the horizontal rotating device (3); a plurality of upper support pins (1405) and a plurality of lower support pins (1406) are arranged at intervals along the periphery of the anti-tipping device housing (1404), and the anti-tipping device housing (1404) is hinged to the upper end of the upper support pin (1405) and the lower end of the lower support pin (1406); The anti-tipping device (14) further includes: a second drive motor (1410) and two vertically symmetrical first bevel gears (1413). The second drive motor (1410) is installed at the top of the housing (1404) of the anti-tipping device. The output end of the second drive motor (1410) is fixed to the first bevel gears (1413) through a second support shaft (1411) and a transmission shaft (1412). The two vertical first bevel gears (1413) are fixed together by a third support shaft (1415). Two sets of symmetrical connection structures are connected to two first bevel gears (1413) respectively. Each set of connection structures includes several sets of connection components, which are arranged at intervals along the circumference of the third support shaft (1415). The connection components include a second bevel gear (1414), which meshes with one side of the first bevel gear (1413). The second bevel gear (1414) is fixedly connected to one end of the threaded shaft (1416). 416) The other end is connected to the outer shell (1404) of the anti-tipping device via a bearing seat (1419); the threaded shaft (1416) is screwed to the threaded transfer plate (1417), and the outer surface of the threaded transfer plate (1417) is rigidly connected to one end of the L-shaped moving rod (1418); the other end of the upper L-shaped moving rod (1418) is movably hinged to the inner side of the upper support pin (1405), and the other end of the lower L-shaped moving rod (1418) is movably hinged to the inner side of the lower support pin (1406); The thrust bearing (1408) is installed at the bottom of the anti-tipping device housing (1404) via a support column (1409); the end of the support column (1409) away from the thrust bearing (1408) is connected to the first bevel gear (1413) below via a key; the thrust bearing (1408) is reinforced and fixed to the inner wall of the anti-tipping device housing (1404) via a third fixing strip (1407).

2. The ship unloader protection device according to claim 1, characterized in that: It also includes a protective material handling device (13), and the second robotic arm (12) is connected to the rotating end of the horizontal rotating device (3) through a connecting device. The protective material handling device (13) includes: a dustproof shell (1302), which is connected to the working end of the second robotic arm (12). The dustproof shell (1302) is wider at the top and narrower at the bottom. The inner side of the wide section of the dustproof shell (1302) is fixed to the drive motor placement box (1314) by several first fixing strips (1315). The drive motor placement box ( A drive motor is placed inside the drive motor housing (1314). The output end of the drive motor is fixedly connected to the screw (1316) through the drive motor housing (1314) and a coupling. A spiral transport strip (1317) is spirally wound and rigidly connected on the screw (1316). The screw (1316) is fixed to the cleaning rod (1334) near the drive motor housing (1314) through a second fixing strip (1335). The cleaning rod (1334) is completely in contact with the inside of the dustproof shell (1302).

3. The ship unloader protection device according to claim 2, characterized in that: The protective material handling device (13) also includes: A fixing ring (1303) is connected to the upper part of the dustproof shell (1302); a plurality of first protective strips (1308) are arranged at intervals along the periphery of the fixing ring (1303), and the first protective strips (1308) slide through the limiting ring provided on the fixing ring (1303); a rack segment is provided at the upper end of the first protective strip (1308) near the dustproof shell (1302), and the rack segment meshes with the first gear (1307); the first gear (1307) is connected to the output end of the first drive motor (1306) through a reducer; the first drive motor (1306) is fixed on the fixing ring (1303); The lower end of the first protective strip (1308) is rigidly connected to the second protective strip (1309); a second hinge seat is installed on the side of the second protective strip (1309) away from the dust cover (1302), and one end of the second connecting rod (1312) is hinged to the second protective strip (1309) through the second hinge seat; the other end of the second connecting rod (1312) is hinged to one end of the third connecting rod (1313); the other end of the third connecting rod (1313) is hinged to the third hinge seat provided on the third protective strip (1310); the upper end of the third protective strip (1310) is hinged to the end of the second protective strip (1309) away from the first protective strip (1308).

4. The ship unloader protection device according to claim 3, characterized in that: A shock-absorbing disc (1322) is installed at the end of the third protective strip (1310). The shock-absorbing disc (1322) includes a support disc (1323), which is fixedly connected to the third protective strip (1310) via a fixing post. The support disc (1323) has several first grooves, the bottom of which is fixedly connected to a first spring (1327). The other end of the first spring (1327) is fixedly connected to a first limiting disc (1326). The first limiting disc (1326) is rigidly connected to a first support shaft (1325), which passes through the first limiting disc (1326) and extends into the first spring (1327). The other end of the first support shaft (1325) is connected to the shock-absorbing arc surface (1322). 4) Rigid connection; the first support shaft (1325) is hinged to one end of several fourth connecting rods (1329) through several fourth hinge seats; the other end of the fourth connecting rod (1329) is hinged to the first hinge seat (1330); the bottom surface of the first hinge seat (1330) is rigidly connected to the second limiting disc (1331); the second limiting disc (1331) is slidably connected to the sliding groove provided on the inner side of the shock-absorbing base (1333); the shock-absorbing base (1333) is fixed on the side plate (1328), and the side plate (1328) is fixed on the surface of the support disc (1323); the second spring (1332) is installed in the shock-absorbing base (1333), and the second spring (1332) is fixed to the second limiting disc (1331) and the shock-absorbing base (1333) respectively.

5. A ship unloader, comprising a ship unloader protection device as described in any one of claims 1-4, characterized in that: The unloader also includes a control room (4). The control room (4) and a horizontal rotating device (3) are installed on the top of the tracked traveling device (2). A vertical transport device (5) is installed on the top of the horizontal rotating device (3) for transporting materials. A through slot is opened on the upper part of the vertical transport device (5), and a horizontal telescopic device (9) is installed in the through slot. A fixed column (7) is installed on the top of the vertical transport device (5), and the fixed column (7) is fixedly connected to the horizontal telescopic device (9) by several fixed ropes (8). The horizontal telescopic device (9) is fixedly installed with the horizontal transport device (10), and the horizontal transport device (10) passes through the through slot opened on the upper part of the vertical transport device (5). One end of the horizontal transport device (10) is fixedly connected to the limit box (6), and the other end of the horizontal transport device (10) is movably hinged to the first robotic arm (11) by a servo motor. The end of the first robotic arm (11) away from the horizontal transport device (10) is movably hinged to the second robotic arm (12) by a servo motor.

6. A ship unloader according to claim 5, characterized in that: It also includes several material conveying pipes, which are respectively installed in the second robotic arm (12), the first robotic arm (11), the horizontal conveying device (10), the vertical conveying device (5) and the horizontal rotating device (3). At the same time, the material conveying pipes in the second robotic arm (12), the first robotic arm (11), the horizontal conveying device (10), the vertical conveying device (5) and the horizontal rotating device (3) are connected in sequence. The inlet end of the material conveying pipe of the second robotic arm (12) is connected to the outlet end of the protective material handling device (13). An external material conveying device is placed on the side of the horizontal rotating device (3), and the material is transported to the external material conveying device through the material conveying pipe in the horizontal rotating device (3).

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