A spiral ship unloader and discharge control system

Abstract

The present application relates to the technical field of conveying machinery, in particular to a screw type ship unloader and a discharge control system. The screw type ship unloader and the discharge control system adopt the arrangement of a plurality of encoders at key nodes of the screw type ship unloader, change the structure of the screw type ship unloader, and reduce the amount of data to be obtained on the basis of the real-time material surface model and the screw discharge head position data. The setting positions of the plurality of encoders are cooperated with each other to reduce the data compensation to be introduced and the data error caused by relative movement. The control system of the screw type ship unloader adopts the real-time shape data of the material surface in the cabin and the position data of the discharge head moving device and the ship unloader moving device to keep the screw discharge head at the optimal material taking efficiency depth below the material surface.

Description

Technical Field

[0001] This invention relates to the field of conveying machinery technology, specifically to a spiral unloader and its unloading control system. Background Technology

[0002] The prior art CN115027972B describes a screw loader / unloader, comprising a track and a trolley. The track is symmetrically installed on the dock, and the trolley is located on the track. It also includes a discharge chute installed on the trolley's slewing frame; a first discharge outlet is installed on the trolley; a horizontal screw conveyor is installed on the trolley's cantilever, with one end located at the top of the discharge chute; a vertical screw conveyor is installed at the end of the cantilever and connected to the other end of the horizontal screw conveyor; a dustproof device is installed on the vertical screw conveyor; an elevator is installed on the trolley and located on one side of the slewing frame; a loading machine is installed at the bottom of the elevator and connected to the elevator for loading materials; and a loading chute is installed at the top of the elevator, with its discharge end located at one end of the horizontal screw conveyor. The problem with existing technology is that, due to the continuous operation of the auger unloader, the surface of the material in the hold will deform as material is unloaded from the bottom, and the material height will also decrease. At the same time, as the total amount of material in the hold decreases, the hold will rise due to the buoyancy of the hull. Therefore, the optimal unloading depth of the auger unloader will change continuously during the unloading process due to multiple factors. Existing technology cannot keep the auger unloader at the optimal unloading depth at all times. It also cannot prevent the auger unloader from hitting the bottom of the hold when the unloading work is nearing completion, causing damage to the auger unloader and the hold structure, which seriously affects the safety and economy of unloading. Summary of the Invention

[0003] To address the problems of existing technologies, this invention provides a spiral ship unloader and its unloading control system. The spiral ship unloader includes a discharge head moving device and a ship unloader moving device. The discharge head moving device includes a horizontal arm and a vertical arm. At least two scanners are installed at the connection point of the horizontal and vertical arms to scan and obtain morphological data of the material surface in the hold. The spiral ship unloader is equipped with several encoders to acquire positional data of the discharge head moving device and the ship unloader moving device. The spiral ship unloader also includes a spiral discharge head located at the bottom of the vertical arm. The control system uses the morphological data of the material surface in the hold and the positional data of the discharge head moving device and the ship unloader moving device to maintain a stable relative position between the spiral discharge head and the material surface in the hold. Using a scanner to obtain morphological data of the material surface in the hold facilitates real-time calculation and control of the unloading depth of the auger, effectively improving unloading efficiency and preventing the auger from impacting the bottom of the hold near the end of the unloading process, which could damage the auger and hold structure and severely impact unloading safety and economy. The scanner is positioned at the connection between the horizontal and vertical arms, preventing changes in the angle between the vertical and horizontal arms caused by maintaining the vertical arm perpendicular to the ground, thus avoiding interference with the acquisition of material surface morphology data. Maintaining a stable relative position between the unloading head and the material surface ensures efficient unloading, improving operational economy and reducing energy consumption.

[0004] Preferably, the ship unloader's moving device is fixed on a track parallel to the wharf shoreline. The moving device is equipped with a first encoder that acquires the ship unloader's position coordinates. Using a fixed track parallel to the wharf shoreline ensures that the ship unloader's position changes only in a single straight line.

[0005] Preferably, the top of the ship unloader's moving device is equipped with a horizontal arm rotation mechanism, which includes a second encoder. The second encoder is aligned vertically with the first encoder. The second encoder acquires the horizontal arm rotation angle α. A horizontal arm hydraulic rod is located near one end of the horizontal arm rotation mechanism, and the other end of the hydraulic rod is connected to the horizontal arm. By aligning the second and first encoders on the same vertical line, compensation for the horizontal arm rotation angle is avoided due to their relative positions.

[0006] Preferably, the top of the horizontal arm rotation mechanism is equipped with a horizontal arm pitch mechanism, which includes a horizontal arm pitch shaft located on the centerline of the horizontal arm's geometric shape. The horizontal arm pitch mechanism, together with the horizontal arm hydraulic rod, controls the horizontal arm pitch. A third encoder is mounted on the horizontal arm pitch shaft to acquire the horizontal arm pitch angle β. By arranging the horizontal arm pitch shaft, which controls the horizontal arm rotation, on the centerline of the horizontal arm and its geometric shape, and by mounting the third encoder on the horizontal arm pitch shaft, angular errors caused by the positional relationship between the third encoder and the rotation center during the horizontal arm's pitch movement can be effectively avoided.

[0007] Preferably, the horizontal arm has a horizontal arm pitch pivot at one end near the moving device of the ship unloader, and the other end of the horizontal arm is connected to the top of the vertical arm. A fourth encoder is provided at the connection between the horizontal arm and the vertical arm, and the fourth encoder acquires the rotation angle γ of the vertical arm. By placing the fourth encoder at the connection between the horizontal arm and the vertical arm, the rotation angle of the fourth encoder is prevented from being affected by the pitch of the horizontal arm, thus avoiding angular errors.

[0008] A unloading control system for a screw unloader is disclosed. The control system utilizes real-time morphological data of the material surface in the ship hold and positional data of the unloading head moving device and the unloader moving device to maintain the screw unloading head at the optimal material-collecting efficiency depth S below the material surface. The control system uses angle data of the unloading head moving device and positional data of the unloader moving device to obtain the planar coordinates and height coordinates Z1 of the screw unloading head. By combining real-time morphological data of the material surface in the ship hold with the positional data of the screw unloading head through simulation experiments, the optimal material-collecting efficiency depth S of the screw unloading head is obtained. This improves unloading efficiency and prevents the screw unloading head from impacting the bottom of the ship hold near the end of the unloading process, which could damage the screw unloading head and the ship hold structure, severely impacting unloading safety and economy.

[0009] Preferably, the control system uses real-time morphological data of the material surface in the hold obtained by the scanner on the vertical arm to establish a real-time three-dimensional model of the material surface in the hold. Every fixed time interval t, the planar coordinates of the screw unloading head are combined with the real-time three-dimensional model of the material to calculate the optimal material handling efficiency depth S at the planar coordinate position.

[0010] Preferably, the planar coordinates of the screw unloading head correspond to the real-time material three-dimensional model, and the corresponding material surface height value Z2 is obtained. The difference between Z2 and Z1 is equal to S. At this time, the unloading head meets the material handling conditions.

[0011] Preferably, the control system needs to control the movement of the unloading head moving device and the ship unloader moving device at fixed time intervals to keep the planar coordinates of the spiral unloading head unchanged and the material taking depth unchanged.

[0012] Preferably, the control system establishes a three-dimensional coordinate system with the center position of the head of the track on the horizontal plane where the spiral unloader is installed as the origin O, the X direction being parallel to the shoreline of the dock, the Y direction being horizontal and perpendicular to the shoreline of the dock, and the Z direction being perpendicular to the horizontal plane where the dock is located.

[0013] This invention, employing the aforementioned configuration, solves the problems of existing technologies where, due to the continuous operation of the screw unloader, the surface of the material in the hold deforms as material is unloaded from the bottom, causing a decrease in material height. Simultaneously, as the total amount of material in the hold decreases, the hold rises due to buoyancy. Therefore, the optimal unloading depth of the screw unloader changes continuously during the unloading process due to multiple factors. Existing technologies cannot maintain the screw unloader at the optimal unloading depth at all times; nor can they prevent the screw unloader from impacting the bottom of the hold near the end of the unloading process, causing damage to the screw unloader and hold structure, severely impacting unloading safety and economy. This invention offers the following advantages: by arranging several encoders at key nodes of the screw unloader, the structure of the screw unloader is modified, reducing the amount of data required while still obtaining real-time material surface model and screw unloader position data; and by coordinating the positions of several encoders, the need for data compensation is reduced, minimizing data errors caused by relative motion. Attached Figure Description

[0014] Figure 1 This is a schematic diagram of a spiral unloader. Figure 2 A simplified YZ plane schematic diagram of a spiral unloader. Figure 3 A simplified XY plane schematic diagram of the rotation angle of the horizontal arm of a spiral unloader; Figure 4 This is a schematic diagram of the three-dimensional coordinate system of the present invention.

[0015] Legend: Vertical arm 1; Horizontal arm 2; Ship unloader moving device 3; Vertical arm hydraulic rod 4; Horizontal arm hydraulic rod 5; Horizontal arm slewing mechanism 6; Horizontal arm pitching mechanism 7; Scanner 8; Spiral unloading head 9; Ship hold 10; Dock shoreline 11; Track 12; Dock 13. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings.

[0017] Example 1 Combination Figure 1 and Figure 2 As shown, a spiral unloader mainly consists of two parts: a discharge head moving device and a ship unloader moving device 3. The discharge head moving device includes a horizontal arm 2 and a vertical arm 1, which are connected together by a precision mechanical structure. At the connection between the horizontal arm 2 and the vertical arm 1, two scanners 8 are provided to scan the morphological data of the material surface in the hold 10. By scanning the morphological data of the material surface in the hold 10, the scanners 8 can provide precise position information for the spiral discharge head 9, thereby ensuring that the discharge head always maintains a stable relative position with the material surface in the hold 10. This stable relative position is beneficial for controlling the spiral discharge head 9 to the optimal discharge depth, thereby improving the discharge efficiency. The spiral unloader is equipped with four encoders to acquire the position data of the discharge head moving device and the ship unloader moving device 3. The spiral unloader also includes the spiral discharge head 9 located at the bottom of the vertical arm 1. The control system uses the morphological data of the material surface in the hold 10 and the position data of the discharge head moving device and the ship unloader moving device 3 to always maintain a stable relative position between the spiral discharge head 9 and the material surface in the hold 10.

[0018] Furthermore, the scanner 8 helps prevent the auger head 9 from impacting the bottom of the hull 10 near the end of the unloading process. Such an impact could damage the auger head 9 and the hull 10 structure, severely impacting the safety and economy of unloading. The morphological data acquired by the scanner 8 allows for precise adjustments to the auger head 9 during unloading, thus preventing such impacts.

[0019] The screw unloader is also equipped with four encoders to acquire position data of the unloading head moving device and the unloader moving device 3. These encoders provide accurate position information to the control system by monitoring the operating status of the unloader in real time. Based on this information, the control system can achieve precise control of the screw unloading head 9, ensuring the smooth progress of the unloading process.

[0020] The screw unloading head 9, located at the bottom of the vertical arm 1, is the core component of the screw unloader. The control system uses morphological data of the material surface in the hold 10 and positional data of the unloading head moving device and the unloader moving device 3 to maintain a stable relative position between the screw unloading head 9 and the material surface in the hold 10. This design helps ensure the unloading process operates in a highly efficient mode, improving operational economy and reducing energy consumption.

[0021] To maintain the stability of the screw unloader head 9, the unloader's moving device 3 is fixed on a track 12, which is parallel to the wharf shoreline 11. The unloader's moving device 3 is equipped with a first encoder, which acquires the unloader's position coordinates. By using a fixed track parallel to the wharf shoreline 11, the screw unloader's position changes only in a single straight line. This configuration ensures that the screw unloader's position changes only in a single straight line during operation, achieving efficient, stable, and safe unloading.

[0022] The top of the ship unloader moving device 3 is equipped with a horizontal arm rotation mechanism 6. The horizontal arm rotation mechanism 6 has a second encoder, which is on the same vertical line as the first encoder. The second encoder acquires the rotation angle α of the horizontal arm 2. Figure 3 As shown, the horizontal arm rotation mechanism 6 has a horizontal arm hydraulic rod 5 near one end of the vertical arm 1, and the other end of the horizontal arm hydraulic rod 5 is connected to the horizontal arm 2. The second encoder and the first encoder are arranged on the same vertical line to avoid compensating for the rotation angle of the horizontal arm 2 due to the positional relationship between the second encoder and the first encoder.

[0023] A horizontal arm pitch mechanism 7 is provided at the top of the horizontal arm rotation mechanism 6. The horizontal arm pitch mechanism 7 includes a horizontal arm pitch shaft located on the centerline of the geometric shape of the horizontal arm 2. The horizontal arm pitch mechanism 7, together with the horizontal arm hydraulic rod 5, controls the pitch of the horizontal arm 2. A third encoder is provided on the horizontal arm pitch shaft to obtain the pitch angle β of the horizontal arm 2. By arranging the horizontal arm pitch shaft in the horizontal arm pitch mechanism 7, which controls the rotation of the horizontal arm 2, on the centerline of the horizontal arm 2 and its geometric shape, and by placing the third encoder on the horizontal arm pitch shaft, angular errors caused by the positional relationship between the third encoder and the rotation center of the horizontal arm 2 during pitch movement can be effectively avoided.

[0024] A horizontal arm 2 is equipped with a horizontal arm pitch pivot at one end near the unloader's moving device 3. The other end of the horizontal arm 2 is connected to the top of the vertical arm 1. A fourth encoder is installed at the connection between the horizontal arm 2 and the vertical arm 1, and the fourth encoder acquires the rotation angle γ of the vertical arm 1. The fourth encoder is placed at the connection between the horizontal arm 2 and the vertical arm 1 to avoid the rotation angle of the fourth encoder being affected by the pitch of the horizontal arm 2, thus preventing angular errors. A vertical arm hydraulic rod 4 is connected to the horizontal arm 2. One end of the vertical arm hydraulic rod 4 is connected to the horizontal arm 2, and the other end is connected to the upper end of the vertical arm 1 on the horizontal plane away from the dock 11, assisting in the deflection of the vertical arm and keeping it perpendicular to the bottom of the ship's hold 10.

[0025] The control system of the screw unloader uses real-time morphological data of the material surface in the hold 10 and position data of the unloading head moving device and the unloader moving device 3 to maintain the screw unloading head 9 at the optimal material handling efficiency depth S below the material surface. In this embodiment, S = 2.0m. The control system uses the angle data of the unloading head moving device and the position data of the unloader moving device 3 to obtain the planar coordinates and height coordinates Z1 of the screw unloading head 9. By using real-time morphological data of the material surface in the hold 10 and position data of the screw unloading head 9, the control system calculates the optimal material handling efficiency depth S of the screw unloading head 9, which helps to improve unloading efficiency and avoids the screw unloading head 9 hitting the bottom of the hold 10 when the unloading work is nearing completion, which would cause damage to the screw unloading head 9 and the structure of the hold 10, seriously affecting the safety and economy of unloading.

[0026] The control system uses a scanner 8 on the vertical arm 1 to scan the entire surface of the material in the ship compartment 10 through the unloader moving device 3, the horizontal arm rotation mechanism 6 and the horizontal arm pitching mechanism 7 to obtain the morphological data of the material surface in the ship compartment 10. A real-time three-dimensional model of the material surface in the ship compartment 10 is then established through a modeling algorithm.

[0027] At the same time, such as Figure 4 As shown, the control system establishes a three-dimensional coordinate system with the center of the horizontal head of the wharf 13 where the spiral unloader is installed as the origin O, the direction parallel to the wharf shoreline 11 as the X direction, the horizontal direction perpendicular to the length of the wharf shoreline 11 as the Y direction, and the direction perpendicular to the horizontal plane where the wharf 13 is located as the Z direction. During actual operation, at fixed time intervals t, the control system combines the planar coordinates of the spiral unloader head 9 with the real-time material three-dimensional model, updating the corresponding three-dimensional coordinate network in real time. A preset algorithm is then used to calculate the optimal material handling efficiency depth S at the planar coordinate position.

[0028] The control system controls the various operating mechanisms of the mobile screw unloader, lowers the screw unloading head 9, and obtains the real-time two-dimensional coordinates of the screw unloading head 9 and the calculated height coordinates Z1 of the screw unloading head 9.

[0029] Given the height H0 of the rotation center point of the horizontal arm pitching mechanism 7, the X-axis position X0, the length of the horizontal arm 2 is L, the length below the rotation point of the vertical arm 1 is L1, and the working depth of the screw discharge head 9 is set to S, i.e., the optimal material handling efficiency depth S. The three-dimensional coordinates (X, Y, X) of the screw discharge head 9 are as follows: stubbar Y stubbar Z stubbar ) are respectively X stubbar =X0+Lcosβcosα Y stubbar =Lcosβsinα Z stubbar =H0-Lsinβ-L1 The planar coordinates of the screw discharge head 9 correspond to the real-time material three-dimensional model, and the corresponding material surface height value Z2 is obtained. The difference between Z2 and Z1 is equal to S. At this time, the screw discharge head 9 meets the material handling conditions.

[0030] When the first auger unloader head 9 satisfies Z2-Z1≥S, the movement of all mechanisms of the auger unloader stops. At this time, the three-dimensional coordinates of the auger unloader head 9, i.e., the XYZ coordinates, are initialized and recorded as X0, Y0, and Z0. Simultaneously, the control system records the rotation angle α0 of the horizontal arm slewing mechanism 6, the pitch angle β0 of the horizontal arm pitching mechanism 7, and the angle between the vertical arm 1 and the horizontal arm 2, i.e., the rotation angle γ0 of the vertical arm 1. During operation, the vertical arm 1 is required to be perpendicular to the horizontal plane, therefore, it must satisfy...

[0031] At this point, let the length of horizontal arm 2 be L, the horizontal projection length of horizontal arm 2 be Lcosβ0, the vertical projection length be Lsinβ0, the projection length of the horizontal projection in the X direction be Lcosβ0cosα0, and the projection length of the horizontal projection in the Y direction be Lcosβ0sinα0.

[0032] During operation at the same location, as the material decreases, the entire hull 10 floats upwards, causing the Z-value of the material surface to constantly change. Therefore, every short period of time t, since the control system needs to keep the planar coordinates of the screw unloading head 9 constant at fixed time intervals, the planar coordinates of the screw unloading head 9 are transmitted to the real-time material 3D model to obtain the latest material surface Z-value, which is then set as Z. new .

[0033] Let Δh be the height that cabin 10 rises in time t, Δh = Z new -Z0 And Δh=L sinβ new -L sinβ0, from which we can obtain: L is the length of the horizontal arm 2, therefore the control system adjusts the pitch angle of the horizontal arm pitch mechanism 7 by an adjustment range Δβ = β. new -β0, until the pitch angle reaches β new .

[0034] During the operation, it is required that the vertical arm 1 be perpendicular to the horizontal plane at all times. Therefore, the control system adjusts the mechanical axis of the robotic arm until the angle between the vertical arm 1 and the horizontal arm 2 is adjusted by an adjustment range Δγ = γ. new -γ0.

[0035] After adjusting the pitch angle, the projected length of horizontal arm 2 on the horizontal plane changed to Lcosβ. newLet the rotation angle be adjusted to α. new Therefore, the projection length of the horizontal projection in the Y direction is L cosβ. new sinα new To ensure that the position of the auger unloader 9 remains unchanged after the pitch angle is adjusted, it is necessary to ensure that the horizontal projection lengths in both the X and Y directions remain constant. Therefore, L cosβ0sinα0=L cosβ new sinα new Therefore, we can conclude that: Therefore, the control system adjusts the rotation angle of the horizontal arm slewing mechanism 6 by an adjustment range Δα = α. new -α0, until the rotation angle reaches α. new .

[0036] After rotation, the length of the horizontal arm 2 projected in the horizontal direction in the X direction is Lcosβ. new cosα new Therefore, the unloader moving device 3 needs to move horizontally by Δx = -(L cosβ). new α new -L cosβ0cosα0), X new =X0, Y new =Y0, ensuring that the screw unloading head 9 of the screw unloader changes only in the Z direction and is always at a depth S below the material surface.

[0037] This invention, by employing the aforementioned configuration, solves the problems of existing technologies where, due to the continuous operation of the screw unloader 9, the material surface of the hold 10 deforms as material is unloaded from the bottom, causing a decrease in material height. Simultaneously, as the total amount of material in the hold 10 decreases, the hold 10 rises due to buoyancy. Therefore, the optimal unloading depth of the screw unloader 9 constantly changes during the unloading process due to multiple factors. Existing technologies cannot maintain the screw unloader 9 at the optimal unloading depth at all times; nor can they prevent the screw unloader 9 from impacting the bottom of the hold 10 near the end of the unloading process, leading to structural damage to both the screw unloader 9 and the hold 10, severely impacting the safety and economy of unloading. This invention also offers the following advantages: by arranging several encoders at key nodes of the screw unloader, the structure of the screw unloader is modified, reducing the amount of data required while still obtaining real-time material surface models and screw unloader 9 position data; and by coordinating the positions of several encoders, the need for data compensation is reduced, minimizing data errors caused by relative motion.

[0038] A control system for a spiral unloader is disclosed. This system utilizes a high-precision absolute multi-turn bus encoder, intelligent cantilever angle detection, and BeiDou satellite positioning to achieve real-time and accurate spatial positioning of the unloader. Encoders mounted on the horizontal arm rotation mechanism 6, the horizontal arm pitch mechanism 7, and the vertical arm 1 shaft are used to acquire the horizontal arm 2 rotation angle α, the horizontal arm 2 pitch angle β, and the angle γ between the vertical arm 1 and the horizontal arm 2, respectively. The position information is transmitted to the control system for processing in real time.

[0039] Two sets of three-dimensional laser scanning devices are installed on each side of the connection between the horizontal arm 2 and the vertical arm 1. Combining the three-dimensional data of the ship hold 10 with the unloader attitude data sent by the current control system (including the unloader position coordinates, the horizontal arm 2 rotation coordinates, the horizontal arm 2 pitch angle, and the vertical arm 1 rotation angle), the entire surface of the material in the ship hold 10 is scanned to obtain real-time morphological data of the material surface. The control system establishes a three-dimensional model and a three-dimensional coordinate system of the material surface in the ship hold 10 through modeling algorithms. The direction parallel to the shoreline of the wharf is taken as the X-direction, the direction perpendicular to the shoreline of the wharf is taken as the Y-direction, and the direction perpendicular to the horizontal plane where the wharf 13 is located is taken as the Z-direction, and a corresponding three-dimensional coordinate system is established.

[0040] According to the simulation test study of the material handling process of the screw unloader, the overall unloading efficiency is optimal when the material surface depth S of the screw unloader head 9 is 2.0m and the vertical arm 1 is in a vertical position during the unloading operation.

[0041] During the initial operation, the screw unloader head 9 is moved to the set position. The various mechanisms of the screw unloader are operated, the screw unloader head 9 is lowered, and the three-dimensional coordinates of the screw unloader head 9 are calculated and analyzed in real time. The control system transmits the XY coordinates of the screw unloader head 9 to the real-time three-dimensional material model on the material surface of the ship's hold 10, obtaining the corresponding Z value of the material surface, denoted as Z2, and the height coordinate of the screw unloader head 9, denoted as Z1. The calculation ΔZ = Z2 - Z1 is performed until ΔZ = S, at which point the movement of the screw unloader mechanisms is stopped. At this time, the three-dimensional coordinates of the screw unloader head 9 are initialized and recorded as X0, Y0, and Z0. Simultaneously, the control system records the rotation angle α0 of the horizontal arm rotation mechanism 6, the pitch angle β0 of the horizontal arm pitch mechanism 7, and the angle γ0 between the vertical arm 1 and the horizontal arm 2. The operation requires the vertical arm 1 to be perpendicular to the horizontal plane, therefore...

[0042] The operation begins. At this point, the horizontal projection length of horizontal arm 2 is Lcosβ0, the vertical projection height is Lsinβ0, the horizontal projection length in the X direction is Lcosβ0cosα0, and the horizontal projection length in the Y direction is Lcosβ0sinα0.

[0043] During the unloading operation, as the material is continuously removed by the screw unloader and its quantity decreases, the entire ship compartment 10 will gradually and slowly rise. The Z-value of the material surface is constantly changing. Therefore, every certain time interval t, the XY coordinates of the screw unloader head 9 are transmitted to the real-time material 3D model to obtain the latest material surface Z-value, which is then set as Z. new .

[0044] The control system controls the actions of each mechanism of the screw unloader, with the goal of achieving a material level of Z after the ship's hold 10 rises to the surface. new The screw discharge head 9 is at the same position on the XY plane as before floating, and its depth on the material surface remains S. The control steps are as follows: Calculate the change in material surface height: Δh = Z new -Z0, Δh is the height the material surface rises within time t.

[0045] Adjust the pitch angle of the horizontal arm pitch mechanism 7: In order to ensure that the screw discharge head 9 remains at the material surface depth S after floating, the screw discharge head 9 needs to rise by Δh, and Δh = Lsinβ new -Lsinβ0, from which we can obtain: The control system adjusts the pitch angle of the horizontal arm pitch mechanism 7 by an adjustment range Δβ = β. new β-β0, until the pitch angle reaches β new .

[0046] Adjusting the angle between vertical arm 1 and horizontal arm 2: During operation, vertical arm 1 must always be perpendicular to the horizontal plane. Therefore, the control system adjusts the rotation axis of vertical arm 1 until the angle between vertical arm 1 and horizontal arm 2 is adjusted. Adjustment range Δγ=γ new -γ0.

[0047] Adjusting the rotation angle of the horizontal arm slewing mechanism 6: After adjusting the pitch angle, the projected length of the horizontal arm 2 on the horizontal plane changes, becoming Lcosβ. new Let the rotation angle be adjusted to α. new Therefore, the projection length of the horizontal projection in the Y direction is Lcosβ. new sinα new To ensure that the position of the screw discharge head 9 in the XY plane remains unchanged, and the length of its horizontal projection in the Y direction remains constant, the rotation angle of the horizontal arm 2 needs to be adjusted so that Lcosβ0sinα0=Lcosβ new sinα new Therefore, we can conclude that: The control system adjusts the rotation angle of the horizontal arm slewing mechanism 6 by an adjustment range Δα = α. new -α0, until the rotation angle reaches α. new .

[0048] Adjusting the displacement of the unloader's moving device 3: After rotation, the horizontal arm 2's projected length in the horizontal direction (X direction) is Loosβ. new cosα new To keep the position of the screw unloading head 9 unchanged in the XY plane, the horizontal displacement required by the unloader moving device 3 is Δx = -(L cos β). new cos α new -L cos β0 cos α0) After completing the above steps, X new =X0, Y new =Y0, the screw unloader's screw unloading head 9 only changed in the Z direction, and remained at a depth S below the material surface. After adjustment, the screw unloading head 9 continued to maintain its original efficient and stable working state.

[0049] This invention employs the aforementioned spiral unloader and unloading control system, solving the problems of existing technologies where, due to the continuous operation of the spiral unloader head 9, the surface of the material in the hold 10 deforms due to the removal of material from the bottom, causing a decrease in material height. Simultaneously, as the total amount of material in the hold 10 decreases, the hold 10 rises due to buoyancy. Therefore, the optimal unloading depth of the spiral unloader head 9 constantly changes during the unloading process due to multiple factors. Existing technologies cannot maintain the spiral unloader head 9 at the optimal unloading depth at all times; nor can they prevent the spiral unloader head 9 from impacting the bottom of the hold 10 near the end of the unloading process, leading to structural damage to both the spiral unloader head 9 and the hold 10, severely impacting unloading safety and economy. This invention also has the following beneficial effects: establishing a solid... A three-dimensional model of the material surface morphology data in the ship hold 10 is generated. Utilizing the structural geometry of the screw unloader, structural motion parameters are analyzed to reduce data deviations that may occur during movement. The position of the screw unloader head 9 is corrected and adjusted in a timely manner to ensure the screw unloader maintains a consistently efficient and stable unloading state, while preventing collisions with the ship hold 10. Ultimately, this achieves fully automatic control and safe, reliable operation of the screw unloader. Several encoders are placed at key nodes of the screw unloader, and the screw unloader structure is adjusted. This reduces the amount of data required while still obtaining real-time material surface model and screw unloader head 9 position data. Furthermore, the coordinated placement of several encoders reduces the need for data compensation and minimizes data errors caused by relative motion.

[0050] The above description is merely a preferred embodiment of the present invention and is not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A screw unloader, installed on a dock, characterized in that, The spiral unloader includes a discharge head moving device and an unloader moving device. The discharge head moving device includes a horizontal arm and a vertical arm. At least two scanners are provided at the connection between the horizontal arm and the vertical arm to scan and obtain the morphological data of the material surface in the hold. The spiral unloader is equipped with several encoders to acquire position data of the unloading head moving device and the unloader moving device; The spiral unloader includes a spiral unloading head located at the bottom of the vertical arm. The control system of the spiral unloader uses the angle data of the unloading head moving device and the position data of the unloader moving device to obtain the planar coordinates and the height coordinates Z1 of the spiral unloading head. The planar coordinates of the spiral unloading head correspond to the real-time three-dimensional model of the material, and the corresponding material surface height value Z2 is obtained. The difference between Z2 and Z1 is equal to S. The control system of the spiral unloader uses real-time morphological data of the material surface in the hold and position data of the unloading head moving device and the unloader moving device to maintain the spiral unloading head at the optimal material handling efficiency depth S below the material surface. The spiral unloading head uses the morphological data of the material surface in the hold and the position data of the unloading head moving device and the unloader moving device to always maintain a stable relative position between the spiral unloading head and the material surface in the hold. The control system uses real-time morphological data of the material surface in the ship's hold obtained by a scanner on a vertical arm to establish a real-time three-dimensional model of the material surface in the ship's hold.

2. The screw unloader according to claim 1, characterized in that, The ship unloader mobile device is fixed on a track, which is parallel to the wharf shoreline. The ship unloader mobile device is equipped with a first encoder, which acquires the position coordinates of the ship unloader.

3. A screw unloader according to claim 2, characterized in that, The top of the ship unloader's moving device is equipped with a horizontal arm rotation mechanism, which has a second encoder. The second encoder is on the same vertical line as the first encoder, and the second encoder acquires the horizontal arm rotation angle. α The horizontal arm rotation mechanism is provided with a horizontal arm hydraulic rod at one end near the vertical arm, and the other end of the horizontal arm hydraulic rod is connected to the horizontal arm.

4. A screw unloader according to claim 3, characterized in that, The top of the horizontal arm slewing mechanism is equipped with a horizontal arm pitch mechanism, which includes a horizontal arm pitch shaft located on the center line of the horizontal arm's geometric shape. The horizontal arm pitch mechanism, together with the horizontal arm hydraulic rod, controls the horizontal arm pitch. A third encoder is mounted on the horizontal arm pitch shaft to acquire the horizontal arm pitch angle. β .

5. A screw unloader according to claim 4, characterized in that, The horizontal arm is equipped with a horizontal arm pitch pivot at one end near the ship unloader's moving device. The other end of the horizontal arm is connected to the top of the vertical arm. A fourth encoder is installed at the connection between the horizontal arm and the vertical arm to acquire the rotation angle of the vertical arm. γ ; A vertical boom hydraulic rod is connected to the horizontal boom. One end of the vertical boom hydraulic rod is connected to the horizontal boom, and the other end is connected to the upper part of the vertical boom away from the horizontal plane where the dock is located. It assists in the deflection of the vertical boom so that the vertical boom remains perpendicular to the bottom of the ship's hold.

6. A screw unloader according to claim 1, characterized in that, At fixed time intervals t, the planar coordinates of the spiral discharge head are combined with the real-time material 3D model to obtain the optimal material handling efficiency depth S at the planar coordinate position.

7. A screw unloader according to claim 1 or 6, characterized in that, The difference between Z2 and Z1 is equal to S, at which point the unloading head meets the material handling conditions. The operation requires the vertical arm to be perpendicular to the horizontal plane; Every certain time interval t, the XY coordinates of the screw discharge head are transmitted to the real-time material 3D model to obtain the latest material surface Z value; the material surface height change value Δh is calculated. The control system adjusts the pitch angle of the horizontal arm pitch mechanism, the angle between the vertical arm and the horizontal arm, the rotation angle of the horizontal arm slewing mechanism, and the displacement of the unloader's moving device. After completing the above steps, the screw unloader's screw unloading head only changes in the Z direction and remains at a depth S below the material surface.

8. A screw unloader according to claim 7, characterized in that, The control system needs to control the movement of the unloading head moving device and the ship unloader moving device at fixed time intervals to keep the planar coordinates of the spiral unloading head unchanged and the material extraction efficiency depth unchanged.

9. A screw unloader according to claim 8, characterized in that, The control system establishes a three-dimensional coordinate system with the center position of the head of the track on the horizontal plane where the spiral unloader is installed as the origin O, the X direction being parallel to the shoreline of the dock, the Y direction being perpendicular to the shoreline of the dock, and the Z direction being perpendicular to the horizontal plane where the top of the dock is located.

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