Crawler-type transfer equipment, control method and crawler-type transfer electric control system

Abstract

The invention provides crawler-type transfer equipment, a control method and a crawler-type transfer electric control system, and relates to the technical field of bulk cargo wharf transfer. The crawler-type transfer equipment comprises a plurality of crawler-type devices, the crawler-type devices are sequentially connected to form a conveying operation line, and the conveying operation line is used for achieving transfer of materials between a transfer material pile and a storage material pile. The crawler-type device comprises a device body and an electric control unit, and the electric control unit comprises a single machine control module and a communication module. The communication modules are electrically connected with the single-machine control module, and two adjacent communication modules in the plurality of crawler-type devices are electrically connected through a cable, so that data communication between two adjacent crawler-type devices is realized, and the operation state of the crawler-type devices can be fed back to other crawler-type devices at the upstream and the downstream in real time; and safe and efficient operation of an operation line is ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of bulk cargo terminal transfer, and in particular to a crawler-type transfer equipment, a control method and a crawler-type transfer electric control system. Background Art

[0002] The reserve of energy and resources is a stable means to ensure the security of energy supply. my country is a major importer and exporter of ore, and its coal resource reserves rank first in the world. The transfer of energy materials such as coal and ore at bulk cargo terminals requires high efficiency.

[0003] The inventor has found that crawler equipment can be used as the main mobile transfer equipment in the storage and transportation base, and the transfer operation between the transfer pile and the storage pile in the storage and transportation base can be carried out by crawler equipment. After unloading, the materials can be transferred to the storage pile, and the materials in the storage pile can also be transferred for loading. However, the transfer process requires multiple crawler devices, so the multiple crawler devices need to interact with each other in real time to ensure the safe and efficient operation of the operation line. Summary of the invention

[0004] The object of the present invention is to provide a crawler-type transfer equipment, which can realize the efficient transfer of dock materials and ensure the safe and efficient operation of the operation line.

[0005] Another object of the present invention is to provide a crawler-type transfer electric control system, which can realize the efficient transfer of dock materials while ensuring the safe and efficient operation of the operation line.

[0006] Another object of the present invention is to provide a control method for crawler-type transfer equipment, which can achieve efficient transfer of dock materials while ensuring safe and efficient operation of the operation line.

[0007] The embodiments of the present invention can be implemented in the following ways:

[0008] A crawler-type transfer equipment, the crawler-type transfer equipment comprising:

[0009] A plurality of crawler devices, wherein the plurality of crawler devices are connected in sequence to form a conveying operation line, and the conveying operation line is used to realize the transfer of materials between the transfer material pile and the storage material pile;

[0010] The crawler device includes a device body and an electric control unit, the electric control unit includes a stand-alone control module and a communication module; the device body has a crawler drive chassis and a conveyor belt drive member, the stand-alone control module is electrically connected to the crawler drive chassis and the conveyor belt drive member to obtain information of the crawler drive chassis and the conveyor belt drive member; the communication module is electrically connected to the stand-alone control module;

[0011] Wherein, two adjacent communication modules of the plurality of crawler-type devices are electrically connected via a cable to achieve data communication between the two adjacent crawler-type devices.

[0012] Optionally, the crawler transfer equipment also includes a high-voltage power supply vehicle, which has the electronic control unit, and the communication module of the high-voltage power supply vehicle is electrically connected to the communication module of the most downstream one of the multiple crawler devices through a cable to obtain the operating status of the multiple crawler devices; the communication module of the high-voltage power supply vehicle is also used to communicate with the central control device.

[0013] Optionally, the multiple crawler devices include a crawler reclaimer, a crawler telescopic stacker and a plurality of crawler transfer bridge machines, the plurality of crawler transfer bridge machines are connected in sequence to form an intermediate conveyor line, the crawler reclaimer, the intermediate conveyor line and the crawler telescopic stacker are connected in sequence to form the conveying operation line.

[0014] Optionally, the multiple crawler-type transfer bridge cranes include a transition transfer bridge crane, a material receiving transfer bridge crane, a relay transfer bridge crane and a variable-length transfer bridge crane, one end of the transition transfer bridge crane is connected to the crawler-type material reclaimer, and both ends of the material receiving transfer bridge crane are respectively connected to the transition transfer bridge crane and the relay transfer bridge crane; the two ends of the variable-length transfer bridge are respectively connected to the relay transfer bridge crane and the crawler-type telescopic stacker.

[0015] Optionally, the crawler-type device further has a first plug and a first socket, and two adjacent crawler-type devices achieve communication and power supply through the plugging of the first plug and the first socket.

[0016] Optionally, the crawler transfer equipment further comprises an operating handle, wherein the operating handle communicates with the crawler drive chassis of the plurality of crawler devices so as to control the crawler drive chassis via the operating handle.

[0017] Optionally, the operating handle communicates with the track-driven chassis of the track-type device wirelessly.

[0018] Optionally, the electronic control unit further includes a touch screen, and the touch screen communicates with the stand-alone control module.

[0019] A crawler-type transfer electric control system comprises a central control device and the above-mentioned crawler-type transfer equipment, wherein the central control device is electrically connected to the crawler-type transfer equipment to control the operation of the crawler-type transfer equipment.

[0020] A crawler-type transfer equipment control method, the crawler-type transfer equipment control method is used to control the crawler-type transfer equipment; the crawler-type transfer equipment control method comprises:

[0021] After the plurality of crawler-type devices are grouped in place, the plurality of crawler-type devices are controlled to start in sequence from downstream to upstream after a preset time interval;

[0022] After the transfer operation is completed, the plurality of crawler devices are controlled to stop in sequence from upstream to downstream after a preset time interval.

[0023] The crawler transfer equipment, control method and crawler transfer electric control system provided by the embodiments of the present invention have the following beneficial effects:

[0024] An embodiment of the present invention provides a crawler-type transfer equipment, which includes a plurality of crawler-type devices, which are connected in sequence to form a conveying operation line, and the conveying operation line is used to realize the transfer of materials between the transfer material pile and the storage material pile. The crawler-type device includes a device body and an electronic control unit, and the electronic control unit includes a stand-alone control module and a communication module. The device body has a crawler drive chassis and a conveyor belt drive component, and the stand-alone control module is electrically connected to the crawler drive chassis and the conveyor belt drive component to obtain information about the crawler drive chassis and the conveyor belt drive component. The communication module is electrically connected to the stand-alone control module, and at the same time, two adjacent communication modules of the plurality of crawler-type devices are electrically connected through cables, thereby realizing data communication between two adjacent crawler-type devices. In this way, it can be ensured that the operating status of the crawler-type device can be fed back to other crawler-type devices upstream and downstream in real time, thereby ensuring the safe and efficient operation of the operation line.

[0025] An embodiment of the present invention also provides a crawler transfer electronic control system, which includes the above-mentioned crawler transfer equipment, and therefore also has the beneficial effect of ensuring that the operating status of the crawler device can be fed back to other crawler devices upstream and downstream in real time, thereby ensuring the safe and efficient operation of the operation line.

[0026] An embodiment of the present invention also provides a crawler transfer equipment control method, which is used to control the above-mentioned crawler transfer equipment. Therefore, it also has the beneficial effect of ensuring that the operating status of the crawler device can be fed back to other crawler devices upstream and downstream in real time, thereby ensuring the safe and efficient operation of the operation line. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The above features and advantages of the present invention can be better understood after reading the detailed description of the embodiments of the present disclosure in conjunction with the following drawings. In the drawings, the components are not necessarily drawn to scale, and components with similar related properties or features may have the same or similar reference numerals.

[0028] Figure 1 It shows a schematic structural diagram of a crawler-type transfer device provided according to one aspect of the present invention;

[0029] Figure 2 It shows a structural block diagram of a crawler-type transfer electric control system provided according to one aspect of the present invention;

[0030] Figure 3 It shows a communication connection diagram of a crawler-type transfer device provided according to one aspect of the present invention;

[0031] Figure 4 It shows a schematic structural diagram of an electric control unit in a crawler-type transfer device provided according to one aspect of the present invention;

[0032] Figure 5 A structural block diagram of a crawler device provided according to one aspect of the present invention is shown.

[0033] Reference numerals:

[0034] 10- crawler transfer electric control system; 100- crawler transfer equipment; 110- crawler device; 111- crawler reclaimer; 112- transition transfer bridge machine; 113- receiving transfer bridge machine; 114- relay transfer bridge machine; 115- variable amplitude transfer bridge machine; 116- crawler telescopic stacker; 117- crawler drive chassis; 118- conveyor belt assembly; 119- conveyor belt drive member; 121- conveyor belt; 122- device body; 130- electronic control unit; 131- single machine control module; 132- communication module; 133- touch screen; 134- operating handle; 135- data exchange module; 140- high voltage power supply vehicle;

[0035] 200- Central control equipment;

[0036] 21-Storage pile; 22-Transfer pile; 23-Ground conveyor; 24-Stacker-reclaimer. DETAILED DESCRIPTION

[0037] The present invention is described in detail below in conjunction with the accompanying drawings and specific embodiments. Note that the aspects described below in conjunction with the accompanying drawings and specific embodiments are only exemplary and should not be construed as limiting the scope of protection of the present invention in any way.

[0038] In the description of the present invention, it should be noted that if the terms "upper", "lower", "inside", "outside", "vertical" and the like appear, the orientation or position relationship indicated is based on the orientation or position relationship shown in the drawings, or is the orientation or position relationship in which the product of the invention is usually placed when used, rather than indicating or implying that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0039] At the same time, it should be noted that the terms "first", "second", etc. are only used for distinguishing descriptions and cannot be understood as indicating or implying relative importance.

[0040] In the description of the present invention, it is also necessary to explain that, unless otherwise clearly specified or limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, an integral connection, or a detachable connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or the internal communication of two components, etc. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0041] Figure 1 FIG. 1 shows a schematic structural diagram of a crawler-type transfer device 100 provided in this embodiment. Figure 2 The structure block diagram of the crawler transfer electric control system 10 provided in this embodiment is shown. Figure 3 FIG. 1 shows a communication connection diagram of the crawler transfer device 100 provided in this embodiment. Figure 4 The schematic diagram of the structure of the electric control unit 122 in the crawler transfer equipment 100 provided in this embodiment is shown. Figure 1-Figure 4 This embodiment provides a crawler-type transfer equipment 100 and also provides a crawler-type transfer electric control system 10.

[0042] The crawler transfer electric control system 10 includes a crawler transfer device 100 and a central control device 200 . The central control device 200 is electrically connected to the crawler transfer device 100 to control the operation of the crawler transfer device 100 .

[0043] The crawler transfer equipment 100 includes a plurality of crawler devices 110, which are connected in sequence to form a conveying operation line, and the conveying operation line is used to realize the transfer of materials between the transfer material pile 22 and the storage material pile 21. The crawler device 110 includes a device body 122 and an electronic control unit 122, and the electronic control unit 122 includes a stand-alone control module 131 and a communication module 132. The device body 122 has a crawler drive chassis 117 and a conveyor belt drive member 119, and the stand-alone control module 131 is electrically connected to the crawler drive chassis and the conveyor belt drive member 119 to obtain information of the crawler drive chassis 117 and the conveyor belt drive member 119. The communication module 132 is electrically connected to the stand-alone control module 131, and at the same time, two adjacent communication modules 132 of the plurality of crawler devices 110 are electrically connected through cables, so as to realize data communication between two adjacent crawler devices 110. In this way, it can be ensured that the operating status of the crawler device 110 can be fed back to other crawler devices 110 upstream and downstream in real time, thereby ensuring the safe and efficient operation of the operation line.

[0044] Specifically, the crawler transfer equipment 100 is used to transfer materials between the storage material pile 21 and the transfer material pile 22. At the same time, a conveying device is also arranged on the dock to transfer materials between the transfer material pile 22 and the ship. Figure 1 As shown, when transferring materials from the storage pile 21 to the ship loading operation, the materials are transferred from the storage pile 21 to the transfer pile 22 by the crawler transfer equipment 100, and the stacker-reclaimer 24 at the conveying equipment transfers the materials at the transfer pile 22 to the ground belt conveyor 23, and the materials are transported to the ship by the ground belt conveyor 23.

[0045] It should be noted that, in the description of this embodiment, if it is mentioned that two crawler devices 110 are "connected", it means that the conveyor belts of the two crawler devices 110 can be connected to each other, and the material conveyed on the conveyor belt of one crawler device 110 can be conveyed to the conveyor belt of the other crawler device 110. In other words, the connection between the two crawler devices 110 does not mean that there is a structure that is interconnected between the two crawler devices 110.

[0046] It should also be noted that in the description of this embodiment, "upstream" and "downstream" are relative concepts. The direction in which multiple crawler devices 110 carry out material transportation is the forward direction, and correspondingly, the reverse direction of material transportation is the reverse direction. For a certain crawler device 110, another crawler device 110 located in its forward direction is downstream of it, and another crawler device 110 located in its reverse direction is upstream of it.

[0047] The crawler transfer device 100 provided in this embodiment is further described below:

[0048] Figure 5 This is a structural block diagram of the crawler device 110 provided in this embodiment. Figure 1-Figure 5 In this embodiment, the crawler device 110 is a device having a crawler drive chassis 117, and the crawler drive chassis 117 is used to realize the position transfer of the crawler device 110. Specifically, the device body 122 of the crawler device 110 includes a crawler drive chassis and a conveyor belt assembly 118 connected to the crawler drive chassis. When the crawler drive chassis is running, the conveyor belt assembly 118 is driven to transfer the position. When the material is transferred, the material is transported by the operation of the conveyor belt assembly 118. The conveyor belt assembly 118 has a conveyor belt driving member 119, and the conveyor belt driving member 119 is used to drive the conveying belt 121 in the conveyor belt assembly 118 to operate. Optionally, the conveyor belt driving member 119 can be a power output component such as a belt motor.

[0049] The crawler transfer equipment 100 further includes a high-voltage power supply vehicle 140, which also has an electronic control unit 122. The communication module 132 of the high-voltage power supply vehicle 140 is electrically connected to the communication module 132 of the most downstream one of the multiple crawler devices 110 through a cable to obtain the operating status of the multiple crawler devices 110. The communication module 132 of the high-voltage power supply vehicle 140 is also used to communicate with the central control device 200, so that the operating status of the multiple crawler devices 110 is transmitted to the central control device 200 through the high-voltage power supply vehicle, so that the central control device 200 can control the multiple crawler devices 110 as a whole.

[0050] Specifically, the crawler device 110 has a first plug and a first socket, and the first plugs of two adjacent crawler devices 110 are plugged into the first socket, so that multiple crawler devices 110 form a series structure through the plugging of the first plug and the first socket. At the same time, the high-voltage power supply vehicle 140 has a second plug and a second socket, and the second plug is used to plug into the high-voltage fixed socket of the dock. The first plug of the most downstream crawler device 110 is plugged into the second socket of the high-voltage power supply vehicle 140, so that power is supplied to multiple crawler devices 110 through the high-voltage power supply vehicle 140, ensuring that the crawler devices 110 can be added and exited at any time during the material transfer process. Moreover, by plugging the first plug and the first socket, the communication modules 132 of the two adjacent crawler devices 110 can be connected to each other, thereby realizing communication. Correspondingly, by plugging the first plug of the most downstream crawler device 110 and the second socket of the high-voltage power supply vehicle 140, the connection between the communication module 132 of the crawler device 110 and the high-voltage power supply vehicle 140 is realized. In this way, the operating status of the crawler device 110 can be transmitted to the high-voltage power supply vehicle 140, and the communication module 132 of the high-voltage power supply vehicle 140 can communicate with the central control device 200. The central control device 200 can obtain the operating status of any crawler device 110 in the process by reading the electronic control unit 122 of the high-voltage power supply vehicle 140. At the same time, the central control device 200 can realize one-key start and stop of the process according to the process grouping and operation conditions, which is helpful to realize unmanned yard operation.

[0051] In this embodiment, the plurality of crawler devices 110 include crawler reclaimers 111, crawler telescopic stackers 116, and a plurality of crawler transfer bridge machines. The plurality of crawler transfer bridge machines are connected in sequence to form an intermediate conveyor line, and the crawler reclaimers 111, the intermediate conveyor line, and the crawler telescopic stackers 116 are connected in sequence to form a conveying operation line. When transferring materials from the storage material pile 21 to the transfer material pile 22, the crawler reclaimer 111 is used to retrieve materials from the storage material pile 21, the intermediate conveyor line is used to receive materials from the crawler reclaimer 111 and convey them to the crawler telescopic stacker 116, and the crawler telescopic stacker 116 is used to transfer materials to the transfer material pile 22.

[0052] The number of crawler transfer bridge machines is set according to the distance requirement between the crawler reclaimer 111 and the crawler telescopic stacker 116, so that the length of the intermediate conveyor line can be adjusted by adjusting the number of crawler transfer bridge machines. Accordingly, during the material transfer process, as the material in the storage pile 21 increases or decreases, the position of the crawler reclaimer 111 needs to be adjusted in real time, and accordingly, the number of crawler transfer bridge machines needs to be adjusted in real time. In other words, during the transfer process, the crawler transfer bridge machines need to join or exit the composition of the intermediate conveyor line at any time, and the power supply and communication of multiple crawler devices 110 are realized in series, which can facilitate the realization of the power supply requirements of multiple crawler devices 110, while ensuring that the crawler device 110 accurately obtains the status of the upstream and downstream crawler devices 110.

[0053] Furthermore, the multiple crawler transfer bridge cranes include a transition transfer bridge crane 112, a material receiving transfer bridge crane 113, a relay transfer bridge crane 114 and a variable-length transfer bridge crane 115. One end of the transition transfer bridge crane 112 is connected to the crawler material reclaimer 111, both ends of the material receiving transfer bridge crane 113 are respectively connected to the transition transfer bridge crane 112 and the relay transfer bridge crane 114, and both ends of the variable-length transfer bridge crane 115 are respectively connected to the relay transfer bridge crane 114 and the crawler telescopic stacker 116.

[0054] Specifically, the number of relay transfer bridge machines 114 can be set according to demand. For example, during the transfer process, if the length of the intermediate conveyor line needs to be adjusted, it can be achieved by increasing or decreasing the number of relay transfer bridge machines 114. The receiving transfer bridge machine 113, multiple relay transfer bridge machines 114 and variable amplitude transfer bridge machines 115 are arranged in a row, and the extension direction of the conveyor belt of the transition transfer bridge machine 112 is perpendicular to the extension direction of the conveyor belt 121 of the receiving transfer bridge machine 113. In this way, when the crawler reclaimer 111 moves along the material pile during the material reclaiming process, the transition transfer bridge machine 112 moves synchronously with the crawler reclaimer 111, and during the movement of the transition transfer bridge machine 112, the transition transfer bridge machine 112 always remains docked with the receiving transfer bridge machine 113 within a certain range, and the certain range is the length range of the conveyor belt 121 of the receiving transfer bridge machine 113.

[0055] In this embodiment, the structures of the relay transfer bridge machine 1114 and the variable-length transfer bridge machine 115 are basically the same, and both are conveying machines with a conveyor belt 121. The difference is that the pitch angle of the conveyor belt 121 of the variable-length transfer bridge machine 115 can be adjusted.

[0056] In this embodiment, the crawler transfer equipment 100 further includes an operating handle 134, which communicates with the crawler drive chassis 117 of the plurality of crawler devices 110, so as to control the crawler drive chassis 117 through the operating handle 134. Optionally, the operating handle 134 communicates with the crawler drive chassis 117 of the crawler device 110 by wireless means. It can be understood that in some other embodiments, other means can also be used to achieve communication between the operating handle 134 and the crawler drive chassis 117.

[0057] Specifically, in this embodiment, the operating handle 134 and the stand-alone control module 131 perform the canopen communication protocol, and the crawler drive chassis 117 of each crawler device 110 can be individually controlled by the operating handle 134 to realize the grouping of the crawler transfer equipment 100. At the same time, the crawler drive chassis 117 is electrically connected to the stand-alone control module 131 of the crawler device 110 where it is located, and the crawler drive chassis 117 transmits the necessary status to the stand-alone control module 131 through the DP / CAN protocol gateway. Accordingly, the control of the crawler drive 117 can be realized by the operating handle 134, and the central control device 200 is mainly used to control the conveyor belt assembly 118.

[0058] Optionally, the electronic control unit 122 further includes a touch screen 133 , and the touch screen 133 communicates with the stand-alone control module 131 , so that operations such as sending instructions and editing instructions can be performed on the stand-alone control module 131 through the touch screen 133 .

[0059] Specifically, in this embodiment, the stand-alone control module 131 adopts CP1511-1PN Siemens PLC, the communication module 132 adopts CM1542-1, and the communication module 132 communicates with the stand-alone control module 131, so that the information collected in the stand-alone control module 131 is transmitted to the control units of other crawler devices 110 upstream and downstream through the communication module 132, so as to realize real-time communication with other crawler devices 110 upstream and downstream. The stand-alone control module 131 adopts PROFINET communication protocol, and the PN port of CP1511 is responsible for the stand-alone electronic control.

[0060] Optionally, the conveyor belt drive 119 has an ABB880 series inverter, which is electrically connected to the stand-alone control module 131. Further, the electric control unit 122 also has a data exchange module 135, the stand-alone control module 131 is electrically connected to the data exchange module 135, and the touch screen 133 and the conveyor belt drive 119 are both electrically connected to the data exchange module 135, so that the touch screen 133 and the conveyor belt drive 119 can exchange data with the stand-alone control module 131 through the data exchange module 135. Optionally, the data exchange module 135 can be a non-network-managed switch, or a hub, etc.

[0061] The crawler transfer equipment 100 and the crawler transfer electric control system 10 provided by the embodiments of the present invention realize communication and power supply operations by connecting the crawler devices 110 in sequence. When the crawler devices 110 are added or withdrawn at any time, the operating status of each crawler device 110 can be fed back in real time to other crawler devices 110 upstream and downstream and the hollow equipment, so as to ensure the safe and efficient operation of the operation line.

[0062] An embodiment of the present invention also provides a crawler transfer equipment control method, which is used to control the above-mentioned crawler transfer equipment 100. In this embodiment, at least some steps of the crawler transfer equipment control method can also be executed by the central control device 200.

[0063] Specifically, the crawler transfer equipment control method includes:

[0064] S01: After the plurality of crawler devices 110 are grouped in place, the plurality of crawler devices 110 are controlled to start in sequence from downstream to upstream after a preset time interval.

[0065] Specifically, when it is necessary to transfer materials, the crawler drive chassis 117 of the multiple crawler devices 110 can be controlled to operate, so that the multiple crawler devices 110 are transferred to their respective required positions, and the multiple crawler devices 110 are connected in sequence to form a grouping line. After the multiple crawler devices 110 are grouped in place, when the crawler transfer equipment 100 is started, it is started in sequence from the downstream to the upstream of the process. In the process of transferring materials from the storage pile 21 to the transfer pile 22, the transfer process is as follows: storage pile → crawler reclaimer 111 → transition transfer bridge machine 112 → receiving transfer bridge machine 113 → relay transfer bridge machine 114 → variable amplitude transfer bridge machine 115 → crawler telescopic stacker 116 → stacker reclaimer 24 → ground belt conveyor 23, and the loading process is carried out through the ground belt conveyor 23. In this process, the crawler telescopic stacker 116 is the first device to be started in the crawler transfer equipment 100, and then other crawler devices 110 upstream thereof are started in sequence after a delay of a preset time, until finally the crawler reclaimer 111 is started.

[0066] Optionally, the preset duration is 10 seconds. It is understandable that in some other embodiments, the specific value of the preset duration can also be set according to requirements.

[0067] S02: After the transfer operation is completed, the plurality of crawler devices 110 are controlled to stop in sequence from upstream to downstream after a preset time interval.

[0068] After the transfer operation is completed, when the crawler transfer equipment 100 needs to be stopped, it is stopped in sequence from upstream to downstream. In the process of transferring materials from the storage pile 21 to the transfer pile 22, the crawler reclaimer 111 is the first device to stop, and then the other crawler devices 110 downstream thereof are stopped in sequence after a preset delay time, until finally the crawler telescopic stacker 116 stops.

[0069] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technology in the field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A crawler-type transfer equipment, characterized in that: The crawler-type transfer equipment comprises: A plurality of crawler devices, wherein the plurality of crawler devices are connected in sequence to form a conveying operation line, and the conveying operation line is used to realize the transfer of materials between the transfer material pile and the storage material pile; The crawler device includes a device body and an electric control unit, the electric control unit includes a stand-alone control module and a communication module; the device body has a crawler drive chassis and a conveyor belt drive member, the stand-alone control module is electrically connected to the crawler drive chassis and the conveyor belt drive member to obtain information of the crawler drive chassis and the conveyor belt drive member; the communication module is electrically connected to the stand-alone control module; Wherein, two adjacent communication modules of the plurality of crawler-type devices are electrically connected via a cable to achieve data communication between the two adjacent crawler-type devices.

2. The crawler transfer equipment according to claim 1, characterized in that: The crawler transfer equipment also includes a high-voltage power supply vehicle, which has the electronic control unit. The communication module of the high-voltage power supply vehicle is electrically connected to the communication module of the most downstream one of the multiple crawler devices through a cable to obtain the operating status of the multiple crawler devices; the communication module of the high-voltage power supply vehicle is also used to communicate with the central control device.

3. The crawler transfer equipment according to claim 1, characterized in that: The multiple crawler devices include a crawler reclaimer, a crawler telescopic stacker and a plurality of crawler transfer bridge machines, the plurality of crawler transfer bridge machines are connected in sequence to form an intermediate conveyor line, the crawler reclaimer, the intermediate conveyor line and the crawler telescopic stacker are connected in sequence to form the conveying operation line.

4. The crawler-type transfer equipment according to claim 3, characterized in that: The multiple crawler-type transfer bridge machines include a transition transfer bridge machine, a material receiving transfer bridge machine, a relay transfer bridge machine and a variable-length transfer bridge machine. One end of the transition transfer bridge machine is connected to the crawler-type material reclaimer, and both ends of the material receiving transfer bridge machine are respectively connected to the transition transfer bridge machine and the relay transfer bridge machine; the two ends of the variable-length transfer bridge are respectively connected to the relay transfer bridge machine and the crawler-type telescopic stacker.

5. The crawler-type transfer equipment according to claim 1, characterized in that: The crawler-type device also has a first plug and a first socket, and two adjacent crawler-type devices achieve communication and power supply through the plugging of the first plug and the first socket.

6. The crawler-type transfer equipment according to claim 1, characterized in that: The crawler transfer equipment further includes an operating handle, which communicates with the crawler drive chassis of the plurality of crawler devices so as to control the crawler drive chassis through the operating handle.

7. The crawler-type transfer equipment according to claim 6, characterized in that: The operating handle communicates with the track-driven chassis of the track-type device by wireless means.

8. The crawler-type transfer equipment according to claim 1, characterized in that: The electronic control unit further includes a touch screen, and the touch screen communicates with the stand-alone control module.

9. A crawler-type transfer electric control system, characterized in that: The crawler transfer electronic control system includes a central control device and the crawler transfer equipment as described in any one of claims 1 to 8, and the central control device is electrically connected to the crawler transfer equipment to control the operation of the crawler transfer equipment.

10. A crawler transfer equipment control method, characterized in that: The crawler-type transfer equipment control method is used to control the crawler-type transfer equipment according to any one of claims 1 to 8; The crawler-type transfer equipment control method comprises: After the plurality of crawler-type devices are grouped in place, the plurality of crawler-type devices are controlled to start in sequence from downstream to upstream after a preset time interval; After the transfer operation is completed, the plurality of crawler devices are controlled to stop in sequence from upstream to downstream after a preset time interval.

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