Double-scraping self-linkage door type material taking machine

Abstract

The invention relates to the technical field of stacker-reclaimers, and discloses a double-scraping self-linkage door-type reclaimer which comprises a door frame, a first reclaiming part, a second reclaiming part and a self-linkage part are arranged below the door frame, the first reclaiming part comprises a first carrier roller support, the two ends of the first carrier roller support are each rotationally connected with a first carrier roller, and a second carrier roller is arranged below the self-linkage part. The first material taking part comprises a first carrier roller support, the second material taking part comprises a second carrier roller support, the two ends of the second carrier roller support are rotationally connected with third carrier rollers, the self-linkage part comprises a first rotating shaft and a second rotating shaft, the first rotating shaft is fixedly connected to the end, close to the third carrier rollers, of each carrier roller, and the rotating shafts of the first material taking part and the second material taking part are connected through a transmission belt of the self-linkage part. When the main scraper tilts due to the topographic change of a material pile, the auxiliary scraper acts synchronously and can be synchronously attached to the outline of the material pile, the material taking blind area of a traditional single scraper is eliminated, the material recovery rate is increased, meanwhile, the angle sensor collects dip angle data of the double scrapers in real time, and the angles of the double scrapers can be dynamically adjusted in combination with a material pile three-dimensional model constructed by the visual camera.

Description

Technical Field

[0001] The present invention relates to the technical field of stacker reclaimers, and specifically to a double-scraper self-linkage gantry reclaimer. Background Art

[0002] As a core device in the bulk material storage scenario, the gantry reclaimer is widely used in fields such as mine ore sorting, port coal handling, and power plant fuel transportation. Its working principle is to scrape and convey the stacked bulk materials layer by layer through actions such as the pitching and horizontal movement of the scraper device. Traditional gantry reclaimers generally adopt a single-scraper independent pitching structure, which adjusts the scraper angle through a motor-driven lead screw or hydraulic cylinder, and cooperates with the traveling mechanism of the gantry frame to complete the reclaiming operation. However, with the continuous improvement of the requirements for bulk material handling efficiency and automation in modern industry, the technical bottlenecks of the single-scraper structure in complex working conditions are becoming increasingly prominent.

[0003] During the bulk material stacking process, the height and slope of the material pile are affected by factors such as material properties (such as particle size, humidity, stacking method, etc.) and change in real time, forming an irregular contour (such as a convex top, a concave bottom, and a slope collapse). The traditional single scraper relies on manual adjustment or preset program cyclic actions (such as pitching at fixed angle intervals), and cannot dynamically adjust the scraper angle according to the real-time contour of the material pile.

[0004] When a steep slope forms at the top of the material pile, if the single scraper maintains a fixed angle, it will cause incomplete scraping of the top material, forming a residual ridge. When a depression appears at the bottom of the material pile and the scraper angle is not adjusted in time, it will cause missed scraping of the bottom material, forming a reclaiming blind area, and the material recovery rate is much lower than the industry ideal value. Therefore, a double-scraper self-linkage gantry reclaimer is proposed to solve the above problems. Summary of the Invention

[0005] Aiming at the deficiencies of the prior art, the present invention provides a double-scraper self-linkage gantry reclaimer, which solves the problems that the scraper of the traditional reclaimer is difficult to adapt to the real-time physical changes of the material pile, forms a reclaiming blind area, and reduces the reclaiming efficiency.

[0006] To achieve the above object, the present invention provides the following technical solution: A double-scraper self-linkage gantry reclaimer, including a gantry frame, a first reclaiming part, a second reclaiming part, and a self-linkage part are arranged below the gantry frame. The first reclaiming part includes a first idler support, and a first idler is rotatably connected to both ends of the first idler support. The second reclaiming part includes a second idler support, and a third idler is rotatably connected to both ends of the second idler support. The self-linkage part includes a first rotating shaft and a second rotating shaft. The first rotating shaft is fixedly connected to the end of the idler near the third idler, and the second rotating shaft is fixedly connected to the end of the third idler near the first idler. Transmission wheels are fixedly sleeved on both the first rotating shaft and the second rotating shaft, and a transmission belt is connected between the two transmission wheels. A limiting plate is movably sleeved between the first rotating shaft and the second rotating shaft.

[0007] Preferably, the self-acting linkage part further includes sensor 1 and sensor 2, wherein sensor 1 is installed at the end of rotating shaft 1, and sensor 2 is installed at the end of rotating shaft 2, and both sensor 1 and sensor 2 are angle sensors.

[0008] Preferably, there are two self-linking parts, and another self-linking part is installed at the other end of roller one and roller three which are close to each other, and the two self-linking parts are symmetrically arranged with respect to each other.

[0009] Preferably, the material picking part also includes a mounting platform, which is a U-shaped structure, and a rotating motor is installed on the inner wall of one ear end of the mounting platform, and the output end of the rotating motor is fixedly connected to the end of one roller away from the third roller, and the other end of the first roller is rotatably connected to the inner wall of the other ear end of the mounting platform, and a conveyor belt is transmission-connected between the two rollers, and an adjusting shaft is fixedly connected on both sides of the first roller bracket.

[0010] Preferably, the second material-collecting part also includes a conveyor belt 2, which is transmission-connected between two rollers 3, and both sides of the roller bracket 2 are fixedly connected with an adjusting shaft 2, and the outer walls of the conveyor belt 1 and the conveyor belt 2 are both installed with scrapers in an array.

[0011] Preferably, the material picking part also includes a through hole, which is opened on the top of the roller bracket one, and electric push rods and compensation arms are hinged on both sides of the roller bracket one. The inner rods of the two electric push rods are respectively hinged on the two compensation arms, and the ends of the two compensation arms are rotatably connected with roller two, and the roller two is arranged on the inner wall of the through hole and abuts against the inner wall of the conveyor belt one.

[0012] Preferably, a control unit is provided on the gantry, and the control unit includes a control platform. The control platform is installed at the bottom of one end of the gantry, a control room is provided on the control platform, a support base is installed at the bottom of the control platform, and a walking trolley is installed between the support base and the control platform.

[0013] Preferably, the mounting platform is installed on a supporting seat, a walking trolley 2 is installed at the bottom of the other end of the gantry, an adjustment part is provided on the gantry, and a visual camera is installed on the top of the inner wall of the gantry.

[0014] Preferably, the adjustment part includes a drum rack, a dual-axis motor is mounted on the drum rack, two output shafts of the dual-axis motor are fixedly connected to rope drums, two rope drums are wound with slings, and the movable ends of the two slings are fixedly connected to the hanger.

[0015] Preferably, there are two adjusting parts. The two cylinder frames in the two adjusting parts are symmetrically installed on the two side arms of the gantry. The two first adjusting shafts are rotationally connected to the two ear ends of the hanging frame on the same side, and the two second adjusting shafts are rotationally connected to the two ear ends of the other hanging frame.

[0016] Compared with the prior art, the present invention provides a double-scraping self-linking gantry reclaimer, which has the following beneficial effects: 1. For this double-scraping self-linking gantry reclaimer, the transmission belts of the self-linking part are used to connect the rotating shafts of the first reclaimer part and the second reclaimer part. When the main scraper pitches due to the change of the terrain of the stockpile, the secondary scraper moves synchronously, and can synchronously fit the contour of the stockpile, eliminating the material-taking blind area of the traditional single scraper, improving the material recovery rate. At the same time, the angle sensor real-time collects the inclination angle data of the double scrapers, and combined with the three-dimensional model of the stockpile constructed by the vision camera, the angles of the double scrapers can be dynamically adjusted.

[0017] 2. For this double-scraping self-linking gantry reclaimer, in terms of enhancing the reliability of the equipment, the second idler of the first reclaimer part jacks up the conveyor belt through the electric push rod and the compensation arm. When the conveyor belt is loose, the tension can be temporarily increased to eliminate the slipping phenomenon. Compared with the traditional manual tensioning, the efficiency is improved. Moreover, the second idler jacking up the conveyor belt can be forced to reset through mechanical feedback, with a fast deviation correction response time and reduced material spillage.

[0018] 3. For this double-scraping self-linking gantry reclaimer, in terms of adaptability to complex working conditions, the adjusting part drives the winch drum to wind and unwind the suspension cable through the double-shaft motor, driving the hanging frame to lift and lower, realizing the dynamic adjustment of the pitching angle and vertical height of the double scrapers. When the bottom of the stockpile is sunken, the double scrapers dive down deeply to scrape the material, improving the recovery rate of the bottom material. The vision camera scans the contour of the stockpile in real time and constructs a point cloud model. The control system combines the angle sensor data and can automatically calculate the optimal working angle of the double scrapers.

[0019] 4. For this double-scraping self-linking gantry reclaimer, in terms of optimizing the operation efficiency and safety, the synchronous operation of the main scraper and the secondary scraper further improves the reclaimer efficiency compared with the single scraper. When dealing with the coal stockpile, the operation time is shortened. In terms of the upgrade of automation and intelligence, the control room integrates the PLC control system, and can automatically execute the "scanning - planning - scraping" process through the vision camera and sensor data, reducing the frequency of manual intervention. Description of the Drawings

[0020] Figure 1 It is a schematic diagram of the overall structure of the double-scraping self-linking gantry reclaimer proposed by the present invention; Figure 2 It is a connection diagram of the gantry and the control part of the double-scraping self-linking gantry reclaimer proposed by the present invention; Figure 3 It is a connection diagram of the first reclaimer part and the second reclaimer part of the double-scraping self-linking gantry reclaimer proposed by the present invention; Figure 4Schematic diagram of the first material-taking part of the double-scraping self-linking gantry material-taking machine proposed by the present invention; Figure 5 The double-scraping self-linking gantry material-taking machine proposed by the present invention Figure 4 Enlarged view of A in it; Figure 6 Schematic diagram of the second material-taking part of the double-scraping self-linking gantry material-taking machine proposed by the present invention; Figure 7 Schematic diagram of the adjustment part of the double-scraping self-linking gantry material-taking machine proposed by the present invention; Figure 8 Schematic diagram of the self-linking part of the double-scraping self-linking gantry material-taking machine proposed by the present invention.

[0021] In the figure: 1, gantry; 2, control part; 21, control platform; 22, control room; 23, support seat; 24, first walking trolley; 3, second walking trolley; 4, first material-taking part; 41, installation table; 42, first idler bracket; 43, first idler; 44, first conveyor belt; 45, first adjustment shaft; 46, through hole; 47, electric push rod; 48, compensation arm; 49, second idler; 5, second material-taking part; 51, second idler bracket; 52, third idler; 53, second conveyor belt; 54, second adjustment shaft; 6, self-linking part; 61, first rotating shaft; 62, second rotating shaft; 63, driving wheel; 64, transmission belt; 65, limiting plate; 66, first sensor; 67, second sensor; 7, adjustment part; 71, cylinder frame; 72, hanging bracket; 73, rope winding cylinder; 74, suspension cable; 8, vision camera. Specific embodiments

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0023] Please refer to Figure 1-8The present invention provides a technical solution: a double-scraping self-linking gantry reclaimer, comprising a gantry 1, a reclaiming part 4 for main scraping operation, a reclaiming part 5 for auxiliary scraping operation, and a self-linking part 6 are arranged below the gantry 1, the reclaiming part 4 comprises a roller support 1 42, both ends of the roller support 1 42 are rotatably connected to rollers 1 43, the reclaiming part 2 5 comprises a roller support 2 51, both ends of the roller support 2 51 are rotatably connected to rollers 3 52, the self-linking part 6 comprises a rotating shaft 1 61 and a rotating shaft 2 62, the rotating shaft 1 61 is fixedly connected to At the end of roller one 43 near roller three 52, rotating shaft two 62 is fixedly connected to the end of roller three 52 near roller one 43, and a transmission wheel 63 is fixedly sleeved on rotating shaft one 61 and rotating shaft two 62, and a transmission belt 64 is transmission-connected between the two transmission wheels 63, and a limit plate 65 is movably sleeved between rotating shaft one 61 and rotating shaft two 62. In the working state, the limit plate 65 always limits the distance between rotating shaft one 61 and rotating shaft two 62 and keeps it unchanged, thereby ensuring that the transmission belt 64 can always produce a transmission effect when the main scraper and the auxiliary scraper change their angles.

[0024] In the present invention, in order to make the auxiliary scraper follow the main scraper to adaptively pitch, the self-linking part 6 also includes a sensor 1 66 and a sensor 2 67. The sensor 1 66 is installed at the end of the rotating shaft 1 61, and the sensor 2 67 is installed at the end of the rotating shaft 2 62. Both the sensor 1 66 and the sensor 2 67 are angle sensors. The angle change of the angle sensor can locate the angle formed between the material picking part 1 4 and the material picking part 2 5. There are two self-linking parts 6. The other self-linking part 6 is installed at the other end of the roller 1 43 and the roller 3 52 which are close to each other. The two self-linking parts 6 are symmetrically arranged with respect to each other.

[0025] In this embodiment, the material-retrieving part 4 also includes a mounting platform 41, which is a U-shaped structure. A rotating motor is installed on the inner wall of one ear end of the mounting platform 41, and the output end of the rotating motor is fixedly connected to the end of a roller 43 away from the roller 3 52. The other end of the roller 43 is rotatably connected to the inner wall of the ear end on the other side of the mounting platform 41. A conveyor belt 44 is transmission-connected between the two rollers 43, and both sides of the roller bracket 42 are fixedly connected with an adjusting shaft 45. The material-retrieving part 2 5 also includes a conveyor belt 2 53, which is transmission-connected between the two rollers 3 52, and both sides of the roller bracket 2 51 are fixedly connected with an adjusting shaft 2 54. The outer walls of the conveyor belt 1 44 and the conveyor belt 2 53 are both array-mounted with scrapers.

[0026] In order to relieve the slipping problem when the conveyor belt is slack due to long-term operation during emergency handling, the first material taking part 4 further includes a through hole 46. The through hole 46 is opened at the top of the first idler support 42. Electric push rods 47 and compensation arms 48 are hinged on both sides of the first idler support 42. The inner rods of the two electric push rods 47 are respectively hinged on the two compensation arms 48. A second idler 49 is rotatably connected between the ends of the two compensation arms 48. The second idler 49 is arranged on the inner wall of the through hole 46 and abuts against the inner wall of the first conveyor belt 44. The second idler 49 jacks up the nodes of the tension section of the conveyor belt to temporarily increase the tension and force the conveyor belt to reset to avoid deviation.

[0027] It should be noted that a control part 2 is arranged on the gantry 1 for automatic control of the material taking work. The control part 2 includes a control platform 21. The control platform 21 is installed at the bottom of one end of the gantry 1. A control room 22 is arranged on the control platform 21. A support base 23 is installed at the bottom of the control platform 21. A first walking trolley 24 is installed between the support base 23 and the control platform 21. The installation table 41 is installed on the support base 23. A second walking trolley 3 is installed at the bottom of the other end of the gantry 1. An adjusting part 7 is arranged on the gantry 1. A vision camera 8 is installed at the top of the inner wall of the gantry 1 for real-time monitoring of the stockpile and constructing a three-dimensional coordinate system of the component to locate the current coordinates of the two angle sensors and determine the real-time changes between the machine and the stockpile in cooperation with the real-time angle changes of the angle sensors.

[0028] It should be noted that in order to adaptively adjust the working angles of the first material taking part 4 and the second material taking part 5, the adjusting part 7 includes a cylinder frame 71. A dual-axis motor is installed on the cylinder frame 71. Reel drums 73 are fixedly connected to the two output shafts of the dual-axis motor. Suspension cables 74 are wound around the two reel drums 73. The movable ends of the two suspension cables 74 are fixedly connected to a suspension frame 72. There are two adjusting parts 7. The two cylinder frames 71 in the two adjusting parts 7 are symmetrically installed on the two side arms of the gantry 1. The two first adjusting shafts 45 are rotatably connected to the two ear ends of the suspension frame 72 on the same side. The two second adjusting shafts 54 are rotatably connected to the two ear ends of the other suspension frame 72. The winding and releasing of the suspension cables 74 can respectively adjust the tilting angles and spatial positions of the first idler support 42 and the second idler support 51, so as to cope with the changes of the stockpile at different times.

[0029] Working principle: The first material taking part 4 and the second material taking part 5 are connected by the transmission belt 64 of the self-linking part 6 to the first rotating shaft 61 and the second rotating shaft 62. When the first conveyor belt 44 pitches due to the change of the stockpile terrain, it drives the secondary scraping conveyor belt 53 to act synchronously, ensuring that the double scraping synchronously fits the contour of the stockpile, eliminating the material taking blind area of the traditional single scraping, improving the material recovery rate. The angle sensors at the ends of the first rotating shaft 61 and the second rotating shaft 62 collect the double scraping inclination data in real time. Combining with the three-dimensional model of the stockpile constructed by the vision camera 8, the control system can dynamically adjust the double scraping angle.

[0030] The idler roller two 49 of the material taking part one 4 jacks up the conveyor belt one 44 through the electric push rod 47 and the compensation arm 48. When the conveyor belt runs slack for a long time, the tension can be temporarily increased. The electric push rod 47 pushes the idler roller two 49 upward to eliminate the slipping phenomenon, improving the efficiency compared with the traditional manual tensioning.

[0031] The double-shaft motor of the adjusting part 7 drives the rope winding drum 73 to wind and unwind the sling 74, driving the lifting frame 72 to rise and fall, realizing the dynamic adjustment of the pitching angle and the vertical height of the material taking part one 4 and the material taking part two 5. When the bottom of the material pile is sunken, the sling 74 is lowered to make the double scraper pitch downward and scrape the material deep into the sunken area. Compared with the traditional material taking with a fixed height, the recovery rate of the bottom material is improved.

[0032] The vision camera 8 scans the contour of the material pile in real time, constructs a point cloud model and transmits it to the control room 22. The control system combines the data of the angle sensor and automatically calculates the optimal working angle of the double scraper. When there is a bulge in the material pile, the vision camera 8 identifies the height of the bulge, and the system commands the adjusting part 7 to increase the elevation angle of the double scraper to accurately level the bulge.

[0033] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including a..." does not exclude the existence of another identical element in the process, method, article or device including the said element.

Claims

1. Double-scraping self-linkage gantry reclaimer, including a gantry (1), characterized in that: Below the gantry (1), a first material taking part (4), a second material taking part (5) and a self-linkage part (6) are provided. The first material taking part (4) includes a first roller support (42). Both ends of the first roller support (42) are rotatably connected with first rollers (43). The second material taking part (5) includes a second roller support (51). Both ends of the second roller support (51) are rotatably connected with third rollers (52). The first material taking part (4) further includes a through hole (46). The through hole (46) is opened at the top of the first roller support (42). Electric push rods (47) and compensating arms (48) are hinged on both sides of the first roller support (42). The inner rods of the two electric push rods (47) are respectively hinged on the two compensating arms (48). A second roller (49) is rotatably connected between the ends of the two compensating arms (48). The self-linkage part (6) includes a first rotating shaft (61) and a second rotating shaft (62). The first rotating shaft (61) is fixedly connected to the end of the first roller (43) close to the third roller (52). The second rotating shaft (62) is fixedly connected to the end of the third roller (52) close to the first roller (43). Transmission wheels (63) are fixedly sleeved on both the first rotating shaft (61) and the second rotating shaft (62). A transmission belt (64) is connected between the two transmission wheels (63). A limiting plate (65) is movably sleeved between the first rotating shaft (61) and the second rotating shaft (62). The self-linkage part (6) further includes a first sensor (66) and a second sensor (67). The first sensor (66) is installed at the end of the first rotating shaft (61). The second sensor (67) is installed at the end of the second rotating shaft (62). Both the first sensor (66) and the second sensor (67) are angle sensors.

2. The double-scraping self-linkage gantry reclaimer according to claim 1, wherein: The number of the self-linkage parts (6) is two. The other self-linkage part (6) is installed at the other ends of the first rollers (43) and the third rollers (52) close to each other. The two self-linkage parts (6) are symmetrically arranged with each other.

3. The double-scraping self-linkage gantry reclaimer according to claim 2, characterized in that: The first material taking part (4) further includes an installation table (41). The installation table (41) is of a U-shaped structure. A rotating motor is installed on the inner wall of one ear end of the installation table (41). The output end of the rotating motor is fixedly connected to the end of the first roller (43) away from the third roller (52). The other end of the first roller (43) is rotatably connected to the inner wall of the other ear end of the installation table (41). A first conveyor belt (44) is connected between the two first rollers (43). Adjusting shafts one (45) are fixedly connected to both sides of the first roller support (42).

4. The double-scraping self-linking gantry reclaimer according to claim 3, characterized in that: The second material taking part (5) further includes a second conveyor belt (53). The second conveyor belt (53) is connected between the two third rollers (52). Adjusting shafts two (54) are fixedly connected to both sides of the second roller support (51). Scrapers are arrayedly installed on the outer walls of the first conveyor belt (44) and the second conveyor belt (53).

5. The double-scraping self-linkage gantry reclaimer according to claim 4, wherein: The second roller (49) is arranged on the inner wall of the through hole (46) and abuts against the inner wall of the first conveyor belt (44).

6. The double-scraping self-linking gantry reclaimer according to claim 5, characterized in that: A control unit (2) is provided on the gantry (1). The control unit (2) includes a control platform (21). The control platform (21) is installed at the bottom of one end of the gantry (1). A control room (22) is provided on the control platform (21). A support base (23) is installed at the bottom of the control platform (21). A first walking trolley (24) is installed between the support base (23) and the control platform (21).

7. The double-scraping self-linkage gantry reclaimer according to claim 6, wherein: The installation table (41) is installed on the support base (23). A second walking trolley (3) is installed at the bottom of the other end of the gantry (1). An adjustment unit (7) is provided on the gantry (1). A vision camera (8) is installed at the top of the inner wall of the gantry (1).

8. The double-scraping self-linkage gantry reclaimer according to claim 7, wherein: The adjustment unit (7) includes a cylinder frame (71). A dual-axis motor is installed on the cylinder frame (71). Reel drums (73) are fixedly connected to both output shafts of the dual-axis motor. Suspension cables (74) are wound around both reel drums (73). The movable ends of the two suspension cables (74) are fixedly connected to a hanging frame (72).

9. The double-scraping self-linkage gantry reclaimer according to claim 8, wherein: There are two adjustment units (7). The two cylinder frames (71) in the two adjustment units (7) are symmetrically installed on the two side arms of the gantry (1). The two first adjustment shafts (45) are rotationally connected to the two ear ends of the hanging frame (72) on the same side. The two second adjustment shafts (54) are rotationally connected to the two ear ends of the other hanging frame (72).

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