Dual-blade self-advancing portal reclaimer

Abstract

The present application relates to the technical fields of stacker-reclaimer, and discloses a double-scraper self-connection gate type reclaimer, which comprises a portal, a first material taking part, a second material taking part and a self-connection part arranged below the portal, the first material taking part comprises a roller support one, both ends of the roller support one are rotatably connected with a roller one, the second material taking part comprises a roller support two, both ends of the roller support two are rotatably connected with a roller three, the self-connection part comprises a rotating shaft one and a rotating shaft two, the rotating shaft one is fixedly connected with the roller one at the end close to the roller three, the rotating shaft of the first material taking part and the second material taking part is connected by a transmission belt of the self-connection part, when the main scraper inclines due to the change of the material pile terrain, the auxiliary scraper moves synchronously, can synchronously adhere to the material pile contour, eliminates the material taking blind area of the traditional single scraper, improves the material recovery rate, meanwhile, the angle sensor collects the double-scraper inclination data in real time, combines with the three-dimensional model of the material pile built by the visual camera, and can dynamically adjust the double-scraper angle.

Description

Technical Field

[0001] This invention relates to the field of stacker-reclaimer technology, specifically a double-scraper self-linking gantry reclaimer. Background Technology

[0002] Gantry reclaimers, as core equipment in bulk material storage scenarios, are widely used in fields such as ore sorting in mines, coal loading and unloading in ports, and fuel transportation in power plants. Their operating principle involves scraping and conveying accumulated bulk materials layer by layer through the pitching and horizontal movement of a scraper device. Traditional gantry reclaimers generally employ a single scraper with an independent pitching structure. This structure uses a motor-driven screw or hydraulic cylinder to adjust the scraper angle, working in conjunction with the gantry frame's traveling mechanism to complete the material handling operation. However, as modern industry increasingly demands higher efficiency and automation in bulk material handling, the technical limitations of the single scraper structure under complex working conditions are becoming increasingly apparent.

[0003] During the process of bulk material stacking, the height and slope of the material pile are affected by factors such as material characteristics, such as particle size, humidity, and stacking method, and change in real time, forming irregular contours such as top bulges, bottom depressions, and slope collapses. Traditional single scrapers rely on manual adjustment or preset program cyclic operation, 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, the material at the top will not be completely scraped, resulting in residual material ridges. When a depression appears at the bottom of the material pile, if the scraper angle is not adjusted in time, the material at the bottom will be missed, creating blind spots for material collection. The material recovery rate is far lower than the industry ideal. Therefore, a double-scraper self-linking gantry reclaimer is proposed to solve the above-mentioned problems. Summary of the Invention

[0005] To address the shortcomings of existing technologies, this invention provides a dual-scraper self-linking gantry reclaimer, which solves the problem that traditional reclaimers' scrapers cannot adapt to real-time physical changes in the material pile, resulting in blind spots and reduced reclaiming efficiency.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a double-scraper self-linking gantry-type material handling machine, including a gantry frame, a material handling part one, a material handling part two, and a self-linking part arranged below the gantry frame. The material handling part one includes a roller support first, with rollers rotatably connected to both ends of the roller support first. The material handling part two includes a roller support second, with rollers rotatably connected to both ends of the roller support second. The self-linking part includes a rotating shaft first and a rotating shaft second. The rotating shaft first is fixedly connected to the end of roller first near roller third, and the rotating shaft second is fixedly connected to the end of roller third near roller first. A transmission wheel is fixedly sleeved on both rotating shaft first and rotating shaft second, and a transmission belt is drivingly connected between the two transmission wheels. A limiting plate is movably sleeved between rotating shaft first and rotating shaft second.

[0007] Preferably, the self-linking unit further includes a sensor one and a sensor two. The sensor one is installed at the end of the rotating shaft one, and the sensor two is installed at the end of the rotating shaft two. Both the sensor one and the sensor two are angle sensors.

[0008] Preferably, there are two self-linking parts, with the other self-linking part installed at the other end of the adjacent idler rollers one and three, and the two self-linking parts are arranged symmetrically between each other.

[0009] Preferably, the material handling unit further includes an installation platform, which is a U-shaped structure. A rotary motor is installed on the inner wall of one side of the installation platform. The output end of the rotary motor is fixedly connected to the end of the idler roller 1 that is away from the idler roller 3. The other end of the idler roller 1 is rotatably connected to the inner wall of the other side of the installation platform. A conveyor belt 1 is connected between the two idler rollers 1. An adjusting shaft 1 is fixedly connected to both sides of the idler roller bracket 1.

[0010] Preferably, the material handling part further includes a second conveyor belt, which is driven between two third idlers. Adjusting shafts are fixedly connected to both sides of the second idler bracket. Scrapers are arrayed on the outer walls of both the first and second conveyor belts.

[0011] Preferably, the material handling part further includes a through hole, which is opened at the top of the roller bracket one. Electric push rods and compensating arms are hinged to both sides of the roller bracket one. The inner rods of the two electric push rods are respectively hinged to the two compensating arms. A second roller is rotatably connected between the ends of the two compensating arms. The second roller is disposed on the inner wall of the through hole and abuts against the inner wall of the conveyor belt one.

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

[0013] Preferably, the mounting platform is mounted on the support base, a second traveling trolley is mounted on the bottom of the other end of the gantry, an adjustment part is provided on the gantry, and a vision camera is mounted on the top of the inner wall of the gantry.

[0014] Preferably, the adjustment unit includes a frame, on which a dual-axis motor is mounted. A rope drum is fixedly connected to each of the two output shafts of the dual-axis motor. A sling is wound around each of the two rope drums, and a hanger is fixedly connected to the movable end of each of the two slings.

[0015] Preferably, there are two adjustment parts, with two cylindrical frames of the two adjustment parts symmetrically installed on the two sides of the gantry arm, and two adjustment shafts one rotatably connected to the two lugs of the hanger located on the same side, and two adjustment shafts two rotatably connected to the two lugs of another hanger.

[0016] Compared with the prior art, the present invention provides a double-scraper self-linking gantry reclaimer, which has the following beneficial effects:

[0017] 1. This dual-scraper self-linking gantry reclaimer uses a transmission belt in the self-linking unit to connect the rotating shafts of the first and second reclaiming units. When the main scraper tilts due to changes in the terrain of the material pile, the auxiliary scraper moves synchronously, which can simultaneously conform to the outline of the material pile, eliminating the blind spots of traditional single scraper and improving the material recovery rate. At the same time, the angle sensor collects the tilt angle data of the dual scrapers in real time, and combined with the three-dimensional model of the material pile constructed by the vision camera, the angle of the dual scrapers can be dynamically adjusted.

[0018] 2. This double-scraper self-linking gantry reclaimer enhances equipment reliability by having the second idler roller of the material reclaiming unit lift the conveyor belt via an electric push rod and a compensating arm. When the conveyor belt becomes slack, the tension can be temporarily increased to eliminate slippage. Compared with traditional manual tensioning, this improves efficiency. Moreover, the second idler roller can force the conveyor belt to reset through mechanical feedback, resulting in a fast correction response time and reduced material spillage.

[0019] 3. This dual-scraper self-linking gantry reclaimer is adaptable to complex working conditions. The adjustment unit uses a dual-axis motor to drive the rope drum to raise and lower the sling, thereby raising and lowering the frame and realizing dynamic adjustment of the pitch angle and vertical height of the dual scrapers. When the bottom of the material pile is concave, the dual scrapers lower down to scrape the material, thereby improving the recovery rate of the bottom material. The vision camera scans the outline of the material pile in real time and builds a point cloud model. The control system, combined with the angle sensor data, can automatically calculate the optimal working angle of the dual scrapers.

[0020] 4. This dual-scraper self-linking gantry reclaimer optimizes both work efficiency and safety. The simultaneous operation of the main scraper and the auxiliary scraper further improves the material handling efficiency compared to a single scraper. When processing coal piles, the operation time is shortened. In terms of automation and intelligent upgrades, the control room integrates a PLC control system, which can automatically execute the "scan-plan-scrape" process through visual camera and sensor data, reducing the frequency of manual intervention. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall structure of the double-scraper self-linking gantry reclaimer proposed in this invention;

[0022] Figure 2 This is a connection diagram of the gantry and control unit of the double-scraper self-linking gantry reclaimer proposed in this invention;

[0023] Figure 3This is a connection diagram of the material handling unit one and material handling unit two of the double scraper self-linking gantry reclaimer proposed in this invention;

[0024] Figure 4 This is a schematic diagram of the material handling section of the double-scraper self-linking gantry reclaimer proposed in this invention;

[0025] Figure 5 The present invention proposes a double-scraper self-linking gantry reclaimer. Figure 4 Enlarged view of A in the middle;

[0026] Figure 6 This is a schematic diagram of the two-part material handling structure of the double-scraper self-linking gantry reclaimer proposed in this invention;

[0027] Figure 7 This is a schematic diagram of the adjustment section of the double-scraper self-linking gantry reclaimer proposed in this invention;

[0028] Figure 8 This is a schematic diagram of the self-linking mechanism of the double-scraper self-linking gantry reclaimer proposed in this invention.

[0029] In the diagram: 1. Gantry; 2. Control unit; 21. Control platform; 22. Control room; 23. Support base; 24. Traveling trolley one; 3. Traveling trolley two; 4. Material handling unit one; 41. Mounting platform; 42. Idler support one; 43. Idler one; 44. Conveyor belt one; 45. Adjusting shaft one; 46. Through hole; 47. Electric actuator; 48. Compensating arm; 49. Idler two; 5. Material handling unit two; 51. Idler support two; 52. Idler three; 53. Conveyor belt two; 54. Adjusting shaft two; 6. Self-linking unit; 61. Rotating shaft one; 62. Rotating shaft two; 63. Drive wheel; 64. Drive belt; 65. Limit plate; 66. Sensor one; 67. Sensor two; 7. Adjusting unit; 71. Cylindrical frame; 72. Hanger; 73. Rope reel; 74. Sling; 8. Vision camera. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0031] Please see Figure 1-8This invention provides a technical solution: a double-scraper self-linking gantry-type material handling machine, including a gantry 1, a material handling unit 4 for main scraping operations and a material handling unit 5 for auxiliary scraping operations, and a self-linking unit 6. The material handling unit 4 includes a first roller bracket 42, with first rollers 43 rotatably connected to both ends of the first roller bracket 42. The material handling unit 5 includes a second roller bracket 51, with third rollers 52 rotatably connected to both ends of the second roller bracket 51. The self-linking unit 6 includes a first rotating shaft 61 and a second rotating shaft 62, with the first rotating shaft 61 fixedly connected to... At the end of the first roller 43 near the third roller 52, the second rotating shaft 62 is fixedly connected to the end of the third roller 52 near the first roller 43. Both the first rotating shaft 61 and the second rotating shaft 62 are fixedly fitted with transmission wheels 63. A transmission belt 64 is connected between the two transmission wheels 63. A limiting plate 65 is movably fitted between the first rotating shaft 61 and the second rotating shaft 62. In the working state, the limiting plate 65 always limits the distance between the first rotating shaft 61 and the second rotating shaft 62 and keeps it unchanged, thereby ensuring that the transmission belt 64 can always generate a transmission effect when the main scraper and the auxiliary scraper change angles.

[0032] In this invention, in order to enable the auxiliary scraper to follow the main scraper in adaptive pitch operation, the self-linking unit 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 included angle formed between the material picking part 1 4 and the material picking part 2 5. There are two self-linking units 6. The other self-linking unit 6 is installed at the other end of the adjacent idler roller 1 43 and idler roller 3 52. The two self-linking units 6 are symmetrically arranged between each other.

[0033] In this embodiment, the material handling part 4 also includes a mounting platform 41, which is a U-shaped structure. A rotary motor is installed on the inner wall of one side of the mounting platform 41. The output end of the rotary 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 side of the mounting platform 41. A conveyor belt 44 is driven between the two first rollers 43. Adjusting shafts 45 are fixedly connected to both sides of the first roller bracket 42. The material handling part 5 also includes a second conveyor belt 53, which is driven between the two third rollers 52. Adjusting shafts 54 are fixedly connected to both sides of the second roller bracket 51. Scrapers are arrayed on the outer walls of the first conveyor belt 44 and the second conveyor belt 53.

[0034] To address the slippage issue caused by long-term conveyor belt slack during emergency handling, the material handling unit 4 also includes a through hole 46. The through hole 46 is located at the top of the idler bracket 42. Both sides of the idler bracket 42 are hinged with electric push rods 47 and compensating arms 48. The inner rods of the two electric push rods 47 are respectively hinged to the two compensating arms 48. Idler roller 49 is rotatably connected between the ends of the two compensating arms 48. Idler roller 49 is located on the inner wall of the through hole 46 and abuts against the inner wall of the conveyor belt 44. Idler roller 49 can temporarily increase the tension by lifting the tension section of the conveyor belt node, forcing the conveyor belt to reset and preventing deviation.

[0035] It is worth noting that a control unit 2 is provided on the gantry 1 for automated control of material handling. The control unit 2 includes a control platform 21, which 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 traveling trolley 1 24 is installed between the support base 23 and the control platform 21. An installation platform 41 is installed on the support base 23. A traveling trolley 2 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 on the top of the inner wall of the gantry 1 for real-time monitoring of the material pile and the three-dimensional coordinate system of the components. The current coordinates of the two angle sensors are located, and the real-time angle changes of the angle sensors are used to determine the real-time changes of the machine and the material pile.

[0036] It is worth noting that, in order to adaptively adjust the working angles of the first material handling unit 4 and the second material handling unit 5, the adjustment unit 7 includes a drum frame 71, on which a dual-shaft motor is installed. A rope drum 73 is fixedly connected to each of the two output shafts of the dual-shaft motor. A sling 74 is wound around each of the two rope drums 73. A hanger 72 is fixedly connected to the movable end of each of the two slings 74. There are two adjustment units 7. The two drum frames 71 in the two adjustment units 7 are symmetrically installed on the two arms of the gantry 1. The two adjustment shafts 45 are rotatably connected to the two lugs of the hanger 72 located on the same side. The two adjustment shafts 54 are rotatably connected to the two lugs of the other hanger 72. The winding and unwinding of the slings 74 can adjust the flip angle and spatial position of the roller support 42 and the roller support 51 respectively, so as to cope with the changes in the material pile at different times.

[0037] Working principle: The transmission belt 64 of the self-linking unit 6 connects the rotating shaft 61 and rotating shaft 62 of the material picking unit 4 and the material picking unit 5. When the conveyor belt 44 pitches due to changes in the terrain of the material pile, it drives the auxiliary scraper conveyor belt 53 to move synchronously, ensuring that the two scrapers fit the outline of the material pile synchronously, eliminating the blind spot of material picking in the traditional single scraper, and improving the material recovery rate. The angle sensors at the ends of the rotating shaft 61 and rotating shaft 62 collect the tilt angle data of the two scrapers in real time. Combined with the three-dimensional model of the material pile constructed by the vision camera 8, the control system can dynamically adjust the angle of the two scrapers.

[0038] The idler roller 49 of the material handling unit 4 lifts the conveyor belt 44 through the electric push rod 47 and the compensating arm 48. When the conveyor belt is loose due to long-term operation, the tension can be temporarily increased. The electric push rod 47 pushes the idler roller 49 to move upward, eliminating slippage. Compared with the traditional manual tensioning, the efficiency is improved.

[0039] The dual-axis motor of the adjustment unit 7 drives the rope drum 73 to wind and unwind the sling 74, which in turn drives the lifting frame 72 to rise and fall, thereby realizing dynamic adjustment of the pitch angle and vertical height of the material picking unit 4 and the material picking unit 5. When the bottom of the material pile is depressed, the sling 74 is lowered so that the double scraper is tilted down and goes deep into the depressed area to scrape the material. Compared with the traditional fixed height material picking, the bottom material recovery rate is improved.

[0040] The vision camera 8 scans the outline 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 angle sensor data to automatically calculate the optimal working angle of the double scraper. When a bulge appears in the material pile, the vision camera 8 identifies the height of the bulge, and the system commands the adjustment unit 7 to increase the double scraper elevation angle to accurately flatten the bulge.

[0041] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A double-scraper self-linking gantry reclaimer, comprising a gantry (1), characterized in that: The gantry (1) is provided with a material picking part (4), a material picking part (5), and an automatic linkage part (6) below it. The material picking part (4) includes a roller bracket (42), and rollers (43) are rotatably connected to both ends of the roller bracket (42). The material picking part (5) includes a roller bracket (51), and rollers (52) are rotatably connected to both ends of the roller bracket (51). The material handling part (4) also includes a through hole (46), which is opened on the top of the roller support (42). Electric push rods (47) and compensating arms (48) are hinged on both sides of the roller support (42). The inner rods of the two electric push rods (47) are respectively hinged on the two compensating arms (48). The ends of the two compensating arms (48) are rotatably connected to the roller (49). The material handling unit (4) also includes an installation platform (41), which is a U-shaped structure. A rotary motor is installed on the inner wall of one side of the installation platform (41). The output end of the rotary 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 side of the installation platform (41). A conveyor belt (44) is connected between the two first rollers (43). An adjusting shaft (45) is fixedly connected to both sides of the first roller bracket (42). The second idler roller (49) is set on the inner wall of the through hole (46) and abuts against the inner wall of the first conveyor belt (44); The material handling part (5) also includes a conveyor belt (53), which is connected between two idler rollers (52). Adjustment shafts (54) are fixedly connected to both sides of the idler roller bracket (51). The self-linking 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) near the third roller (52). The second rotating shaft (62) is fixedly connected to the end of the third roller (52) near the first roller (43). A transmission wheel (63) is 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-linking unit (6) also includes a sensor one (66) and a sensor two (67). The sensor one (66) is installed at the end of the rotating shaft one (61), and the sensor two (67) is installed at the end of the rotating shaft two (62). Both the sensor one (66) and the sensor two (67) are angle sensors. An adjustment part (7) is provided on the gantry (1), and a vision camera (8) is installed on the top of the inner wall of the gantry (1). The adjustment unit (7) includes a tube frame (71), on which a dual-axis motor is mounted. A rope drum (73) is fixedly connected to each of the two output shafts of the dual-axis motor. A sling (74) is wound around each of the two rope drums (73), and a hanger (72) is fixedly connected to the movable end of each of the two slings (74). There are two adjustment parts (7). Two cylinders (71) of the two adjustment parts (7) are symmetrically installed on the two arms of the gantry (1). Two adjustment shafts (45) are rotatably connected to the two ears of the hanger (72) located on the same side. Two adjustment shafts (54) are rotatably connected to the two ears of the other hanger (72).

2. The double-scraper self-linking gantry reclaimer according to claim 1, characterized in that: 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 roller 3 (52) that are close to each other. The two self-linking parts (6) are arranged symmetrically between each other.

3. The double-scraper self-linking gantry reclaimer according to claim 2, characterized in that: Scrapers are arrayed on the outer walls of both conveyor belt one (44) and conveyor belt two (53).

4. The double-scraper self-linking gantry reclaimer according to claim 3, 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 traveling trolley (24) is installed between the support base (23) and the control platform (21).

5. The double-scraper self-linking gantry reclaimer according to claim 4, characterized in that: The mounting platform (41) is mounted on the support base (23), and a traveling trolley (3) is mounted on the bottom of the other end of the gantry (1).

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