CN114314063B - Wheel type self-moving stacking and shipping integrated equipment - Google Patents
Wheel type self-moving stacking and shipping integrated equipment Download PDFInfo
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- CN114314063B CN114314063B CN202210230240.5A CN202210230240A CN114314063B CN 114314063 B CN114314063 B CN 114314063B CN 202210230240 A CN202210230240 A CN 202210230240A CN 114314063 B CN114314063 B CN 114314063B
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Abstract
The invention relates to wheel type self-moving stacking and shipping integrated equipment, which comprises a box body, wherein an adjusting mechanism is arranged on the box body; the auxiliary mechanism is connected with the adjusting mechanism through an adjusting device, a movable supporting part is arranged at the top of the auxiliary mechanism, and the adjusting device is arranged between the auxiliary mechanism and the adjusting mechanism; the moving wheels are respectively arranged at the bottoms of the adjusting mechanism and the auxiliary mechanism; the conveyer is of a telescopic structure, and a telescopic support frame is arranged below the conveyer; and the control center adjusts the working parameters of the corresponding parts in the equipment to corresponding values according to the measured data. The invention can better support the conveyor to ensure that the stress of the conveyor is more balanced during working, improve the working efficiency of equipment and effectively prolong the service life of the equipment.
Description
Technical Field
The invention relates to the technical field of stacking and shipping integrated equipment, in particular to wheel type self-moving stacking and shipping integrated equipment.
Background
The feeder is a machine which applies force to the material by means of the acting force of the machine motion to carry out motion transportation on the material, the feeder is indispensable equipment in the light industry and the heavy industry, the material needs to be conveyed by large-scale feeding equipment for use when the material is loaded on a ship, and the material is moved and adjusted by the equipment during operation, so that the whole operation is simpler and more convenient.
Move through the removal wheel of equipment when again operating the use, place equipment with the position that needs, then start equipment carry out the transport of material, can carry the ship top with the material, the operation of using manpower sparingly improves operation service speed and efficiency.
In the prior art, the supporting position of the supporting part cannot be adjusted, so that the equipment is stressed unevenly in the running process, and the problem of high equipment failure rate is caused.
Disclosure of Invention
Therefore, the invention provides wheel type automatic moving stacking and shipping integrated equipment which is used for solving the problem that the supporting position of a supporting part cannot be adjusted in the prior art, so that the equipment runs too heavily and is stressed unevenly.
In order to achieve the above object, the present invention provides a wheeled self-propelled stacking and shipping integrated apparatus, comprising,
the box body is provided with an adjusting mechanism for manually adjusting the equipment;
the auxiliary mechanism is connected with the adjusting mechanism through an adjusting device, a movable supporting part is arranged at the top of the auxiliary mechanism and used for supporting the conveyor, and a displacement sensor is arranged at the top end of the supporting part and used for detecting the supporting position of the supporting part and sending a detection result to a control center; the adjusting device is arranged between the auxiliary mechanism and the adjusting mechanism and used for adjusting the distance between the auxiliary mechanism and the adjusting mechanism;
the moving wheels are respectively arranged at the bottoms of the adjusting mechanism and the auxiliary mechanism;
the conveyer is of a telescopic structure, a telescopic support frame is arranged below the conveyer, and the conveyer is movably connected with one side of the box body in an angle-adjustable manner and used for conveying materials;
the control center is respectively connected with the auxiliary mechanism and the conveyor and is used for respectively detecting the working angle of the conveyor, the extension length of the conveyor, the position of the supporting part and the angle of the supporting part and adjusting the working parameters of corresponding parts in the equipment to corresponding values according to the measured data;
the control center is provided with a supporting position interval Y0 of a preset supporting part, when the equipment works, the control center detects the supporting position Y of the supporting part in real time, compares the Y with the supporting position interval Y0 of the preset supporting part and determines whether the supporting position of the supporting part meets the standard according to the comparison result, if the control center judges that the supporting position of the supporting part meets the standard, the control center does not adjust the supporting position of the supporting part, and if the control center judges that the supporting position of the supporting part does not meet the standard, the control center calculates the supporting position distance difference Delta Y of the supporting part and adjusts the angle theta of the supporting column according to the difference;
when the control center judges that the angle of the support column needs to be adjusted, the control center detects the adjusted support angle theta 1 of the support column and judges whether the support angle of the support column meets the standard according to the theta 1, if the control center judges that the support angle of the support column meets the standard, the control center does not adjust the position of the auxiliary mechanism, and if the control center judges that the support angle of the support column does not meet the standard, the control center calculates the support angle difference delta theta and adjusts the position of the auxiliary mechanism according to the delta theta.
Further, when the equipment works, the control center acquires the support position Y of the real-time support part detected by the position sensor, compares the Y with a support position interval Y0 of a preset support part and determines whether the support position of the support part meets the standard or not according to the comparison result;
the support position interval Y0 of the preset support part comprises a first preset position Y1 and a second preset position Y2, wherein Y1 is less than Y2;
when Y is less than Y1, the control center judges that the supporting position of the supporting part does not meet the standard, calculates the supporting position distance difference Delta Y of the supporting part and raises the supporting position of the supporting part according to the Delta Y;
when Y1 is not less than Y2, the control center judges that the supporting position of the supporting part meets the standard and does not adjust the supporting position of the supporting part;
when Y > Y2, the control center determines that the support position of the support portion does not meet the criterion and calculates a support position distance difference DeltaY 'of the support portion and lowers the support position of the support portion according to DeltaY'.
Further, when the equipment works and the control center judges that the supporting position of the supporting part does not meet the standard, the control center calculates the supporting position distance difference of the supporting part and selects a corresponding adjusting parameter alpha according to the difference so as to adjust the included angle theta between the support column and the horizontal direction;
the control center is provided with a supporting position distance difference delta Y1 of a first supporting part, a supporting position distance difference delta Y2 of a second supporting part, a supporting position distance difference delta Y3 of a third supporting part, a first angle adjusting parameter alpha 1, a second angle adjusting parameter alpha 2, a third angle adjusting parameter alpha 3 and a fourth angle adjusting parameter alpha 4, wherein delta Y1 is less than delta Y2 and less than delta Y3, and alpha 1 is more than 0.5 and less than alpha 1 and less than alpha 2 and less than alpha 3 and less than alpha 4 and less than 1.5;
when Y is smaller than Y1, the control center calculates the difference value Delta Y of the supporting position distance of the supporting part, selects a corresponding adjusting parameter alpha according to the difference value to reduce the included angle theta between the supporting column and the horizontal direction, and sets Delta Y = Y1-Y;
when DeltaY is less than DeltaY 1, the control center selects a first angle adjustment parameter alpha 1 to reduce the strut angle to a corresponding value;
when delta Y1 is more than or equal to delta Y and less than delta Y2, the control center selects a second angle adjusting parameter alpha 2 to reduce the angle of the supporting column to a corresponding value;
when delta Y is not less than delta Y2 and is not more than delta Y3, the control center selects a third angle adjusting parameter alpha 3 to reduce the strut angle to a corresponding value;
when the delta Y is not less than or equal to the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to reduce the support angle to a corresponding value;
when Y is more than Y2, the control center calculates the supporting position distance difference Delta Y 'of the supporting part and selects a corresponding adjusting parameter alpha according to the difference to increase the strut angle theta, and sets Delta Y' = Y2-Y;
when Δ Y' <Δy1, the control center selects a first angle adjustment parameter α 1 to increase the strut angle to a corresponding value;
when Δ Y1 ≦ Δ Y' <ΔY2, the control center selects a second angle adjustment parameter α 2 to increase the strut angle to a corresponding value;
when Δ Y2 ≦ Δ Y' <ΔY3, the control center selects a third angle adjustment parameter α 3 to increase the strut angle to a corresponding value;
when the delta Y' is not less than the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to increase the support angle to a corresponding value;
when the control center selects the j-th angle adjusting parameter to adjust the strut angle to the corresponding value, the control center marks the adjusted strut angle as theta 1, when Y is less than Y1, theta 1= theta-theta x alpha j is set, and when Y is greater than Y2, theta 1= theta + theta x alpha j is set.
Further, the control center is further provided with a maximum support angle theta max of the support column, when the control center determines that the support angle theta 1 needs to be increased, the control center compares the theta 1 with the theta max, when the theta 1 is larger than the theta max, the control center determines that the support angle theta does not meet the standard and adjusts the support angle theta max, and when the theta 1 is not larger than the theta max, the control center determines that the support angle theta meets the standard and adjusts the support angle theta 1.
Further, when the control center determines that the pillar support angle does not meet a standard and adjusts the pillar support angle to θ max, the control center calculates a support angle difference Δ θ a and adjusts the position of the assist mechanism according to the difference, setting Δ θ a = θ 1- θ max;
the control center is further provided with a first supporting angle difference delta theta 1, a second supporting angle difference delta theta 2, a third supporting angle difference delta theta 3, a first auxiliary mechanism moving distance W1, a second auxiliary mechanism moving distance W2, a third auxiliary mechanism moving distance W3 and a fourth auxiliary mechanism moving distance W4, wherein delta theta 1 is less than delta theta 2 and less than delta theta 3, and W1 is less than W2 and less than W3 and less than W4;
when delta theta a is smaller than delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism;
when delta theta 1 is more than or equal to delta theta a and less than delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in the direction approaching the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in the direction approaching the adjusting mechanism;
when the delta theta a is not less than the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism.
Further, the control center is further provided with a minimum value theta min of the support angle of the support, when the control center judges that the support angle of the support needs to be reduced to theta 1, the control center compares theta 1 with theta mmin, when theta 1 is larger than or equal to theta min, the control center judges that the support angle of the support meets the standard and adjusts the support angle of the support to theta 1, and when theta 1 is smaller than theta min, the control center judges that the support angle of the support does not meet the standard and adjusts the support angle of the support to theta min.
Further, when the control center judges that the supporting angle of the support column does not meet the standard and adjusts the supporting angle of the support column to be theta min, the control center calculates a supporting angle difference value delta theta b and adjusts the position of the auxiliary mechanism according to the difference value, and setting that delta theta b = theta min-theta 1;
when delta theta b is less than delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to a corresponding value in the direction away from the adjusting mechanism;
when the delta theta 1 is more than or equal to the delta theta a and less than the delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when the delta theta a is not less than the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to a corresponding value in the direction away from the adjusting mechanism.
Further, the control center is further provided with a maximum number of times of adjustment N0 and a maximum value Wmax of the assist mechanism movement distance, the control center records the number of times of adjustment as N =1 when the control center completes one adjustment of the strut angle or the assist mechanism movement distance adjustment, and sets j =1,2,3,...... cndot.n when the control center completes the j-th adjustment, the control center sets N = j, and the control center controls the device to integrally move and readjust the strut angle and the assist mechanism movement distance parameter after the movement when the control center determines N = N0 or W = Wmax.
Further, when the equipment works, the control center detects the extension length R of the actual conveyor, compares the extension length R with the extension length of the preset conveyor, and selects a corresponding support position interval Y0 of the preset support part according to the extension length of the actual conveyor;
the control center is provided with first preset conveyor extension length R1, second preset conveyor extension length R2, third preset conveyor extension length R3 and fourth preset conveyor extension length R4, works as the control center judges when the conveyor extension length is Ri, sets i =1,2,3, 4, the control center sets up the support position of predetermineeing the supporting part as Y0i, wherein, R1 < R2 < R3 < R4.
Further, when the equipment works, the control center corrects the support position of the preset support part according to the actual conveyor bearing length S, and the control center records the corrected support position of the preset support part as Y0 ', and sets Y0' = (S/Sa) × Y0, wherein Sa is the support position conveyor length of the preset support part;
when the actual bearing length S of the conveyor is close to the support position of the preset support part, the control center downwards adjusts the support position of the preset support part;
when the actual bearing length S of the conveyor is far away from the support position of the preset support part, the control center upwards adjusts the support position of the preset support part.
Compared with the prior art, the automatic adjusting device has the advantages that the control center is arranged to detect and adjust the supporting position and the supporting angle of the supporting part, so that the conveyor can be better supported, the stress of the conveyor during working is more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be more effectively prolonged.
Furthermore, the extension length of the conveyor is preset in the control center, when the conveyor works, the control center detects the extension length R of the actual conveyor, compares the extension length R with the extension length of the preset conveyor, selects the corresponding support position interval Y0 of the preset support part according to the extension length of the actual conveyor, and selects the support position of the corresponding support part according to the extension length of the conveyor, so that the conveyor can be effectively supported, the stress of the conveyor during working is ensured to be more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Furthermore, the supporting position interval Y0 of the preset supporting part comprises a first preset position Y1 and a second preset position Y2, when the equipment runs, the control center detects the supporting position of the supporting part in real time and compares the supporting position with the supporting position of the preset supporting part, and by detecting the supporting position of the supporting part, the stress condition of the control conveyor can be accurately controlled, and the supporting position of the supporting part can be adjusted according to the actual stress condition, so that the stress of the conveyor during working is more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be effectively prolonged.
Furthermore, the device is provided with a supporting position distance difference value and an angle adjusting parameter of the supporting part, the angle of the strut can be adjusted in real time through calculation of the control center, so that the supporting position of the supporting part meets the standard, the supporting position of the supporting part can be accurately regulated through angle adjustment, the stress condition of the conveyor can be accurately controlled, the supporting position of the supporting part can be adjusted according to the actual stress condition, the stress of the conveyor in the working process is ensured to be more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Furthermore, the support angle extreme value is further arranged, the actual support angle theta a is compared with the support angle extreme value by the control center, the support angle of the support can be adjusted in real time through controlling the support angle of the support, so that the support position of the support part meets the standard, the support position of the support part can be accurately regulated and controlled through adjusting the angle, the stress condition of the conveyor can be accurately controlled, the support position of the support part can be adjusted according to the actual stress condition, the stress of the conveyor in working is ensured to be more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Furthermore, the control center is also provided with a supporting angle difference value and an auxiliary mechanism moving distance, when the adjusting angle cannot meet the supporting position of the supporting part, the supporting position of the supporting part can further meet the standard by moving the position of the auxiliary mechanism, so that the stress condition of the conveyor can be accurately controlled, and the supporting position of the supporting part can be adjusted according to the actual stress condition, so that the stress of the conveyor in working is more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Furthermore, the control center is also provided with a maximum adjusting time N0 and an auxiliary mechanism moving distance maximum value Wmax, when the adjusting time reaches an upper limit or the auxiliary mechanism reaches the upper limit, the control center will re-determine the position of the equipment away from the ship to reduce the conveying distance, further the stress condition of the conveyor can be accurately controlled, and the supporting position of the supporting part can be adjusted according to the actual stress condition, so that the stress of the conveyor in working is more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be more effectively prolonged.
Further, through the bearing condition of mastering the conveyer, when the conveyer just begins to work, its bearing is at the initial end when carrying, it descends to support required support focus, it is through the support position who predetermines the supporting part when conveyer bearing section, it rises to support required support focus, when the conveyer is whole to weigh, it supports the focus and gets back to the support position who predetermines the supporting part, through revising the support position who predetermines the supporting part, can start and stop the in-process at the conveyer, carry out accurate regulation and control to the support position of supporting part, and then can be accurate the atress condition of controlling the conveyer, and adjust the support position of supporting part according to the actual atress condition, in order to guarantee that the conveyer atress at the during operation is more balanced, can improve the work efficiency of equipment, can effectual extension equipment's life more.
Drawings
FIG. 1 is a schematic structural diagram of the wheeled self-moving stacking and shipping integrated equipment of the invention;
FIG. 2 is a schematic structural diagram of an adjusting mechanism of the wheeled self-moving stacking and shipping integrated equipment;
FIG. 3 is a schematic structural view of an auxiliary mechanism of the wheeled self-moving stacking and shipping integrated equipment of the invention;
FIG. 4 is an enlarged view of the structure at the position A of the wheel type self-moving stacking and shipping integrated equipment;
fig. 5 is a schematic structural sectional view at the position B of the wheel type self-moving stacking and shipping integrated equipment.
Reference numeral 1-a box body; 2-an adjustment mechanism; 201-an escalator; 202-boxes; 203-a frame; 204-an operation table; 3-an auxiliary mechanism; 301-a base; 302-a docking plate; 303-a rotating shaft; 304-a pillar; 305-a sliding plate; 4-a moving wheel; 5-positioning a block; 6-connecting plates; 7-a conveyor; 8-a support frame; 9-a regulating device; 10-a belt; 11-a reinforcing plate; 12-laminating board.
Detailed Description
In order that the objects and advantages of the invention will be more clearly understood, the invention is further described below with reference to examples; it should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only for explaining the technical principle of the present invention, and do not limit the scope of the present invention.
It should be noted that in the description of the present invention, the terms of direction or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, which are only for convenience of description, and do not indicate or imply that the device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
Furthermore, it should be noted that, in the description of the present invention, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1-5, there are shown schematic structural diagrams of the wheeled self-moving stacking and shipping integrated equipment according to embodiments of the present invention, including,
a box body 1;
the adjusting mechanism 2 is connected with the box body 1 and used for manually adjusting equipment;
the auxiliary mechanism 3 is connected with one side of the adjusting mechanism through an adjusting device 9 capable of adjusting the distance between the adjusting mechanism and the auxiliary mechanism, a movable supporting part is arranged at the top of the auxiliary mechanism 3 and used for supporting the conveyor, and a displacement sensor (shown in the figure) is arranged at the top end of the supporting part and used for detecting the supporting position of the supporting part and sending a detection result to a control center;
the moving wheels 4 are respectively arranged at the bottoms of the adjusting mechanism 2 and the auxiliary mechanism 3;
the conveyer 7 is of a telescopic structure, and a telescopic support frame 8 is arranged below the conveyer 7 and is movably connected with one side of the box body 1 in an angle-adjustable manner to transport materials;
and the control center (not shown in the figure) is connected with the auxiliary mechanism 3 and the conveyor 7 and used for detecting the working angle of the conveyor, the extending length of the conveyor, the position of the supporting part and the angle data of the supporting part and controlling the equipment to operate according to the detected data.
Referring to fig. 1 and 4, in the embodiment of the present invention, a rotating structure is formed between the box body 1 and the moving wheel 4, the box body 1 is connected to the positioning block 5 by a snap fit, the positioning block 5 is connected to the connecting plate 6, the box body 1 is connected to the conveyor 7, the conveyor 7 is tightly attached to the supporting frame 8, and the supporting frame 8 and the auxiliary mechanism 3 form a sliding structure.
As shown in fig. 2, the adjusting mechanism 2 in this embodiment includes an escalator 201, a box 202, a frame 203, and an operation platform 204, wherein the box 202 is fixedly connected to one side of the escalator 201, and the box 202 is connected to the escalator 201; during operation, an operator can conveniently move upwards above the equipment through the escalator 201 to perform manual operation on the equipment.
In this embodiment, a frame 203 is fixedly connected to the upper part of the box 202, an operation table 204 is fixedly connected to the inner wall of the frame 203, and the frame 203 and the operation table 204 are tightly attached to each other; during operation, the periphery of the frame 203 is protected, so that an operator in the frame can be prevented from falling down.
As shown in fig. 3, the auxiliary mechanism 3 of the present embodiment includes a base 301, a butt plate 302, a rotating shaft 303, a pillar 304 and a sliding plate 305, wherein the butt plate 302 is fixedly connected above the base 301, and the butt plate 302 is connected to the base 301 through a snap-fit connection.
In this embodiment, a rotating shaft 303 is movably connected above the docking plate 302, and a rotating structure is formed between the rotating shaft 303 and the docking plate 302; in operation, the control center detects the angle of the support column 305 and the position of the sliding plate 305 in real time and adjusts the support position of the support portion of the sliding plate 305 according to the detected data.
As shown in fig. 5, in the embodiment, the inner wall of the conveyor 7 is fixedly connected with a belt 10, and the belt 10 is tightly attached to the conveyor 7; in operation, the belt 10 transports the internal materials.
In this embodiment, a reinforcing plate 11 is fixedly connected to the lower portion of the belt 10, and a joint plate 12 is fixedly connected to the lower portion of the reinforcing plate 11.
Specifically, the control center is provided with a support position interval Y0 of a preset support part, when the equipment works, the control center detects the support position Y of the support part in real time, compares the Y with the support position interval Y0 of the preset support part and determines whether the support position of the support part meets the standard according to the comparison result, if the control center determines that the support position of the support part meets the standard, the control center does not adjust the support position of the support part, and if the control center determines that the support position of the support part does not meet the standard, the control center calculates the support position distance difference Delta Y of the support part and adjusts the angle theta of the support column according to the difference;
when the control center judges that the angle of the strut needs to be adjusted, the control center detects the adjusted strut supporting angle theta 1 and judges whether the strut supporting angle meets the standard according to theta 1, if the control center judges that the strut supporting angle meets the standard, the control center does not adjust the position of the auxiliary mechanism, and if the control center judges that the strut supporting angle does not meet the standard, the control center calculates the strut supporting angle difference delta theta and adjusts the position of the auxiliary mechanism according to delta theta.
Particularly, the control center is arranged to detect and adjust the supporting position and the supporting angle of the supporting part, so that the conveyor can be better supported, the stress of the conveyor during working is more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, when the equipment works, the control center detects the extension length R of the actual conveyor, compares the extension length R with the extension length of a preset conveyor, and selects a corresponding support position interval Y0 of a preset support part according to the extension length of the actual conveyor;
the control center is provided with first preset conveyor extension length R1, second preset conveyor extension length R2, third preset conveyor extension length R3 and fourth preset conveyor extension length R4, works as the control center judges when the conveyor extension length is Ri, sets i =1,2,3, 4, the control center sets up the support position interval of presetting the supporting part to Y0i, wherein, R1 < R2 < R3 < R4.
Specifically, the control center of the invention presets the extension length of the conveyor, when the conveyor works, the control center detects the extension length R of the actual conveyor, compares the extension length R with the extension length of the preset conveyor, selects the support position interval Y0 of the corresponding preset support part according to the extension length of the actual conveyor, and selects the support position of the corresponding support part according to the extension length of the conveyor, so that the conveyor can be effectively supported, further the stress of the conveyor during working is ensured to be more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, when the equipment works, the control center acquires the support position Y of the real-time support part detected by the position sensor, compares the Y with a support position interval Y0 of a preset support part, and determines whether the support position of the support part meets the standard according to the comparison result;
the supporting position interval Y0 of the preset supporting part comprises a first preset position Y1 and a second preset position Y2, wherein Y1 is less than Y2;
when Y is less than Y1, the control center judges that the supporting position of the supporting part does not meet the standard, calculates the supporting position distance difference Delta Y of the supporting part and raises the supporting position of the supporting part according to the Delta Y;
when Y1 is not less than Y2, the control center judges that the supporting position of the supporting part meets the standard and does not adjust the supporting position of the supporting part;
when Y > Y2, the control center determines that the support position of the support portion does not meet the criterion and calculates a support position distance difference DeltaY 'of the support portion and lowers the support position of the support portion according to DeltaY'.
Particularly, the supporting position interval Y0 of the preset supporting part comprises a first preset position Y1 and a second preset position Y2, when the equipment runs, the control center detects the supporting position of the supporting part in real time and compares the supporting position with the supporting position of the preset supporting part, the stress condition of the conveyor can be accurately controlled by detecting the supporting position of the supporting part, and the supporting position of the supporting part is adjusted according to the actual stress condition, so that the stress of the conveyor during working is more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, when the equipment works and the control center judges that the supporting position of the supporting part does not meet the standard, the control center calculates the distance difference of the supporting position of the supporting part and selects a corresponding adjusting parameter alpha according to the difference so as to adjust the included angle theta between the support column and the horizontal direction;
the control center is provided with a supporting position distance difference delta Y1 of a first supporting part, a supporting position distance difference delta Y2 of a second supporting part, a supporting position distance difference delta Y3 of a third supporting part, a first angle adjusting parameter alpha 1, a second angle adjusting parameter alpha 2, a third angle adjusting parameter alpha 3 and a fourth angle adjusting parameter alpha 4, wherein delta Y1 is less than delta Y2 and less than delta Y3, and alpha 1 is more than 0.5 and less than alpha 1 and less than alpha 2 and less than alpha 3 and less than alpha 4 and less than 1.5;
when Y is more than Y1, the control center calculates the difference delta Y of the supporting position distance of the supporting part, selects a corresponding adjusting parameter alpha according to the difference to reduce the included angle theta between the supporting column and the horizontal direction, and sets delta Y = Y1-Y;
when DeltaY is less than DeltaY 1, the control center selects a first angle adjustment parameter alpha 1 to reduce the strut angle to a corresponding value;
when delta Y1 is more than or equal to delta Y and less than delta Y2, the control center selects a second angle adjusting parameter alpha 2 to reduce the angle of the supporting column to a corresponding value;
when delta Y is not less than delta Y2 and is not more than delta Y3, the control center selects a third angle adjusting parameter alpha 3 to reduce the strut angle to a corresponding value;
when the delta Y is not less than or equal to the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to reduce the support angle to a corresponding value;
when Y is more than Y2, the control center calculates the supporting position distance difference Delta Y 'of the supporting part and selects a corresponding adjusting parameter alpha according to the difference to increase the strut angle theta, and sets Delta Y' = Y2-Y;
when Δ Y' <Δy1, the control center selects a first angle adjustment parameter α 1 to increase the strut angle to a corresponding value;
when Δ Y1 ≦ Δ Y' <ΔY2, the control center selects a second angle adjustment parameter α 2 to increase the strut angle to a corresponding value;
when delta Y2 ≦ delta Y' <deltaY 3, the control center selects a third angle adjustment parameter α 3 to increase the strut angle to a corresponding value;
when the delta Y' is not less than the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to increase the support angle to a corresponding value;
when the control center selects the j-th angle adjusting parameter to adjust the strut angle to the corresponding value, the control center marks the adjusted strut angle as theta 1, when Y is less than Y1, theta 1= theta-theta x alpha j is set, and when Y is greater than Y2, theta 1= theta + theta x alpha j is set.
Particularly, the device is provided with a supporting position distance difference value and an angle adjusting parameter of the supporting part, the angle of the strut can be adjusted in real time through calculation of the control center, so that the supporting position of the supporting part meets the standard, the supporting position of the supporting part can be accurately regulated through angle adjustment, the stress condition of the conveyor can be accurately controlled, the supporting position of the supporting part can be adjusted according to the actual stress condition, the stress of the conveyor in the working process is ensured to be more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, the control center is further provided with a maximum value theta max of the supporting angle of the supporting column, when the control center determines that the supporting angle of the supporting column needs to be increased to theta 1, the control center compares theta 1 with theta max, when theta 1 is larger than theta max, the control center determines that the supporting angle of the supporting column does not meet the standard and adjusts the supporting angle of the supporting column to theta max, and when theta 1 is not larger than theta max, the control center determines that the supporting angle of the supporting column meets the standard and adjusts the supporting angle of the supporting column to theta 1.
Specifically, the maximum value theta max of the supporting angle of the supporting column is further arranged, the actual supporting angle theta a of the supporting column is compared with the maximum value theta max of the supporting angle of the supporting column by the control center, the supporting angle of the supporting column can be adjusted in real time by controlling the supporting angle of the supporting column, so that the supporting position of the supporting part meets the standard, the supporting position of the supporting part can be accurately regulated and controlled by adjusting the angle, the stress condition of the control conveyor can be accurately controlled, the supporting position of the supporting part can be adjusted according to the actual stress condition, the stress of the conveyor in working is guaranteed to be more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, when the control center determines that the support angle of the support column does not meet the standard and adjusts the support angle of the support column to θ max, the control center calculates a support angle difference Δ θ a and adjusts the position of the assist mechanism according to the difference, and is set to Δ θ a = θ 1- θ max;
the control center is further provided with a first supporting angle difference delta theta 1, a second supporting angle difference delta theta 2, a third supporting angle difference delta theta 3, a first auxiliary mechanism moving distance W1, a second auxiliary mechanism moving distance W2, a third auxiliary mechanism moving distance W3 and a fourth auxiliary mechanism moving distance W4, wherein delta theta 1 is less than delta theta 2 and less than delta theta 3, and W1 is less than W2 and less than W3 and less than W4;
when delta theta a is smaller than delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism;
when delta theta 1 is more than or equal to delta theta a and less than delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in the direction approaching the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in the direction approaching the adjusting mechanism;
when the delta theta a is not less than the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism.
The control center is further provided with a minimum value theta min of the supporting angle of the supporting column, when the control center judges that the supporting angle of the supporting column needs to be reduced to theta 1, the control center compares theta 1 with theta max, when theta 1 is larger than or equal to theta min, the control center judges that the supporting angle of the supporting column meets the standard and adjusts the supporting angle of the supporting column to theta 1, and when theta 1 is smaller than theta min, the control center judges that the supporting angle of the supporting column does not meet the standard and adjusts the supporting angle of the supporting column to theta min.
When the control center judges that the supporting angle of the support column does not meet the standard and adjusts the supporting angle of the support column to theta min, the control center calculates a supporting angle difference delta theta b and adjusts the position of the auxiliary mechanism according to the difference, and setting is carried out, wherein delta theta b = theta min-theta 1;
when delta theta b is less than delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to a corresponding value in the direction away from the adjusting mechanism;
when the delta theta 1 is more than or equal to the delta theta a and less than the delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when the delta theta a is larger than or equal to the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to move to a corresponding value in the direction away from the adjusting mechanism.
Specifically, in the embodiment of the present invention, the supporting angle of the supporting column ranges from 25 ° to 75 °.
Particularly, the control center is further provided with a supporting angle difference value and an auxiliary mechanism moving distance, when the adjusting angle cannot meet the supporting position of the supporting part, the supporting position of the supporting part can further meet the standard by moving the position of the auxiliary mechanism, so that the stress condition of the conveyor can be accurately controlled, and the supporting position of the supporting part can be adjusted according to the actual stress condition, so that the stress of the conveyor in the working process is more balanced, the working efficiency of equipment can be improved, and the service life of the equipment can be effectively prolonged.
Specifically, the control center is further provided with a maximum number of times of adjustment N0 and an auxiliary mechanism movement distance maximum value Wmax, the control center records the number of times of adjustment as N =1 when the control center completes one adjustment of the strut angle or the auxiliary mechanism movement distance adjustment, and sets j =1,2,3,....... N when the control center completes the j-th adjustment, the control center sets N = j, and the control center controls the apparatus to integrally move and readjust the strut angle and the auxiliary mechanism movement distance parameter after the movement when the control center determines N = N0 or W = Wmax.
Particularly, the control center is also provided with a maximum adjusting time N0 and an auxiliary mechanism moving distance maximum value Wmax, when the adjusting time reaches an upper limit or the auxiliary mechanism reaches the upper limit, the control center will re-determine the position of the equipment away from the ship to reduce the conveying distance, further the stress condition of the conveyor can be accurately controlled, and the supporting position of the supporting part is adjusted according to the actual stress condition, so that the stress of the conveyor in working is more balanced, the working efficiency of the equipment can be improved, and the service life of the equipment can be more effectively prolonged.
When the equipment works, the control center corrects the support position of the preset support part according to the actual conveyor bearing length S, and the control center marks the corrected support position of the preset support part as Y0 ', and sets Y0' = (S/Sa) × Y0, wherein Sa is the support position conveyor length of the preset support part;
when the actual bearing length S of the conveyor is close to the support position of the preset support part, the control center downwards adjusts the support position of the preset support part;
when the actual bearing length S of the conveyor is far away from the support position of the preset support part, the control center upwards adjusts the support position of the preset support part.
Particularly, through the bearing condition of mastering the conveyer, when the conveyer just begins to work, its bearing is initial end when carrying, it descends to support required support focus, it is through the support position of predetermineeing the supporting part when conveyer bearing section, it rises to support required support focus, when the conveyer is whole to weigh, it supports the focus and gets back to the support position of predetermineeing the supporting part, through revising the support position of predetermineeing the supporting part, can start and the stop process at the conveyer, carry out accurate regulation and control to the support position of supporting part, and then can be accurate the atress condition of controlling the conveyer, and adjust the support position of supporting part according to the actual atress condition, in order to guarantee that the conveyer atress at the during operation is more balanced, can improve equipment's work efficiency, the life that can effectual extension equipment more.
So far, the technical solutions of the present invention have been described in connection with the preferred embodiments shown in the drawings, but it is apparent to those skilled in the art that the scope of the present invention is not limited to these specific embodiments. Equivalent changes or substitutions of related technical features can be made by those skilled in the art without departing from the principle of the invention, and the technical scheme after the changes or substitutions can fall into the protection scope of the invention.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention; various modifications and alterations to this invention will become apparent to those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A wheeled self-moving stacking and shipping integrated device is characterized by comprising,
the box body is provided with an adjusting mechanism for manually adjusting the equipment;
the auxiliary mechanism is connected with the adjusting mechanism through an adjusting device, a movable supporting part is arranged at the top of the auxiliary mechanism and used for supporting the conveyor, and a displacement sensor is arranged at the top end of the supporting part and used for detecting the supporting position of the supporting part and sending a detection result to a control center; the adjusting device is arranged between the auxiliary mechanism and the adjusting mechanism and used for adjusting the distance between the auxiliary mechanism and the adjusting mechanism;
the moving wheels are respectively arranged at the bottoms of the adjusting mechanism and the auxiliary mechanism;
the conveyer is of a telescopic structure, a telescopic support frame is arranged below the conveyer, and the conveyer is movably connected with one side of the box body in an angle-adjustable manner and used for conveying materials;
the control center is respectively connected with the auxiliary mechanism and the conveyor and is used for respectively detecting the working angle of the conveyor, the extension length of the conveyor, the position of the supporting part and the angle of the supporting part and adjusting the working parameters of corresponding parts in the equipment to corresponding values according to the measured data;
the control center is provided with a supporting position interval Y0 of a preset supporting part, when the equipment works, the control center detects the supporting position Y of the supporting part in real time, compares the Y with the supporting position interval Y0 of the preset supporting part and determines whether the supporting position of the supporting part meets the standard according to the comparison result, if the control center judges that the supporting position of the supporting part meets the standard, the control center does not adjust the supporting position of the supporting part, and if the control center judges that the supporting position of the supporting part does not meet the standard, the control center calculates the supporting position distance difference Delta Y of the supporting part and adjusts the angle theta of the supporting column according to the difference;
when the control center judges that the angle of the strut needs to be adjusted, the control center detects the adjusted strut supporting angle theta 1 and judges whether the strut supporting angle meets the standard according to theta 1, if the control center judges that the strut supporting angle meets the standard, the control center does not adjust the position of the auxiliary mechanism, and if the control center judges that the strut supporting angle does not meet the standard, the control center calculates the strut supporting angle difference delta theta and adjusts the position of the auxiliary mechanism according to delta theta.
2. The wheeled self-propelled stacking and shipping integrated equipment according to claim 1, wherein when the equipment is in operation, the control center obtains a support position Y of the support part detected by the position sensor in real time, compares the Y with a support position interval Y0 of a preset support part, and determines whether the support position of the support part meets a standard according to the comparison result;
the support position interval Y0 of the preset support part comprises a first preset position Y1 and a second preset position Y2, wherein Y1 is less than Y2;
when Y is less than Y1, the control center judges that the supporting position of the supporting part does not meet the standard, calculates the supporting position distance difference Delta Y of the supporting part and raises the supporting position of the supporting part according to the Delta Y;
when Y1 is not less than Y2, the control center judges that the supporting position of the supporting part meets the standard and does not adjust the supporting position of the supporting part;
when Y > Y2, the control center determines that the support position of the support portion does not meet the criterion and calculates a support position distance difference DeltaY 'of the support portion and lowers the support position of the support portion according to DeltaY'.
3. The wheeled self-propelled stacking and shipping integrated equipment of claim 2, wherein when the equipment is in operation and the control center determines that the supporting position of the supporting portion does not meet the standard, the control center calculates the supporting position distance difference of the supporting portion and selects a corresponding adjusting parameter a according to the difference to adjust the included angle θ between the supporting column and the horizontal direction;
the control center is provided with a supporting position distance difference delta Y1 of a first supporting part, a supporting position distance difference delta Y2 of a second supporting part, a supporting position distance difference delta Y3 of a third supporting part, a first angle adjusting parameter alpha 1, a second angle adjusting parameter alpha 2, a third angle adjusting parameter alpha 3 and a fourth angle adjusting parameter alpha 4, wherein delta Y1 is less than delta Y2 and less than delta Y3, and alpha 1 is more than 0.5 and less than alpha 1 and less than alpha 2 and less than alpha 3 and less than alpha 4 and less than 1.5;
when Y is smaller than Y1, the control center calculates the difference value Delta Y of the supporting position distance of the supporting part, selects a corresponding adjusting parameter alpha according to the difference value to reduce the included angle theta between the supporting column and the horizontal direction, and sets Delta Y = Y1-Y;
when DeltaY is less than DeltaY 1, the control center selects a first angle adjustment parameter alpha 1 to reduce the strut angle to a corresponding value;
when delta Y1 is more than or equal to delta Y and less than delta Y2, the control center selects a second angle adjustment parameter alpha 2 to reduce the strut angle to a corresponding value;
when delta Y is not less than delta Y2 and is not more than delta Y3, the control center selects a third angle adjusting parameter alpha 3 to reduce the strut angle to a corresponding value;
when the delta Y is not less than the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to reduce the strut angle to a corresponding value;
when Y is more than Y2, the control center calculates the difference value DeltaY 'of the supporting position distance of the supporting part and selects the corresponding adjusting parameter alpha to increase the strut angle theta according to the difference value, and sets DeltaY' = Y2-Y;
when Δ Y' <Δy1, the control center selects a first angle adjustment parameter α 1 to increase the strut angle to a corresponding value;
when Δ Y1 ≦ Δ Y' <ΔY2, the control center selects a second angle adjustment parameter α 2 to increase the strut angle to a corresponding value;
when Δ Y2 ≦ Δ Y' <ΔY3, the control center selects a third angle adjustment parameter α 3 to increase the strut angle to a corresponding value;
when the delta Y' is not less than the delta Y3, the control center selects a fourth angle adjusting parameter alpha 4 to increase the support angle to a corresponding value;
when the control center selects the j-th angle adjusting parameter to adjust the strut angle to the corresponding value, the control center marks the adjusted strut angle as theta 1, when Y is less than Y1, theta 1= theta-theta x alpha j is set, and when Y is greater than Y2, theta 1= theta + theta x alpha j is set.
4. The wheeled self-moving stacking and shipping integrated equipment according to claim 3, wherein the control center is further provided with a maximum value θ max of the strut support angle, when the control center determines that the strut support angle needs to be increased to θ 1, the control center compares θ 1 with θ max, when θ 1 is greater than θ max, the control center determines that the strut support angle does not meet a standard and adjusts the strut support angle to θ max, and when θ 1 is less than or equal to θ max, the control center determines that the strut support angle meets the standard and adjusts the strut support angle to θ 1.
5. The wheeled self-propelled stacking and shipping integrated unit according to claim 4, wherein when said control center determines that said pillar support angle does not meet said criterion and adjusts said pillar support angle to θ max, said control center calculates a support angle difference Δ θ a and adjusts the position of said auxiliary mechanism according to said difference, setting Δ θ a = θ 1- θ max;
the control center is further provided with a first supporting angle difference delta theta 1, a second supporting angle difference delta theta 2, a third supporting angle difference delta theta 3, a first auxiliary mechanism moving distance W1, a second auxiliary mechanism moving distance W2, a third auxiliary mechanism moving distance W3 and a fourth auxiliary mechanism moving distance W4, wherein delta theta 1 is less than delta theta 2 and less than delta theta 3, and W1 is less than W2 and less than W3 and less than W4;
when delta theta a is smaller than delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism;
when the delta theta 1 is more than or equal to the delta theta a and less than the delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in the direction close to the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in the direction approaching the adjusting mechanism;
when the delta theta a is not less than the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to a corresponding value in the direction approaching the adjusting mechanism.
6. The wheeled self-moving stacking and shipping integrated equipment according to claim 4, wherein the control center is further provided with a minimum value θ min of the strut support angle, when the control center determines that the strut support angle needs to be reduced to θ 1, the control center compares θ 1 with θ mmin, when θ 1 is greater than or equal to θ min, the control center determines that the strut support angle meets the standard and adjusts the strut support angle to θ 1, and when θ 1 is less than θ min, the control center determines that the strut support angle does not meet the standard and adjusts the strut support angle to θ min.
7. The wheeled self-propelled stacking and shipping all-in-one machine according to claim 6, wherein when said control center determines that said pillar support angle does not meet a standard and adjusts said pillar support angle to θ min, said control center calculates a support angle difference Δ θ b and adjusts the position of said auxiliary mechanism according to said difference, setting Δ θ b = θ min- θ 1;
when the delta theta b is less than the delta theta 1, the control center selects a first auxiliary mechanism moving distance W1 to move the auxiliary mechanism to move to a corresponding value in the direction away from the adjusting mechanism;
when the delta theta 1 is more than or equal to the delta theta a and less than the delta theta 2, the control center selects a second auxiliary mechanism moving distance W2 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when delta theta 2 is more than or equal to delta theta and less than delta theta 3, the control center selects a third auxiliary mechanism moving distance W3 to move the auxiliary mechanism to move to a corresponding value in a direction away from the adjusting mechanism;
when the delta theta a is not less than the delta theta 3, the control center selects a fourth auxiliary mechanism moving distance W4 to move the auxiliary mechanism to a corresponding value in the direction away from the adjusting mechanism.
8. The wheeled self-propelled stacking and shipping integrated equipment of claim 7, wherein the control center is further provided with a maximum number of adjustments N0 and a maximum assist mechanism movement distance Wmax, when the control center completes one adjustment of the strut angle or an adjustment of the assist mechanism movement distance, the control center records the number of adjustments as N =1, when the control center completes a j-th adjustment, j =1,2,3, a.
9. The wheeled self-propelled stacking and shipping integrated equipment according to claim 8, wherein when the equipment is in operation, the control center detects the extension length R of the actual conveyor and compares the extension length R with the preset conveyor extension length, and selects a corresponding support position interval Y0 of the preset support part according to the actual conveyor extension length;
the control center is provided with first preset conveyor extension length R1, second preset conveyor extension length R2, third preset conveyor extension length R3 and fourth preset conveyor extension length R4, works as the control center judges when the conveyor extension length is Ri, sets i =1,2,3, 4, the control center sets up the support position interval of presetting the supporting part to Y0i, wherein, R1 < R2 < R3 < R4.
10. The wheeled self-propelled stacking and shipping all-in-one machine according to claim 9, wherein when the machine is in operation, the control center corrects the support position of the preset support according to the actual conveyor bearing length S, and the control center sets the corrected support position of the preset support as Y0 'and sets Y0' = (S/Sa) × Y0, wherein Sa is the support position conveyor length of the preset support;
when the actual bearing length S of the conveyor is close to the support position of the preset support part, the control center downwards adjusts the support position of the preset support part;
when the actual bearing length S of the conveyor is far away from the support position of the preset support part, the control center upwards adjusts the support position of the preset support part.
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| CN202210230240.5A CN114314063B (en) | 2022-03-10 | 2022-03-10 | Wheel type self-moving stacking and shipping integrated equipment |
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| CN114314063B true CN114314063B (en) | 2022-05-31 |
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| US4003480A (en) * | 1974-12-24 | 1977-01-18 | Michel Metrier | Apparatus for loading ships or barges |
| JP2000136027A (en) * | 1998-10-30 | 2000-05-16 | Ishikawajima Harima Heavy Ind Co Ltd | Reclaimer |
| CN103543688A (en) * | 2013-10-22 | 2014-01-29 | 广东红海湾发电有限公司 | Position protecting method and device based on projection boundaries for complex harbor machines |
| CN106743795A (en) * | 2017-03-13 | 2017-05-31 | 南通奥普机械工程有限公司 | The arm-type ship loader of circular arc |
| CN113200309A (en) * | 2021-05-21 | 2021-08-03 | 北京昊辰投资担保有限公司 | Intelligent material taking and conveying equipment |
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2022
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4003480A (en) * | 1974-12-24 | 1977-01-18 | Michel Metrier | Apparatus for loading ships or barges |
| JP2000136027A (en) * | 1998-10-30 | 2000-05-16 | Ishikawajima Harima Heavy Ind Co Ltd | Reclaimer |
| CN103543688A (en) * | 2013-10-22 | 2014-01-29 | 广东红海湾发电有限公司 | Position protecting method and device based on projection boundaries for complex harbor machines |
| CN106743795A (en) * | 2017-03-13 | 2017-05-31 | 南通奥普机械工程有限公司 | The arm-type ship loader of circular arc |
| CN113200309A (en) * | 2021-05-21 | 2021-08-03 | 北京昊辰投资担保有限公司 | Intelligent material taking and conveying equipment |
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