CN208439991U - A kind of automatic fetching device - Google Patents
A kind of automatic fetching device Download PDFInfo
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- CN208439991U CN208439991U CN201820302453.3U CN201820302453U CN208439991U CN 208439991 U CN208439991 U CN 208439991U CN 201820302453 U CN201820302453 U CN 201820302453U CN 208439991 U CN208439991 U CN 208439991U
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Abstract
The utility model relates to a kind of automatic fetching devices, including reclaimer, control module and detection module, the reclaimer includes rack, material fetching mechanism, feed conveyor structure and the walking mechanism being arranged on the rack, the material fetching mechanism is connected with rack, the material fetching mechanism adjusts its pitch angle by luffing mechanism, the walking mechanism can be moved along the track being arranged in stock ground, the material fetching mechanism can be exported the material of acquirement by the feed conveyor structure, the detection module and control module communicate to connect, the control module can obtain data information from detection module and combine material extracting operation target instruction target word, material extracting operation is completed by reclaimer described in control operation control.The utility model can be used for bar shaped unmanned material yard system material extracting operation, and overall process automatic material taking operation large-scale bulk goods material heap field realizes reclaimer device at the scene without operation driver comprehensively in the case that may be implemented.
Description
Technical field
The utility model belongs to intelligent handling technique field, and in particular to a kind of automatic fetching device.
Background technique
It is all to be completed using heap reclaimer device, and domestic majority is looked forward to that the heap of bulk cargo, which is taken, in steel, bargh at present
The heap reclaimer device of industry is fulfiled assignment task using manual operation, and large labor intensity, working time are long, and bulk material pile take it is past
Toward will cause pollution dusty, the physical and mental health of the operator for working long hours causes very big damage.The prior art
In, usually continuous operation when due to bulk cargo stacking and taking operation, the labor intensity of operating staff in operating room is larger；While by
Inevitable during bulk material pile takes to generate fugitive dust, there is also continuous shakings and noise in operation process for equipment, therefore grasp
Make personnel to work under dust, vibration and noise circumstance for a long time, easily causes occupational disease hazards health of human body.In manual operation mould
Under formula, each operation shift of each equipment is both needed to 1-2 operators of outfit and operates, when number of devices is more, manpower
Cost is also higher, and equipment operation efficiency relies primarily on the experience of operator, in recent years, severe due to operating environment,
The young operator of profession recruits difficulty, and lay operators' operating efficiency is low.And when manual operation, due to personnel
The factors such as fatigue, the safety accidents such as easily collide, and causes equipment damage even personal injury, significant downtime is caused to lose.
More crucially manual operation when, the stockpiling randomness in stock ground is larger, and heap shape is irregular, reduce stock ground utilization rate and take
Material efficiency is not effectively tracked and is managed to the position and quantity of the stacking of different cultivars material simultaneously, is unfavorable for user and is taken
With.
To sum up, it is urgent to provide a kind of achievable high efficiency, the automatic fetching device of the operation of high accurancy and precision.
Utility model content
The purpose of the utility model is to provide a kind of achievable high efficiency, the automatic fetching device of the operation of high accurancy and precision.
Above-mentioned purpose is to be achieved through the following technical solutions: a kind of automatic fetching device, which is characterized in that including feeding
Machine, control module and detection module, the reclaimer include rack, material fetching mechanism, feed conveyor structure and are arranged in rack
On walking mechanism, the material fetching mechanism is connected with rack, and the material fetching mechanism adjusts its pitch angle, institute by luffing mechanism
Stating walking mechanism can move along the track being arranged in stock ground, and the material fetching mechanism can be transported the material of acquirement by the discharging
Transfer mechanism output, the detection module include at least the heap shape inspection for detecting material heap geography shape characteristic being arranged on the rack
Survey sensor, is set the position-measurement device for detecting the position of reclaimer on the track being arranged in walking mechanism
Angular transducer and setting on material fetching mechanism for detecting the angle of material fetching mechanism with respect to the horizontal plane is set to transport in discharging
For detecting the material extracting operation flowmeter for the weight of material flow that material fetching mechanism is obtained from bar shaped stock ground, the feeding on transfer mechanism
Mechanism, walking mechanism, luffing mechanism and detection module and control module communicate to connect, and the control module can be from detection module
It obtains data information and combines material extracting operation target instruction target word, complete material extracting operation by reclaimer described in control operation control.
The utility model can be used for bar shaped unmanned material yard system material extracting operation, and large-scale bulk goods material heap field may be implemented and realize comprehensively
Reclaimer device at the scene without operation driver in the case where overall process automatic material taking operation.The utility model can fully ensure that stock ground
Utilization rate, play reclaimer device reclaiming capacity and other functions on the basis of, in reclaimer device without operation driver carry out operation and
It monitors, the personnel that also do not need in Central Control Room carry out whole control operation, to overcome existing bulk cargo stock yard automation journey
Spend low, operator's labor intensity height, the low defect low with utilization of area rate of operating efficiency.
Preferably, further technical solution is: the rack be equipped with for measure the material heap below reclaimer away from
The radar wave level-sensing device of the distance of rack, the radar wave level-sensing device are connect with the control module signal.The event of heap shape detector
Emergency sensor when barrier, the radar wave level-sensing device can estimate the folder that should be kept with horizontal plane when material fetching mechanism work simultaneously
Angle.
Further technical solution is: the reclaimer is scraper-type reclaimer, and the material fetching mechanism is scraping plate mechanism,
The two sides of the scraper-type reclaimer are equipped with walking mechanism, and the walking mechanism of the two sides of the scraper-type reclaimer is equipped with position
Set measuring device.
Further technical solution is: the control module includes control system, the distribution of stock ground material heap and material heap shape
Display terminal and job parameter input and job state monitor terminal, stock ground material heap distribution and material heap shape display terminal and
Job parameter input is connect with the control system signal respectively with job state monitor terminal.The heap shape detection sensor will
Detection material heap geography shape characteristic data pass to control system, the material heap geography shape characteristic be distributed by stock ground material heap and
Material heap shape display terminal carries out real-time display, is inputted by the job parameter relevant to the input of job state monitor terminal
Material extracting operation instructs and controls the corresponding motion action of reclaimer progress by control system and complete material extracting operation.
The reclaimer is equipped with driving control system, and the control system includes the center control of centrally disposed control room
Reclaimer automatic job control unit in unit and driving control system, the central control unit and the reclaimer are certainly
Dynamic job control unit communication connection.
In specific operation process, operator passes through described according to material extracting operation planned target and stock ground spatial positional information
Job parameter input includes feeding weight, material kind, the feeding of material heap regional location work with the input of job state monitor terminal
Industry director data, the material extracting operation director data send control command and parameter to scraper reclaimer, institute by control system
It states scraper reclaimer reception order to move towards target position, in motion process, the heap shape detection sensor detects scraper plate feeding
The geographical shape characteristic of machine lower section material heap is simultaneously sent to control module, and the Neosinocalamus affinis that the control module updates storage simultaneously passes through
The distribution of stock ground material heap and material heap shape display terminal carry out real-time display, while the location information hair that position-measurement device will test
It send to control module, received location information is calculated and compared the control module with the starting point coordinate determined, and detection is scraped
Whether plate reclaimer reaches predetermined start position；When position-measurement device detects that scraper reclaimer reaches predetermined start position
Afterwards, control module control walking mechanism continues to move and travel to predetermined final position, heap shape detection sensor inspection in driving process
The newest heap shape of material heap between predetermined start position and predetermined final position is surveyed, is sent to control module, the control module is more
The Neosinocalamus affinis that newly stores simultaneously is distributed and material heap shape display terminal carries out real-time display by stock ground material heap, while position measures
The location information that device will test is sent to control module, and the control module sits received location information and the termination determined
Mark is calculated and compared, and whether detection scraper reclaimer reaches predetermined final position；When position-measurement device detects that scraper plate takes
After material machine reaches predetermined final position, control module controls scraper reclaimer backward going and returns to predetermined start position；Scraper plate takes
After material machine reaches predetermined start position, control module calculates scraper plate according to updated material heap terrain data and material extracting operation amount
Corresponding feeding walking starting and feeding are whole under this feeding angle in the feeding angle and scraping plate mechanism reclaiming process of mechanism
Stop bit is set, and the control module moves according to calculated result control luffing mechanism and scraping plate mechanism is driven to move, and the angle passes
The information of the angle of scraping plate mechanism and horizontal plane that sensor will test is sent to control module, and the control module is scraped received
The information of the angle of trigger structure and horizontal plane and the feeding angle of scraping plate mechanism are calculated and compared until scraping plate mechanism reaches pre-
Fixed feeding angle；Control module controls scraping plate mechanism operation and carries out feeding, while controlling walking mechanism along current feeding angle
Under feeding initial position to feeding final position walk, the material stream that material extracting operation flowmeter described in reclaiming process will test
Amount data are sent to control module, and received mass flow data are compared by the control module with the flow of setting, and
The speed of service for adjusting walking mechanism guarantees that the actual flow of feeding close to setting flow, is updated in reclaiming process of walking and passed through
The material heap shape for crossing region, after reaching the feeding final position of this feeding angle, control module is according to material extracting operation flowmeter
The data of detection judge whether the workload for reaching feeding, are, then terminate material extracting operation, no, then after control module is according to update
Material heap terrain data and unfinished material extracting operation amount calculates the feeding angle of scraping plate mechanism again and scraping plate mechanism takes
During material under this feeding angle corresponding feeding walking starting and feeding final position, and feeding is controlled according to calculated result
Machine movement is until completing material extracting operation amount and terminating material extracting operation.
The utility model can realize the unmanned control automatic material taking operation function in bar shaped stock ground, carry out in central control room simple
Parameter setting after, the scraper reclaimer plan of fulfiling assignment is automatically controlled by control module, is not required to artificial remote manual behaviour halfway
Work is intervened, while realizing the real-time display of stock ground material heap distribution and material heap shape in the full operation process of feeding, and be taken as industry and set
Standby real-time status monitoring.
Reclaimer is under scheduled feeding angle from feeding initial position to feeding final position row during material extracting operation
After the completion of walking, control module judges whether the workload for reaching feeding according to the data that material extracting operation flowmeter detects, and is, then ties
Beam material extracting operation, it is no, then judge whether the current angular of scraping plate mechanism is minimum angle in operation interval, is then to terminate to take
Expect operation, no, then control module calculates scrape again according to updated material heap terrain data and unfinished material extracting operation amount
In the feeding angle and scraping plate mechanism reclaiming process of trigger structure under this feeding angle corresponding feeding walking starting and feeding
Final position, and reclaimer movement is controlled until completing material extracting operation amount and terminating material extracting operation according to calculated result.
Received material heap geography topographic data is stored in data server with DEM terrain data format by the control module
In, and topographic data can be managed in complete feed place and be shown by being converted into 2D or 3D heap shape, 2D the or 3D heap shape, which is shown, at least wraps
Include the name of material of each material heap in complete feed field, heap annular volume, heap shape angle of repose, heap shape sectional view information.So set, can be with
It records complete feed field material statistical information in real time by this system, and complete feed field material statistical information is inquired by control module,
Realize the function of making an inventory of goods in a warehouse of complete feed field.
Stock ground uses the method for gridding by the region division in effective stockpiling area for continuous grid surface, every on curved surface
The vertex of one grid cell has a three dimensional space coordinate value (x, y, z), and the three dimensional space coordinate value is with certain in stock ground
Static three-dimensional space point is as reference coordinate zero point, and wherein x and y coordinates represent material heap surface mesh vertex in the horizontal direction
Positional value, z value represents the height on material heap surface mesh vertex, the i.e. height value of material heap surface specified point, and the size of grid can
To be adjusted according to the requirement of display precision.
So set, the abscissa and ordinate for providing material heap any point can calculate in scheduled coordinate system
The height value of material heap surface specified point, so that obtaining material heap can be obtained whole shape characteristic data on surface, then control module
Relevant control operation is carried out to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection sensing
Device can be the measurement and modeling including 3D laser scanner.
Stock ground heap shape and material heap distribution display use plane display mode, and the horizontal position of stock ground grid vertex uses numerical value
Display highly shows that color ruler uses gradual manner using color ruler.Such as the more red representative height of color is higher, green portion
Point height be lower than RED sector, entire height gauge use gradual manner, black portions then indicate the height of the mesh point be less than or
Equal to the zero plane value in stock ground Z-direction (short transverse).
Complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shape is shown, the heap annular volume of the material heap
Computation model beIn formula, m and n are the grid number under stock ground DEM terrain data format,
In, m is the stock ground line number under DEM terrain data format, and n is the stock ground columns under DEM terrain data format, hijFor the i-th row j column
Under corresponding grid height value, V be material heap heap annular volume.
It includes each material heap in complete feed field that complete feed place is managed topographic data and obtained by computing module by the control module
Name of material, heap annular volume, heap shape angle of repose, heap shape sectional view information 2D or 3D heap shape show, and according to the control
The information prestored in module to 2D or 3D heap shape show in each material heap carry out the mark of name of material.
Further technical solution is: the luffing mechanism is scraping plate lifting traction device, the scraping plate lifting traction
Device puts the pitch angle that scraping plate lifting haulage cable adjusts scraping plate mechanism by volume.
Further technical solution is: institute's feed conveyor structure is belt conveyor, the belt conveyor skin
The discharging point of band is equipped with impact idler and side carrying roller, and the side carrying roller turns forward along belt-conveying direction to be set in predetermined angular
It sets.The setting of impact idler can effectively slow down impact of the material blanking operation to belt, guarantee the stability of transport, and in addition side is held in the palm
Roller is arranged in the manner described above to generate opposite sliding speed with belt, effectively belt can be promoted to return back to belt conveyor
Center so limited can avoid belt deviation.
Further technical solution is: the discharge port of the scraper-type reclaimer is equipped with guide component, the discharge port
Material between belt conveyor is transported by the guide component, and the belt conveyor is equipped with deviation-resisting device for belts,
The deviation-resisting device for belts include for drive guide component to move and change guide component discharging point and belt it is opposite
The driving device of position and for measure its own arrive belt side distance detecting element, the detecting element, driving dress
It sets and is electrically connected with the control module.
During concrete application, the control module stores the initial distance data between detecting element and belt side,
Its range data between belt side that the detecting element will test passes to control module, and the control module will receive
Range data be compared with the detecting element prestored with the initial distance data between belt side, and according to comparison result control
Driving device processed drives the movement of guide component to change itself and horizontal direction angle.
So set, controlling driving device when detecting that sideslip occurs for belt by control module and driving guide component
Movement changes its discharging point on belt, since discharging point variation causes belt bearing capacity change, discharging point is made to be in belt
Center, realize correction to belt deviation, effectively improve production efficiency, reduce the generation of production accident.It is preferred that described
Detecting element is photoelectric sensor or displacement sensor.
Further technical solution is: the reclaimer includes the major ingredient that comb is expected frame and is arranged on the comb material frame
Rake and comb claw, the reclaimer further include driving the driving device of the dynamic comb material of the major ingredient scraping and for driving comb claw
The transmission mechanism of rotation comb material.
The feeding device of the utility model comb machine in feeding is distributed in major ingredient towards when moving back and forth at material heap
Comb teeth on rake and comb claw stirs the material on feeding face, is allowed to fall on the bottom in feeding face, what is successively run takes
Material device is transported, until will transfer out on material transportation to material conveying device.The utility model is made suitable for viscous material
Industry occasion, and the material strong to viscosity has good fluffing action, solves using traditional structure claw in the stronger material of viscosity
The occasion of operation is due to the problems such as unsmooth and resulting work capacity of stream reduces, and excavating resistance increases.
Further technical solution is: the comb claw includes the transmission shaft and rotation comb teeth of several groups cooperation comb material,
The transmission shaft is connected with rotation comb teeth, and the transmission mechanism includes the conveyer chain being surrounded on comb material frame and driving conveyer chain fortune
Dynamic motor, the motor driven conveyer chain drive transmission shaft rotation, comb so that the rotation comb teeth be driven to rotate along transmission shaft
Material.
Further technical solution is: the major ingredient rake includes several major ingredient comb teeth, and the major ingredient comb teeth is at least uniform
It is distributed in the comb charge level of the comb material frame, major ingredient comb teeth reciprocating motion described in the driving device Packet driven carries out comb material.
Detailed description of the invention
The attached drawing for constituting a part of the utility model is used to provide a further understanding of the present invention, this is practical new
The illustrative embodiments and their description of type are not constituteed improper limits to the present invention for explaining the utility model.
Fig. 1 is a kind of structural schematic diagram of automatic material taking system involved in a kind of embodiment of the utility model；
Fig. 2 is material taking machine control system schematic diagram involved in a kind of embodiment of the utility model；
Fig. 3 is reclaimer material extracting operation control process schematic diagram involved in a kind of embodiment of the utility model；
Fig. 4 is the composition schematic diagram of central control room involved in a kind of embodiment of the utility model；
Fig. 5 is the schematic diagram of material heap shaped grid representation of a surface method involved in a kind of embodiment of the utility model；
Fig. 6 is the structural schematic diagram of reclaimer involved in a kind of embodiment of the utility model；
Fig. 7 is the K of comb machine involved in the utility model Fig. 6 to structural schematic diagram.
In figure:
0 material heap, 11 rack, 12 scraping plate lifting haulage cable
13 scraping plate lifting traction device, 14 walking mechanism, 15 feed conveyor structure
16 driving control system, 17 reclaimer automatic job control unit, 18 heap shape detection sensor
19 radar wave level-sensing device, 20 angular transducer, 21 material extracting operation flowmeter
22 position-measurement device, 24 scraping plate mechanism, 25 grid vertex
26 comb material 27 major ingredient comb teeth of frame, 28 conveyer chains
29 transmission shaft, 30 rotation comb teeth
Specific embodiment
The utility model is described in detail with reference to the accompanying drawing, the description of this part be only it is exemplary and explanatory,
There should not be any restriction effect to the protection scope of the utility model.In addition, those skilled in the art's retouching according to this document
It states, the corresponding combination can be carried out to the feature in embodiment in this document and in different embodiments.
The utility model embodiment is as follows, referring to Figures 1 and 2, a kind of automatic fetching device, which is characterized in that including taking
Material machine, control module and detection module, the reclaimer include rack 11, material fetching mechanism, feed conveyor structure 15 and setting
Walking mechanism 14 in rack 11, the material fetching mechanism are connected with rack 11, and the material fetching mechanism is adjusted by luffing mechanism
Its pitch angle, the walking mechanism 14 can be moved along the track being arranged in stock ground, and the material fetching mechanism can be by the object of acquirement
Material is exported by the feed conveyor structure 15, and the detection module includes at least to be arranged in rack 11 and is used to detect material heap
The heap shape detection sensor 18 of 0 geographical shape characteristic, be arranged in walking mechanism 14 for detecting reclaimer in the track
On position position-measurement device 22, be arranged on material fetching mechanism for detecting the angle of material fetching mechanism with respect to the horizontal plane
Angular transducer 20 and it is arranged on feed conveyor structure 15 for detecting the material weight that material fetching mechanism is obtained from bar shaped stock ground
Measure the material extracting operation flowmeter 21 of flow, the material fetching mechanism, walking mechanism 14, luffing mechanism and detection module and control mould
Block communication connection, the control module can obtain data information from detection module and combine material extracting operation target instruction target word, by control
Reclaimer described in operation control processed completes material extracting operation.
The utility model can be used for bar shaped unmanned material yard system material extracting operation, and it is comprehensively real that large-scale bulk goods material heap 0 may be implemented
Existing reclaimer device at the scene without operation driver in the case where overall process automatic material taking operation.The utility model can fully ensure that material
On the basis of field utilization rate, the reclaiming capacity for playing reclaimer device and other functions, operated in reclaimer device without operation driver
And monitoring, the personnel that also do not need in Central Control Room carry out whole control operation, to overcome existing bulk cargo stock yard automation
Degree is low, operator's labor intensity is high, the low defect low with utilization of area rate of operating efficiency.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 1, the rack 11 is equipped with and is used for
Measure reclaimer below distance of the material heap 0 away from rack 11 radar wave level-sensing device 19, the radar wave level-sensing device 19 with it is described
The connection of control module signal.Emergency sensor when heap shape detector failures, the radar wave level-sensing device 19 can be estimated simultaneously to be taken
Expect the angle that should be kept with horizontal plane when mechanism work.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 1~3, the reclaimer is scraper-type
Reclaimer, the material fetching mechanism are scraping plate mechanism 24, and the two sides of the scraper-type reclaimer are equipped with walking mechanism 14, described to scrape
The walking mechanism 14 of the two sides of board-like reclaimer is equipped with position-measurement device 22.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 4, the control module includes control
System, the distribution of stock ground material heap 0 and 0 shape display terminal of material heap and job parameter input and job state monitor terminal, the material
The distribution of material heap 0 and 0 shape display terminal of material heap and job parameter input and job state monitor terminal respectively with the control
System signal connection.The heap shape detection sensor 18 will test the geographical shape characteristic data of material heap 0 and pass to control system, institute
It states the geographical shape characteristic of material heap 0 and real-time display is carried out by the distribution of stock ground material heap 0 and 0 shape display terminal of material heap, by described
Job parameter input material extracting operation relevant to the input of job state monitor terminal, which instructs and passes through control system, controls reclaimer
It carries out corresponding motion action and completes material extracting operation.
Such as Fig. 1 and Fig. 4, the reclaimer is equipped with driving control system 16, and the control system includes centrally disposed control
The central control unit of room processed and the reclaimer automatic job control unit 17 in driving control system 16, the center control
Unit and the reclaimer automatic job control unit 17 communicate to connect.
Such as Fig. 3, in specific operation process, operator is logical according to material extracting operation planned target and stock ground spatial positional information
It includes feeding weight, material kind, 0 regional location of material heap that the job parameter input, which is crossed, with the input of job state monitor terminal
Material extracting operation director data, the material extracting operation director data send control command and parameter to scraper plate feeding by control system
Machine, the scraper reclaimer receive order and move towards target position, and in motion process, the detection of heap shape detection sensor 18 is scraped
The geographical shape characteristic of plate reclaimer lower section material heap 0 is simultaneously sent to control module, 0 mould of material heap that the control module updates storage
Type simultaneously carries out real-time display by the distribution of stock ground material heap 0 and 0 shape display terminal of material heap, while position-measurement device 22 will test
Location information be sent to control module, the control module calculates received location information and the starting point coordinate determined
Compare, whether detection scraper reclaimer reaches predetermined start position；When position-measurement device 22 detects that scraper reclaimer reaches
Behind predetermined start position, control module control walking mechanism 14 continues movement and travels to predetermined final position, heap in driving process
Shape detection sensor 18 detects the newest heap shape of material heap 0 between predetermined start position and predetermined final position, is sent to control mould
Block, 0 model of material heap that the control module updates storage simultaneously are carried out by the distribution of stock ground material heap 0 and 0 shape display terminal of material heap
Real-time display, while the location information that position-measurement device 22 will test is sent to control module, the control module will receive
Location information and determine terminating coordinates be calculated and compared, detection scraper reclaimer whether reach predetermined final position；When
After position-measurement device 22 detects that scraper reclaimer reaches predetermined final position, control module controls the reversed row of scraper reclaimer
It sails and returns to predetermined start position；After scraper reclaimer reaches predetermined start position, control module is according to updated 0 landform of material heap
Data and material extracting operation amount calculate in 24 reclaiming process of feeding angle and scraping plate mechanism of scraping plate mechanism 24 at this feeding angle
Corresponding feeding walking starting and feeding final position, the control module control luffing mechanism according to calculated result and move under degree
And scraping plate mechanism 24 is driven to move, the information of the angle of scraping plate mechanism 24 and horizontal plane that the angular transducer 20 will test is sent out
It send to control module, the control module is by the information of received scraping plate mechanism 24 and the angle of horizontal plane and scraping plate mechanism 24
Feeding angle is calculated and compared until scraping plate mechanism 24 reaches scheduled feeding angle；Control module controls scraping plate mechanism 24 and transports
Row carries out feeding, while controlling feeding initial position of the walking mechanism 14 under current feeding angle to feeding final position row
It walks, the mass flow data that material extracting operation flowmeter described in reclaiming process 21 will test are sent to control module, the control
Received mass flow data are compared by module with the flow of setting, and adjust the speed of service of walking mechanism 14, are guaranteed
The actual flow of feeding updates institute by 0 shape of material heap in region, this takes when arrival close to setting flow in reclaiming process of walking
After the feeding final position for expecting angle, control module judges whether to reach feeding according to the data that material extracting operation flowmeter 21 detects
Workload, be then to terminate material extracting operation, no, then control module is according to updated 0 terrain data of material heap and unfinished
Material extracting operation amount is calculated in 24 reclaiming process of feeding angle and scraping plate mechanism of scraping plate mechanism 24 again under this feeding angle
Corresponding feeding walking starting and feeding final position, and reclaimer movement is controlled until completing material extracting operation according to calculated result
It measures and terminates material extracting operation.
The utility model can realize the unmanned control automatic material taking operation function in bar shaped stock ground, carry out in central control room simple
Parameter setting after, the scraper reclaimer plan of fulfiling assignment is automatically controlled by control module, is not required to artificial remote manual behaviour halfway
Work is intervened, while realizing the real-time display of stock ground material heap 0 distribution and 0 shape of material heap in the full operation process of feeding, and be taken as industry
The real-time status monitoring of equipment.
Such as Fig. 3, reclaimer is terminated under scheduled feeding angle from feeding initial position to feeding during material extracting operation
After the completion of position walking, control module judges whether the operation for reaching feeding according to the data that material extracting operation flowmeter 21 detects
Amount, is then to terminate material extracting operation, no, then judges whether the current angular of scraping plate mechanism 24 is minimum angle in operation interval,
It is then to terminate material extracting operation, no, then control module is according to updated 0 terrain data of material heap and unfinished material extracting operation
Amount calculates corresponding under this feeding angle in 24 reclaiming process of feeding angle and scraping plate mechanism of scraping plate mechanism 24 take again
Material walking starting and feeding final position, and reclaimer movement is controlled until completing material extracting operation amount and terminating according to calculated result
Material extracting operation.
The geographical topographic data of received material heap 0 is stored in data service with DEM terrain data format by the control module
In device, and topographic data can be managed in complete feed place and be shown by being converted into 2D or 3D heap shape, 2D the or 3D heap shape is shown at least
Name of material, heap annular volume, heap shape angle of repose including material heap 0 each in complete feed field, heap shape sectional view information.So set,
Complete feed field material statistical information can be recorded in real time by this system, and material statistics letter in complete feed field is inquired by control module
Breath realizes the function of making an inventory of goods in a warehouse of complete feed field.
Such as Fig. 5, stock ground uses the method for gridding by the region division in effective stockpiling area for continuous grid surface, bent
The vertex of each grid cell has a three dimensional space coordinate value (x, y, z) on face, and the three dimensional space coordinate value is to expect
A certain static three-dimensional space point is as reference coordinate zero point in, and wherein x and y coordinates represent 0 surface mesh vertex 25 of material heap and exist
Positional value in horizontal direction, z value represent the height on 0 surface mesh vertex 25 of material heap, the i.e. height of 0 surface specified point of material heap
Value, the size of grid can be adjusted according to the requirement of display precision.
So set, the abscissa and ordinate for providing 0 any point of material heap can calculate in scheduled coordinate system
Then the height value of 0 surface specified point of material heap controls mould so that obtaining material heap 0 can be obtained whole shape characteristic data on surface
Block carries out relevant control operation to reclaimer device based on the data, realizes the automatic intelligent of windrow.The heap shape detection passes
Sensor 18 can be the measurement and modeling including 3D laser scanner.
Stock ground heap shape and the distribution display of material heap 0 use plane display mode, and the horizontal position of stock ground grid vertex 25 uses
Numerical value is shown, is highly shown using color ruler, and color ruler uses gradual manner.Such as the more red representative height of color is higher, it is green
Color part height is lower than RED sector, and entire height gauge uses gradual manner, and black portions then indicate that the height of the mesh point is small
In or be equal to stock ground Z-direction (short transverse) on zero plane value.
Complete feed place reason topographic data is converted into the calculating process that 2D or 3D heap shape is shown, the heap body of the material heap 0
Long-pending computation model isIn formula, m and n are the grid number under stock ground DEM terrain data format,
In, m is the stock ground line number under DEM terrain data format, and n is the stock ground columns under DEM terrain data format, hijFor the i-th row j column
Under corresponding grid height value, V be material heap 0 heap annular volume.
It includes each material heap 0 in complete feed field that complete feed place is managed topographic data and obtained by computing module by the control module
Name of material, heap annular volume, heap shape angle of repose, heap shape sectional view information 2D or 3D heap shape show, and according to the control
The information prestored in module to 2D or 3D heap shape show in each material heap 0 carry out the mark of name of material.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 6, the luffing mechanism is scraper plate liter
Traction device 13 drops, and the scraping plate lifting traction device 13 puts scraping plate lifting haulage cable 12 by volume and adjusts scraping plate mechanism 24
Pitch angle.
On the basis of above-described embodiment, in another embodiment of the utility model, the feed conveyor structure 15 is that belt is defeated
Machine is sent, the discharging point of the belt conveyor belt is equipped with impact idler and side carrying roller, and the side carrying roller is along belt-conveying direction
It turns forward and is arranged in predetermined angular.The setting of impact idler can effectively slow down impact of the material blanking operation to belt, guarantee
The stability of transport, another outer roller is arranged in the manner described above to generate opposite sliding speed with belt, can effectively promote
Belt returns back to the center of belt conveyor, so limited can avoid belt deviation.
On the basis of above-described embodiment, in another embodiment of the utility model, the discharge port of the scraper-type reclaimer is set
There is guide component, the material between the discharge port and belt conveyor is transported by the guide component, the belt conveying
Machine is equipped with deviation-resisting device for belts, and the deviation-resisting device for belts includes for driving guide component to move and changing guide component
Discharging point and belt relative position driving device and for measure its own arrive belt side distance detecting element,
The detecting element, driving device and the control module are electrically connected.
During concrete application, the control module stores the initial distance data between detecting element and belt side,
Its range data between belt side that the detecting element will test passes to control module, and the control module will receive
Range data be compared with the detecting element prestored with the initial distance data between belt side, and according to comparison result control
Driving device processed drives the movement of guide component to change itself and horizontal direction angle.
So set, controlling driving device when detecting that sideslip occurs for belt by control module and driving guide component
Movement changes its discharging point on belt, since discharging point variation causes belt bearing capacity change, discharging point is made to be in belt
Center, realize correction to belt deviation, effectively improve production efficiency, reduce the generation of production accident.It is preferred that described
Detecting element is photoelectric sensor or displacement sensor.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 6 and Fig. 7, the reclaimer includes comb
Material frame 26 and the major ingredient rake and comb claw being arranged on the comb material frame 26, the reclaimer further includes that the major ingredient is driven to harrow
The driving device that movement comb is expected and the transmission mechanism for driving comb claw rotation comb material.
The feeding device of the utility model comb machine in feeding is distributed in master towards when moving back and forth at material heap 0
Comb teeth on claw and comb claw stirs the material on feeding face, is allowed to fall on the bottom in feeding face, successively be run
Feeding device is transported, until will transfer out on material transportation to material conveying device.The utility model is suitable for viscous material
Different areas of activity, and the material strong to viscosity has good fluffing action, solves using traditional structure claw in the stronger material of viscosity
The occasion of operation reduced due to the unsmooth and resulting work capacity of stream, the problems such as excavating resistance increases.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 6 and Fig. 7, if the comb claw includes
The transmission shaft 29 and rotation comb teeth 30 of dry group cooperation comb material, the transmission shaft 29 are connected with rotation comb teeth 30, the transmission mechanism
Including the motor that the conveyer chain 28 being surrounded on comb material frame 26 and driving conveyer chain 28 move, 28 band of motor driven conveyer chain
Dynamic transmission shaft 29 rotates, so that the rotation comb teeth 30 be driven to rotate comb material along transmission shaft 29.
On the basis of above-described embodiment, in another embodiment of the utility model, such as Fig. 6 and Fig. 7, include if the major ingredient is harrowed
Dry major ingredient comb teeth 27, the major ingredient comb teeth 27 are at least evenly distributed on the comb charge level of the comb material frame 26, the driving device packet
The reciprocating motion of major ingredient comb teeth 27 is driven to carry out comb material.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (7)
1. a kind of automatic fetching device, which is characterized in that including reclaimer, control module and detection module, the reclaimer packet
Including rack, material fetching mechanism, feed conveyor structure and the walking mechanism being arranged on the rack, the material fetching mechanism and rack phase
Even, the material fetching mechanism adjusts its pitch angle by luffing mechanism, and the walking mechanism can be along the track being arranged in stock ground
Movement, the material fetching mechanism can be exported the material of acquirement by the feed conveyor structure, and the detection module includes at least
The heap shape detection sensor for detecting material heap geography shape characteristic that is arranged on the rack is arranged in walking mechanism and is used for
The position-measurement device of the position of detection reclaimer on the track is arranged on material fetching mechanism for detecting material fetching mechanism phase
Angular transducer and setting for the angle of horizontal plane are on feed conveyor structure for detecting material fetching mechanism from bar material
The material extracting operation flowmeter for the weight of material flow that field obtains, the material fetching mechanism, walking mechanism, luffing mechanism and detection mould
Block and control module communicate to connect, and the control module can obtain data information from detection module and refer in conjunction with material extracting operation target
It enables, completes material extracting operation by reclaimer described in control operation control.
2. automatic fetching device according to claim 1, which is characterized in that the rack is equipped with for measuring reclaimer
The radar wave level-sensing device of distance of the material heap of lower section away from rack, the radar wave level-sensing device are connect with the control module signal.
3. automatic fetching device according to claim 2, which is characterized in that the reclaimer is scraper-type reclaimer, institute
Stating material fetching mechanism is scraping plate mechanism, and the two sides of the scraper-type reclaimer are equipped with walking mechanism, the scraper-type reclaimer
The walking mechanism of two sides is equipped with position-measurement device.
4. automatic fetching device according to any one of claims 1 to 3, which is characterized in that the control module includes
Control system, the distribution of stock ground material heap and material heap shape display terminal and job parameter input and job state monitor terminal, it is described
Stock ground material heap distribution and material heap shape display terminal and job parameter input with job state monitor terminal respectively with the control
System signal connection.
5. automatic fetching device according to claim 4, which is characterized in that the luffing mechanism is scraping plate lifting traction dress
It sets, the scraping plate lifting traction device puts the pitch angle that scraping plate lifting haulage cable adjusts scraping plate mechanism by volume.
6. automatic fetching device according to claim 3, which is characterized in that the feed conveyor structure is belt conveying
Machine, the discharging point of the belt conveyor belt are equipped with impact idler and side carrying roller, the side carrying roller along belt-conveying direction to
Top rake is arranged in predetermined angular.
7. automatic fetching device according to claim 6, which is characterized in that the discharge port of the scraper-type reclaimer is equipped with
Guide component, the material between the discharge port and belt conveyor are transported by the guide component, the belt conveyor
Equipped with deviation-resisting device for belts, the deviation-resisting device for belts includes for driving guide component to move and changing guide component
The driving device of the relative position of discharging point and belt and for measure its own arrive belt side distance detecting element, institute
Detecting element, driving device and the control module is stated to be electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820302453.3U CN208439991U (en) | 2018-03-05 | 2018-03-05 | A kind of automatic fetching device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820302453.3U CN208439991U (en) | 2018-03-05 | 2018-03-05 | A kind of automatic fetching device |
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| CN208439991U true CN208439991U (en) | 2019-01-29 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111553641A (en) * | 2020-05-11 | 2020-08-18 | 上海明略人工智能(集团)有限公司 | Automatic transmission method and system of target meal basket, storage medium and electronic device |
| CN113291853A (en) * | 2020-08-07 | 2021-08-24 | 湖南长天自控工程有限公司 | Anti-collision method and device for reclaimer |
-
2018
- 2018-03-05 CN CN201820302453.3U patent/CN208439991U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111553641A (en) * | 2020-05-11 | 2020-08-18 | 上海明略人工智能(集团)有限公司 | Automatic transmission method and system of target meal basket, storage medium and electronic device |
| CN111553641B (en) * | 2020-05-11 | 2023-11-24 | 上海明略人工智能(集团)有限公司 | Automatic transmission method and system for target basket, storage medium and electronic device |
| CN113291853A (en) * | 2020-08-07 | 2021-08-24 | 湖南长天自控工程有限公司 | Anti-collision method and device for reclaimer |
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