A mobile intelligent material taking, weighing and loading integrated machine and method

Abstract

The present invention relates to a mobile intelligent material-grabbing, weighing and loading integrated machine and method, comprising: a self-propelled chassis, a mechanical arm is arranged on the chassis, a material-grabbing device is arranged at one end of the mechanical arm, and the other end is connected to a weighing device, the weighing device is connected to an output belt conveyor, the weighing device comprises a rough weighing belt conveyor with a dynamic weighing sensor, and the rough weighing belt conveyor is connected to a fine weighing belt conveyor with a static weighing sensor capable of reciprocating motion. The present invention utilizes a wide rough weighing belt conveyor to supply materials to a wider fine weighing belt conveyor, and monitors the amount of materials entering the fine weighing belt conveyor during the conveying process. The fine weighing belt conveyor carries all bulk materials loaded at one time for accurate weighing. Compared with the method of using a tank body as a weighing container, the rough weighing and fine weighing belt conveyors are flat in volume and can adapt to the size of conventional vehicles, solving the problem that the tank-shaped container is not easy to install on the vehicle and is inconvenient to transport.

Description

Technical Field

[0001] The invention relates to a mobile intelligent material taking, weighing and loading integrated machine and method, a loading machine and method, and a device and method for loading a truck at a site for bulk materials. Background Art

[0002] In traditional bulk commodity material storage yards (such as coal, sand and other processed commodities with uniform particles), general loaders are usually used to load transport vehicles. The loading process is basically extensive, and there is basically no programming in the loading process. The loading is completely carried out by the loader driver according to the on-site conditions. Some large bulk commodity material yards will set up special personnel to direct the loading process of the material yard and scientifically schedule the loading process according to planning theory. However, due to the lack of professional equipment and excessive interference from human factors in the scheduling process, the entire loading process is basically in a relatively simple, non-programmed and unrefined state. For example, the loading amount of commodity materials can only be approximate, and it is necessary to weigh it through a floor scale, and auxiliary loading is carried out for more return and less supplement, which reduces the loading efficiency. The existing weighing method of bulk materials is to use a belt conveyor to concentrate the bulk materials in a tank body, statically weigh the tank body, and then use the method of filling the material to reach the precise weight required by the material. Since the height of the tank body is relatively high, setting the tank body on the loading vehicle will cause the center of the vehicle to be too high, resulting in a safety hazard of the vehicle overturning, so it is not suitable to use this method for weighing on the vehicle. Therefore, how to set up accurate bulk material weighing facilities on vehicles is a problem that needs to be solved. Summary of the invention

[0003] In order to overcome the problems of the prior art, the present invention proposes a mobile intelligent material taking, weighing and loading integrated machine and method. The integrated machine and method, by arranging a loading mechanical arm and a weighing belt on a self-propelled chassis, automatically obtains materials and performs accurate weighing according to a pre-programmed program, thereby realizing fully automatic weighing and loading of bulk material fields.

[0004] The objective of the present invention is achieved in this way: a mobile intelligent material-grabbing, weighing and loading integrated machine, comprising: a self-propelled chassis, a mechanical arm is arranged on the chassis, a material-grabbing device is arranged at one end of the mechanical arm, and the other end is connected to a weighing device, the weighing device is connected to an output belt conveyor, the weighing device comprises a coarse weighing belt conveyor with a dynamic weighing sensor, and the coarse weighing belt conveyor is connected to a fine weighing belt conveyor with a static weighing sensor and capable of reciprocating motion.

[0005] Furthermore, the chassis is provided with at least four self-propelled wheels capable of changing the direction of movement, and the chassis is also provided with an equipment compartment and a battery compartment.

[0006] Furthermore, the chassis is provided with legs for maintaining the stability of the chassis during operation.

[0007] Furthermore, the robotic arm is provided with a bracket and a support rod capable of lifting and lowering the robotic arm, the bracket is connected to the chassis via a hinge, and a robotic arm conveyor belt is also provided on the bracket.

[0008] Furthermore, the width of the rough weighing belt conveyor of the weighing device is greater than the width of the mechanical arm conveyor belt, and the width of the fine weighing belt conveyor is greater than the width of the rough weighing belt conveyor.

[0009] Furthermore, a diffusion slide is provided between the robot arm conveyor belt and the rough weighing belt conveyor, and between the rough weighing belt conveyor and the fine weighing belt conveyor.

[0010] Furthermore, a collecting bucket is provided between the precision weighing belt conveyor and the output belt conveyor.

[0011] Furthermore, the dynamic weighing sensor and the static weighing sensor are electrically connected to the controller, the controller is electrically connected to the robotic arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel, and the controller is radio-connected to the remote control and the host computer of the material yard via a wireless network.

[0012] A mobile intelligent material taking, weighing and loading method using the above-mentioned integrated machine, the steps of the method are as follows:

[0013] Step 1, formulate a loading plan: the integrated machine obtains the current material loading information from the upper computer of the material yard, including: the current material type, location in the material yard, quantity, and material characteristics, and formulates a loading plan based on the obtained information;

[0014] Step 2, adjust the position with the material pile: according to the loading plan, adjust the direction of each self-propelled wheel, bring the integrated machine close to the material pile, and adjust the distance between the integrated machine and the material pile to a position that is convenient for the robot arm to obtain the material;

[0015] Step 3, material collection: open the robotic arm, place the material collector at the front end of the robotic arm on the material pile to obtain the material, and send the obtained material into the weighing device through the robotic arm belt conveyor;

[0016] Step 4, preliminary weighing: the coarse weighing belt conveyor continuously receives the materials dropped from the mechanical arm conveyor belt, and continuously and quickly conveys the materials to the fine weighing belt conveyor; when the materials drop from the mechanical arm conveyor belt, the first-level diffusion slide spreads the materials evenly and spreads them on the coarse weighing belt conveyor; when the materials drop from the coarse weighing belt conveyor, the second-level diffusion slide spreads the materials further and spreads them on the fine weighing belt conveyor; the fine weighing belt conveyor reciprocates back and forth, spreading all the materials input by the coarse weighing belt conveyor on the belt surface; during the conveying process, the coarse weighing belt conveyor measures the amount of materials output to the fine weighing belt conveyor through the dynamic weighing sensor, and monitors whether the material output is close to the planned amount;

[0017] Step 5, fine weighing: When the dynamic weighing sensor detects that the material falling into the fine weighing belt conveyor is close to the planned amount, the mechanical arm and the rough weighing belt conveyor are stopped, and the static weighing sensor measures the amount of material on the fine weighing belt. The difference is obtained by comparing the amount of material measured by the static weighing sensor with the planned amount, and the rough weighing belt conveyor is started to slowly convey the material to the fine weighing belt conveyor. The rough weighing belt conveyor is stopped again and accurate weighing is performed until the planned material amount is reached;

[0018] Step 6, output: turn on the precision weighing belt conveyor, and continuously output the materials to the output belt conveyor. The output belt conveyor continuously outputs the materials until all the materials on the precision weighing belt conveyor are output, and the weighing and conveying process is completed.

[0019] Furthermore, in step 4, when the material quantity output from the rough weighing belt conveyor to the fine weighing belt conveyor measured by the dynamic weighing sensor reaches 95-99% of the planned material quantity, the rough weighing belt conveyor is stopped for fine weighing.

[0020] The advantages and beneficial effects of the present invention are as follows: the present invention utilizes a wide rough weighing belt conveyor to supply materials to a wider fine weighing belt conveyor, and monitors the amount of materials entering the fine weighing belt conveyor during the conveying process. The fine weighing belt conveyor carries all bulk materials loaded at one time for accurate weighing. Compared with the method of using a tank body as a weighing container, the volumes of the rough weighing and fine weighing belt conveyors are flat and can adapt to the size of conventional vehicles, thus solving the problem that the tank-shaped container is difficult to install on the vehicle and inconvenient to transport, and realizing the completion of bulk material loading and weighing on one vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0022] Figure 1 It is a schematic diagram of the structure of the all-in-one device described in Embodiments 1, 3, 6 and 7 of the present invention;

[0023] Figure 2 is a schematic diagram of the structure of the all-in-one device described in Embodiments 1, 5, 6, and 7 of the present invention, and is a view in the direction of A in the figure;

[0024] Figure 3 is a schematic diagram of the structure of the mechanical arm according to the fourth embodiment of the present invention;

[0025] Figure 4 It is a flow chart of the method described in Embodiment 9 of the present invention. DETAILED DESCRIPTION

[0026] Embodiment 1:

[0027] This embodiment is a mobile intelligent material taking, weighing and loading integrated machine. Figure 1 , 2 This embodiment comprises: a self-propelled chassis 1, a mechanical arm 2 is arranged on the chassis, a material picker 201 is arranged at one end of the mechanical arm, and the other end is connected to a weighing device 3, the weighing device is connected to an output belt conveyor 4, the weighing device comprises a rough weighing belt conveyor 302 with a dynamic weighing sensor 301, and the rough weighing belt conveyor is connected to a reciprocating fine weighing belt conveyor 304 with a static weighing sensor 303.

[0028] The material taking and weighing method of this embodiment is: using the material taker to dig out the material in the material pile, and putting the dug up material on the rough weighing belt conveyor to transmit it to the fine weighing belt conveyor. At this time, the fine weighing belt conveyor does not run continuously in one direction, but reciprocates, so that the material input on the rough weighing belt conveyor is evenly spread on the fine weighing belt conveyor. The dynamic weighing sensor on the rough weighing belt conveyor monitors the amount of material transported from the rough weighing belt conveyor to the fine weighing belt conveyor. When the material on the fine weighing belt conveyor is close to the required amount (the planned amount, that is, the amount planned for this loading), the rough weighing belt conveyor stops working, and the fine weighing belt conveyor also stops for static weighing, and calculates the difference between the current material amount and the planned material amount, and then starts the rough weighing belt conveyor to output the material to the fine weighing belt conveyor at a slower speed. After reaching the difference, the rough weighing belt conveyor stops again, and the static weighing sensor of the fine weighing belt conveyor weighs again to confirm that the material on the current fine weighing belt conveyor accurately reaches the planned amount. If not, repeat the above actions until the planned amount is accurately reached.

[0029] The method of using two belts for weighing, namely, a rough weighing belt and a fine weighing belt, can significantly reduce the height of the weighing device to adapt to the height of conventional loading machinery. Compared with the conventional method of using a tank for weighing, the belt conveyor of this embodiment has a dual function, that is, it serves as a conveying device and a weighing container, changing the vertical material flow of the storage tank into a material lateral flow channel, solving the problem of material flow.

[0030] The chassis described in this embodiment is the framework of the entire all-in-one machine, and all the equipment of the all-in-one machine is installed on the chassis. The self-propelled device of the chassis can be a track type or a wheel type. When the wheel type is adopted, legs can be set on both sides of the all-in-one machine to increase the working stability of the all-in-one machine. The self-propelled power can be an internal combustion engine or an electric motor, and the transmission method can be a traditional mechanical transmission, or an electric transmission, that is, using a power battery as energy, and using an electric motor to drive the wheel set or track to run. For this purpose, a mechanical compartment or a battery compartment, as well as a corresponding electromechanical equipment compartment, should also be set on the chassis.

[0031] The chassis and the corresponding loading and weighing equipment can be operated by a person, that is, a driver's seat is set on the integrated machine, or a driver's seat is not set, and an unmanned driving or remote control driving mode is adopted.

[0032] The mechanical arm is a device that can dig up materials from the material pile and transport them to the weighing device. It can use a horizontal or vertical rotating material grabber. The mechanical arm is equipped with a conveyor belt to transport the materials obtained by the grabber to the weighing device. The mechanical arm should be able to extend and swing to flexibly dig materials.

[0033] The output belt conveyor is a device that transports accurately weighed materials to the batching machine or loading truck. The output end is generally higher to adapt to the height of the loading truck compartment.

[0034] The rough weighing belt conveyor and the fine weighing belt conveyor are the key equipment of this embodiment. The fine weighing belt conveyor is not a conventional belt conveyor. The length and width of its conveying belt are relatively small, forming a wide and short feature. The purpose of forming this feature is to be able to pile up as much material as possible in the longest section of length, which of course requires increasing the width of the conveyor belt. Of course, the width of the belt conveyor cannot be increased indefinitely, and should adapt to the width of conventional vehicles, and also consider the ability of spreading and evenly distributing the material.

[0035] The belt conveyor on the robot arm cannot be too wide. To increase the diffusion width, the rough weighing belt also needs to be designed as a special belt with a smaller length-width ratio, so that bipolar diffusion is achieved and the diffusion capacity is improved. To improve the diffusion efficiency, a diffusion slide can be set between the robot arm conveyor belt and the rough weighing belt conveyor, and between the rough weighing belt conveyor and the fine weighing belt conveyor. A collection bucket is set between the fine weighing belt conveyor and the output belt conveyor to collect the flattened materials on the fine weighing belt conveyor and send them to the output belt conveyor with a narrower belt.

[0036] In this embodiment, two types of weighing sensors are provided, a dynamic weighing sensor and a static weighing sensor. The two types of weighing sensors can use sensors of the same model, or the precision weighing sensor can use a weighing sensor with higher precision.

[0037] The purpose of setting up two weighing belts and two weighing sensors is to improve the weighing accuracy. Although the existing commercial weighing sensors have good accuracy and good impact resistance, and can continuously monitor the weight when adding materials, due to the inertia of mechanical facilities and other factors, continuous weighing often cannot achieve very accurate weighing results, resulting in disputes in commercial activities. Therefore, accurate static weighing is very necessary.

[0038] Dynamic weighing sensors can be installed at four supporting points at both ends, or only two weighing sensors can be installed at the two ends of the rough weighing belt conveyor outlet. Static weighing sensors need to be installed at least four points at the supporting points at both ends.

[0039] Embodiment 2:

[0040] This embodiment is an improvement of the first embodiment and is a refinement of the first embodiment regarding the chassis. The chassis described in this embodiment is provided with at least four self-propelled wheels capable of changing the direction of movement, and the chassis is also provided with an equipment compartment and a battery compartment.

[0041] The chassis of this embodiment is provided with four self-propelled wheels capable of changing directions, so that the working position of the integrated machine can be controlled very flexibly. Each self-propelled wheel can be driven by its own motor, so sufficient power batteries should be provided on the chassis to drive the integrated machine to move and the mechanical arm and weighing device to work.

[0042] The equipment compartment set on the chassis can be installed with various wireless control devices and connected with the upper computer of the bulk truck, and the upper computer controls the working position of the all-in-one machine.

[0043] Embodiment three:

[0044] This embodiment is an improvement of the above embodiment and a refinement of the chassis of the above embodiment. The chassis described in this embodiment is provided with legs 101 to maintain the stability of the chassis during operation. Figure 1 shown.

[0045] When the all-in-one machine is working, its position is basically in a relatively fixed state. In order to enable the mechanical arm of the all-in-one machine to swing in a larger range and maintain the overall stability of the all-in-one machine, outriggers can be set near each self-propelled wheel. These outriggers should be able to extend out of the chassis to expand the support position of the fulcrum and improve the anti-rollover ability.

[0046] Embodiment 4:

[0047] This embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the robot arm. The robot arm described in this embodiment is provided with a bracket 202 and a support rod 203 capable of lifting and lowering the robot arm. The bracket is connected to the chassis through a hinge, and a robot arm conveyor belt 204 is also provided on the bracket. Figure 3 shown.

[0048] The bracket can be welded using steel profiles to form a long strip bracket, with rollers and conveyor belts installed at both ends, one end extending out to connect to the material picker, and the other end hinged to the chassis, and through the support rod and swing mechanism, the mechanical arm can swing in a plane and up and down, so that the material picker forms a three-dimensional motion space.

[0049] The picker on the robot arm can be a horizontally rotating disc picker or a vertically rotating drum picker.

[0050] Embodiment five:

[0051] This embodiment is an improvement of the above embodiment and a refinement of the weighing device of the above embodiment. The weighing device described in this embodiment roughly measures the width D of the belt conveyor. 1 Greater than the width d of the robotic conveyor belt, the width D of the precision belt conveyor 2 Greater than the rough width D of the belt conveyor 1 ,like Figure 2 shown.

[0052] The width of the fine weighing belt is determined according to the width of the vehicle, while the width of the rough weighing belt is determined according to the width of the fine weighing belt and the width of the robotic arm conveyor belt, that is, it can fully receive the materials from the robotic arm conveyor belt and spread these materials as evenly as possible on the fine weighing belt.

[0053] Embodiment six:

[0054] This embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the diffusion slide. In this embodiment, diffusion slides 5 and 6 are provided between the mechanical arm conveyor belt and the rough weighing belt conveyor, and between the rough weighing belt conveyor and the fine weighing belt conveyor. Figure 1 , 2 shown.

[0055] The diffusion slide can be a slanted flat plate with multiple vertical slanted partitions added on it, and these slanted partitions evenly spread the materials on both sides of the diffusion section belt.

[0056] Since the width of the rough weighing belt conveyor is larger than the width of the conveyor belt of the robot arm, its conveying speed should be lower than the speed of the conveyor belt of the robot arm. The movement speed of the fine weighing belt conveyor when spreading the material should be relatively slow, so that the material can be evenly spread on the belt.

[0057] Embodiment seven:

[0058] This embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the collecting bucket. A collecting bucket 7 is provided between the precision belt conveyor and the output belt conveyor described in this embodiment. Figure 1 , 2 shown.

[0059] The collecting bucket is an inclined bucket with side plates on both sides, which can collect the materials spread on the precision weighing belt conveyor and send them to the output belt conveyor with a narrower width.

[0060] Since the precision weighing belt is wider, its conveying speed should be lower than the speed of the output belt conveyor.

[0061] Embodiment eight:

[0062] This embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding each sensor. The dynamic weighing sensor and the static weighing sensor described in this embodiment are electrically connected to the controller, and the controller is electrically connected to the robotic arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel. The controller is radio-connected to the remote control and the host computer of the material yard through a wireless network.

[0063] The controller is an electronic device with computing and storage functions, such as an industrial PC or other electronic computer, and is matched with corresponding auxiliary equipment and corresponding software.

[0064] Embodiment nine:

[0065] This embodiment is a mobile intelligent material taking, weighing and loading method using the above-mentioned integrated machine. The core of the weighing and loading method is: first, spread the material flat on the wide belt of the precision weighing belt conveyor, and during the spreading process, monitor the conveying volume. Once it approaches the planned volume, stop the machine for accurate weighing, and then make up the remaining volume to achieve the purpose of accurate weighing.

[0066] The specific steps of the method are as follows, and the process is shown in Figure 4 As shown:

[0067] Step 1, formulate a loading plan: the integrated machine obtains the current material loading information from the upper computer of the material yard, including: the current material type, location in the material yard, quantity, and material characteristics, and formulates a loading plan based on the obtained information;

[0068] Commodity bulk materials are usually configured according to the user's requirements for particle size and gradation, and the material yard usually stores materials of several particle sizes. During loading, a certain amount of materials of different particle sizes are obtained according to the user's gradation requirements for mixed loading to meet the user's requirements. Therefore, it is necessary to make a detailed plan for which materials to take, the location of these materials in the material yard, how much to take, the material taking route of which to take first and which to take later, and the current location of the integrated machine, etc., in order to find the optimal acquisition process and improve loading efficiency.

[0069] Step 2, adjust the position with the material pile: according to the loading plan, adjust the direction of each self-propelled wheel, bring the integrated machine close to the material pile, and adjust the distance between the integrated machine and the material pile to a position that is convenient for the robot arm to obtain the material;

[0070] The integrated machine can move forward, backward, left and right by adjusting the direction of each self-propelled wheel. Before starting to pick up materials, the position of the integrated machine is adjusted so that the integrated machine reaches the position in front of the material pile to be loaded and can easily pick up materials. This adjustment process can be made manually on site using a remote control, or it can be adjusted in real time by the automatic control system of the material yard according to the current status of the material yard.

[0071] If the current position of the integrated machine is consistent with the material taking position required by the current plan through monitoring, this step will be skipped. In other words, during the last material taking process, the position of the integrated machine is completely consistent with the material taking position required by the current plan, and the integrated machine can obtain the materials required by the current plan without moving.

[0072] Step 3, material collection: open the robotic arm, place the material collector at the front end of the robotic arm on the material pile to obtain the material, and send the obtained material into the weighing device through the robotic arm belt conveyor;

[0073] The reclaimer rotates to dig up the material from the material center of the site and throw it onto the mechanical arm belt. During the reclaiming process, the support rod is adjusted differently to put the reclaimer in the best reclaiming position and throw as much material as possible into the mechanical arm belt.

[0074] The material falls from the mechanical arm belt and enters the diffusion slide. The guide strips on the diffusion slide evenly spread the material onto the rough weighing belt.

[0075] Step 4, preliminary weighing: the coarse weighing belt conveyor continuously receives the materials dropped from the mechanical arm conveyor belt, and continuously and quickly conveys the materials to the fine weighing belt conveyor; when the materials drop from the mechanical arm conveyor belt, the first-level diffusion slide spreads the materials evenly and spreads them on the coarse weighing belt conveyor; when the materials drop from the coarse weighing belt conveyor, the second-level diffusion slide spreads the materials further and spreads them on the fine weighing belt conveyor; the fine weighing belt conveyor reciprocates back and forth, spreading all the materials input by the coarse weighing belt conveyor on the belt surface; during the conveying process, the coarse weighing belt conveyor measures the amount of materials output to the fine weighing belt conveyor through the dynamic weighing sensor, and monitors whether the material output is close to the planned amount;

[0076] In order to improve work efficiency, this step spreads the acquired materials on the precision weighing belt at the fastest possible conveying speed, and continuously measures the material quantity during the spreading process, so that the material quantity on the precision weighing belt approaches the planned material quantity as soon as possible. To achieve this goal, the mechanical arm and the rough weighing belt conveyor need to operate at high speed, and at the same time, the materials are spread as much as possible from the narrow mechanical arm conveyor belt to the wider rough weighing belt conveyor, and further spread to the wider precision weighing belt conveyor. The task of the precision weighing belt conveyor is to accurately weigh the amount of materials required by the current plan. In order to accurately measure the weight of the materials, it is necessary to spread the materials as evenly as possible on the plane of the precision weighing belt. The "fast" described in this step is relative to the "slow" when the rough weighing belt conveyor slowly outputs less materials to the precision weighing belt conveyor during accurate weighing. The "planned quantity" refers to the amount of materials required by the current loading customer, or the amount of materials that the customer has predetermined and needs to accurately reach.

[0077] Since the main task of the rough weighing belt conveyor is to monitor the amount of materials entering the fine weighing belt conveyor, the width of the rough weighing belt conveyor is wider than that of the robot conveyor belt, and the conveying speed is also lower than that of the robot conveyor belt, so as to facilitate monitoring of the amount of materials passing through. The fine weighing belt is wider than the rough weighing belt, has a lower movement speed, and also has to reciprocate according to the size limit of the weighing plane to ensure that all materials falling into the fine weighing belt will not be scattered and are evenly spread on the fine weighing belt.

[0078] Step 5, fine weighing: When the dynamic weighing sensor detects that the material falling into the fine weighing belt conveyor is close to the planned amount, the mechanical arm and the rough weighing belt conveyor are stopped, and the static weighing sensor measures the amount of material on the fine weighing belt. The difference is obtained by comparing the amount of material measured by the static weighing sensor with the planned amount, and the rough weighing belt conveyor is started to slowly convey the material to the fine weighing belt conveyor. The rough weighing belt conveyor is stopped again and accurate weighing is performed until the planned material amount is reached;

[0079] For materials that require higher precision, one or two repetitions can be adopted. For example, when the rough weighing belt conveyor monitors that the material quantity on the fine weighing belt conveyor has reached 95% of the planned material quantity, the rapid feeding of the rough weighing belt conveyor is stopped. After being weighed by the static weighing sensor, the rough weighing belt conveyor is fed slowly and monitored. When the material quantity on the fine weighing belt conveyor reaches 99%, fine weighing is performed again, and then the rough weighing belt conveyor is started again for more accurate feeding to accurately reach the planned quantity.

[0080] Step 6, output: turn on the precision weighing belt conveyor, and continuously output the materials to the output belt conveyor. The output belt conveyor continuously outputs the materials until all the materials on the precision weighing belt conveyor are output, and the weighing and conveying process is completed.

[0081] During output, the precision weighing belt no longer reciprocates, but rotates continuously in the direction of the output belt conveyor, sending all the materials on the precision weighing belt conveyor into the output belt conveyor.

[0082] Since the precision weighing belt conveyor is wider, the materials it carries are spread out, and a collecting bucket is needed to concentrate the spread materials onto the output belt conveyor with a narrower width. Therefore, the output belt conveyor needs to run at a higher speed, while the precision weighing belt conveyor outputs at a lower speed.

[0083] The output belt conveyor can be connected to the car loaded with materials, and can also be connected to the mixing batching machine to mix a variety of different materials together to form the commodity materials required by customers.

[0084] Embodiment ten:

[0085] This embodiment is an improvement of the ninth embodiment and is a refinement of step 4 in the ninth embodiment. In step 4 described in this embodiment, when the material amount output from the rough weighing belt conveyor to the fine weighing belt conveyor measured by the dynamic weighing sensor reaches 95-99% of the planned material amount, the rough weighing belt conveyor is stopped for fine weighing.

[0086] Due to the inertia of the belt conveyor, the belt will still convey a small amount of material after the motor of the belt conveyor is turned off. In order to accurately measure the material and avoid over-planned material conveying during the rough weighing process, sufficient margin must be left for the fine weighing. However, too much margin will directly affect the efficiency of loading and weighing. Therefore, it is necessary to fully consider the balance between efficiency and accuracy according to the actual situation and select the best margin plan.

[0087] Finally, it should be noted that the above is only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred arrangement scheme, a person skilled in the art should understand that the technical solution of the present invention (such as the form of the chassis, the method of obtaining materials, the sequence of steps, etc.) can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A mobile intelligent material taking, weighing and loading method, wherein the method uses a mobile intelligent material taking, weighing and loading integrated machine, include: A self-propelled chassis, a mechanical arm is arranged on the chassis, a material picker is arranged at one end of the mechanical arm, and the other end is connected to a weighing device, the weighing device is connected to an output belt conveyor, the weighing device includes a coarse weighing belt conveyor with a dynamic weighing sensor, the coarse weighing belt conveyor is connected to a fine weighing belt conveyor with a static weighing sensor capable of reciprocating motion; the chassis is provided with at least four self-propelled wheels capable of changing the direction of movement, and the chassis is also provided with an equipment compartment and a battery compartment; the chassis is provided with legs to maintain the stability of the chassis during operation; the mechanical arm is provided with a bracket and a support rod capable of lifting and lowering the mechanical arm, and the bracket is connected to the chassis through a hinge The bracket is also provided with a mechanical arm conveyor belt; the width of the rough weighing belt conveyor of the weighing device is greater than the width of the mechanical arm conveyor belt, and the width of the fine weighing belt conveyor is greater than the width of the rough weighing belt conveyor; a diffusion slide is provided between the mechanical arm conveyor belt and the rough weighing belt conveyor, and between the rough weighing belt conveyor and the fine weighing belt conveyor; a collecting bucket is provided between the fine weighing belt conveyor and the output belt conveyor; the dynamic weighing sensor and the static weighing sensor are electrically connected to the controller, the controller is electrically connected to the mechanical arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel, and the controller is connected to the remote control and the upper computer of the material field through a wireless network; The steps of the method are as follows: Step 1, formulate a loading plan: the integrated machine obtains the current material loading information from the upper computer of the material yard, including: the current material type, location in the material yard, quantity, and material characteristics, and formulates a loading plan based on the obtained information; Step 2, adjust the position with the material pile: according to the loading plan, adjust the direction of each self-propelled wheel, bring the integrated machine close to the material pile, and adjust the distance between the integrated machine and the material pile to a position that is convenient for the robot arm to obtain the material; Step 3, material collection: open the robotic arm, place the material collector at the front end of the robotic arm on the material pile to obtain the material, and send the obtained material into the weighing device through the robotic arm belt conveyor; Features: Step 4, preliminary weighing: the coarse weighing belt conveyor continuously receives the materials dropped from the mechanical arm conveyor belt, and continuously and quickly conveys the materials to the fine weighing belt conveyor; when the materials drop from the mechanical arm conveyor belt, the first-level diffusion slide spreads the materials evenly and spreads them on the coarse weighing belt conveyor; when the materials drop from the coarse weighing belt conveyor, the second-level diffusion slide spreads the materials further and spreads them on the fine weighing belt conveyor; the fine weighing belt conveyor reciprocates back and forth, spreading all the materials input by the coarse weighing belt conveyor on the belt surface; during the conveying process, the coarse weighing belt conveyor measures the amount of materials output to the fine weighing belt conveyor through the dynamic weighing sensor, and monitors whether the material output is close to the planned amount; Step 5, fine weighing: When the dynamic weighing sensor detects that the material falling into the fine weighing belt conveyor is close to the planned amount, the mechanical arm and the rough weighing belt conveyor are stopped, and the static weighing sensor measures the amount of material on the fine weighing belt. The difference is obtained by comparing the amount of material measured by the static weighing sensor with the planned amount, and the rough weighing belt conveyor is started to slowly convey the material to the fine weighing belt conveyor. The rough weighing belt conveyor is stopped again and accurate weighing is performed until the planned material amount is reached; Step 6, output: turn on the precision weighing belt conveyor, and continuously output the materials to the output belt conveyor. The output belt conveyor continuously outputs the materials until all the materials on the precision weighing belt conveyor are output, and the weighing and conveying process is completed.

2. The method according to claim 1, It is characterized in that In the step 4, when the material quantity output from the rough weighing belt conveyor to the fine weighing belt conveyor measured by the dynamic weighing sensor reaches 95-99% of the planned material quantity, the rough weighing belt conveyor is stopped for fine weighing.

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