A multi-machine collaborative coal conveying system and control method

Abstract

The present invention discloses a multi-machine collaborative coal conveying system and control method, wherein the system comprises a tank cleaning machine body, a ship unloader body, and a positioning structure. The ship unloader body is equipped with a loading structure, a horizontal loading barrel cabin is provided at the bottom of the loading structure, and vertical loading barrel cabins are provided at both ends of the horizontal loading barrel cabin. A lifting structure can drive the bottom of the vertical loading barrel cabin to descend to the bottom of the ship cabin. The positioning structure can adjust the position of the horizontal loading barrel cabin relative to the bottom of the loading structure along the horizontal loading barrel cabin and drive the horizontal loading barrel cabin to rotate with the bottom of the loading structure as the center. When the tank cleaning machine body moves into a dangerous area, the vertical loading barrel cabin can follow the positioning structure to adjust its position to move away from the operation path of the tank cleaning machine body. In the present invention, collisions are avoided without hindering the continuous loading of the tank cleaning machine body and the vertical loading barrel cabin, thereby ensuring safety during the loading process and maintaining the effective and continuous process of coal loading and extraction.

Description

Technical Field

[0001] The present invention relates to a coal conveying device for a port, and in particular to a multi-machine collaborative coal conveying system and a control method. Background Art

[0002] During the coal unloading process, the coal is compacted and adhered to form a wall around the bottom of the hold, and there are dead corners around the bottom of the hold. The unloader's reclaiming structure cannot smoothly remove the coal in the edge area. Therefore, the cargo ship's hold cleaning machine (push-and-shovel machine) needs to be hoisted into the bottom of the hold to perform local cleaning and pushing. After the loose coal is pushed and piled in the center, the unloader's reclaiming structure will take the coal out of the hold.

[0003] Dust often fills the cabin during operations, affecting the vision of workers inside the tank cleaning machine. This makes it impossible to effectively determine whether the unloader's reclaimer is outside the safe distance of the tank cleaning machine. If the reclaimer is within the safe distance and no timely response is received, there is a potential safety hazard of collision. To address this safety hazard, the existing technology usually installs an ultrasonic transmitter on the tank cleaning machine and an ultrasonic receiver on the ship unloader to calculate the distance between the tank cleaning machine and the ship unloader. When the distance is less than a certain threshold, an alarm is issued and the next action of the tank cleaning machine and the ship unloader is controlled to prevent the unloader's reclaimer from colliding with the tank cleaning machine.

[0004] The above anti-collision design can prevent the collision between the reclaiming structure and the tank cleaning machine, but it also prevents the reclaiming structure and the tank cleaning machine from further working, causing the coal extraction process to stop, hindering the continuous and effective progress of the coal extraction process. Summary of the Invention

[0005] To this end, the present invention provides a multi-machine collaborative coal conveying system and control method, which effectively solves the problem in the prior art that the anti-collision design prevents the further operation of the material taking structure and the cabin cleaning machine, resulting in the cessation of the coal extraction process and hindering the continuous and effective progress of the coal extraction process.

[0006] To solve the above technical problems, the present invention specifically provides the following technical solutions: a multi-machine collaborative coal conveying system, comprising:

[0007] A tank cleaning machine body moves in the bottom of the cabin, and is equipped with a first ultrasonic transmitter and a first ultrasonic receiver;

[0008] The ship unloader body is equipped with a lifting structure and a loading structure. The lifting structure is used to lift or lower the loading structure. A horizontal loading barrel cabin is provided at the bottom of the loading structure. Vertical loading barrel cabins are provided at both ends of the horizontal loading barrel cabin. The height of the vertical loading barrel cabin is higher than the height of the tank cleaning machine body. The lifting structure can drive the bottom of the vertical loading barrel cabin to descend to the bottom of the ship cabin. A second ultrasonic transmitter and a second ultrasonic receiver are installed on the vertical loading barrel cabin.

[0009] a positioning structure installed at the connection between the bottom of the feeding structure and the horizontal feeding barrel cabin, wherein the positioning structure can adjust the position of the horizontal feeding barrel cabin relative to the bottom of the feeding structure along the horizontal feeding barrel cabin and drive the horizontal feeding barrel cabin to rotate with the bottom of the feeding structure as the center of a circle, so that when the main body of the tank cleaning machine moves into the dangerous area, the vertical feeding barrel cabin can follow the positioning structure to adjust its position so as to move away from the operation path of the main body of the tank cleaning machine;

[0010] The first ultrasonic receiver is used to receive the ultrasonic wave emitted by the second ultrasonic transmitter, and the second ultrasonic receiver is used to receive the ultrasonic wave emitted by the first ultrasonic transmitter. The spatial distance between the tank cleaning machine body and the vertical barrel cabin is calculated based on the time of emitting and receiving the ultrasonic wave.

[0011] Furthermore, the ship unloader body includes a transversely arranged screw conveyor, a vertically arranged unloading barrel cabin, and a conical barrel connected to the side of the unloading barrel cabin;

[0012] The conical cylinder is installed on the side of the discharge cylinder cabin, the length of the bottom of the conical cylinder is the same as the height of the discharge cylinder cabin, and the input end of the screw conveyor is connected to the end of the conical cylinder.

[0013] Furthermore, the feeding structure includes a lifting barrel cabin and a first spiral conveying structure arranged in the lifting barrel cabin;

[0014] The top of the lifting barrel cabin is movably arranged in the lowering barrel cabin, the lifting structure is installed outside the lowering barrel cabin, the end of the lifting structure is connected to the outside of the lifting barrel cabin, and the lifting structure drives the lifting barrel cabin to rise and fall.

[0015] Furthermore, the horizontal loading barrel cabin is provided with a slot, and the horizontal loading barrel cabin is provided with an inner mounting slot;

[0016] The positioning structure includes engaging grooves provided at equal intervals on the inner wall of the inner mounting groove and a mounting arc plate provided at the bottom of the lifting barrel cabin;

[0017] The installation arc plate is directly connected to the interior of the lifting barrel cabin, and both sides of the installation arc plate are slidably arranged in the inner installation groove;

[0018] A connecting groove is provided in the mounting arc plate, the connecting groove is provided along the side of the mounting arc plate and is connected to the outside, a transmission gear is provided in the connecting groove, the transmission gear is engaged with the engagement groove, a connecting shaft is provided on the transmission gear, the connecting shaft passes through the mounting arc plate and is connected to a drive motor.

[0019] Furthermore, a plurality of mutually fitting sealing sleeves are provided outside the transverse loading barrel cabin corresponding to the slotted portion, and adjacent sealing sleeves are connected by connecting springs. Sealing side plates are provided at both ends of the sealing sleeves, and the sealing side plates are vertically abutted against the outer wall of the transverse loading barrel cabin;

[0020] The sealing side plates are all arranged in an arc shape, and the radius of the sealing sleeve plate close to the center of the horizontal upper barrel cabin gradually approaches the outer diameter of the horizontal upper barrel cabin.

[0021] Furthermore, a driving ring cabin is fixedly provided at the bottom of the lifting cylinder cabin, a rotating cylinder cabin is rotatably provided in the driving ring cabin, and the mounting arc plate is connected to the bottom of the rotating cylinder cabin;

[0022] A driving groove is provided on the inner wall of the driving ring cabin, and a tooth groove is provided on the outer wall of the rotating cylinder cabin. A connecting motor is provided in the driving groove, and a driving gear is connected to the output end of the connecting motor. The driving gear is meshed with the tooth groove.

[0023] Furthermore, the bottom end of the first spiral conveying structure extends into the rotating barrel cabin, and the inner diameter of the rotating barrel cabin is the same as the inner diameter of the lifting barrel cabin.

[0024] Furthermore, a second spiral conveying structure is provided in the horizontal loading barrel cabin, and the second spiral conveying structure is symmetrically arranged in the horizontal loading barrel cabin, and the output end of the second spiral conveying structure extends to just below the end of the slot, and the width of the second spiral conveying structure is the same as the inner diameter of the horizontal loading barrel cabin;

[0025] A third spiral conveying structure is provided in the vertical barrel cabin, and the width of the third spiral conveying structure is the same as the inner diameter of the vertical barrel cabin.

[0026] Furthermore, the vertical distance between the barrel compartments is greater than the width of the tank cleaning machine body.

[0027] To solve the above technical problems, the present invention further provides the following technical solution: a control method for a multi-machine collaborative coal conveying system, comprising the following steps:

[0028] Step 100: construct a coal transportation line coordinate system based on the coal block placement area at the bottom of the cabin, divide the area near the edge into a first cleaning area, and divide the area near the center into a loading area;

[0029] Step 200: The main body of the cleaning machine moves in the first cleaning area and pushes the coal blocks to the loading area, vertically extending from the bottom of the barrel cabin to above the loading area;

[0030] Step 300: The positioning structure controls and adjusts the position of the lateral loading barrel cabin relative to the bottom of the loading structure and drives the lateral loading barrel cabin to rotate to expand the loading area;

[0031] Step 400: Preset the radius of the danger zone and obtain the spatial distance between the cleaning machine body and the vertical barrel cabin in real time;

[0032] Step 500: When the main body of the cleaning machine moves into the dangerous area, the operation path of the main body of the cleaning machine is obtained, and the vertical barrel cabin is analyzed to determine whether it is within the operation path.

[0033] Step 600: When the vertical barrel cabin is on the operating path of the tank cleaning machine body, the positioning mechanism is driven to adjust the position of the horizontal loading barrel cabin relative to the bottom of the loading structure so that the vertical barrel cabin is away from the operating path;

[0034] Among them, if the spatial distance is less than the radius of the danger zone, it is determined that the main body of the tank cleaning machine has moved into the danger zone.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] In the present invention, the spatial distance between the main body of the tank cleaning machine and the vertical material barrel cabin is monitored in real time. When the main body of the tank cleaning machine moves into the dangerous area, the positioning structure drives and adjusts the position of the horizontal loading barrel cabin relative to the bottom of the loading structure, so that the vertical material barrel cabin is away from the running path. Without hindering the continuous loading work of the main body of the tank cleaning machine and the vertical material barrel cabin, the collision between the vertical material barrel cabin and the main body of the tank cleaning machine is avoided, which not only ensures the safety of the loading process, but also maintains the effective and continuous process of coal loading and extraction. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] To more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for the embodiments or the description of the prior art. Obviously, the drawings described below are merely exemplary, and those skilled in the art can derive other implementation drawings based on the provided drawings without inventive effort.

[0038] Figure 1 A schematic structural diagram of a multi-machine collaborative coal conveying system provided by an embodiment of the present invention;

[0039] Figure 2 Schematic diagram of the structure of the feeding structure and the positioning structure in the embodiment of the present invention;

[0040] Figure 3 Schematic diagram of the cross-sectional structure of the horizontal loading barrel cabin in an embodiment of the present invention;

[0041] Figure 4 Schematic diagram of the structure of the sealing arc plate in an embodiment of the present invention;

[0042] Figure 5 Schematic diagram of the internal structure of the sealing sleeve in an embodiment of the present invention;

[0043] Figure 6 Schematic diagram of the structure for adjusting the position of the horizontal loading barrel cabin relative to the bottom of the loading structure in an embodiment of the present invention;

[0044] Figure 7 It is a schematic structural diagram of the vertical rotation of the barrel cabin in an embodiment of the present invention.

[0045] The numbers in the figure represent the following:

[0046] 1- Main body of the tank cleaning machine; 2- Main body of the ship unloader; 3- Positioning structure; 4- Bottom of the cabin; 5- First ultrasonic transmitter; 6- First ultrasonic receiver; 7- Lifting structure; 8- Loading structure; 9- Second ultrasonic transmitter; 10- Second ultrasonic receiver;

[0047] 21-screw conveyor; 22-discharging barrel cabin; 23-conical barrel;

[0048] 31-engaging groove; 32-mounting arc plate; 33-connecting groove; 34-transmission gear; 35-connecting shaft; 36-sealing sleeve plate; 37-connecting spring; 38-sealing side plate; 39-driving ring cabin; 310-rotating cylinder cabin; 311-driving groove; 312-tooth groove; 313-connecting motor; 314-driving gear; 315-sealing arc plate;

[0049] 81- horizontal loading barrel cabin; 82- vertical loading barrel cabin; 83- lifting barrel cabin; 84- first screw conveying structure; 85- slot; 86- inner mounting slot; 87- second screw conveying structure; 88- third screw conveying structure; 89- bearing. DETAILED DESCRIPTION

[0050] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0051] like Figure 1 and Figure 2 As shown, the present invention provides a multi-machine collaborative coal transportation system, which includes a tank cleaning machine main body 1, a ship unloader main body 2 and a positioning structure 3.

[0052] The main body 1 of the tank cleaning machine moves in the bottom 4 of the cabin. A first ultrasonic transmitter 5 and a first ultrasonic receiver 6 are installed on the main body 1 of the tank cleaning machine.

[0053] The ship unloader body 2 is provided with a lifting structure 7 and a feeding structure 8. The lifting structure 7 is used to lift or depressurize the feeding structure 8. A horizontal feeding barrel cabin 81 is provided at the bottom of the feeding structure 8. Vertical feeding barrel cabins 82 are provided at both ends of the horizontal feeding barrel cabin 81. The height of the vertical feeding barrel cabin 82 is higher than that of the tank cleaning machine body 1. The lifting structure 7 can drive the bottom of the vertical feeding barrel cabin 82 to descend to the bottom 4 of the cabin. A second ultrasonic transmitter 9 and a second ultrasonic receiver 10 are installed on the vertical feeding barrel cabin 82.

[0054] The positioning structure 3 is installed at the connection between the bottom of the feeding structure 8 and the horizontal feeding barrel cabin 81. The positioning structure 3 can adjust the position of the horizontal feeding barrel cabin 81 relative to the bottom of the feeding structure 8 along the horizontal feeding barrel cabin 81 and drive the horizontal feeding barrel cabin 81 to rotate with the bottom of the feeding structure 8 as the center. When the main body 1 of the cleaning machine moves into the dangerous area, the vertical barrel cabin 82 can follow the positioning structure 3 to adjust its position to stay away from the operation path of the main body 1 of the cleaning machine.

[0055] Among them, the first ultrasonic receiver 6 is used to receive the ultrasonic waves emitted by the second ultrasonic transmitter 9, and the second ultrasonic receiver 10 is used to receive the ultrasonic waves emitted by the first ultrasonic transmitter 5. The spatial distance between the tank cleaning machine body 1 and the vertical barrel chamber 82 is calculated based on the time of transmitting and receiving the ultrasonic waves. In the present invention, the accuracy of the spatial distance can be verified by two sets of ultrasonic transmitting and receiving devices. When the spatial distances are different and the difference is large, the specific position of the tank cleaning machine body 1 is determined by the on-site camera.

[0056] In the present invention, the spatial distance between the main body 1 of the tank cleaning machine and the vertical barrel cabin 82 is monitored in real time. When the main body 1 of the tank cleaning machine moves into the dangerous area, the positioning structure 3 drives and adjusts the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8, so that the vertical barrel cabin 82 is away from the running path. Without hindering the continuous loading work of the main body 1 of the tank cleaning machine and the vertical barrel cabin 82, the collision between the vertical barrel cabin 82 and the main body 1 of the tank cleaning machine is avoided, which not only ensures the safety of the loading process, but also maintains the effective and continuous loading and extraction process of the coal.

[0057] The main body 2 of the ship unloader is mainly used to extract the coal located in the middle area of ​​the bottom 4 of the cabin. The main body 2 of the ship unloader mainly adopts the following preferred embodiments, such as Figure 2 As shown, the ship unloader body 2 includes a transversely arranged screw conveyor 21, a vertically arranged discharge barrel cabin 22, and a conical barrel 23 connected to the side of the discharge barrel cabin 22. The conical barrel 23 is installed on the side of the discharge barrel cabin 22. The bottom length of the conical barrel 23 is the same as the height of the discharge barrel cabin 22. The input end of the screw conveyor 21 is connected to the end of the conical barrel 23.

[0058] In the present invention, the conical cylinder 23 is provided on the side of the unloading cylinder chamber 22 so as to unload the coal at any height position of the unloading cylinder chamber 22 . The unloaded coal can pass through the conical cylinder 23 and enter the screw conveyor 21 for output.

[0059] In the present invention, the coal is lifted into the lowering barrel cabin 22 through the loading structure 8. The loading structure 8 includes a lifting barrel cabin 83 and a first spiral conveying structure 84 arranged in the lifting barrel cabin 83. The top of the lifting barrel cabin 83 is movably arranged in the lowering barrel cabin 22. The lifting structure 7 is installed outside the lowering barrel cabin 22. The end of the lifting structure 7 is connected to the outside of the lifting barrel cabin 83. The lifting structure 7 drives the lifting barrel cabin 83 to rise and fall.

[0060] In the above embodiment, the timing structure 7 can drive the lifting barrel cabin 83 to rise and fall, thereby driving the lifting barrel cabin 83 to move in the lowering barrel cabin 22. No matter where the top end of the lifting barrel cabin 83 is located in the lowering barrel cabin 22, it can enter the conical barrel 23 through the top of the lifting barrel cabin 83, and then enter the screw conveyor 21. An output port is provided on the side of the upper barrel cabin 83 facing the conical barrel 23, and the highest point of the spiral blade of the first spiral conveying structure 84 is not higher than the lowest point of the output port.

[0061] In order to communicate with the interior of the lifting barrel cabin 83 , the present invention further makes the following design: a slot 85 is provided on the horizontal upper barrel cabin 81 , and an inner mounting slot 86 is provided in the horizontal upper barrel cabin 81 .

[0062] The slots 85 are provided to allow the coal to pass through and rise into the lifting chamber 83 .

[0063] In the present invention, the positioning structure 3 can adjust the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 along the horizontal loading barrel cabin 81 and drive the horizontal loading barrel cabin 81 to rotate with the bottom of the loading structure 8 as the center. When the main body 1 of the cleaning machine moves into the dangerous area, the vertical barrel cabin 82 can follow the positioning structure 3 to adjust its position to stay away from the operation path of the main body 1 of the cleaning machine.

[0064] The positioning structure 3 adopts the following preferred embodiments, such as Figure 3 As shown, the positioning structure 3 includes engaging grooves 31 equidistantly arranged on the inner wall of the inner mounting groove 86 and an installation arc plate 32 arranged at the bottom of the lifting barrel cabin 83. The installation arc plate 32 is directly connected to the interior of the lifting barrel cabin 83, and the two sides of the installation arc plate 32 are slidably arranged in the inner mounting groove 86.

[0065] The mounting arc plate 32 can move along the inner mounting groove 86 , that is, the lifting barrel cabin 83 can move along the direction of the horizontal upper barrel cabin 81 .

[0066] In order to drive the relative movement between the mounting arc plate 32 and the inner mounting groove 86, the present invention also makes the following design, such as Figure 3 As shown, a connecting groove 33 is provided in the mounting arc plate 32, and the connecting groove 33 is provided along the side of the mounting arc plate 32 and is connected to the outside. A transmission gear 34 is provided in the connecting groove 33, and the transmission gear 34 is engaged with the meshing groove 31. A connecting shaft 35 is provided on the transmission gear 34, and the connecting shaft 35 passes through the mounting arc plate 32 and is connected to a drive motor.

[0067] The driving motor drives the connecting shaft 35 to rotate, and the rotation of the connecting shaft 35 drives the transmission gear 34 to rotate, thereby driving the meshing groove 31 to move forward, thereby driving the horizontal loading barrel cabin 81 as a whole to move along the direction of the installation arc plate 32, realizing the relative movement of the installation arc plate 32 and the inner installation groove 86.

[0068] The above-mentioned adjustment process can drive the adjustment of the relative position between the lifting barrel cabin 83 and the horizontal loading barrel cabin 81. When the main body 1 of the cleaning machine is in the dangerous area, the vertical barrel cabin 82 can be moved by driving the horizontal loading barrel cabin 81 to move, so that the vertical barrel cabin 82 is away from the operation path of the cleaning machine main body 1. In addition, the adjustment of the position of the vertical barrel cabin 82 can also drive the vertical barrel cabin 82 to extend to a farther position for extracting coal, which can further expand the coal loading range.

[0069] In order to ensure the range of movement of the arc plate 32, the slot 85 usually needs to have a certain length. At the same time, the sealing of the slot 85 must also be ensured. For this purpose, the present invention makes the following design, such as Figure 3 and Figure 5As shown, a number of mutually fitting sealing sleeves 36 are provided at the positions corresponding to the slots 85 on the outside of the horizontal loading barrel cabin 81. Adjacent sealing sleeves 36 are connected by connecting springs 37. Sealing side plates 38 are provided at both ends of the sealing sleeves 36. The sealing side plates 38 are vertically abutted against the outer wall of the horizontal loading barrel cabin 81. The sealing side plates 38 are all arranged in an arc shape. The radius corresponding to the sealing sleeve 36 close to the center position of the horizontal loading barrel cabin 81 gradually approaches the outer diameter of the horizontal loading barrel cabin 81.

[0070] The sealing sleeve 36 away from the mounting arc plate 32 is fixedly connected in the horizontal upper barrel chamber 81, and the end of the sealing sleeve 36 can seal the groove 85 through the sealing side plate 38. Specifically, the sealing can be achieved through a fixed connection. Under the action of the connecting spring 37, the sealing sleeve 36 close to the mounting arc plate 32 is always in contact with the mounting arc plate 32, thereby achieving the sealing of the groove 85.

[0071] Assume that three sealing sleeves 36 are provided on both sides of the slot 85, and each sealing sleeve 36 corresponds to two sealing side plates 38. The sealing sleeve 36 located at the outer end and the sealing side plates 38 thereon are fixed on the horizontal upper barrel cabin 81, and the other two sealing sleeves 36 can move on the horizontal upper barrel cabin 81. The sealing sleeve 36 located in the middle position also has corresponding sealing side plates 38. In order to ensure that the sealing sleeve 36 close to the mounting arc plate 32 can be better sealed, the sealing sleeve 36 close to the mounting arc plate 32 can be provided with no corresponding sealing side plates 38, and one of the two sealing sleeves 36 is sleeved in the other sealing sleeve 36, and a movable cavity is formed by the bottom of one of the larger sealing sleeves 36 located on the outer peripheral side and the surrounding side of the sealing side plates 38, and the other smaller sealing sleeve 36 sleeved in the sealing sleeve 36 moves in the movable cavity, and the connecting spring 37 is also provided in the movable cavity.

[0072] In order to ensure the sealing, Figure 4 As shown, a sealing arc plate 315 can be provided outside the mounting arc plate 32. The radius corresponding to the mounting arc plate 32 is roughly the same as that of the horizontal loading barrel chamber 81, and the outer wall radius of the sealing arc plate 315 is the same as the radius of the sealing sleeve plate 36 close to the mounting arc plate 32, so that the sealing sleeve plate 36 is completely in contact with the sealing arc plate 315, thereby achieving complete sealing of the groove 85.

[0073] In the present invention, the installation arc plate 32 can drive the horizontal loading barrel cabin 81 to rotate. In order to achieve the above purpose, the present invention also has the following design: a driving ring cabin 39 is fixedly provided at the bottom of the lifting barrel cabin 83, and a rotating barrel cabin 310 is rotatably provided in the driving ring cabin 39. The installation arc plate 32 is connected to the bottom of the rotating barrel cabin 310, and a driving groove 311 is provided on the inner wall of the driving ring cabin 39, and a tooth groove 312 is provided on the outer wall of the rotating barrel cabin 310. A connecting motor 313 is provided in the driving groove 311, and a driving gear 314 is connected to the output end of the connecting motor 313, and the driving gear 314 is engaged with the tooth groove 312.

[0074] The connecting motor 313 drives the driving gear 314 to rotate, thereby driving the tooth groove 312 to rotate, driving the rotating barrel cabin 310 to rotate, driving the mounting arc plate 32 to rotate, and thus driving the horizontal loading barrel cabin 81 to rotate.

[0075] In order to load the coal in the horizontal loading chamber 81 into the lifting chamber 83 as much as possible, the bottom end of the first spiral conveying structure 84 needs to extend into the rotating chamber 310 , and the inner diameter of the rotating chamber 310 is the same as that of the lifting chamber 83 .

[0076] In order to lift the coal from the bottom 4 of the cabin to the horizontal upper barrel cabin 81, a second spiral conveying structure 87 is provided in the horizontal upper barrel cabin 81. The second spiral conveying structure 87 is symmetrically arranged in the horizontal upper barrel cabin 81. The output end of the second spiral conveying structure 87 extends to just below the end of the slot 85. The width of the second spiral conveying structure 87 is the same as the inner diameter of the horizontal upper barrel cabin 81. A third spiral conveying structure 88 is provided in the vertical upper barrel cabin 82. The width of the third spiral conveying structure 88 is the same as the inner diameter of the vertical upper barrel cabin 82.

[0077] Among them, the spiral shaft of the third spiral conveying structure 88 can extend to the top of the horizontal loading barrel cabin 81 and be connected to the conveying motor. A bearing 89 is arranged in the middle position of the horizontal loading barrel cabin 81. The end of the spiral shaft of the second spiral conveying structure 87 is arranged on the bearing 89, and a transmission belt is arranged in the bearing. A servo motor is arranged at the bottom of the horizontal loading barrel cabin 81. The output shaft of the servo motor is connected to the transmission belt, and the spiral shaft on the bearing 89 is driven to rotate through the transmission belt.

[0078] In the above embodiment, the second spiral conveying structure 87 drives the coal through the spiral blades to separate from the spiral blades. Under the push of the coal, the coal gradually moves to the middle of the horizontal loading barrel chamber 81, and the bottom of the rotating barrel chamber 310 should be directly opposite the coal output position, that is, it should be far away from the spiral blades to avoid the coal being output to the middle of the horizontal loading barrel chamber 81 through the spiral blades. The rotating barrel chamber 310 usually faces the spiral blades and cannot discharge the coal in the middle position, causing congestion.

[0079] In the present invention, the tank cleaning machine body 1 can pass through the vertical barrel cabins 82, so the distance between the vertical barrel cabins 82 needs to be greater than the width of the tank cleaning machine body 1, wherein the height position occupied by the servo motor does not hinder the operation of the tank cleaning machine body 1 by default.

[0080] The present invention also discloses a control method for a multi-machine collaborative coal conveying system, comprising the following steps:

[0081] Step 100: construct a coal transportation line coordinate system based on the four coal block placement areas at the bottom of the cabin, divide the area near the edge into the first cleaning area, and divide the area near the center into the loading area;

[0082] Step 200: The cleaning machine body 1 moves in the first cleaning area and pushes the coal blocks to the loading area, and the bottom of the barrel cabin 82 vertically extends to above the loading area;

[0083] Step 300: The positioning structure 3 controls and adjusts the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 and drives the horizontal loading barrel cabin 81 to rotate to expand the loading area;

[0084] Step 400: preset the radius of the danger zone and obtain the spatial distance between the cleaning machine body 1 and the vertical barrel cabin 82 in real time;

[0085] Step 500: When the tank cleaning machine body 1 moves into the dangerous area, the running path of the tank cleaning machine body 1 is obtained, and the vertical barrel cabin 82 is analyzed to determine whether it is within the running path.

[0086] Step 600: When the vertical barrel cabin 82 is on the running path of the cleaning machine body 1, the positioning mechanism 3 is driven to adjust the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 so that the vertical barrel cabin 82 is away from the running path.

[0087] If the spatial distance is less than the radius of the danger zone, it is determined that the main body 1 of the tank cleaning machine has moved into the danger zone.

[0088] In the above embodiments, the central area is usually divided into the loading area, and the area close to the edge is divided into the first cleaning area. The entire area of ​​the cabin bottom 4 is composed of the loading area and the first cleaning area.

[0089] In actual application, the position of the cleaning machine body 1 is obtained in real time through the positioning system and the running path is preset. When the cleaning machine body 1 moves into the dangerous area, the running path of the cleaning machine body 1 is obtained, and it is analyzed whether the vertical barrel cabin 82 is within the running path at this time. Figure 6As shown, when the vertical barrel cabin 82 is on the running path of the cleaning machine body 1, the positioning structure 3 is driven to adjust the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 to make the vertical barrel cabin 82 away from the running path.

[0090] In the present invention, in addition to adjusting the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 to make the vertical loading barrel cabin 82 away from the running path, when both vertical loading barrel cabins 82 are on the running path of the cleaning machine body 1, it is impossible to adjust the position of the horizontal loading barrel cabin 81 relative to the bottom of the loading structure 8 to make the vertical loading barrel cabin 82 away from the running path. Figure 7 As shown, the vertical barrel cabin 82 can be rotated by driving the horizontal barrel cabin 81 to rotate so that both vertical barrel cabins 82 are away from the running path of the tank cleaning machine body 1.

[0091] The above embodiments are merely exemplary embodiments of the present application and are not intended to limit the scope of the present application. The scope of protection of the present application is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present application within the essence and scope of protection of the present application, and such modifications or equivalent substitutions shall also be deemed to fall within the scope of protection of the present application.

Claims

1. A multi-machine collaborative coal transportation system, characterized in that: have: A tank cleaning machine body (1) moves within the cabin bottom (4), and a first ultrasonic transmitter (5) and a first ultrasonic receiver (6) are installed on the tank cleaning machine body (1); A ship unloader body (2) is provided with a lifting structure (7) and a loading structure (8), the lifting structure (7) is used to lift or depressurize the loading structure (8), a horizontal loading barrel cabin (81) is provided at the bottom of the loading structure (8), vertical loading barrel cabins (82) are provided at both ends of the horizontal loading barrel cabin (81), the height of the vertical loading barrel cabin (82) is higher than the height of the tank cleaning machine body (1), the lifting structure (7) can drive the bottom of the vertical loading barrel cabin (82) to descend to the bottom of the ship cabin (4), and a second ultrasonic transmitter (9) and a second ultrasonic receiver (10) are installed on the vertical loading barrel cabin (82); A positioning structure (3) is installed at the connection between the bottom of the feeding structure (8) and the horizontal feeding barrel cabin (81), and the positioning structure (3) can adjust the position of the horizontal feeding barrel cabin (81) relative to the bottom of the feeding structure (8) along the horizontal feeding barrel cabin (81) and drive the horizontal feeding barrel cabin (81) to rotate with the bottom of the feeding structure (8) as the center of the circle. When the tank cleaning machine body (1) moves into the dangerous area, the vertical feeding barrel cabin (82) can follow the positioning structure (3) to adjust its position to stay away from the running path of the tank cleaning machine body (1); The first ultrasonic receiver (6) is used to receive the ultrasonic wave emitted by the second ultrasonic transmitter (9), and the second ultrasonic receiver (10) is used to receive the ultrasonic wave emitted by the first ultrasonic transmitter (5), and the spatial distance between the cleaning machine body (1) and the vertical barrel chamber (82) is calculated based on the time of emitting and receiving the ultrasonic wave; The feeding structure (8) comprises a lifting barrel cabin (83) and a first spiral conveying structure (84) arranged in the lifting barrel cabin (83); The transverse upper barrel cabin (81) is provided with a slot (85), and the transverse upper barrel cabin (81) is provided with an inner mounting slot (86); The positioning structure (3) comprises engaging grooves (31) provided at equal intervals on the inner wall of the inner mounting groove (86), and a mounting arc plate (32) provided at the bottom of the lifting barrel cabin (83); The mounting arc plate (32) is directly opposite to and penetrates the interior of the lifting barrel cabin (83), and both sides of the mounting arc plate (32) are slidably arranged in the inner mounting groove (86); A connecting groove (33) is provided in the mounting arc plate (32), the connecting groove (33) being provided along the side of the mounting arc plate (32) and communicating with the outside, a transmission gear (34) being provided in the connecting groove (33), the transmission gear (34) being engaged with the engagement groove (31), a connecting shaft (35) being provided on the transmission gear (34), the connecting shaft (35) penetrating the mounting arc plate (32) and being connected to a drive motor.

2. The multi-machine collaborative coal transportation system according to claim 1, characterized in that: The ship unloader body (2) comprises a transversely arranged screw conveyor (21), a vertically arranged discharge barrel cabin (22), and a conical barrel (23) connected to the side of the discharge barrel cabin (22); The conical cylinder (23) is installed on the side of the lower barrel cabin (22), the bottom length of the conical cylinder (23) is the same as the height of the lower barrel cabin (22), and the input end of the screw conveyor (21) is connected to the end of the conical cylinder (23).

3. The multi-machine collaborative coal transportation system according to claim 2, characterized in that: The top of the lifting barrel cabin (83) is movably arranged in the lowering barrel cabin (22), the lifting structure (7) is installed outside the lowering barrel cabin (22), the end of the lifting structure (7) is connected to the outside of the lifting barrel cabin (83), and the lifting structure (7) drives the lifting barrel cabin (83) to rise and fall.

4. The multi-machine collaborative coal transportation system according to claim 3, characterized in that: A plurality of mutually fitting sealing sleeves (36) are provided on the outside of the transverse loading barrel cabin (81) at locations corresponding to the slots (85), and adjacent sealing sleeves (36) are connected by connecting springs (37). Sealing side plates (38) are provided at both ends of the sealing sleeves (36), and the sealing side plates (38) are vertically abutted against the outer wall of the transverse loading barrel cabin (81); The sealing side plates (38) are all arranged in an arc shape, and the radius corresponding to the sealing sleeve plate (36) close to the center of the transverse upper barrel cabin (81) gradually approaches the outer diameter of the transverse upper barrel cabin (81).

5. The multi-machine collaborative coal transportation system according to claim 4, characterized in that: A driving ring cabin (39) is fixedly provided at the bottom of the lifting barrel cabin (83), a rotating barrel cabin (310) is rotatably provided in the driving ring cabin (39), and the mounting arc plate (32) is connected to the bottom of the rotating barrel cabin (310); A driving groove (311) is provided on the inner wall of the driving ring cabin (39), and a tooth groove (312) is provided on the outer wall of the rotating cylinder cabin (310). A connecting motor (313) is provided in the driving groove (311), and a driving gear (314) is connected to the output end of the connecting motor (313), and the driving gear (314) is meshed with the tooth groove (312).

6. The multi-machine collaborative coal transportation system according to claim 5, characterized in that: The bottom end of the first spiral conveying structure (84) extends into the rotating barrel cabin (310), and the inner diameter of the rotating barrel cabin (310) is the same as the inner diameter of the lifting barrel cabin (83).

7. The multi-machine collaborative coal transportation system according to claim 6, characterized in that: A second spiral conveying structure (87) is provided in the transverse loading barrel cabin (81), and the second spiral conveying structure (87) is symmetrically arranged in the transverse loading barrel cabin (81). The output end of the second spiral conveying structure (87) extends to just below the end of the slot (85), and the width of the second spiral conveying structure (87) is the same as the inner diameter of the transverse loading barrel cabin (81); A third spiral conveying structure (88) is provided in the vertical barrel chamber (82), and the width of the third spiral conveying structure (88) is the same as the inner diameter of the vertical barrel chamber (82).

8. The multi-machine collaborative coal transportation system according to claim 7, characterized in that: The distance between the vertical barrel compartments (82) is greater than the width of the compartment cleaning machine body (1).

9. A control method for a multi-machine collaborative coal conveying system according to claim 8, characterized in that: The following steps are involved: Step 100, constructing a coal transportation line coordinate system based on the coal block placement area at the bottom of the cabin (4), dividing the area near the edge into the first cleaning area, and dividing the area near the center into the loading area; Step 200, the cleaning machine body (1) moves in the first cleaning area and pushes the coal blocks to the loading area, and the bottom of the barrel cabin (82) vertically extends to above the loading area; Step 300, the positioning structure (3) controls and adjusts the position of the transverse loading barrel cabin (81) relative to the bottom of the loading structure (8) and drives the transverse loading barrel cabin (81) to rotate to expand the loading area; Step 400, preset the radius of the danger zone and obtain in real time the spatial distance between the cleaning machine body (1) and the vertical barrel cabin (82); Step 500, when the tank cleaning machine body (1) moves into the dangerous area, the running path of the tank cleaning machine body (1) is obtained, and it is analyzed whether the vertical barrel cabin (82) is within the running path at this time; Step 600: When the vertical barrel cabin (82) is on the running path of the cleaning machine body (1), the positioning structure (3) is driven to adjust the position of the horizontal loading barrel cabin (81) relative to the bottom of the loading structure (8) so that the vertical barrel cabin (82) is away from the running path; Wherein, if the spatial distance is less than the radius of the danger zone, it is determined that the main body (1) of the cleaning machine has moved to the danger zone.

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