Automatic plugging clearing method for a coal plough

Abstract

A kind of automatic unblocking method of coal plough, coal plough includes the lower cross support embedded into concrete terrace, the concrete terrace in the upper and lower range of lower cross support is through-hole, lower cross support is fixedly connected with the support column on its upper two sides, support column top is equipped with upper support, motor is equipped on upper support, motor drives speed reducer and is connected with the main shaft below upper support, the lower end of main shaft is equipped with lower rotary arm, lower rotary arm includes four extension rotary arms, screen is arranged between lower rotary arm and lower cross support. By setting cross support under screen, rotary arm is set on the top, the risk of broken stone bouncing out is prevented by the rotation of rotary arm to break the blocked coal, when rotary arm encounters coal block that is not broken by jamming, the size of coal block can also be obtained by image processing, and then the required torque for breaking is calculated, so that the speed or acceleration of rotary arm is controlled for further collision and breaking.

Description

Technical Field

[0001] This invention relates to the field of coal production equipment technology, specifically to an automatic unblocking method for a coal unloader. Background Technology

[0002] In the coal production process, after the coal at the mining site is crushed, it is either placed in a transport room and manually placed on the upper screen. Coal that meets the transport size requirements falls onto the transport vehicle below for transport. Alternatively, the coal is manually fed onto the upper screen. Coal that meets the size requirements falls to the next layer for further fine crushing, while coal that does not meet the size requirements is returned to the crusher on the same layer for secondary coarse crushing. In both of these processes, the manual feeding of the screen often results in oversized coal getting stuck at the screen opening. Due to its excessive weight, handling it requires a lot of manpower and time, which reduces production efficiency. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide an automatic unblocking method for a coal feeder, which solves the problems of easy blockage and difficulty in handling during manual feeding, resulting in low production efficiency, and realizes automatic unblocking.

[0004] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is as follows:

[0005] An automatic unblocking method for a coal loader includes a lower cross bracket embedded in a concrete floor. The concrete floor above and below the lower cross bracket is a through hole. The lower cross bracket is fixedly connected to the support columns on both sides above it. An upper support is provided at the top of the support column. A motor is provided on the upper support. The motor drives a reducer and is connected to the main shaft below the upper support. A lower rotating arm is provided at the lower end of the main shaft. The lower rotating arm includes four extending rotating arms. A screen is provided between the lower rotating arm and the lower cross bracket.

[0006] The upper support is equipped with a vision sensor facing the screen. The motor is driven by a frequency converter. The vision sensor is connected to an image processor, which is connected to a controller. The controller has an analog module connected to the frequency converter, and the frequency converter's communication interface is connected to the controller.

[0007] The main shaft is equipped with a synchronous pulley, which is connected to a rotary encoder via a synchronous toothed belt. The rotary encoder processes the data through a data processing module and then transmits the data to the controller.

[0008] The steps for automatic unblocking of a coal loader are as follows:

[0009] Step 1: System initialization. Set the rated rotation speed and direction of the lower rotating arm of the coal loader. Capture an image before coal is placed in the machine and process it into an edge grayscale image, which is then sent to the image processor. In the controller, there is a table showing the correspondence between the coal block area and the corresponding rotation speed or acceleration required for crushing. Set the crushing current threshold and time at the rated rotation speed and set the crushing increment rate.

[0010] Step 2: Start the coal loader. The controller drives the lower rotating arm to rotate at the rated speed and direction. The coal blocks to be fed are manually poured onto the screen. Coal blocks smaller than the screen holes fall below. The lower rotating arm breaks up the blocked coal blocks. At this time, the controller monitors the breaking current and time during the breaking through the communication interface of the frequency converter. If the breaking current and time exceed the threshold set in Step 1, it indicates that the breaking jamming phenomenon has occurred.

[0011] Step 3: When the controller detects a breakage, jamming, or blockage, the vision sensor captures a real-time image of the breakage and blockage below and transmits the captured image to the image processor.

[0012] Step 4: The image processor first converts the captured image to grayscale, removing color and surface texture information from the image, and highlighting the outline and edge information of the lines;

[0013] Step 5: The image processor uses a filtering algorithm to remove noise and interference;

[0014] Step 6: The image processor uses image thresholding to segment the regions in the denoised image.

[0015] Step 7: After thresholding, the image is processed using a BP neural network algorithm for edge detection. Other information besides the edge targets is removed to obtain the discrete edge points of the coal loader and stuck coal blocks in the image.

[0016] Step 8: For the image processed by the BP neural network algorithm, edge pixel thinning processing is applied to subdivide the gray values ​​of the edge pixels of the coal unloader and the stuck coal block in the image to obtain the edge information of the coal unloader and the stuck coal block.

[0017] Step 9: Fit the image obtained in Step 8 with the image taken and processed in Step 1 before the coal block was placed in. Remove the edge information of the coal loader frame that can be fitted, and obtain an image that only contains the edge information of the rotating arm and the stuck coal block.

[0018] Step 10: Rotate the image of the rotating arm and stuck coal block edge information obtained in Step 9, and continue to fit it with the image captured and processed in Step 1 before the coal block was placed. The edge information of the lower rotating arm exists in both images. When the lower rotating arm edge information in the rotated image is successfully fitted, the image processor can identify which are the lower rotating arm edge information and remove these information to obtain an image that only contains the edge information of the stuck coal block.

[0019] Step 11: Add a coordinate system and a scale table consisting of uniform horizontal and vertical dividing lines to the image of the stuck coal block edge information obtained in Step 10. Obtain the specific coordinate information of the stuck coal block edge information image and send it to the controller. Count the number of scale grids inside the stuck coal block edge information image. Then, obtain the total area value of the stuck coal block based on the area of ​​each scale grid and transmit the total area value of the stuck coal block to the controller.

[0020] Step 12: The controller obtains the required rotational speed or acceleration for breaking the stuck coal block based on the built-in table of the correspondence between the coal block area and the corresponding rotational speed or acceleration required for breaking.

[0021] Step 13: The controller controls the lower rotating arm to reverse. The angle of reversal of the lower rotating arm is calculated based on the coordinate information of the edge information image of the stuck coal block obtained in Step 11. The controller stops when the rotary encoder detects that the calculated reversal angle has been reached.

[0022] Step Fourteen: The controller starts the lower rotating arm in the forward direction by controlling the rotation speed or acceleration required to break the stuck coal block obtained in Step Twelve. The lower rotating arm breaks the stuck coal block in the forward direction. At the same time, the breaking current and time are monitored to determine whether the breaking is successful. If the breaking is successful, the controller controls the lower rotating arm to return to the rated speed and continue working. If the breaking is unsuccessful, the rotation speed or acceleration value required to break the stuck coal block is increased according to the breaking increment rate set in Step One. Then, Step Thirteen and Step Fourteen are repeated until the stuck coal block is completely broken.

[0023] The aforementioned lower rotating arm includes a support arm fixedly connected to the main shaft, and a high-manganese steel wear-resistant plate detachably connected to the support arm.

[0024] The four extended arms of the lower rotating arm described above are evenly arranged, and each pair of adjacent extended arms are perpendicular to each other.

[0025] The lower rotating arm is provided with a rotating arm support seat above it. The rotating arm support seat is provided with four fixed support arms that are parallel to the rotating arm of the lower rotating arm. One end of the fixed support arm is fixedly connected to the main shaft, and the other end of the fixed support arm is connected by the upper rotating arm ring steel belt. The fixed support arm and the rotating arm of the lower rotating arm are fixedly connected by a vertical support column.

[0026] The aforementioned support column and the main shaft are provided with a tapered protective steel bar mesh, which covers the area below the top of the tapered section with the main shaft as the center.

[0027] The protective steel bar mesh is provided with an upper fixed frame that surrounds the main shaft at the top. One end of the protective steel bar is connected to the upper fixed frame, and the other end is connected to the rectangular frame of the screen.

[0028] The screen is equipped with a feeding hopper below it. The feeding hopper is inverted cone shape and open at both ends.

[0029] The present invention provides a coal unloader that can automatically clear blockages. By setting a cross support under the screen and a rotating arm above it, the rotating arm breaks up the blocked coal blocks while preventing the risk of broken stones from flying out. When the rotating arm encounters a stuck, unbroken coal block, the size of the coal block can be obtained through image processing, and then the torque required for breaking can be calculated. This allows the speed or acceleration of the rotating arm to be controlled for further collision and breaking. Attached Figure Description

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments:

[0031] Figure 1 This is a schematic diagram of the structure of the coal loader of the present invention. Figure 1 ;

[0032] Figure 2 This is a side view of the coal loader of the present invention;

[0033] Figure 3 for Figure 2 A magnified view of a portion of the image;

[0034] Figure 4 This is a top view of a coal loader;

[0035] Figure 5 for Figure 4 AA section view;

[0036] Figure 6 This is a top view diagram of the blockage situation in the embodiment;

[0037] Figure 7 This is the electrical schematic diagram of a coal loader;

[0038] Figure 8 The image shown in the example is the preprocessed image of the coal block.

[0039] Figure 9 The image shown is of a coal block after image segmentation, as used in this embodiment.

[0040] Figure 10 This is a processed image of the coal block edge in the example.

[0041] Figure 11 This is a schematic diagram of the coal block area obtained from the edge image in the embodiment.

[0042] In the diagram: 1. Support column; 2. Upper support; 3. Motor; 4. Reducer; 5. Main shaft; 6. Lower rotating arm; 7. Screen; 8. Lower cross support; 9. Vision sensor; 10. Rotary arm support seat; 11. Upper rotating arm ring steel belt; 12. Side connecting column; 13. Protective steel bar mesh; 13. Upper fixed frame; 14. Concrete floor; 15. Feed hopper; 16. Vertical wall; 17. Synchronous toothed belt; 18. Rotary encoder; 19. Coal block; 20. Image processor; 21. Controller; 22. Analog module; 23. Frequency converter; 24. Data processing module; 25. Human-machine interface module (HMI). Detailed Implementation

[0043] The technical solution of the present invention will be described in detail below with reference to the accompanying drawings and embodiments.

[0044] like Figure 1-8 As shown in the figure, an automatic unblocking method for a coal loader includes a lower cross bracket 8 embedded in a concrete floor 14. The concrete floor 14 above and below the lower cross bracket 8 is a through hole. The lower cross bracket 8 is fixedly connected to the support columns 1 on both sides above it. The top of the support column 1 is provided with an upper support 2. The upper support 2 is provided with a motor 3. The motor 3 drives a reducer 4 and is connected to the main shaft 5 below the upper support 2. The lower end of the main shaft 5 is provided with a lower rotating arm 6. The lower rotating arm 6 includes four protruding rotating arms. A screen 7 is provided between the lower rotating arm 6 and the lower cross bracket 8.

[0045] The upper support 2 is equipped with a vision sensor 9 facing the screen 7. The motor 3 is driven by a frequency converter 23. The vision sensor 9 is connected to an image processor 20. The image processor 20 is communicatively connected to a controller 21. The controller 21 has an analog module connected to the frequency converter 23. The communication interface of the frequency converter 23 is connected to the controller 21.

[0046] The main shaft 5 is equipped with a synchronous pulley, which is connected to the rotary encoder 18 via a synchronous toothed belt 17. The rotary encoder 18 processes the data through the data processing module 24 and then transmits the data to the controller 21.

[0047] The steps for automatic unblocking of a coal loader are as follows:

[0048] Step 1: System initialization. Set the rated rotation speed and direction of the lower rotating arm 6 of the coal loader. Capture an image before the coal block is placed in the machine and process the image into an edge grayscale image, which is then sent to the image processor 20. In the controller 21, there is a table that corresponds to the coal block area and the speed or acceleration required for crushing. Set the crushing current threshold and time at the rated speed and set the crushing increment rate.

[0049] Step 2: Start the coal loader. The controller 21 drives the lower rotating arm 6 to rotate at the rated speed and direction. The coal blocks to be discharged are manually poured onto the screen 7. Coal blocks smaller than the screen holes fall below. The lower rotating arm 6 breaks up the blocked coal blocks. At this time, the controller 21 monitors the crushing current and time through the communication interface of the frequency converter 23. If the crushing current and time exceed the threshold set in Step 1, it indicates that a crushing jamming phenomenon has occurred.

[0050] Step 3: When the controller 21 detects that a breakage blockage has occurred, the vision sensor 9 captures a real-time image of the breakage and blockage below and transmits the captured image to the image processor 20.

[0051] Step 4, as follows Figure 8 As shown, the image processor 20 first converts the captured image to grayscale, removing color and surface texture information from the image, and highlighting the outline and edge information of the lines;

[0052] Step 5: The image processor 20 uses a filtering algorithm to remove noise and interference;

[0053] Step Six, as Figure 9 As shown, the image processor 20 uses an image thresholding method to segment the regions in the denoised image;

[0054] Step 7: After thresholding, the image is processed using a BP neural network algorithm for edge detection. Other information besides the edge targets is removed to obtain the discrete edge points of the coal loader and stuck coal blocks in the image.

[0055] Step 8, as Figure 10 As shown in the figure, the image processed by the BP neural network algorithm is subjected to edge pixel thinning processing. The gray values ​​of the edge pixels of the coal loader and the stuck coal block in the image are subdivided to obtain the edge information of the coal loader and the stuck coal block.

[0056] Step 9: Fit the image obtained in Step 8 with the image taken and processed in Step 1 before the coal block was placed in. Remove the edge information of the coal loader frame that can be fitted, and obtain an image that only contains the edge information of the rotating arm 6 and the stuck coal block.

[0057] Step 10: Rotate the image of the rotating arm 6 and the edge information of the stuck coal block obtained in Step 9, and continue to fit it with the image captured and processed in Step 1 before the coal block was placed. The edge information of the lower rotating arm 6 exists in both images. When the edge information of the lower rotating arm 6 in the rotated image is successfully fitted, the image processor 20 can identify which are the edge information of the lower rotating arm 6 and remove these information to obtain an image that only contains the edge information of the stuck coal block.

[0058] Step 11, as follows Figure 11 As shown, the image of the stuck coal block edge information obtained in step ten is added with a coordinate system and a scale table diagram composed of uniform horizontal and uniform vertical dividing lines to obtain the specific coordinate information of the stuck coal block edge information image and send it to the controller 21. The number of scale grids inside the stuck coal block edge information image is counted, and the total area value of the stuck coal block is obtained according to the area of ​​each scale grid. The total area value of the stuck coal block is then transmitted to the controller 21.

[0059] Step 12: The controller 21 obtains the required rotational speed or acceleration for breaking the stuck coal block according to the built-in correspondence table between the coal block area and the corresponding rotational speed or acceleration required for breaking.

[0060] Step 13: Controller 21 controls the lower rotating arm 6 to reverse. The angle of reversal of the lower rotating arm 6 is calculated based on the coordinate information of the edge information image of the stuck coal block obtained in Step 11. The rotation encoder 18 stops when the calculated reversal angle is reached.

[0061] Step Fourteen: The controller 21 starts the lower rotating arm 6 in the forward direction by controlling the rotation speed or acceleration required to break the stuck coal block obtained in Step Twelve. The lower rotating arm 6 breaks the stuck coal block in the forward direction. At the same time, the breaking current and time are monitored to determine whether the breaking is successful. If the breaking is successful, the controller controls the lower rotating arm 6 to return to the rated speed and continue working. If the breaking is unsuccessful, the rotation speed or acceleration value required to break the stuck coal block is increased according to the breaking increment rate set in Step One. Then, Step Thirteen and Step Fourteen are repeated until the stuck coal block is completely broken.

[0062] The coal blocks to be fed are placed on the screen 7. Coal blocks smaller than the screen openings automatically fall below. The motor 3 rotates, driving the lower rotating arm 6 to rotate above the screen 7. When the lower rotating arm 6 rotates to the point where the coal block is larger than the screen openings of the screen 7 and is blocked, the coal block is crushed into smaller pieces by the squeezing action of the lower rotating arm 6 and falls from the screen 7, achieving the effect of clearing the blockage. This eliminates the need for manual re-moving of coal blocks.

[0063] The aforementioned lower rotating arm 6 includes a support arm fixedly connected to the main shaft 5, and a high-manganese steel wear-resistant plate detachably connected to the support arm.

[0064] With the rotation direction of the lower rotating arm 6 fixed, the contact surface of the lower rotating arm 6 that performs the crushing function is always on one side of the arm. A detachable high-manganese steel wear-resistant plate is installed on this side, which can be replaced after the wear and crushing effect is reduced, so as to maintain the unblocking effect.

[0065] The four extended arms of the lower rotating arm 6 are evenly arranged, and each pair of adjacent extended arms are perpendicular to each other.

[0066] The lower rotating arm 6 is provided with a rotating arm support seat 10 above it. The rotating arm support seat 10 is provided with four fixed support arms that are parallel to the rotating arm of the lower rotating arm 6. One end of the fixed support arm is fixedly connected to the main shaft 5, and the other end of the fixed support arm is connected through the upper rotating arm ring steel belt 11. The fixed support arm and the rotating arm of the lower rotating arm 6 are fixedly connected through a vertical support column.

[0067] By setting the swivel arm support seat 10, the rigidity of the lower swivel arm 6 during rotation is increased. When encountering a blocked coal block, the size of the square shape that deforms backward under force is smaller, thus improving the unblocking effect.

[0068] The aforementioned support column 1 and main shaft 5 are provided with a tapered protective steel bar mesh 13, which covers the area below the top of the tapered section with the main shaft 5 as the center.

[0069] By setting up the protective steel bar mesh 13, it is possible to prevent broken coal pieces from jumping out and causing injury during the clearing operation.

[0070] The protective steel bar mesh 13 is provided with an upper fixed frame 131 that surrounds the main shaft 5 at the top. One end of the protective steel bar is connected to the upper fixed frame 131, and the other end is connected to the rectangular frame of the screen 7.

[0071] When the rotating arm 6 encounters a large coal block that cannot be broken, the upper vision sensor 9 captures an image and transmits it to the image processor. The image processor processes the image and identifies the size of the blocked coal block. The controller calculates the torque required to break the blocked coal block based on the ratio of the coal block to the image size, and calculates the corresponding speed or acceleration of the lower rotating arm 6 at that torque. The controller controls the lower rotating arm 6 to slowly reverse until the previous extended cantilever contacts the coal block. The current is detected to determine whether contact has occurred. Then, the controller controls the lower rotating arm 6 to rotate forward and impact the blocked coal block at the calculated speed or acceleration. This ensures that the coal block receives the force required to break it, while preventing excessive force from causing the coal block to jump out quickly and avoiding structural damage to the coal loader.

[0072] In this preferred embodiment, the lower rotating arm 6 no longer needs to stop when it encounters a blocking coal block during reverse rotation. The coal block size data obtained after processing by the image processor can determine the space available for the lower rotating arm 6 during reverse rotation. By detecting the reverse rotation angle, it can be determined whether the reverse rotation is in place. At the same time, when the lower rotating arm 6 is accelerating in the forward rotation for crushing, the real-time angle data obtained by the rotary encoder 18 allows the controller to know whether the designed acceleration or speed has been reached, which facilitates the adjustment of the analog quantity applied to the frequency converter. After a collision, the angle data can also be used to determine whether the coal block has been crushed after the collision, thereby determining the next execution plan.

[0073] Below the aforementioned screen 7 is a feeding hopper 15, which is inverted cone-shaped and open at both ends.

Claims

1. An automatic unblocking method for a coal loader, characterized in that the loader... The coal mining machine includes a lower cross bracket (8) embedded in a concrete floor (14). The concrete floor (14) above and below the lower cross bracket (8) is a through hole. The lower cross bracket (8) is fixedly connected to the support columns (1) on both sides above it. The support column (1) is provided with an upper support (2) at the top. The upper support (2) is provided with a motor (3). The motor (3) drives a reducer (4) and is connected to the main shaft (5) below the upper support (2). The lower end of the main shaft (5) is provided with a lower rotating arm (6). The lower rotating arm (6) includes four extended rotating arms. A screen (7) is provided between the lower rotating arm (6) and the lower cross bracket (8). The upper support (2) is equipped with a vision sensor (9) facing the screen (7). The motor (3) is driven by a frequency converter (23). The vision sensor (9) is connected to an image processor (20). The image processor (20) is connected to a controller (21). The controller (21) is equipped with an analog module connected to the frequency converter (23). The communication interface of the frequency converter (23) is connected to the controller (21). The main shaft (5) is equipped with a synchronous pulley, which is connected to the rotary encoder (18) via a synchronous toothed belt (17). The rotary encoder (18) processes the data through the data processing module (24) and transmits the data to the controller (21). The steps for automatic unblocking of a coal loader are as follows: Step 1: System initialization. Set the rated rotation speed and direction of the lower rotating arm (6) of the coal feeder. Capture the image before the coal block is placed in the machine and process the image into an edge grayscale image and send it to the image processor (20). In the controller (21), there is a table of correspondence between the coal block area and the corresponding rotation speed or acceleration required for crushing. Set the crushing current threshold and time at the rated speed and set the crushing increment rate. Step 2: Start the coal feeder. The controller (21) drives the lower rotating arm (6) to rotate at the rated speed and direction. The coal block to be fed is manually poured onto the screen (7). The coal block smaller than the screen hole falls below. The lower rotating arm (6) crushes the blocked coal block. At this time, the controller (21) monitors the crushing current and time during crushing through the communication interface of the frequency converter (23). If the crushing current and time exceed the threshold set in step 1, it indicates that the crushing jamming phenomenon has occurred. Step 3: When the controller (21) detects that a breakage blockage has occurred, the vision sensor (9) captures a real-time image of the breakage and blockage below and transmits the captured image to the image processor (20). Step 4: The image processor (20) first converts the captured image to grayscale, removes color and surface texture information from the image, and highlights the outline and edge information of the lines; Step 5: The image processor (20) uses a filtering algorithm to remove noise and interference; Step 6: The image processor (20) segments the regions in the denoised image using the image thresholding method; Step 7: After thresholding, the image is processed using a BP neural network algorithm for edge detection. Other information besides the edge targets is removed to obtain the discrete edge points of the coal loader and stuck coal blocks in the image. Step 8: For the image processed by the BP neural network algorithm, edge pixel thinning processing is applied to subdivide the gray values ​​of the edge pixels of the coal unloader and the stuck coal block in the image to obtain the edge information of the coal unloader and the stuck coal block. Step 9: Fit the image obtained in Step 8 with the image taken and processed in Step 1 before the coal block was placed in, remove the edge information of the coal loader frame that can be fitted, and obtain an image that only has the rotating arm (6) and the edge information of the stuck coal block. Step 10: Rotate the image of the lower rotating arm (6) and the edge information of the stuck coal block obtained in Step 9, and continue to fit it with the image taken and processed in Step 1 before the coal block was placed. The edge information of the lower rotating arm (6) exists in both images. When the edge information of the lower rotating arm (6) in the rotated image is successfully fitted, the image processor (20) can know which are the edge information of the lower rotating arm (6) and remove these information to obtain an image with only the edge information of the stuck coal block remaining. Step 11: Add a coordinate system and a scale table consisting of uniform horizontal and vertical dividing lines to the image of the stuck coal block edge information obtained in Step 10 to obtain the specific coordinate information of the stuck coal block edge information image and send it to the controller (21). Count the number of scale grids inside the image of the stuck coal block edge information, and then obtain the total area value of the stuck coal block according to the area of ​​each scale grid. Transmit the total area value of the stuck coal block to the controller (21). Step 12: The controller (21) obtains the required rotational speed or acceleration for breaking the stuck coal block according to the built-in table of the correspondence between the coal block area and the corresponding rotational speed or acceleration required for breaking. Step 13: The controller (21) controls the lower rotating arm (6) to reverse. The angle of reversal of the lower rotating arm (6) is calculated based on the coordinate information of the edge information image of the stuck coal block obtained in Step 11. When the rotary encoder (18) detects that the calculated reversal angle has been reached, it stops. Step Fourteen: The controller (21) controls the lower rotating arm (6) to start rotating forward at the speed or acceleration required to break the stuck coal block obtained in Step Twelve. The lower rotating arm (6) rotates forward to break the stuck coal block. At the same time, the breaking current and time during the breaking are monitored to determine whether the breaking is successful. If the breaking is successful, the controller controls the lower rotating arm (6) to return to the rated speed and continue working. If the breaking is unsuccessful, the speed or acceleration value required to break the stuck coal block is increased according to the breaking increment rate set in Step One. Then Step Thirteen and Step Fourteen are repeated until the stuck coal block is completely broken.

2. The automatic unblocking method for a coal loader according to claim 1, characterized in that, The vision sensor (9) is provided in multiple ways. The images captured by the multiple vision sensors (9) are stitched together to obtain the overall image below the coal loader.

3. The automatic unblocking method for a coal loader according to claim 2, characterized in that, The lower rotating arm (6) includes a support arm fixedly connected to the main shaft (5) and a high manganese steel wear-resistant plate detachably connected to the support arm.

4. The automatic unblocking method for a coal loader according to claim 3, characterized in that, The four extended arms of the lower rotating arm (6) are evenly arranged, and the two adjacent extended arms are perpendicular to each other.

5. The automatic unblocking method for a coal loader according to claim 4, characterized in that, The lower rotating arm (6) is provided with a rotating arm support seat (10) above it. The rotating arm support seat (10) is provided with four fixed support arms that are parallel to the rotating arm of the lower rotating arm (6). One end of the fixed support arm is fixedly connected to the main shaft (5), and the other end of the fixed support arm is connected by the upper rotating arm ring steel belt (11). The fixed support arm and the rotating arm of the lower rotating arm (6) are fixedly connected by a vertical support column.

6. The automatic unblocking method for a coal loader according to claim 5, characterized in that, The support column (1) and the main shaft (5) are provided with a protective steel rod mesh (13) arranged in a cone shape. The protective steel rod mesh (13) covers the area below the top of the cone with the main shaft (5) as the center.

7. The automatic unblocking method for a coal loader according to claim 6, characterized in that, The protective steel bar mesh (13) is provided with an upper fixed frame (131) around the main shaft (5) at the top. One end of the protective steel bar is connected to the upper fixed frame (131), and the other end is connected to the rectangular frame of the screen (7).

8. The automatic unblocking method for a coal loader according to claim 7, characterized in that, The screen (7) is provided with a feeding hopper (15) below it. The feeding hopper (15) is inverted cone shape and open at both ends.

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