Material storing device and control method

Abstract

The present application relates to material warehousing field, specifically to a kind of material warehousing device and control method, comprising: double-layer soft cylinder, retractable chute assembly, dust removal component and controller;Retractable chute assembly is installed in double-layer soft cylinder, and set flexible strain sensor and several displacement sensors, the flexible strain sensor is set on the path of material falling;The cylinder wall of double-layer soft cylinder is composed of inner layer cylinder wall and outer layer cylinder wall, and the inner layer cylinder wall is provided with multiple dust outlets;The dust suction port of dust removal component extends to the cavity between the inner layer cylinder wall and the outer layer cylinder wall;The controller controls retractable chute assembly with double-layer soft cylinder up and down stack or stretch, and controls dust removal component to open and start. Double-layer soft cylinder drives retractable chute assembly to lengthen or stack, and the position of bucket is adjustable, improves buffering effect, reduces material breakage. Dust in cylinder enters the cavity between the inner layer cylinder wall and the outer layer cylinder wall, reduces dust on the warehousing path, reduces the damage of dust to environment.

Description

Technical Field

[0001] This technology relates to the field of material receiving, specifically to a material receiving dust removal, noise reduction, and breakage prevention device and control method. Background Technology

[0002] Currently, most material receiving and transfer operations still rely on conveyor belts, which can easily lead to hearing loss, pneumoconiosis, and other respiratory diseases, impacting workers and residents in the surrounding area to varying degrees. The loading process also generates dust and material breakage. To reduce material breakage and dust / noise pollution, and improve the working environment for workers, we have improved the material receiving chute system for material receiving and loading operations. Summary of the Invention

[0003] This invention provides a material receiving device and control method to solve problems such as dust and transportation damage.

[0004] This invention provides a material receiving device, which includes: a double-layer flexible cylinder, a telescopic chute assembly, a dust removal assembly, and a controller;

[0005] The retractable chute assembly is installed inside the double-layer flexible cylinder and is equipped with a flexible strain sensor and several displacement sensors. The flexible strain sensor is positioned on the path of the material falling.

[0006] The double-layer flexible cylinder has an inner cylinder wall and an outer cylinder wall, and the inner cylinder wall is provided with multiple dust outlet holes;

[0007] The dust removal assembly's suction port extends into the cavity between the inner cylinder wall and the outer cylinder wall;

[0008] The controller controls the telescopic chute assembly to stack or expand up and down with the double-layer soft cylinder, and controls the dust removal assembly to turn on and off.

[0009] In some embodiments, preferably, the material receiving device further includes: a mobile platform assembly disposed above the double-layer flexible cylinder, the mobile platform assembly including a left-right movement guide component and a left-right movement drive motor, and a front-back movement guide component and a front-back movement drive motor.

[0010] In some embodiments, preferably, the top of the mobile platform component is provided with a left-right moving guide rail, and the left-right moving guide component includes a left-right moving guide with a first pulley provided at the bottom, the first pulley sliding freely on the left-right moving guide rail;

[0011] The upper part of the left and right moving guide is provided with a front and rear moving guide rail;

[0012] The forward and backward movement guide assembly includes a forward and backward movement guide with a second pulley at the bottom, the second pulley sliding freely on the forward and backward movement guide rail;

[0013] The forward and backward moving guide is fixedly connected to the top of the double-layer soft tube.

[0014] In some embodiments, preferably, the retractable chute assembly includes: a plurality of conical buckets arranged sequentially from top to bottom inside the double-layer flexible cylinder, each conical bucket being mounted on the inner cylinder wall, and each bucket being equipped with a displacement sensor for measuring its angle and orientation.

[0015] In some embodiments, preferably, the material receiving device further includes: a plurality of upper and lower actuators surrounding the periphery of the double-layer flexible cylinder, the upper and lower actuators including: a wire rope, a rope winding shaft and a first stepper motor for driving the rope winding shaft to rotate; the wire rope is arranged vertically and connected to the upper, middle and lower parts of the outer cylinder wall at a plurality of preset positions from top to bottom.

[0016] In some embodiments, preferably, the method by which the controller controls the attitude of the bucket includes: the controller receiving a feedback signal when the flexible strain sensor reaches a preset value, the controller tightening the wire rope, and controlling the bucket to descend; and / or, the controller determining the change in the bucket angle based on the change value monitored by the displacement sensor, and issuing a signal for a preset number of turns corresponding to the change in the rotation angle of the wire rope.

[0017] In some embodiments, preferably, the lower part of the material feeding device is equipped with a rotating fabric feeding assembly, which is installed at the bottom of the double-layer flexible cylinder via a conical lower hopper. A rotating shaft is installed at the lower part of the conical lower hopper, and a rotating bearing is sleeved on the outside of the rotating shaft. A rack is provided on the outer ring of the rotating bearing, and the rack meshes with a gear set driven by a second stepper motor. A fabric feeder is installed at the lower part of the rotating bearing.

[0018] In some embodiments, preferably, a material level sensor is provided at the outlet of the material feeder of the material receiving device to measure the distance the material falls.

[0019] In some embodiments, preferably, a material velocity sensor connected to the controller signal is provided at the inlet of the conical lower hopper to monitor the falling speed of the material.

[0020] In some embodiments, preferably, a noise sensor connected to the controller signal is provided at the lower part of the outer cylinder wall to monitor the material conveying noise and fabrication noise within the double-layer flexible cylinder.

[0021] In some embodiments, preferably, the method by which the controller controls the retractable chute assembly to stack or extend with the double-layer flexible cylinder includes: the controller receiving a material descent distance measured by a material level sensor; the controller comparing the material descent distance with a threshold range; when the material descent distance is greater than the maximum value of the threshold range, the controller controls the first stepper motor to drive the wire rope to extend the double-layer flexible cylinder and the retractable chute to shorten the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the hopper; when the material descent distance is less than the minimum value of the threshold range, the controller controls the first stepper motor to drive the wire rope to stack the double-layer flexible cylinder and the retractable chute to increase the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the hopper.

[0022] In some embodiments, preferably, a material velocity sensor is provided at the inlet of the conical lower hopper to monitor the falling speed of the material, and the material velocity sensor is connected to the controller signal.

[0023] In some embodiments, preferably, the method of the controller for the rotating fabric assembly includes: the controller acquiring the material height at various locations in the material drop area within the hopper, determining that the material height is in a low-value area to be fabricated; when the area to be fabricated is within the fabrication range of the current position, adjusting the fabrication position of the rotating fabric assembly to fabricate; when the area to be fabricated is not within the fabrication range of the current position, adjusting the position of the material inlet device according to the drive of the left and right guide components and the front and rear guide components, and then adjusting the fabrication position of the rotating fabric assembly.

[0024] The adjustment of the fabric position of the rotating fabric assembly includes: determining the angle range of the area to be fabricated, driving the second stepper motor to drive the rotating bearing according to the angle range, and then driving the unloading port to fabricate within the angle range.

[0025] In some embodiments, preferably, the controller acquires the noise value from the noise sensor, and when the noise value is greater than the maximum noise threshold value, controls the second stepper motor to reduce its speed.

[0026] In some embodiments, preferably, a noise sensor is provided at the lower part of the outer cylinder wall to monitor the material conveying noise and fabrication noise within the double-layer flexible cylinder.

[0027] This invention provides a control method for a material receiving device, comprising:

[0028] Start the material receiving device;

[0029] The telescopic length of the telescopic chute is adjusted in real time based on the distance the material falls into the silo from the material feeding device's feeding port.

[0030] The bucket is adjusted in real time based on the posture of the bucket in the retractable chute and / or the impact force of the material.

[0031] Adjust the operating status of the dust collection components according to the dust conditions.

[0032] In some embodiments, preferably, adjusting the telescopic length of the telescopic chute in real time based on the distance the material falls into the silo from the material inlet of the material feeding device includes: the controller receiving the material descent distance measured by the material level sensor; the controller comparing the material descent distance with a threshold range; when the material descent distance is greater than the maximum value of the threshold range, controlling the first stepper motor to drive the wire rope to extend the double-layer flexible cylinder and the telescopic chute to shorten the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the silo; when the material descent distance is less than the minimum value of the threshold range, controlling the first stepper motor to drive the wire rope to stack the double-layer flexible cylinder and the telescopic chute to increase the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the silo.

[0033] In some embodiments, preferably, the real-time adjustment of the bucket based on the posture of the bucket in the retractable chute and / or the impact force of the material includes: the controller receiving a feedback signal when the flexible strain sensor reaches a preset value, the controller tightening the wire rope to control the bucket to descend; and / or, the controller determining the change in bucket angle based on the change value monitored by the displacement sensor, and issuing a signal corresponding to the preset number of turns of the wire rope rotation angle change.

[0034] In some embodiments, preferably, the control method further includes: adjusting the material feeding device's placement position in real time according to the height of the material in the bin; adjusting the material feeding device's placement position in real time according to the height of the material in the bin includes: when the material speed sensor detects the material falling speed, the controller starts the second stepper motor of the rotating material feeding assembly; the controller obtains the material height at various points in the material falling area in the bin and determines that the material height is in a low-value material feeding area; when the material feeding area is within the material feeding range of the current position, the placement position of the rotating material feeding assembly is adjusted to perform material feeding; when the material feeding area is not within the material feeding range of the current position, the position of the material feeding device is adjusted according to the driving of the left and right guide components and the front and rear guide components, and then the placement position of the rotating material feeding assembly is adjusted; adjusting the placement position of the rotating material feeding assembly includes: determining the angle range of the material feeding area, and driving the second stepper motor to drive the rotating bearing to drive the discharge port to feed material within the angle range according to the angle range.

[0035] In some embodiments, preferably, the method of the controller controlling noise includes: the controller acquiring noise generated by material conveying, dust removal and / or fabrication monitored by noise sensors; and controlling the stepper motors of the material conveying, dust removal and / or fabrication to slow down when the noise exceeds the maximum value of the noise threshold range.

[0036] In some embodiments, preferably, the dust removal assembly includes: a dust concentration sensor, a transparent dust removal monitoring duct, and a dust removal bag; the dust concentration sensor is disposed in the upper part of the double-layer flexible cylinder and connected to the controller; one end of the transparent dust removal monitoring duct is connected to the dust removal bag, and the other end extends into the cavity between the inner cylinder wall and the outer cylinder wall.

[0037] In some embodiments, preferably, the method of the controller controlling dust removal includes: the controller acquiring the dust concentration monitored by the dust concentration sensor; when the dust concentration exceeds the maximum value of a preset concentration range, starting the dust collection fan of the dust removal component; and when the dust concentration is less than the minimum value of the preset concentration range or when there is no dust in the transparent duct of the dust removal monitoring system, turning off the dust collection fan.

[0038] The present invention also provides a control method for a material receiving device, comprising:

[0039] Start the material receiving device;

[0040] The telescopic length of the telescopic chute is adjusted in real time based on the distance the material falls into the silo from the material feeding device's feeding port.

[0041] The bucket is adjusted in real time based on the posture of the bucket in the retractable chute and / or the impact force of the material.

[0042] Adjust the operating status of the dust collection components according to the dust conditions;

[0043] During the material placement process, the controller receives the scanning results of the material surface, establishes a digital 3D sand table based on the scanning data, establishes a 3D coordinate system for the digital 3D sand table, extracts the coordinate system of all high points in the sand table, determines the included angle between two adjacent high points and the low area between two adjacent high points, and collects the material slope of the low area between two adjacent high points; based on the included angle and the material slope, the material placement method is established, which includes: rotation angle and speed change during rotation.

[0044] In some embodiments, preferably, adjusting the telescopic length of the telescopic chute in real time based on the distance the material falls into the silo from the material inlet of the material feeding device includes: the controller receiving the material descent distance measured by the material level sensor; the controller comparing the material descent distance with a threshold range; when the material descent distance is greater than the maximum value of the threshold range, controlling the first stepper motor to drive the wire rope to extend the double-layer flexible cylinder and the telescopic chute to shorten the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the silo; when the material descent distance is less than the minimum value of the threshold range, controlling the first stepper motor to drive the wire rope to stack the double-layer flexible cylinder and the telescopic chute to increase the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the silo.

[0045] In some embodiments, preferably, the real-time adjustment of the bucket based on the posture of the bucket in the retractable chute and / or the impact force of the material includes: the controller receiving a feedback signal when the flexible strain sensor reaches a preset value, the controller tightening the wire rope, and controlling the bucket to descend.

[0046] In some embodiments, preferably, the controller determines the change in bucket angle based on the change value monitored by the displacement sensor, and sends a signal corresponding to the preset number of turns of the wire rope rotation angle change.

[0047] In some embodiments, preferably, the control method further includes: adjusting the fabric placement position of the material inlet device in real time according to the height of the material in the warehouse;

[0048] Adjusting the material feeding device's distribution position in real time based on the material level inside the warehouse includes:

[0049] When the material speed sensor detects the falling speed of the material, the controller starts the second stepper motor of the rotating fabric assembly;

[0050] The controller acquires the material height at various points in the material drop area within the hopper and determines that the material height is in a low-value area to be laid. When the area to be laid is within the laying range of the current position, the laying position of the rotating laying component is adjusted to lay the material. When the area to be laid is not within the laying range of the current position, the position of the material inlet device is adjusted according to the drive of the left and right guide components and the front and rear guide components, and then the laying position of the rotating laying component is adjusted.

[0051] The adjustment of the fabric position of the rotating fabric assembly includes: determining the angle range of the area to be fabricated, driving the second stepper motor to drive the rotating bearing according to the angle range, and then driving the unloading port of the fabric feeder to fabricate within the angle range.

[0052] This invention provides a material receiving device, comprising: a double-layer flexible cylinder, a retractable chute assembly, a dust removal assembly, and a controller; the retractable chute assembly is installed inside the double-layer flexible cylinder and is equipped with a flexible strain sensor and several displacement sensors; the cylinder wall of the double-layer flexible cylinder is composed of an inner cylinder wall and an outer cylinder wall, and the inner cylinder wall is provided with multiple dust outlet holes; the dust suction port of the dust removal assembly extends into the cavity between the inner cylinder wall and the outer cylinder wall; the controller controls the retractable chute assembly to stack or expand up and down with the double-layer flexible cylinder, and controls the opening and closing of the dust removal assembly. If the bucket changes its posture under the impact of a large material, it will not only fail to buffer the material but also generate more dust and noise, resulting in a harsh working environment and unsatisfactory buffering effect. Flexible strain sensors and displacement sensors can monitor the posture and force of the falling material bucket and adjust the bucket posture in real time based on the monitoring. On the other hand, the telescopic length of the telescopic chute assembly can be adjusted in real time according to the distance of the material entering the silo. The internal space of the double-layer flexible cylinder is the channel for material entering the silo. The double-layer flexible cylinder can be folded, and the double-layer flexible cylinder drives the telescopic chute assembly to extend or stack, thereby changing the path height of the material entering the silo. During the entry process, especially when the path is long, a lot of dust is likely to occur. After the double-layer flexible cylinder extends, it can confine the dust entering the silo within the cylinder. Dust inside the cylinder can enter the cavity between the inner and outer cylinder walls through dust outlet holes on the inner cylinder wall, allowing it to be promptly discharged from the cylinder, reducing dust on the material entry path and minimizing environmental damage. Furthermore, the inner and outer cylinder walls are sealed at both the top and bottom, preventing dust from returning to the environment after entering the cavity, thus reducing environmental damage. This improves the buffering capacity of materials entering the silo, reduces the destructive potential of materials, and mitigates dust and noise pollution during the material entry process. Attached Figure Description

[0053] Figure 1 This is a schematic diagram of the material receiving device of the present invention;

[0054] Figure 2 This is a schematic diagram of the internal structure of the material receiving device of the present invention;

[0055] Figure 3 This is a schematic diagram of the rotating fabric structure of the present invention;

[0056] Figure 4 This is a schematic diagram of the structure of the mobile platform component of the present invention;

[0057] Figure 5 This is a schematic diagram of the material dust removal control method in this invention;

[0058] Figure 6 This is a schematic diagram of the method for controlling the position and method of fabric application in this invention;

[0059] Figure 7This is a schematic diagram of the control method (breakage prevention control algorithm) in this invention.

[0060] Note: 1. First stepper motor; 2. Shaft support; 3. Dust concentration sensor; 4. Steel wire rope; 5. Upper moving platform; 6. Double-layer soft cylinder; 8. Second stepper motor; 9. Negative pressure dust removal fan; 11. Material level sensor; 12. Hopper; 13. Lower silo; 14. Lifting eye screw; 17. Noise sensor; 18. Laser displacement sensor; 21. Rotary bearing; 22. Stepper motor base; 24. Gear set; 25. Discharge port; 26. First pulley; 27. Forward and backward movement drive motor; 28. Forward and backward movement guide; 29. ​​Left and right movement guide rail. Detailed Implementation

[0061] The specific embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the invention.

[0062] This invention provides a material receiving device, such as... Figure 1-6 As shown, it includes: a double-layer flexible cylinder 6, a retractable chute assembly, a dust removal assembly, and a controller; the retractable chute assembly is installed inside the double-layer flexible cylinder 6 and is equipped with a flexible strain sensor and several displacement sensors 18, the flexible strain sensor being positioned along the path of the falling material; the cylinder wall of the double-layer flexible cylinder 6 consists of an inner cylinder wall and an outer cylinder wall, the inner cylinder wall being provided with multiple dust outlet holes; the dust suction port of the dust removal assembly extends into the cavity between the inner and outer cylinder walls; the controller controls the retractable chute assembly to stack or expand up and down with the double-layer flexible cylinder 6, and controls the opening and closing of the dust removal assembly.

[0063] The controller controls the telescopic chute assembly to reduce the length of the double-layer flexible cylinder 6 or extend the telescopic chute assembly to stretch along with the double-layer flexible cylinder 6, based on the falling height of the material from the material inlet device into the silo. This ensures that when the material falls from the conveyor belt at a specific height above into the material inlet device, dust can be minimized, thus reducing the damage of dust to the environment.

[0064] On the other hand, the retractable chute assembly includes a flexible strain sensor (or flexible elastic sensor) and a miniature laser displacement sensor 18 (or attitude sensor). The flexible strain sensor monitors the external force applied when the material falls (the force on the flexible strain sensor during material fall is essentially equivalent to the force on the bucket 12), including the magnitude and direction of the external force. Based on the monitored magnitude and direction of the external force, the controller determines the stability of the force on the bucket 12 and the influence of the force on its attitude, thereby adjusting the retractable length of the retractable chute within a small range. This improves the uniform force distribution on the bucket 12, enhances the buffering effect of the bucket 12 on the material, reduces the impact of unreasonable force on the material caused by the bucket 12, and minimizes dust and noise problems caused by unreasonable force. Furthermore, the force deformation threshold monitoring of the flexible strain sensor can also determine the deformation elasticity of the wire rope 4. When the threshold is exceeded, the winding of the wire rope 4 needs to be adjusted accordingly to improve the spacing and angle between the buckets 12, thereby enhancing the material buffering effect. A miniature laser displacement sensor 18 is used to monitor the angle and posture of the bucket 12. To maintain the stability of the bucket 12 during material feeding, the controller needs to monitor and adjust its angle in real time to achieve an effective buffering effect. By stretching or shortening the steel wire rope 4, the posture of the bucket 12 is slightly changed, adjusting the angle. Specific operational example: A flexible strain sensor with a stretching range of 0-50% is used. When the preset value of 20% is reached, it sends feedback to the controller, which then sends a signal to tighten the steel wire rope 4 by one turn, controlling the bucket 12 to descend and change its angle. A miniature laser displacement sensor LK-G50 is placed on the lower edge of the bucket 12. A preset distance change of 10mm triggers the controller to detect the angle change and sends a control signal to rotate half a turn; if the preset distance change reaches 20mm, it sends a control signal to rotate one full turn. When both the data from the flexible strain sensor and the miniature laser displacement sensor 18 cause the controller to adjust the extension and retraction of the steel wire rope 4, i.e., when both limits are applied simultaneously, the larger value of the number of turns is used. Through sensor monitoring and controller control, the controllable telescopic chute and the adjustable positions, angles, and inter-bucket relationships of the hoppers 12 are achieved. This enables real-time monitoring of material descent and timely feedback, as well as real-time monitoring of the chute's status, including stress and position information. This real-time feedback control mechanism precisely adjusts the elastic force and chute position to maintain system stability and respond promptly to changes in external forces. Considering the uncertainties and unforeseen circumstances of the external environment, algorithms are designed to cope with various external disturbances and abnormal situations, ensuring the safety and reliability of the device and achieving robust design.

[0065] This invention needs to consider the spring force control of the wire rope 4, the position control of the bucket 12, feedback control, and robust design. Its control algorithm is based on a flexible elastic strain sensor and a miniature laser displacement sensor 18 located below the bucket 12. The flexible elastic strain sensor is used to monitor the magnitude and direction of the external force, and the miniature laser displacement sensor 18 is used to monitor the angle and attitude of the bucket 12.

[0066] The basic control algorithm framework includes elastic force monitoring, elastic displacement monitoring, and material flow monitoring, specifically the start-up of the winch (wire rope), bucket angle adjustment, intelligent noise reduction monitoring, and intelligent material feeding port speed adjustment.

[0067] The process is as follows: First, define the force range and initial position of the elastic device, and install sensors to monitor the stretching or compression of the elastic device in real time to determine the angle of the bucket.

[0068] Control algorithm flow:

[0069] Step 1: Initialization

[0070] Based on sensor data on the magnitude and direction of the external force, the force required to be applied to the spring is calculated. The control system is adjusted to control the stretching or compression of the retractable chute assembly to maintain an appropriate force range and prevent breakage.

[0071] The flexible elastic strain sensor has a tensile range of 0-50%. When the preset value of 20% is reached, the system performs a feedback action, tightening the steel wire rope 4 one revolution and controlling the bucket 12 to descend at an angle.

[0072] The miniature laser displacement sensor 18LK-G50 is positioned on the lower edge of the dustpan 12. It rotates half a turn for every 10mm change in preset distance, and completes a full turn for every 20mm change. (Item No. 18)

[0073] When both of the above restrictions are in effect, the larger value for the number of turns is taken.

[0074] Position control:

[0075] Sensors monitor the overall length of the telescopic chute assembly. Based on changes in the magnitude and direction of external forces, the length and the angle of the bucket 12 are dynamically adjusted to ensure the chute moves within a suitable range, thereby maintaining the stability of the device.

[0076] Feedback control:

[0077] The system monitors the chute's status in real time, including spring force and chute position. A feedback control mechanism is used to precisely adjust the spring force and chute position to maintain system stability and respond promptly to changes in external forces.

[0078] Robust design:

[0079] Considering the uncertainties and unforeseen circumstances of the external environment, design algorithms to cope with various external disturbances and abnormal situations, ensuring the safety and reliability of the device.

[0080] Safety measures:

[0081] Implement safety measures, such as setting critical thresholds that immediately trigger emergency control measures when exceeded. Incorporate safety measures into the control algorithm to ensure the safety of the equipment and operators. The control algorithm should be designed with reliability and safety in mind, ensuring effective operation of the equipment under various working conditions.

[0082] The internal space of the double-layer flexible cylinder 6 serves as a channel for material entry into the silo. The double-layer flexible cylinder 6 is foldable, and it drives the telescopic chute assembly to extend or stack, thereby changing the path height of the material entering the silo. During material entry, especially when the path is long, significant dust is easily generated. When the double-layer flexible cylinder 6 extends, it can confine the dust within the cylinder. Dust inside the cylinder can enter the cavity between the inner and outer cylinder walls through dust outlet holes on the inner cylinder wall, allowing for timely removal of dust from the cylinder and reducing dust on the entry path, thus minimizing environmental damage. Furthermore, the inner and outer cylinder walls are sealed at both the top and bottom, preventing dust from returning to the environment after entering the cavity, further reducing environmental impact.

[0083] Specifically, the material receiving device includes a double-layer flexible cylinder 6, a retractable chute assembly, a dust collection assembly, and a controller. The double-layer flexible cylinder 6 is stackable and can be made of wear-resistant soft materials such as wear-resistant cloth, wear-resistant canvas, or wear-resistant plastic. The inner cylinder wall, in particular, requires a wear-resistant and tough soft material. Furthermore, the inner cylinder wall of the double-layer flexible cylinder 6 has several dust outlet holes evenly distributed from top to bottom. The upper and lower ends of the inner and outer cylinder walls are connected, forming a cavity in the middle. This cavity is primarily used to allow dust to enter from the inner cylinder wall and be promptly discharged from the cylinder. The dust collection assembly further draws the dust into the cavity through the dust outlet holes. The dust collection assembly is equipped with a negative pressure dust collector fan 9. The controller controls the operation of the negative pressure dust collector fan 9. The dust removal assembly includes: a dust concentration sensor 3, a transparent duct for dust removal monitoring, and a dust removal bag; the dust concentration sensor 3 is located in the upper part of the double-layer flexible cylinder 6 and is connected to the controller; one end of the transparent duct for dust removal monitoring is connected to the dust removal bag, and the other end extends into the cavity between the inner cylinder wall and the outer cylinder wall.

[0084] Dust concentration sensor 3 monitors the dust concentration value in the cavity between the inner and outer layers of the double-layer flexible cylinder 6. The controller obtains the dust concentration value and compares it with the minimum concentration threshold. When the dust concentration value is greater than the concentration threshold, the controller keeps the negative pressure fan running. If the negative pressure fan is initially in the off state, the negative pressure fan is started. If the negative pressure fan is already running, the negative pressure fan continues to run.

[0085] The concentration threshold range is set with multiple interval values. The controller also needs to determine whether the dust concentration value falls within the interval of the concentration threshold range. When the dust concentration value falls into the high concentration threshold range, the controller increases the speed of the negative pressure fan according to the first preset value. When the dust concentration value falls into the medium concentration threshold range, the controller increases the speed of the negative pressure fan according to the second preset value. Then, the process of obtaining the dust concentration value within the range is repeated cyclically.

[0086] In this technology, the negative pressure fan is preferably operated at low speed to reduce operating costs and noise. Speed ​​increases are only made briefly when necessary.

[0087] The retractable chute assembly is installed inside the double-layer flexible cylinder 6 and can be stacked or extended up and down with the double-layer flexible cylinder 6 under external driving force.

[0088] The retractable chute assembly includes multiple conical hoppers 12 arranged sequentially from top to bottom within a double-layered flexible cylinder. Each conical hopper 12 is mounted obliquely on the inner cylinder wall. When stacked, adjacent conical hoppers 12 are stacked together. The vertically arranged hoppers 12 buffer the material entering the chute, reducing damage caused by high-speed impacts and collisions during material entry. The hoppers 12 are inverted cones with a large inlet and a small outlet, further reducing the material flow velocity and minimizing breakage.

[0089] The upper part of the double-layer flexible cylinder 6 is mounted on a fixed platform to receive materials conveyed by an external conveyor belt.

[0090] To drive the stacking or unfolding of the double-layer flexible cylinder 6 and the retractable chute assembly, multiple upper and lower actuators are arranged around the periphery of the double-layer flexible cylinder 6 to change the spacing between two adjacent buckets 12. The multiple upper and lower actuators are preferably evenly distributed circumferentially. The upper and lower actuators include: a wire rope 4, a rope winding shaft, and a first stepper motor 1 that drives the rope winding shaft to rotate; the wire rope 4 is wound on the rope winding shaft, which is fixed to the moving platform by a shaft support seat 2. The unwound part is vertically arranged and connected to the upper, middle, and lower parts of the outer cylinder wall from top to bottom at multiple preset positions via eye bolts 14. The first stepper motor 1 is driven to rotate the winding rope, thereby raising or lowering the wire rope 4 to stack or unfold the double-layer flexible cylinder 6.

[0091] The first stepper motor 1 of multiple upper and lower drives is connected to the controller signal and is uniformly controlled by the controller to wind and unwind the wire rope 4. When the first stepper motor 1 receives the hoisting signal, it drives the rope winding shaft to rotate, which in turn moves the double-layer flexible cylinder 6 and the conical bucket 12. The hoisting signal is issued by the controller, which receives the distance signal of the material falling into the bin from the material level sensor 11 at the bottom of the material feeder of the material feeding device, and compares the distance signal with a distance threshold. When the distance signal is less than the minimum value of the distance threshold, the hoisting signal controls the double-layer flexible cylinder 6 to stack, thereby increasing the distance between the discharge port at the bottom of the double-layer flexible cylinder 6 and the material in the bin, and shortening the distance between adjacent buckets 12. When the distance signal is greater than the maximum value of the distance threshold, the hoisting signal controls the double-layer flexible cylinder 6 to extend, thereby shortening the distance between the discharge port at the bottom of the double-layer flexible cylinder 6 and the material in the bin, and lengthening the distance between adjacent buckets 12. When the material level sensor 11 acquires the distance signal, it can directly measure the distance between the bottom discharge port 25 of the inlet device and the top of the material at the point where the material falls in the silo based on infrared light, or it can acquire the vertical falling distance of the material when it falls from the bottom discharge port 25 of the inlet device.

[0092] Specific control method: Obtain the material falling height H; compare the material falling height with the height threshold range (h). 低 h 高 When comparing, H>h 高 Then control the extension of the telescopic chute assembly, when H <h 低 Then, the retractable chute assembly is shortened.

[0093] The winding shaft and the first stepper motor 1 can be mounted on the moving platform 5 (the upper moving platform) on the double-layer flexible cylinder 6. The moving platform is part of the moving platform assembly, which includes left and right moving guide components and left and right moving drive motors, and front and back moving guide components and front and back moving drive motors 27.

[0094] The material receiving device is surrounded by a guide assembly, with a movable guide rail mounted on top. This guide rail can be either a left-right or a front-back movable guide rail. Taking the left-right movable guide rail as an example, a first pulley 26 is installed at the bottom of the left-right movable guide 28, which slides freely on the left-right movable guide rail 29 to achieve left-right movement. A front-back movable guide rail is constructed at the top of the left-right movable guide 28, and a second pulley is installed at the bottom of the front-back movable guide 28, which moves freely on the front-back movable guide rail to achieve front-back movement. A movable platform is installed on the front-back movable guide 28, with a feed inlet in the middle of the movable platform. The front-back movable guide 28 is fixedly connected to the top of the double-layer soft cylinder 6.

[0095] It should be noted that moving left and right and moving forward and backward are relative concepts; the directions can be reversed, with left and right becoming forward and backward, and forward and backward becoming left and right.

[0096] Both the left-right and forward-backward moving pulleys are equipped with drive motors, which are controlled by the controller. For example, the controller obtains the target position for entering the warehouse, controls the left-right moving pulley to move on the left-right moving guide rail 29 to enter the target area in the left-right direction, and then controls the forward-backward moving pulley to move on the forward-backward moving guide rail to enter the target point in the forward-backward direction, thus reaching the target position.

[0097] When one direction (left / right or front / back) does not need to be changed, only the other direction needs to be moved, depending on the specific situation.

[0098] When to move the hull depends on the material accumulation in the hopper. When the material accumulation in certain locations is low, the controller determines the target location and then drives the hull to move left, right, forward, or backward. The amount of material accumulation is preferably determined by the material accumulation height or the distance the material enters the hopper. The height of the material in the hopper is determined based on a horizontal plane, the bottom of the hopper, the upper surface of the guide assembly, or a fixed surface to determine the distribution of material in various locations.

[0099] To ensure even material distribution at the target location or address the issue of insufficient material in low-lying areas, a rotating material distribution assembly is constructed at the bottom of the material receiving device. This assembly is mounted on the bottom of the double-layered flexible cylinder 6 via a conical lower chamber 13. A rotating shaft is installed at the bottom of the conical lower chamber 13, and a rotating bearing 21 is fitted around the shaft. A rack is mounted on the outer ring of the rotating bearing 21, meshing with a gear set 24 driven by a second stepper motor 8. The second stepper motor is mounted on a stepper motor mount 22. A material distributor is installed below the rotating bearing 21. When the second stepper motor 8 rotates, it drives the rotating bearing 21 to rotate, which in turn drives the material distributor to rotate, distributing material at the appropriate location.

[0100] The system first scans the material surface, then creates a digital simulation 3D sand table (using 3D modeling technology) based on the scan results. A 3D coordinate system is established for the sand table, and the coordinates of all high points are extracted. The included angle between two adjacent high points and the material slope in the low-lying area between adjacent high points are also collected. Based on the included angle and material slope, a material placement method is established, including: rotation angle and speed changes during rotation. For example, within a 30-degree range, the material is rotated at a constant speed. Alternatively, within a 60-degree range, it is divided into six 10-degree intervals. When rotating from left to right, the rotation speed decreases progressively from the first 10-degree interval, gradually reducing the speed. When rotating from right to left, this increases the unloading volume at the corresponding position.

[0101] The method of selecting two adjacent high points establishes a virtual connection between all high points and the coordinate center. Traversing in a clockwise or counterclockwise direction, the area formed by the virtual connection between two adjacent high points in the circumferential direction is the low-position region between the two adjacent high points.

[0102] The coordinate system of the sand table and the coordinate system of the rotating surface of the material distributor are aligned. The material distributor rotates to the corresponding position according to the material distribution method determined by the system (or controller) and performs material distribution operations at the corresponding angle and speed.

[0103] Combined with the subsequent rotating material distribution, it can be determined that after the material height is collected, the controller needs to determine whether the target position is in the material distribution area. If it is in the material distribution area, the controller will drive the rotating material distribution structure to distribute the material in 360° or certain angles. If it is not in the material distribution area, the controller will drive the left and right movement and / or the forward and backward movement to reach the target position. Then, depending on the specific situation, the controller will drive the rotating material distribution structure to distribute the material in 360° or certain angles.

[0104] In other words, the controller obtains the material height at various locations in the material dropping area within the hopper, determines the material height in the low-value material-to-be-placed area, determines the angle range of the material-to-be-placed area, and drives the second stepper motor 8 to drive the rotary bearing 21 based on the angle range, thereby causing the discharge port to swing (rotate) and discharge material within the angle range.

[0105] A material velocity sensor is also installed at the inlet of the conical lower hopper 13 to monitor the falling speed of the material. The material velocity sensor is connected to the controller signal. When the material velocity sensor detects the falling speed of the material, the controller starts the second stepper motor 8 of the rotating fabric distribution assembly. On the other hand, the controller determines the rotation speed of the second stepper motor 8 based on the monitored falling speed of the material, the area to be distributed, the undulation of the area to be distributed, and the slope of the area to be distributed. The area to be distributed is divided into several speed-changing zones based on the undulation of the area to be distributed. The rotation speed is adjusted according to the slope, the step size and the step change value, and the speed of rotation is adjusted according to the falling speed of the material. A multi-element fuzzy control method is used for drive control when multiple parameters simultaneously determine the rotation speed.

[0106] A noise sensor 17 is installed at the lower part of the outer cylinder wall to monitor the material conveying noise and fabric noise inside the double-layer flexible cylinder 6;

[0107] Methods for controlling noise using a controller include:

[0108] The controller acquires the noise generated by material conveying, dust removal and / or fabrication monitored by noise sensor 17; when the noise exceeds the maximum value of the noise threshold range, it controls the stepper motor of material conveying, the negative pressure dust removal fan 9 (stepper motor) of dust removal and / or the second stepper motor 8 of fabrication to reduce speed.

[0109] To address the problems of particle breakage, dust, noise, poor automation, inadequate equipment systems, and unfriendly working conditions during current material handling or loading processes, this invention provides a material handling device with a chute. This device includes a winch mechanism with a steel wire rope 4 mounted on a frame, a chute system below a platform, and a rotating material distribution structure. The first component of the material handling device is the material inlet of the silo. Material flows through a multi-stage buffer system via a bucket 12 to the bottom of the inlet. The rotating material distribution structure rotates the outlet 25 according to the material discharge speed. A material level monitor is installed on the frame at the discharge outlet, sending a signal to the controller after a certain period of material discharge. At this time, the winch system retracts the steel wire rope 4, raising the silo equipment to a certain height.

[0110] The first stage of its silo loading device is the silo buffering, dust removal, noise reduction, and breakage prevention stage. The rotating material feeding structure, driven by a motor, achieves uniform material distribution at the discharge port 25. The sensing system automatically retracts and expands the silo when it detects material movement. The silo assembly consists of two main components: double-layered filter bags and buffer funnels. The buffer funnels are stacked longitudinally in a staggered pattern to ensure smooth and slow material flow. Sensors detect material entering the bottom, driving a motor to rotate the lower hatch and achieve uniform material distribution. Simultaneously, sensor signals are collected and fed to the entire machine for displacement, enabling uniform material distribution at different silo locations. This system is suitable for preventing breakage, dust, and noise in various material loading and unloading operations.

[0111] This invention also relates to the construction of a multi-level fuzzy control model for a silo loading device based on a database, involving evaluation parameters R for the material flow entering the silo: initial feed velocity r1, feed rate r2, material moisture content r3, and material particle size r4, forming a set {r1, r2, r3, r4}; raw material properties: hardness H (soft wheat h1, hard wheat h2), forming a set {h1, h2}; evaluation parameters T for the conical hopper 12: arrangement angle t1, impact load t2, chute length t3, instantaneous drop velocity t4, and friction force t5, forming a set {t1, t2, t3, t4, t5}; and evaluation parameters N for the material cylinder: gas-solid content n1, dust concentration n2, gas flow rate n3, and silo pressure n4, forming a set {n1, n2, n3, n4}.

[0112] Evaluation parameters B for the feed inlet: discharge rate b1, material angle of repose b2, feed inlet rotation speed b3. These constitute the set {b1, b2, b3}.

[0113] A multi-level fuzzy control model for the warehousing device is constructed: V = f(R, H, T, N, B). Coupled analysis is performed to optimize the solution through the parameter control relationship of the fuzzy model. Based on the analysis results, intelligent adjustment of the warehousing device is realized.

[0114] Furthermore, those skilled in the art should understand that in the application documents of this invention, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes the element.

[0115] Numerous specific details are set forth in the specification of embodiments of the present invention. However, it should be understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. Similarly, it should be understood that the description of exemplary embodiments of the present invention above is intended to simplify the disclosure of embodiments of the present invention and aid in the understanding of one or more aspects of the invention.

[0116] However, this disclosed approach should not be interpreted as reflecting an intention that the claimed embodiments of the invention require more features than are expressly recited in each claim. Rather, as reflected in the claims, the inventive aspect lies in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into that detailed description, wherein each claim itself is a separate embodiment of the invention.

[0117] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A material receiving device, characterized in that, include: Double-layer flexible cylinder, telescopic chute assembly, dust removal assembly and controller; The retractable chute assembly is installed inside the double-layer flexible cylinder and is equipped with a flexible strain sensor and several displacement sensors. The flexible strain sensor is positioned along the path of the falling material. The retractable chute assembly includes multiple conical buckets arranged sequentially from top to bottom inside the double-layer flexible cylinder. Each conical bucket is installed on the inner cylinder wall, and each bucket is equipped with a displacement sensor to measure its angle and orientation. Flexible strain sensors and displacement sensors are used to monitor the attitude and force of the falling material bucket, and share the monitoring information to adjust the bucket attitude in real time to buffer the destructive impact of the falling material and reduce dust and noise. The double-layer flexible cylinder has an inner cylinder wall and an outer cylinder wall, and the inner cylinder wall is provided with multiple dust outlet holes; The dust removal assembly's suction port extends into the cavity between the inner cylinder wall and the outer cylinder wall; The controller controls the retractable chute assembly to stack or expand up and down with the double-layer soft cylinder, and controls the opening and closing of the dust removal assembly.

2. The material warehousing device according to claim 1, wherein The material receiving device further includes a mobile platform assembly disposed above the double-layer flexible cylinder, the mobile platform assembly including a left-right movement guide component and a left-right movement drive motor, a front-back movement guide component and a front-back movement drive motor.

3. The material warehousing device according to claim 2, wherein The top of the mobile platform component is constructed with a left-right moving guide rail, and the left-right moving guide component includes a left-right moving guide with a first pulley at the bottom, the first pulley sliding freely on the left-right moving guide rail; The upper part of the left and right moving guide is provided with a front and rear moving guide rail; The forward and backward movement guide assembly includes a forward and backward movement guide with a second pulley at the bottom, the second pulley sliding freely on the forward and backward movement guide rail; The forward and backward moving guide is fixedly connected to the top of the double-layer soft tube.

4. The material warehousing device according to claim 1, wherein The material feeding device further includes: multiple upper and lower actuators surrounding the outer periphery of the double-layer flexible cylinder, each upper and lower actuator including: a wire rope, a rope winding shaft, and a first stepper motor for driving the rope winding shaft to rotate; the wire rope is arranged vertically and connected to the upper, middle, and lower parts of the outer cylinder wall at multiple preset positions from top to bottom.

5. A material charging device according to any one of claims 1-4, characterized in that The lower part of the material feeding device has a rotating material feeding assembly. The rotating material feeding assembly is installed at the bottom of the double-layer soft cylinder through a conical lower hopper. A rotating shaft is installed at the lower part of the conical lower hopper. A rotating bearing is sleeved on the outside of the rotating shaft. A rack is provided on the outer ring of the rotating bearing. The rack meshes with a gear set driven by a second stepper motor. A material feeder is installed at the lower part of the rotating bearing.

6. The material warehousing device according to claim 5, wherein A material level sensor connected to the controller signal is installed at the bottom of the material distributor to measure the distance the material falls; and / or, a material speed sensor connected to the controller signal is installed at the inlet of the conical lower hopper to monitor the falling speed of the material; and / or, a noise sensor connected to the controller signal is installed at the lower part of the outer cylinder wall to monitor the material conveying noise and material distribution noise in the double-layer flexible cylinder.

7. A method of controlling a material storage device according to any one of claims 1 to 6, characterized in that include: Start the material receiving device; The telescopic length of the telescopic chute is adjusted in real time based on the distance the material falls into the silo from the material feeding device's feeding port. The bucket is adjusted in real time based on the posture of the bucket in the retractable chute and / or the impact force of the material. Adjust the operating status of the dust collection components according to the dust conditions; During the material laying process, the controller receives the scanning results of the material surface, establishes a digital three-dimensional sand table based on the scanning situation, establishes a three-dimensional coordinate system for the digital three-dimensional sand table, extracts the coordinates of all high points in the sand table, determines the included angle between two adjacent high points and the low area between two adjacent high points, and collects the material slope of the low area between two adjacent high points. The material placement method is determined based on the included angle and the slope of the material. The material placement method includes: rotation angle and speed change during rotation.

8. The control method according to claim 7, characterized in that, The real-time adjustment of the telescopic chute's extension length based on the distance the material falls from the material inlet of the material feeding device into the silo includes: the controller receiving the material descent distance measured by a level sensor; a level sensor connected to the controller signal is installed at the bottom of the material feeder; the controller compares the material descent distance with a threshold range; when the material descent distance exceeds the maximum value of the threshold range, it controls the first stepper motor to drive the wire rope to extend the double-layer flexible cylinder and the telescopic chute, thereby shortening the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the silo. When the material descent distance is less than the minimum value of the threshold range, the first stepper motor is controlled to drive the wire rope to stack the double-layer flexible cylinder and the retractable chute, thereby increasing the distance between the discharge port at the bottom of the double-layer flexible cylinder and the material in the hopper; the material hopper device also includes: multiple upper and lower actuators surrounding the double-layer flexible cylinder, each upper and lower actuator including: a wire rope, a rope winding shaft, and a first stepper motor that drives the rope winding shaft to rotate; the wire rope is vertically arranged and connected to the upper, middle, and lower parts of the outer cylinder wall at multiple preset positions from top to bottom.

9. The control method according to claim 7, characterized in that, The real-time adjustment of the bucket based on the posture of the bucket in the retractable chute and / or the impact force of the material includes: the controller receiving a feedback signal when the flexible strain sensor reaches a preset value, the controller tightening the wire rope to control the bucket to descend; and / or, the controller determining the change in bucket angle based on the change value monitored by the displacement sensor, and sending a signal corresponding to the preset number of turns of the wire rope rotation angle change.

10. The control method according to any one of claims 7-9, characterized in that, The control method further includes: adjusting the material feeding device's fabric position in real time according to the material level in the warehouse; Adjusting the material feeding device's distribution position in real time based on the material level inside the warehouse includes: When the material speed sensor detects the falling speed of the material, the controller starts the second stepper motor of the rotating fabric assembly; The controller acquires the material height at various points in the material drop area within the hopper and determines that the material height is in a low-value area to be laid. When the area to be laid is within the laying range of the current position, the laying position of the rotating laying component is adjusted to lay the material. When the area to be laid is not within the laying range of the current position, the position of the material inlet device is adjusted according to the drive of the left and right guide components and the front and rear guide components, and then the laying position of the rotating laying component is adjusted. The adjustment of the fabric position of the rotating fabric assembly includes: determining the angle range of the area to be fabricated, driving the second stepper motor to drive the rotating bearing according to the angle range, and then driving the unloading port of the fabric feeder to fabricate within the angle range.

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