Mobile intelligent bulk cargo quantitative loading system and method

Abstract

The invention discloses a mobile intelligent bulk cargo quantitative loading system and method. The system comprises a continuous loading machine and a mobile intelligent quantitative loading machine. The continuous loading machine is arranged near a material pile, visual sensors are arranged at the front end and the tail of the continuous loading machine and used for recognizing the material pile and a loading opening of the movable type intelligent quantitative loading machine respectively, and signals are sent to the control system to control the tail of the continuous loading machine to be located above the loading opening of the movable type quantitative loading machine all the time during loading. The tail part of the continuous loading machine adopts a telescopic structure and is used for ensuring that the loading range is enough; the mobile intelligent quantitative loading machine is arranged at the tail part of the continuous loading machine and is used for storing bulk materials and quantitatively loading the bulk materials into a to-be-loaded vehicle, and the mobile intelligent quantitative loading machine is provided with a distance measuring sensor which is used for measuring the distance between the mobile intelligent quantitative loading machine and the to-be-loaded vehicle; the mobile intelligent quantitative car loader is further provided with a laser radar used for achieving automatic navigation. The working efficiency can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of quantitative loading of bulk materials in coal bunkers, and in particular to a mobile intelligent quantitative loading system and method for bulk materials. Background Art

[0002] With the development of the coal industry, the level of loading and unloading has been continuously improved, and advanced coal loading and unloading systems have also emerged. The level of coal loading and unloading is one of the important signs of the degree of modernization of the coal industry. There are different ways of operating coal loading, among which there are many manual loading and manual accounting methods. These methods are not only not highly automated, but also affect the economic benefits of enterprises. At present, many coal mining enterprises still use loaders for coal loading operations, which have some shortcomings: ① Inaccurate loading and measurement: The existing loading method cannot accurately control the amount of coal loaded, and it is easy to load too much coal in one loading, so that the vehicle is overloaded and needs to return to the coal yard to unload coal, or the loading volume is insufficient in one loading, and the driver requires to return to the coal yard to replenish coal, which affects the loading efficiency. Especially in winter, the situation of frozen coal in the carriage is unclear, and it is more likely to have problems of overloading or underloading of vehicles. ② It is easy to have problems of partial loading: the loading position of the manually driven loader is not fixed each time, resulting in uneven loading. At the same time, the driver's field of vision is limited and he cannot observe the situation inside the carriage, resulting in the inability to accurately judge the loading position and amount, thus leading to partial loading problems. ③ Coal dust pollution: The entire storage, loading and transportation process is completely exposed to the open air environment. The loading process of the loader will generate a lot of coal dust, which will pollute the surrounding environment and affect the health of coal yard workers and drivers. It can be seen that it is necessary to design a mobile intelligent bulk material quantitative loading system with automatic quantitative loading function, which has high loading accuracy, high loading efficiency, high degree of automation, safer loading process and less environmental pollution. Summary of the invention

[0003] The purpose of the present invention is to solve the deficiencies of the prior art and to provide a mobile intelligent bulk material quantitative loading system and method.

[0004] In order to achieve the above object, the present invention adopts the following technical solution: A mobile intelligent bulk material quantitative loading system, comprising: Continuous loader, located near the pile, includes: Visual sensors for identifying the material pile and the loading port of the mobile intelligent quantitative loader; The telescopic tail can be extended and retracted according to the position of the loading port; Mobile intelligent quantitative loading machine, including: Power chassis, used to realize the movement of the mobile intelligent quantitative loader; A support frame is arranged on the power chassis; The storage bin is liftably arranged on the support frame, and the storage bin is connected to the lifting cylinder so as to be lifted and lowered under the drive of the lifting cylinder. After the storage bin is lifted, the mobile intelligent quantitative loading machine can be moved to the top of the vehicle to be loaded, and the bottom of the storage bin can be opened for unloading; A dust suppression device is provided at the bottom of the storage bin and is used to spray water to suppress dust; The weighing device is arranged on the supporting frame and is used for weighing the storage bin.

[0005] Furthermore, it also includes: multiple baffles for blocking dust, and the multiple baffles include: a front baffle, arranged in front of the supporting frame; a rear baffle, arranged at the rear of the supporting frame; a side baffle I, arranged on one side of the supporting frame; a side baffle II, arranged on the other side of the supporting frame; an upper sealing plate, arranged above the storage bin; and two side sealing plates, arranged at both ends of the supporting frame, driven to move by the side sealing plate cylinder to close the area between the storage bin and the vehicle to be loaded during loading.

[0006] Furthermore, it also includes: a frozen and sticky coal scanning device, including: Two slide rails are respectively arranged on the two side sealing plates and located at the lower side of the storage bin, and each slide rail is respectively provided with a slide seat, and the slide seat is connected to the driving member for movement; The telescopic device comprises: Fixed frame; Two telescopic frames are respectively and telescopically arranged at two ends of the fixed frame, and each end of the telescopic frame is respectively connected to a sliding seat; A fixed block, arranged in the fixed frame and located between the two telescopic frames; Two elastic members, each of which has two ends respectively abutting against a fixed block and a telescopic frame; The laser scanner is arranged on the fixing frame and is used for scanning the vehicle to be loaded to identify the frozen and sticky coal.

[0007] Furthermore, it also includes: Flat coal device, including: Two slide seats, respectively disposed on the slide rails, the slide seats being connected to the driving member for movement; The telescopic device comprises: Fixed frame; Two telescopic frames are respectively and telescopically arranged at two ends of the fixed frame, and each end of the telescopic frame is respectively connected to a sliding seat; A fixed block, arranged in the fixed frame and located between the two telescopic frames; Two elastic members, each of which has two ends respectively abutting against a fixed block and a telescopic frame; The coal leveling plate is arranged on the fixed frame and is used for leveling the material pile.

[0008] Furthermore, the storage bin comprises: Main compartment, including: Main frame; An arc-shaped coal placing plate is hinged below the main frame; A coal discharge oil cylinder, which is arranged on the main frame and connected to the arc-shaped coal discharge plate to drive it to open or close for unloading or loading; A plurality of auxiliary compartments I are respectively arranged on opposite sides of the main frame, including: Auxiliary compartment I main frame, arranged on the main frame; Auxiliary compartment I gate plate, hinged to the bottom of the auxiliary compartment I main frame; Auxiliary bin I gate opening cylinder, which is arranged on the auxiliary bin I frame and connected to the auxiliary bin I gate to drive it to open or close for unloading or loading; A plurality of auxiliary chambers II are respectively arranged on two inner side walls of the main chamber and located on both sides of the plurality of auxiliary chambers I, including: Auxiliary compartment II main frame, arranged on the main frame; Auxiliary compartment II gate plate, hinged to the bottom of the auxiliary compartment II main frame; The auxiliary bin II gate opening cylinder is arranged on the auxiliary bin II frame and connected to the auxiliary bin II gate to drive it to open or close for unloading or loading.

[0009] Furthermore, the dust suppression device comprises: The main equipment is set at the bottom of the storage bin and is used for spraying operations; Dust sensor, used to monitor dust concentration; A pump station, installed on the power chassis, is used to provide water; The pipeline is laid at the bottom of the storage silo and on the supporting frame, connecting the main equipment and the pump station.

[0010] The present invention also provides a mobile intelligent bulk material quantitative loading method, based on a mobile intelligent bulk material quantitative loading system, comprising the steps of: Step 1: The mobile intelligent quantitative loader moves from the empty vehicle waiting area to the continuous loader in the loading area; Step 2: The mobile intelligent quantitative loader opens the upper sealing plate, and the continuous loader identifies the main bin of the No. 1 mobile intelligent quantitative loader through the rear visual sensor, loads the materials, and weighs them in real time until the rated value is reached, and stops loading the materials into the main bin; Step 3: The continuous loader identifies auxiliary bin I through the rear visual sensor, and loads materials into it, weighs in real time, and stops loading materials into auxiliary bin I after reaching the rated value; the continuous loader identifies auxiliary bin II through the rear visual sensor, and loads materials into it, weighs in real time, and stops loading materials into auxiliary bin II after reaching the rated value, and closes the upper sealing plate; Step 4: The mobile intelligent quantitative loader drives out of the loading area and moves to the fully loaded waiting area. The next mobile intelligent quantitative loader moves from the empty waiting area to the continuous loader in the loading area. Step 5: The vehicle to be loaded enters the coal bunker from the first bunker opening and drives to the loading area; Step 6: The mobile intelligent quantitative loader moves from the fully loaded waiting area to the parking position of the vehicle to be loaded in the loading area; Step 7: The mobile intelligent quantitative loading machine scans and identifies the license plate information of the vehicle to be loaded, determines the loading object and the initial loading quantity; Step 8: The mobile intelligent quantitative loader puts away the front baffle, adjusts the height of the storage bin by the lifting cylinder, measures the distance to the vehicle by the distance sensor, drives the No. 1 mobile intelligent quantitative loader to the top of the vehicle to be loaded, puts down the front baffle, and then adjusts the side sealing plate cylinder to make the side sealing plates close to the two sides of the vehicle to be loaded; Step 9: The No. 1 mobile intelligent quantitative loader uses a laser scanner to scan and estimate the mass of the frozen and sticky coal in the carriage, and calculates and determines the final loading amount; Step 10: According to the loading amount determined in step 9, the silo is automatically opened for loading, first unloading the main silo, then unloading the auxiliary silo I and the auxiliary silo II. During the unloading process, the dust suppression device is used for spray dust suppression to reduce the dust concentration in the carriage; Step 11: After unloading and dust reduction are completed, the mobile intelligent quantitative loader retracts the front baffle, loosens the side sealing plate, drives away from the vehicle to be loaded, and then restores the height of the No. 1 mobile intelligent quantitative loader to its initial state; Step 12: The mobile intelligent quantitative loader moves from the loading area to the empty vehicle waiting area, and the vehicle to be loaded leaves the loading area and drives out of the coal bunker from the second warehouse entrance.

[0011] Furthermore, in step nine, the mobile intelligent quantitative loader scans the carriage with a laser scanner and estimates the mass of the frozen and sticky coal in the carriage, compares the estimated value with the rated loading capacity of the carriage, calculates the difference, and determines the final loading amount. In step ten, based on the final loading amount, combined with the combination types of all silo openings and the loading amounts brought by each type, a combination closest to the final loading amount is selected, and the type and quantity of silos opened by this combination are determined as the final silo action result.

[0012] Furthermore, the coal bunker is provided with an empty car waiting area, a loading area, a fully loaded waiting area, a first bunker opening, a loading area and a second bunker opening in sequence along a ring, wherein a plurality of mobile intelligent quantitative loaders are parked in the empty car waiting area, and steps one to twelve are executed in sequence according to the loading needs.

[0013] Furthermore, in step ten, it specifically includes: monitoring the dust concentration in the closed dust reduction chamber in real time through a dust sensor; when the dust concentration in the dust reduction chamber exceeds the limit, performing spray dust reduction through a dust reduction device until the dust concentration drops below the safety limit, and then stopping dust reduction.

[0014] Beneficial Effects A mobile intelligent bulk material quantitative loading system and method of the present invention has the following advantages compared with the existing loader loading: (1) The mobile intelligent bulk material quantitative loading system is designed with a coal storage bin. Compared with the traditional loading process, this system can first quantitatively store coal on the loader and then load the coal on the vehicle to be loaded, thereby improving the coal loading efficiency. (2) The mobile intelligent bulk material quantitative loading system automatically scans the frozen and sticky coal in the vehicle compartment to be loaded by adopting a multifunctional coal storage bin combined with an intelligent sensing system and metering technology, thereby achieving accurate loading and improving the loading and metering accuracy. (3) The mobile intelligent bulk material quantitative loading system uses baffles and sealing plates to seal during loading, and uses a spray dust suppression device to suppress coal dust, thereby reducing damage to the environment, effectively reducing the spillage of coal dust, and reducing the impact of the environment on workers. (4) The mobile intelligent bulk material quantitative loading system adopts advanced control strategies, autonomous navigation, and path planning to achieve intelligence and less manpower. Only one person is needed to complete the loading operation, thereby improving loading efficiency and reducing labor costs. The invention can greatly improve the safety of bulk material loading in coal bunkers, reduce the labor of workers, and improve the economic benefits of coal mines. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the mobile intelligent bulk material quantitative loading system of the present invention.

[0016] Figure 2 It is a schematic diagram of the initial state of the mobile intelligent quantitative loader of the present invention.

[0017] Figure 3 It is a schematic diagram of the internal structure of the mobile intelligent quantitative loading machine of the present invention.

[0018] Figure 4 It is a schematic structural diagram of the weighing device of the present invention.

[0019] Figure 5 It is a schematic diagram of the structure of the frozen and sticky coal scanning device of the present invention.

[0020] Figure 6 It is a schematic diagram of the structure of the telescopic device of the present invention.

[0021] Figure 7 It is a schematic diagram of the structure of the flat coal device of the present invention.

[0022] Figure 8 It is a schematic diagram of the storage bin structure of the present invention.

[0023] Fig. 9 It is a schematic diagram of the main warehouse structure of the present invention.

[0024] Fig.10 It is a structural schematic diagram of the auxiliary warehouse I of the present invention.

[0025] Fig.11 It is a schematic diagram of the process of the present invention.

[0026] Description of the accompanying drawings: 1-continuous coal loader, 2-mobile intelligent quantitative loader, 3-power chassis, 4-support frame, 5-storage bin, 6-dust suppression device, 7-pump station, 8-pipeline, 9-front baffle, 10-rear baffle, 11-side baffle I, 12-side baffle II, 13-upper sealing plate, 14-lifting cylinder, 15-weighing device, 16-side sealing plate, 17-side sealing plate cylinder, 18-frozen and sticky coal scanning device, 19-coal leveling device, 20-weighing support frame, 21-weighing sensor, 22-sliding Rail Ⅰ, 23-slide seat Ⅰ, 24-telescopic device Ⅰ, 25-laser scanner, 26-fixed frame, 27-telescopic frame, 28-fixed block, 29-spring, 30-slide rail Ⅱ, 31-slide seat Ⅱ, 32-telescopic device Ⅱ, 33-flat coal plate, 34-main warehouse, 35-auxiliary warehouse Ⅰ, 36-auxiliary warehouse Ⅱ, 37-main warehouse main frame, 38-arc-shaped coal plate, 39-coal cylinder, 40-auxiliary warehouse Ⅰ main frame, 41-auxiliary warehouse Ⅰ gate plate, 42-auxiliary warehouse Ⅰ gate opening cylinder, 43-auxiliary warehouse Ⅰ cylinder guard plate. DETAILED DESCRIPTION

[0027] The present invention is further described in detail below with reference to the accompanying drawings and specific embodiments: like Figures 1 to 11 As shown, an embodiment of the present invention provides a mobile intelligent bulk material quantitative loading system, including a continuous loader 1 and a mobile intelligent quantitative loader 2.

[0028] The continuous loader 1 is arranged near the material pile and is used to load the mobile intelligent quantitative loader 2. The front and rear ends of the continuous loader 1 are provided with visual sensors, which are used to identify the material pile and the loading port of the mobile intelligent quantitative loader 2 respectively. The rear end of the continuous loader 1 adopts a telescopic structure to ensure that the loading range is sufficient. When loading, the visual sensor sends a signal to the control system to control the rear end of the continuous loader 1 to always be above the loading port of the mobile quantitative loader.

[0029] When loading, the mobile intelligent quantitative loader 2 moves to the rear of the continuous loader 1 to store bulk materials, and then moves to the vehicle to be loaded to load it quantitatively. The mobile intelligent quantitative loader 2 is provided with a distance sensor to measure the distance between it and the vehicle to be loaded. The mobile intelligent quantitative loader 2 is also provided with a laser radar to achieve automatic navigation.

[0030] The mobile intelligent quantitative loader 2 mainly includes a power chassis 3, a support frame 4, a storage bin 5, a dust suppression device 6, a pump station 7, a pipeline 8, a front baffle 9, a rear baffle 10, a side baffle I 11, a side baffle II 12, an upper sealing plate 13, a lifting cylinder 14, a weighing device 15, a side sealing plate 16, a side sealing plate cylinder 17, a frozen and sticky coal scanning device 18, and a coal leveling device 19.

[0031] The power chassis 3 is used to realize the mobile intelligent quantitative loading machine 2, and adopts wheeled walking, which is flexible and convenient. The specific structure of the power chassis 3 can adopt the general design of the industry.

[0032] The support frame 4 is arranged above the power chassis 3. The storage bin 5 is arranged on the support frame 4 and is used to store a certain amount of bulk material. The lifting cylinder 14 is arranged at the four corners of the support frame 4, one end of which is hinged to the support frame 4 and the other end is hinged to the power chassis 3, and is used to realize the lifting and lowering of the storage bin 5. After the storage bin 5 is lifted, its height is higher than the vehicle to be loaded, so that it can be moved above the vehicle to be loaded. The storage bin 5 releases materials to the vehicle to be loaded through the bottom opening.

[0033] The weighing device 15 is evenly arranged on both sides of the support frame 4, and is used for weighing bulk materials in real time. The weighing device 15 can detect the weight of the storage bin 5 and convert it into the weight of the material to be loaded on the vehicle. The weighing device 15 includes a weighing support frame 20 and a weighing sensor 21. The weighing support frame 20 is bolted to the side wall of the storage bin 5 for easy disassembly; the weighing sensor 21 is arranged between the support frame 4 and the weighing support frame 20, and is used for weighing bulk materials in real time.

[0034] The dust suppression device 6 is evenly arranged at the bottom of the storage bin 5. The dust suppression device is also provided with a dust sensor for monitoring the dust concentration during loading and performing dust suppression when the dust concentration is high. The pump station 7 is arranged on the power chassis 3 to provide a water source for the dust suppression device 6. The pipeline 8 is laid at the bottom of the storage bin 5 and on the support frame 4, connecting the dust suppression device 6 and the pump station 7, and is used for water transportation.

[0035] The front baffle 9 is arranged in front of the support frame 4 to block dust. The rear baffle 10 is arranged at the rear of the support frame 4 to block dust. The side baffle I11 is arranged on the left side of the support frame 4 to block dust. The side baffle II12 is arranged on the right side of the support frame 4 and adopts a special-shaped baffle. The upper sealing plate 13 is arranged above the storage bin 5 to block dust. The front baffle 9, the rear baffle 10, the side baffle I11, the side baffle II12, and the upper sealing plate 13 all adopt a roller shutter structure. The side sealing plates 16 are arranged on both sides of the support frame 4, and there are two of them, which are used for sealing during loading. The side sealing plate cylinder 17 adopts a special-shaped cylinder, which is arranged between the support frame 4 and the side sealing plate 16, and is connected by a flange to ensure that the side sealing plate 16 can be close to the outer wall of the car body during loading.

[0036] The frozen and sticky coal scanning device 18 is arranged between the side sealing plates 16, and is used to scan the frozen and sticky coal inside the carriage. The coal leveling device 19 is arranged between the side sealing plates 16, and is used to level the pile.

[0037] The frozen and sticky coal scanning device 18 includes a slide rail Ⅰ22, a slide seat Ⅰ23, a telescopic device Ⅰ24, and a laser scanner 25. The slide rail Ⅰ22 is arranged on the inner side of the side sealing plate 16, and the number is two; the slide seat Ⅰ23 is installed on the slide rail Ⅰ22, and the number is two; the telescopic device Ⅰ24 is installed between the slide seats Ⅰ23; the laser scanner 25 is arranged on the telescopic device Ⅰ24, and is used to scan the carriage. The telescopic device Ⅰ24 includes a fixed frame 26, a telescopic frame 27, a fixed block 28, and a spring 29. The fixed frame Ⅰ26 is arranged in the middle of the telescopic device Ⅰ24; the telescopic frame 27 is arranged on both sides of the fixed frame 26, and the other end is connected to the slide seat Ⅰ23; the fixed block 28 is arranged in the middle position inside the fixed frame 26; the spring 29 is arranged on both sides of the fixed block 28.

[0038] The coal leveling device 19 includes a slide rail II 30, a slide seat II 31, a telescopic device II 32, and a coal leveling plate 33. The slide rail II 30, the slide seat II 31, and the telescopic device II 32 are similar in structure to the slide rail I 22, the slide seat I 23, and the telescopic device I 24; the coal leveling plate 33 is arranged on the telescopic device II 32 and is used to level the material pile.

[0039] The storage bin 5 includes a main bin 34, a sub-bin I 35, and a sub-bin II 36. The main bin 34 is used to store bulk materials of a fixed tonnage; the sub-bin I 35 is arranged on the inner side wall of the main bin 34, and is multiple in number, and is used to store bulk materials of a fixed small tonnage; the sub-bin II 36 is arranged on both sides of the sub-bin I 35, and is multiple in number, and is used to store bulk materials of a fixed small tonnage. The main bin 34 includes a main bin body frame 37, an arc-shaped coal-discharging plate 38, and a coal-discharging oil cylinder 39. The arc-shaped coal-discharging plate 38 is hinged below the main bin body frame 37, and the main bin 34 is unloaded by opening and closing; the coal-discharging oil cylinder 39 is hinged between the main bin body frame 37 and the arc-shaped coal-discharging plate 38, and multiple coal-discharging oil cylinders 39 are used and are symmetrically and evenly arranged on both sides of the main bin 34 to realize the opening and closing of the arc-shaped coal-discharging plate 38. The auxiliary bin I 35 includes an auxiliary bin I main frame 40, an auxiliary bin I gate plate 41, an auxiliary bin I gate opening cylinder 42, and an auxiliary bin I cylinder guard plate 43. The auxiliary bin I gate opening cylinder 42 is hinged between the auxiliary bin I main frame 40 and the auxiliary bin I gate plate 41, and is used to realize the unloading of the auxiliary bin I 35; the auxiliary bin I cylinder guard plate 43 is arranged on the outside of the auxiliary bin I gate opening cylinder 42, and is used to prevent the auxiliary bin I gate opening cylinder 42 from being smashed. The auxiliary bin II 36 has the same structure as the auxiliary bin I 35.

[0040] The mobile intelligent bulk material quantitative loading method comprises the following steps: (1) Loading process Step 1: There are three mobile intelligent quantitative loaders 2 in the coal bunker, numbered No. 1, No. 2 and No. 3. Mobile intelligent quantitative loaders 2 No. 1 autonomously navigates to the continuous loader, which is designated as the loading area. Mobile intelligent quantitative loaders 2 No. 2 and No. 3 wait in the empty car waiting area.

[0041] It can be understood that the mobile intelligent quantitative loading machine 2 can be set to one or more as needed.

[0042] Step 2: The No. 1 mobile intelligent quantitative loader 2 opens the upper sealing plate 13, and the continuous loader 1 identifies the main bin 34 of the No. 1 mobile intelligent quantitative loader 2 through the rear visual sensor and loads the materials. The main bin 34 is weighed in real time until the rated value is reached, and the loading into the main bin is stopped; Step 3: The continuous loader identifies the auxiliary bin through the rear visual sensor and loads the auxiliary bin, weighs in real time, and stops loading after reaching the rated value, closes the upper sealing plate 13, and the No. 1 mobile intelligent quantitative loader 2 drives out of the loading area and moves to the full-load waiting area. The No. 2 and No. 3 mobile intelligent quantitative loaders 2 enter the loading area in turn to load; Step 4: The vehicle to be loaded enters the coal bunker and drives to the designated location; Step 5: The No. 1 mobile intelligent quantitative loader 2 autonomously navigates to the parking location of the vehicle to be loaded through the laser radar, which is the loading area; Step 6: The No. 1 mobile intelligent quantitative loading machine 2 scans and identifies the license plate information of the vehicle to be loaded, and determines the loading object and the initial loading amount; Step 7: The No. 1 mobile intelligent quantitative loader 2 puts away the front baffle 9, adjusts the height of the storage bin 5 by the lifting cylinder 14, measures the distance between the No. 1 mobile intelligent quantitative loader 2 and the vehicle through the distance sensor, so that the No. 1 mobile intelligent quantitative loader 2 is correctly driven to the top of the vehicle compartment to be loaded. After reaching the determined position, the front baffle 9 is put down, and then the side sealing plate cylinders 17 are adjusted to make the side sealing plates close to the two sides of the vehicle compartment to be loaded; Step 8: The first mobile intelligent quantitative loading machine 2 scans and estimates the mass of the frozen and sticky coal in the carriage through the laser scanner 25, and calculates and determines the final loading amount; Step nine: according to the loading amount determined in step eight, the material bin is automatically opened for loading, first unloading the main bin 34 and then unloading the auxiliary bin; Step 10: During the unloading process of the No. 1 mobile intelligent quantitative loader 2, the dust suppression device 6 performs spray dust suppression treatment to reduce the dust concentration in the compartment; Step 11: After unloading and dust reduction are completed, the No. 1 mobile intelligent quantitative loader 2 retracts the front baffle 9, loosens the side sealing plate 16, drives away from the vehicle to be loaded, and then restores the height of the No. 1 mobile intelligent quantitative loader 2 to the initial state; Step 12: The No. 1 mobile intelligent quantitative loading machine 2 enters the empty truck waiting area and waits, and the No. 2 and No. 3 mobile intelligent quantitative loading machines 2 repeat the above steps 5, 6, 7, 8, 9, 10, 11, and 12 in sequence. In this way, the three mobile intelligent quantitative loading machines 2 repeat the above steps to complete the truck quantitative loading work of storing materials first and then loading.

[0043] (2) Frozen and sticky coal scanning control method: Step 13: The mobile intelligent quantitative loader 2 scans the carriage through the laser scanner 25 and estimates the mass of the frozen and sticky coal in the carriage; Step 14: Compare the estimated value with the rated loading capacity of the carriage, calculate the difference, and determine the final loading capacity; Step 15: Based on the final loading quantity, combined with the combination types of all silo openings and the loading quantities brought by each type, select a combination that is closest to the final loading quantity, and determine the type and quantity of silos opened by this combination as the final silo action result.

[0044] (3) Coal unloading control method of coal storage bunker 5: Step 16: According to the type and quantity of the silos to be opened in the end determined in step 15, the main silo 34, the auxiliary silo I 35 and the auxiliary silo II 36 are automatically opened to realize loading; Step 17: First, open the main bin 34, and control the expansion and contraction of the coal discharge oil cylinder 39, thereby controlling the switch of the arc-shaped coal discharge plate 38, and opening the arc-shaped coal discharge plate 38, so that the bulk materials fall from it, and the main bin 34 is unloaded; Step 18: After the main bin 34 has unloaded the bulk material, the auxiliary bin is opened as needed, and the auxiliary bin opening cylinder is controlled to control the opening and closing of the auxiliary bin gate, and then the auxiliary bin is unloaded.

[0045] (4) Dust suppression device 6 control method: Step 19: During the unloading process of the mobile intelligent quantitative loader 2, the dust suppression device 6 cooperates with the front baffle 9, the rear baffle 10 and the side sealing plate 16 to form a closed dust suppression chamber with the carriage; Step 20: The dust reduction device 6 monitors the dust concentration in the closed dust reduction chamber in real time through the dust sensor; Step 21: When the dust concentration in the dust reduction chamber exceeds a certain limit, the dust reduction device 6 performs spray dust reduction until the dust concentration drops below the safety limit, and then stops dust reduction.

[0046] The purpose of the drawings of the present invention is to supplement the description of the text part of the specification with graphics, in order to introduce the technical features and overall technical solutions of the present invention intuitively and vividly, but it should not be understood as limiting the protection scope of the present invention.

[0047] In the description of the invention, the orientation descriptions involved, such as "up", "down", "front", "back", "left", "right", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

[0048] The purpose of the drawings of the present invention is to supplement the description of the text part of the specification with graphics, in order to introduce the technical features and overall technical solutions of the present invention intuitively and vividly, but it should not be understood as limiting the protection scope of the present invention.

[0049] In the description of the invention, the orientation descriptions involved, such as "up", "down", "front", "back", "left", "right", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the drawings and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the invention.

Claims

1. A mobile intelligent bulk material quantitative loading system, characterized in that: include: Continuous loader, located near the pile, includes: Visual sensors for identifying the material pile and the loading port of the mobile intelligent quantitative loader; The telescopic tail can be extended and retracted according to the position of the loading port; Mobile intelligent quantitative loading machine, including: Power chassis, used to realize the movement of the mobile intelligent quantitative loader; A support frame is arranged on the power chassis; The storage bin is liftably arranged on the support frame, and the storage bin is connected to the lifting cylinder so as to be lifted and lowered under the drive of the lifting cylinder. After the storage bin is lifted, the mobile intelligent quantitative loading machine can be moved to the top of the vehicle to be loaded, and the bottom of the storage bin can be opened for unloading; A dust suppression device is provided at the bottom of the storage bin and is used to spray water to suppress dust; The weighing device is arranged on the supporting frame and is used for weighing the storage bin.

2. A mobile intelligent bulk material quantitative loading system according to claim 1, characterized in that: Also includes: Multiple baffles are used to block dust, and the multiple baffles include: A front baffle, arranged in front of the support frame; A rear baffle, arranged at the rear of the support frame; Side baffle I, arranged on one side of the supporting frame; Side baffle II, arranged on the other side of the support frame; An upper sealing plate is arranged above the storage bin; The side sealing plates are arranged at both ends of the support frame and are driven to move by the side sealing plate cylinders to seal the area between the storage bin and the vehicle to be loaded during loading.

3. A mobile intelligent bulk material quantitative loading system according to claim 2, characterized in that: Also includes: Frozen and sticky coal scanning device, including: Two slide rails are respectively arranged on the two side sealing plates and located at the lower side of the storage bin, and each slide rail is respectively provided with a slide seat, and the slide seat is connected to the driving member for movement; The telescopic device comprises: Fixed frame; Two telescopic frames are respectively and telescopically arranged at two ends of the fixed frame, and each end of the telescopic frame is respectively connected to a sliding seat; A fixed block, arranged in the fixed frame and located between the two telescopic frames; Two elastic members, each of which has two ends respectively abutting against a fixed block and a telescopic frame; The laser scanner is arranged on the fixing frame and is used for scanning the vehicle to be loaded to identify the frozen and sticky coal.

4. A mobile intelligent bulk material quantitative loading system according to claim 3, characterized in that: Also includes: Flat coal device, including: Two slide rails are respectively arranged on the two side sealing plates and located at the lower side of the storage bin, and each slide rail is respectively provided with a slide seat, and the slide seat is connected to the driving member for movement; The telescopic device comprises: Fixed frame; Two telescopic frames are respectively and telescopically arranged at two ends of the fixed frame, and each end of the telescopic frame is respectively connected to a sliding seat; A fixed block, arranged in the fixed frame and located between the two telescopic frames; Two elastic members, each of which has two ends respectively abutting against a fixed block and a telescopic frame; The coal leveling plate is arranged on the fixed frame and is used for leveling the material pile.

5. The mobile intelligent bulk material quantitative loading system according to claim 1 is characterized by: The storage bin comprises: Main compartment, including: Main frame; An arc-shaped coal placing plate is hinged below the main frame; A coal discharge oil cylinder, which is arranged on the main frame and connected to the arc-shaped coal discharge plate to drive it to open or close for unloading or loading; A plurality of auxiliary compartments I are respectively arranged on opposite sides of the main frame, including: Auxiliary compartment I main frame, arranged on the main frame; Auxiliary compartment I gate plate, hinged to the bottom of the auxiliary compartment I main frame; Auxiliary bin I gate opening cylinder, which is arranged on the auxiliary bin I frame and connected to the auxiliary bin I gate to drive it to open or close for unloading or loading; A plurality of auxiliary chambers II are respectively arranged on two inner side walls of the main chamber and located on both sides of the plurality of auxiliary chambers I, including: Auxiliary compartment II main frame, arranged on the main frame; Auxiliary compartment II gate plate, hinged to the bottom of the auxiliary compartment II main frame; The auxiliary bin II gate opening cylinder is arranged on the auxiliary bin II frame and connected to the auxiliary bin II gate to drive it to open or close for unloading or loading.

6. The mobile intelligent bulk material quantitative loading system according to claim 1 is characterized by: The dust suppression device comprises: The main equipment is set at the bottom of the storage bin and is used for spraying operations; Dust sensor, used to monitor dust concentration; A pump station, installed on the power chassis, is used to provide water; The pipeline is laid at the bottom of the storage silo and on the supporting frame, connecting the main equipment and the pump station.

7. A mobile intelligent bulk material quantitative loading method, based on the mobile intelligent bulk material quantitative loading system according to claim 1, characterized in that: Includes steps: Step 1: The mobile intelligent quantitative loader moves from the empty vehicle waiting area to the continuous loader in the loading area; Step 2: The mobile intelligent quantitative loader opens the upper sealing plate, and the continuous loader identifies the main bin of the No. 1 mobile intelligent quantitative loader through the rear visual sensor, loads the materials, and weighs them in real time until the rated value is reached, and stops loading the materials into the main bin; Step 3: The continuous loader identifies auxiliary bin I through the rear visual sensor, and loads materials into it, weighs in real time, and stops loading materials into auxiliary bin I after reaching the rated value; the continuous loader identifies auxiliary bin II through the rear visual sensor, and loads materials into it, weighs in real time, and stops loading materials into auxiliary bin II after reaching the rated value, and closes the upper sealing plate; Step 4: The mobile intelligent quantitative loader drives out of the loading area and moves to the fully loaded waiting area. The next mobile intelligent quantitative loader moves from the empty waiting area to the continuous loader in the loading area. Step 5: The vehicle to be loaded enters the coal bunker from the first bunker opening and drives to the loading area; Step 6: The mobile intelligent quantitative loader moves from the fully loaded waiting area to the parking position of the vehicle to be loaded in the loading area; Step 7: The mobile intelligent quantitative loading machine scans and identifies the license plate information of the vehicle to be loaded, determines the loading object and the initial loading quantity; Step 8: The mobile intelligent quantitative loader puts away the front baffle, adjusts the height of the storage bin by the lifting cylinder, measures the distance to the vehicle by the distance sensor, drives the No. 1 mobile intelligent quantitative loader to the top of the vehicle to be loaded, puts down the front baffle, and then adjusts the side sealing plate cylinder to make the side sealing plates close to the two sides of the vehicle to be loaded; Step 9: The No. 1 mobile intelligent quantitative loader uses a laser scanner to scan and estimate the mass of the frozen and sticky coal in the carriage, and calculates and determines the final loading amount; Step 10: According to the loading amount determined in step 9, the silo is automatically opened for loading, first unloading the main silo, then unloading the auxiliary silo I and the auxiliary silo II. During the unloading process, the dust suppression device is used for spray dust suppression to reduce the dust concentration in the carriage; Step 11: After unloading and dust reduction are completed, the mobile intelligent quantitative loader retracts the front baffle, loosens the side sealing plate, drives away from the vehicle to be loaded, and then restores the height of the No. 1 mobile intelligent quantitative loader to its initial state; Step 12: The mobile intelligent quantitative loader moves from the loading area to the empty vehicle waiting area, and the vehicle to be loaded leaves the loading area and drives out of the coal bunker from the second warehouse entrance.

8. A mobile intelligent bulk material quantitative loading method according to claim 7, characterized in that: In step nine, the mobile intelligent quantitative loader scans the carriage with a laser scanner and estimates the mass of the frozen and sticky coal in the carriage, compares the estimated value with the rated loading capacity of the carriage, calculates the difference, and determines the final loading amount. In step ten, based on the final loading amount, combined with the combination types of all silo openings and the loading amounts brought by each type, a combination closest to the final loading amount is selected, and the type and quantity of silos opened by this combination are determined as the final silo action result.

9. A mobile intelligent bulk material quantitative loading method according to claim 7, characterized in that: The coal bunker is provided with an empty car waiting area, a loading area, a fully loaded waiting area, a first bunker opening, a loading area and a second bunker opening in sequence along a ring. A plurality of mobile intelligent quantitative loaders are parked in the empty car waiting area. Steps one to twelve are executed in sequence according to the loading needs.

10. A mobile intelligent bulk material quantitative loading method according to claim 7, characterized in that: In step ten, it specifically includes: monitoring the dust concentration in the closed dust reduction chamber in real time through a dust sensor; when the dust concentration in the dust reduction chamber exceeds the limit, performing spray dust reduction through a dust reduction device until the dust concentration drops below the safety limit, and then stopping dust reduction.

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