Pipeline vibration reduction butt joint structure and method of pneumatic ash conveying automatic butt joint device

Abstract

The invention discloses a pipeline vibration reduction butt joint structure and method of a pneumatic ash conveying automatic butt joint device, and relates to the technical field of industrial automation. The top of a fixing plate is fixedly connected with a rotating part, the top of the fixing plate is fixedly connected with a lifting part, the side face of the rotating part is rotationally connected with a pushing part, and the pushing part is fixedly connected with a lifting part; according to the pipeline quick connector, the pipeline quick connector and the vibration reduction support are integrally designed, so that the structure is greatly simplified; the problems of supporting, moving, vibration reduction and the like of the heavy conveying pipeline are effectively solved through a spring and hydraulic damping vibration reduction mechanism of a sliding block installation support, high reliability and environmental adaptability are achieved, the mechanism is simple and easy to maintain, and the adaptability of field application can be rapidly achieved through a designed adjustable damping valve.

Description

Technical Field

[0001] The invention relates to the technical field of industrial automation, and in particular to a pipeline vibration-damping butt joint structure and method of a pneumatic ash conveying automatic butt joint device. Background Art

[0002] The automatic docking technology of pneumatic ash conveying pipelines uses machine vision servo to actively search according to the specific conditions on site (including the parking of the vehicle and the orientation of the ash conveying pipeline interface at the rear of the vehicle), and turns the camera to aim at the target in real time to realize the recognition and tracking of spatial targets and obtain the three-dimensional position information of the pipeline interface, so as to control the device to achieve accurate alignment of the interface. At present, there are two vibration reduction methods: (1) active vibration reduction, the principle of which is to suppress the vibration caused by the vehicle body shaking by actively adjusting the damping coefficient of the quick connector by sensing the vibration response of the quick connector. The advantage is that it can achieve accurate vibration suppression and is applicable to a wide range of vibration frequencies. The disadvantage is that the structure is complex and the cost is high. (2) Passive vibration reduction is a method of using passive components to absorb and dissipate the energy of vehicle body pipeline shaking. The advantages are simple structure, low cost and easy maintenance. Passive damping vibration reduction can be divided into friction type, hydraulic type and turbine type according to its principle. Each type has its own unique working mode and adaptability. The present invention adopts a vibration reduction structure based on hydraulic damping + spring, and designs a set of hydraulic damping + spring structures on the installation support structure of the quick connector to dissipate part of the energy of the pipeline ash conveying vibration of the tank truck, thereby reducing damage to the device. In addition, the quick connector is fixed and supported by a leaf spring, which can also absorb part of the pipeline vibration energy, so that the system can reduce the system cost and improve the maintainability of the device while improving the stability and reliability. The quick connector vibration reduction method and structure of the automatic docking device of the pneumatic ash conveying pipeline of the present invention provide an effective solution and method for solving the vibration impact of the automatic docking device of the pneumatic ash conveying. The present invention effectively improves the operating reliability of the device, improves the efficiency of automatic pneumatic ash conveying in large-scale dust removal systems, reduces human intervention, and reduces maintenance costs. Summary of the invention

[0003] In view of the shortcomings of the prior art, the technical solution adopted by the present invention to solve the technical problems is: a pipeline vibration reduction butt joint structure and method of a pneumatic ash conveying automatic butt joint device described in the present invention comprises: A fixed plate, the top of the fixed plate is fixedly connected to a rotating component, the top of the fixed plate is fixedly connected to a lifting component, the side of the rotating component is rotatably connected to a propulsion component, the propulsion component is slidably connected to a slide component, and the top of the slide component is fixedly connected to a visual component; A pipeline component, which is used to dock with the pipeline vehicle to perform pneumatic conveying, and the bottom of the pipeline component is fixedly connected to the top of the slide component; The pipeline component includes a pipeline quick connector, a clearance groove is provided on the inner side of the pipeline quick connector, the clearance groove is located on the side of the guide plate away from the contact mechanism, the guide plates are evenly arranged on the inner side of the pipeline quick connector, the number of the guide plates is five, and the five guide plates are evenly arranged with the pipeline quick connector as the center, the side of the guide plate is fixedly connected to the inner side of the pipeline quick connector, and the inner side of the pipeline quick connector is fixedly connected with the contact mechanism; when the ash conveying force and dust of the ash tank truck flow in the pipeline quick connector, the clearance groove is provided on the side of the pipeline quick connector to avoid a large amount of dust entering the pipeline quick connector, thereby causing the dust to pass slowly, increasing the friction between the dust and the inner side of the pipeline quick connector, thereby causing wear on the inner side of the pipeline quick connector, and at the same time When dust flows in the pipe quick connector, guide plates are evenly arranged on the inner side of the pipe quick connector to prevent uneven distribution of materials, i.e., bias flow. The guide plates can disperse materials concentrated on one side or one area of ​​the pipe, so that the materials are evenly distributed on the cross section of the pipe. For example, in a pipe for conveying dusty materials, the dusty materials may be biased toward the bottom or one side of the pipe due to gravity or uneven air flow speed. The guide plates can change the movement trajectory of the materials to evenly distribute the materials in the pipe, thereby improving the conveying efficiency of the pipe. At the same time, when dust moves quickly in the pipe quick connector, the dust impacts the contact mechanism, so that the contact mechanism moves inside the pipe quick connector, thereby cleaning the inside of the pipe quick connector. Preferably, the slide component includes a slide, a first spring and a hydraulic damping rod, the top of the slide is fixedly connected with an arc block, the side of the arc block is fixedly connected to the pipeline quick connector, the side of the pipeline quick connector is fixedly connected with a linear slider, the pipeline quick connector is installed on the slide and supported by the linear slider, a leaf spring is sleeved on the pipeline quick connector, both sides of the top of the slide are fixedly connected with a fixing seat, the side of the fixing seat is fixedly connected with a damping regulating valve, the pipeline quick connector is clamped by a leaf spring and connected to the first spring and one end of the hydraulic damping rod through a hinge, and the other end of the hydraulic damping rod is flange-connected to the damping regulating valve; the pneumatic ash conveying pipeline of the dust collector hopper and the pipeline quick connector are arranged on the inclined surface by installation On the inclined slide component, the slide of the pipeline quick connector is supported by a spring + hydraulic damping vibration reduction mechanism. The pipeline quick connector is installed on the slide of the device and supported by a linear slider, so that the quick connector becomes a mass block with a certain sliding ability, thereby absorbing part of the pipeline vibration energy; the pipeline quick connector is clamped by a leaf spring and connected to one end of the first spring + hydraulic damping rod through a hinge, so that the vibration energy of the pipeline will be dissipated by the first spring + hydraulic damping rod, and the other end of the damping rod is fixed to the slide of the device through a hinge. In actual applications, for different applications, the effect of the first spring + hydraulic damping rod dissipating energy can be adjusted by adjusting the damping regulating valve of the damping rod to adjust the structural damping and thus the energy dissipation effect; Preferably, the contact mechanism comprises a connecting block, a side surface of the connecting block is fixedly connected to the inner side of the pipe quick connector, a connecting shaft is fixedly connected to the side surface of the connecting block, a sliding sleeve is slidably connected to the side surface of the connecting shaft, a circular plate is fixedly connected to the side surface of the sliding sleeve, scrapers are fixedly connected to both sides of the circular plate, a side of the scraper away from the circular plate is in contact with the inner side of the pipe quick connector, a second spring is sleeved on the connecting shaft, one end of the second spring is fixedly connected to the connecting block, and the other end of the second spring is fixedly connected to the connecting block; when dust passes through the pipe quick connector quickly, a large amount of dust impacts the circular plate, so that the circular plate drives the scraper The plate moves on the connecting shaft through the sliding sleeve. When the conveying work is finished, the impact force of the dust on the circular plate is less than the reset stretching of the second spring, so that the second spring drives the circular plate to reset and move on the connecting shaft through the sliding sleeve, and drives the scraper to clean and scrape the inner side of the pipe quick connector, thereby preventing the dust from gradually accumulating on the pipe wall when passing through the pipe quick connector, which will reduce the effective inner diameter of the pipe. As the residual dust layer thickens, the internal space of the pipe becomes narrower and narrower, and a large amount of dust adheres to the pipe wall. When the inner diameter of the pipe is reduced to a certain extent, it will affect the air flow speed and the normal conveying of materials, and eventually lead to the phenomenon of pipe blockage; Preferably, the visual component includes a camera compartment, which is arranged on one side of the top of the slide plate near the pipe quick connector, the bottom of the camera compartment is fixedly connected to the top of the slide plate, a small electric cylinder is fixedly connected to the top of the camera compartment, the output end of the small electric cylinder is fixedly connected to a compartment cover, both sides of the compartment cover are rotatably connected to the inner side of the camera compartment, a CCD camera is fixedly connected to the inner side of the camera compartment, a sensor is fixedly connected to the side of the camera compartment, both sides of the camera compartment are fixedly connected to electric hydraulic cylinders, the number of the electric hydraulic cylinders is two, and the output end of the electric hydraulic cylinder is fixedly connected to a moving mechanism; the central axis of the CCD camera is parallel to the axis of the pipeline interface and highly consistent, so as to reduce the difficulty of system calibration. Since the entire mechanism works in the open air, it is necessary to solve the protection of the CCD camera. For this reason, a CCD camera compartment is designed. When the motion mechanism is working, a small electric cylinder is used to push open the compartment cover. After the system is completed, the compartment cover is automatically closed, thereby protecting the camera and reducing the damage to the lens caused by dust and oil. Preferably, the moving mechanism includes a first moving frame and a second moving frame, the output end of the electric hydraulic cylinder is fixedly connected to the first moving frame, and the output end of the other electric hydraulic cylinder is fixedly connected to the side of the second moving frame, the inner side of the first moving frame is fixedly connected to the first connecting frame, the side of the first connecting frame is fixedly connected to a sponge block, the side of the sponge block is in contact with the side of the CCD camera, the inner side of the second moving frame is fixedly connected to the second connecting frame, and the inner side of the second connecting frame is fixedly connected to a bent plate, and the bent plate is in contact with the side of the CCD camera away from the second connecting frame; when the warehouse cover is closed, when the warehouse cover is squeezed with the sensor, the sensor is sensed and a command is issued, so that the output end of the electric hydraulic cylinder drives the first moving frame and the second moving frame to move toward the CCD camera The lens of the CCD camera performs two reciprocating movements, so that the second moving frame drives the scraper through the second connecting frame to clean and scratch the lens of the CCD camera, thereby preventing a large amount of dust and impurities from being attached to the lens of the CCD camera when the CCD camera is exposed to the outside for a long time, thereby interfering with the normal shooting of the CCD camera. At the same time, when the output end of the electric hydraulic cylinder drives the first moving frame to perform reciprocating movement, the first moving frame drives the sponge block through the first connecting frame to clean and wipe the lens of the CCD camera, thereby preventing rain from falling on the lens of the CCD camera when working on rainy days, so that when the warehouse door is closed, rain still remains on the lens of the CCD camera, and when the rain dries up, a large amount of water stains will remain on the lens of the CCD camera, thereby causing the CCD camera to shoot blurry images; A pipeline vibration reduction butt joint structure method of a pneumatic ash conveying automatic butt joint device comprises the following steps: S1: The automatic docking device for pneumatic ash conveying pipeline adopts visual servo control. Through the motion control device with different degrees of freedom, under the guidance of machine vision, the pipeline interface between the ash conveying pipeline and the ash conveying vehicle body is automatically docked; S2: After the pneumatic ash conveying is automatically connected, the ash conveying force of the ash conveying tank truck and the dust flow quickly in the pipeline, causing the vehicle body pipeline to vibrate violently. The pipeline quick connector is installed on the slide plate of the device and supported by a linear slider, making the pipeline quick connector a mass block with a certain sliding ability, thereby absorbing part of the pipeline shaking energy; S3: In practical applications, for different applications, the effect of the first spring + hydraulic damping rod dissipating energy can be adjusted by adjusting the damping regulating valve of the damping rod to adjust the structural damping and thus adjust the energy dissipation effect.

[0004] The beneficial effects of the present invention are as follows: 1. The present invention integrates the pipeline quick connector and the vibration reduction support into an integrated design, which greatly simplifies the structure. The spring + hydraulic damping vibration reduction mechanism of the slider installation support effectively solves the problems of heavy-duty conveying pipeline support, movement, vibration reduction, etc., has high reliability and environmental adaptability, simple structure and easy maintenance, and the designed adjustable damping valve can quickly solve the adaptability of on-site applications.

[0005] 2. The present invention provides a slide plate component, and the pipeline quick connector is installed on the slide plate of the device and supported by a linear slider, so that the quick connector becomes a mass block with a certain sliding ability, thereby absorbing part of the pipeline vibration energy; the pipeline quick connector is clamped by a leaf spring and connected to one end of the first spring + hydraulic damping rod through a hinge, so that the vibration energy of the pipeline will be dissipated by the first spring + hydraulic damping rod, and the other end of the damping rod is fixed to the slide plate of the device through a hinge. In actual applications, for different applications, the effect of the first spring + hydraulic damping rod dissipating energy can be adjusted by adjusting the damping regulating valve of the damping rod to adjust the structural damping and thus adjust the energy dissipation effect.

[0006] 3. The present invention provides a pipeline component. When the ash conveying force of the ash conveying tank truck and the dust flow in the pipeline quick joint, a clearance groove is provided on the side of the pipeline quick joint to prevent a large amount of dust from entering the pipeline quick joint, thereby causing the dust to pass slowly, increasing the friction between the dust and the inner side of the pipeline quick joint, thereby causing wear on the inner side of the pipeline quick joint. At the same time, guide plates are evenly provided on the inner side of the pipeline quick joint to prevent the material from being unevenly distributed when the dust flows in the pipeline quick joint, that is, the biased flow phenomenon. The guide plates can concentrate the dust and The materials on one side or in a certain area of ​​the pipeline are dispersed so that the materials are evenly distributed on the cross section of the pipeline. For example, in a pipeline conveying dusty materials, the dusty materials may be biased toward the bottom or one side of the pipeline due to gravity or uneven air flow speed. The guide plate can change the movement trajectory of the materials to make the materials evenly distributed in the pipeline, thereby improving the conveying efficiency of the pipeline. At the same time, when the dust moves quickly in the pipeline quick connector, the dust impacts the contact mechanism, so that the contact mechanism moves inside the pipeline quick connector, thereby cleaning the inside of the pipeline quick connector.

[0007] 4. The present invention provides a contact mechanism. When dust passes through the pipe quick connector quickly, a large amount of dust impacts the circular plate, so that the circular plate drives the scraper to move on the connecting shaft through the sliding sleeve. When the conveying work is finished, the impact force of the dust on the circular plate is smaller than the reset stretching of the second spring, so that the second spring drives the circular plate to reset and move on the connecting shaft through the sliding sleeve, and drives the scraper to clean and scratch the inner side of the pipe quick connector at the same time, so as to avoid the gradual accumulation of dust on the pipe wall when the dust passes through the pipe quick connector, which will reduce the effective inner diameter of the pipe. As the residual dust layer thickens, the internal space of the pipe becomes narrower and narrower, and a large amount of dust adheres to the pipe wall. When the inner diameter of the pipe is reduced to a certain extent, it will affect the air flow velocity and the normal conveying of materials, and eventually lead to the phenomenon of pipe blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a structural schematic diagram of the pipeline vibration reduction butt joint structure of the automatic butt joint device for pneumatic ash conveying of the present invention; Figure 2 is an axonometric view of the present invention; Figure 3 It is a schematic diagram of the structure of the propulsion component of the present invention; Figure 4 It is a structural schematic diagram of the slide member of the present invention; Figure 5 It is a schematic diagram of the structure of the pipeline component of the present invention; Figure 6 It is a structural schematic diagram of the contact mechanism of the present invention; Figure 7It is a schematic diagram of the structure of the visual component of the present invention; Figure 8 It is a structural schematic diagram of the mobile mechanism of the present invention; Fig. 9 It is a flow chart of the pipeline vibration reduction butt joint structure method of the pneumatic ash conveying automatic butt joint device of the present invention; In the figure: 1, fixed plate; 2, rotating component; 3, lifting component; 4, pushing component; 5, pipeline component; 51, pipeline quick connector; 52, clearance groove; 53, guide plate; 54, contact mechanism; 541, connecting block; 542, connecting shaft; 543, sliding sleeve; 544, second spring; 545, round plate; 546, scraper; 6, slide component; 61, slide; 62, fixed seat; 63, damping regulating valve; 64, hinge; 65 , first spring; 66, linear slider; 67, leaf spring; 68, arc block; 69, hydraulic damping rod; 7, visual component; 71, camera compartment; 72, small electric cylinder; 73, compartment cover; 74, CCD camera; 75, sensor; 76, electric hydraulic cylinder; 77, moving mechanism; 771, first moving frame; 772, second moving frame; 773, first connecting frame; 774, sponge block; 775, second connecting frame; 776, bent plate. DETAILED DESCRIPTION

[0009] The present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. The embodiments of the present invention are provided for the purpose of illustration and description, and are not intended to be exhaustive or to limit the present invention to the disclosed forms. Many modifications and variations will be apparent to those of ordinary skill in the art. The embodiments are selected and described in order to better illustrate the principles and practical applications of the present invention, and to enable those of ordinary skill in the art to understand the present invention and thereby design various embodiments with various modifications suitable for specific uses.

[0010] Example 1, using Figure 1-Figure 8 The pipeline vibration reduction joint structure of a pneumatic ash conveying automatic jointing device according to one embodiment of the present invention is described as follows; like Figure 1-Figure 8 The present invention shows a pipeline vibration reduction butt joint structure of a pneumatic ash conveying automatic butt joint device, comprising: A fixed plate 1, a rotating component 2 is fixedly connected to the top of the fixed plate 1, a lifting component 3 is fixedly connected to the top of the fixed plate 1, a propulsion component 4 is rotatably connected to the side of the rotating component 2, a slide component 6 is slidably connected to the propulsion component 4, and a visual component 7 is fixedly connected to the top of the slide component 6; A pipeline component 5, which is used to dock with the pipeline vehicle to perform pneumatic conveying, and the bottom of the pipeline component 5 is fixedly connected to the top of the slide component 6; The slide component 6 includes a slide 61, a first spring 65 and a hydraulic damping rod 69. The top of the slide 61 is fixedly connected with an arc block 68. The side of the arc block 68 is fixedly connected to the pipeline quick connector 51. The side of the pipeline quick connector 51 is fixedly connected with a linear slider 66. The pipeline quick connector 51 is installed on the slide 61 and supported by the linear slider 66. A leaf spring 67 is sleeved on the pipeline quick connector 51. Both sides of the top of the slide 61 are fixedly connected with a fixed seat 62. The side of the fixed seat 62 is fixedly connected with a damping regulating valve 63. The pipeline quick connector 51 is clamped by a leaf spring 67 and connected to the first spring 65 and one end of the hydraulic damping rod 69 through a hinge 64. The other end of the hydraulic damping rod 69 is flange-connected to the damping regulating valve 63. The pneumatic ash conveying pipeline of the dust collector ash hopper and the pipeline quick connector 51 are arranged on an inclined On the slide member 6, the slide of the pipeline quick connector 51 is supported by a spring + hydraulic damping vibration reduction mechanism. The pipeline quick connector 51 is installed on the slide 61 of the device and supported by a linear slider 66, so that the quick connector becomes a mass block with a certain sliding ability, thereby playing a role in absorbing part of the pipeline vibration energy; the pipeline quick connector 51 is clamped by a leaf spring 67 through a hinge 64 and connected to one end of a first spring 65 + hydraulic damping rod 69, so that the vibration energy of the pipeline will be dissipated by the first spring 65 + hydraulic damping rod 69, and the other end of the damping rod is fixed to the slide 61 of the device through a hinge 64. In actual applications, for different applications, the effect of dissipating energy of the first spring 65 + hydraulic damping rod 69 can be adjusted by adjusting the damping regulating valve 63 of the damping rod to adjust the structural damping and thus the energy dissipation effect; The pipeline component 5 includes a pipeline quick connector 51, a clearance groove 52 is provided on the inner side of the pipeline quick connector 51, and the clearance groove 52 is located on the side of the guide plate 53 away from the contact mechanism 54. The inner side of the pipeline quick connector 51 is evenly provided with guide plates 53, and the number of guide plates 53 is five. The five guide plates 53 are evenly arranged with the pipeline quick connector 51 as the center, and the side of the guide plate 53 is fixedly connected to the inner side of the pipeline quick connector 51, and the inner side of the pipeline quick connector 51 is fixedly connected with the contact mechanism 54; when the ash conveying force and dust of the ash tank truck flow in the pipeline quick connector 51, the clearance groove 52 is provided on the side of the pipeline quick connector 51, thereby avoiding a large amount of dust from entering the pipeline quick connector 51, thereby causing the dust to pass slowly, increasing the friction between the dust and the inner side of the pipeline quick connector 51, and causing wear on the inner side of the pipeline quick connector 51. At the same time, by evenly arranging the guide plates 53 on the inner side of the pipe quick connector 51, it is prevented that when the dust flows in the pipe quick connector 51, the material may be unevenly distributed, that is, the deviation phenomenon. The guide plates 53 can disperse the material concentrated on one side or one area of ​​the pipe, so that the material is evenly distributed on the cross section of the pipe. For example, in a pipe for conveying dusty materials, the dusty materials may be biased to the bottom or one side of the pipe due to gravity or uneven air flow speed. The guide plates 53 can change the movement trajectory of the materials to make the materials evenly distributed in the pipe, thereby improving the conveying efficiency of the pipe. At the same time, when the dust moves quickly in the pipe quick connector 51, the dust impacts the contact mechanism 54, so that the contact mechanism 54 moves inside the pipe quick connector 51, thereby cleaning the inside of the pipe quick connector 51; The contact mechanism 54 includes a connecting block 541, the side of the connecting block 541 is fixedly connected to the inner side of the pipe quick connector 51, the side of the connecting block 541 is fixedly connected to a connecting shaft 542, the side of the connecting shaft 542 is slidably connected to a sliding sleeve 543, the side of the sliding sleeve 543 is fixedly connected to a circular plate 545, both sides of the circular plate 545 are fixedly connected to scrapers 546, the side of the scraper 546 away from the circular plate 545 is in contact with the inner side of the pipe quick connector 51, and a second spring 544 is sleeved on the connecting shaft 542, one end of the second spring 544 is fixedly connected to the connecting block 541, and the other end of the second spring 544 is fixedly connected to the connecting block 541; when dust passes through the pipe quick connector 51 quickly, a large amount of dust impacts the circular plate 545, so that the circular plate 545 45 drives the scraper 546 to move on the connecting shaft 542 through the sliding sleeve 543. When the conveying work is finished, the impact force of the dust on the circular plate 545 is smaller than the reset stretching of the second spring 544, so that the second spring 544 drives the circular plate 545 to reset and move on the connecting shaft 542 through the sliding sleeve 543, and drives the scraper 546 to clean and scratch the inner side of the pipe quick connector 51, so as to avoid the dust gradually accumulating on the pipe wall when passing through the pipe quick connector 51, which will reduce the effective inner diameter of the pipe. With the thickening of the residual dust layer, the internal space of the pipe becomes narrower and narrower, and a large amount of dust adheres to the pipe wall. When the inner diameter of the pipe is reduced to a certain extent, it will affect the air flow speed and the normal conveying of materials, and finally lead to the phenomenon of pipe blockage. The visual component 7 includes a camera compartment 71, which is arranged on one side of the top of the slide 61 near the pipe quick connector 51. The bottom of the camera compartment 71 is fixedly connected to the top of the slide 61. A small electric cylinder 72 is fixedly connected to the top of the camera compartment 71. The output end of the small electric cylinder 72 is fixedly connected to a compartment cover 73. Both sides of the compartment cover 73 are rotatably connected to the inner side of the camera compartment 71. A CCD camera 74 is fixedly connected to the inner side of the camera compartment 71. A sensor 75 is fixedly connected to the side of the camera compartment 71. Both sides of the camera compartment 71 are fixedly connected to electric hydraulic cylinders. 76, the number of electric hydraulic cylinders 76 is two, and the output end of the electric hydraulic cylinder 76 is fixedly connected to a moving mechanism 77; the central axis of the CCD camera 74 is parallel to the axis of the pipeline interface and highly consistent, so as to reduce the difficulty of system calibration. Since the entire mechanism works in the open air, it is necessary to solve the protection of the CCD camera 74. For this reason, a CCD camera 74 compartment is designed. When the moving mechanism works, a small electric cylinder 72 is used to push open the compartment cover 73. After the system works, the compartment cover 73 is automatically closed, so as to protect the camera and reduce the damage to the lens caused by dust and oil; The moving mechanism 77 includes a first moving frame 771 and a second moving frame 772. The output end of the electric hydraulic cylinder 76 is fixedly connected to the first moving frame 771, and the output end of another electric hydraulic cylinder 76 is fixedly connected to the side of the second moving frame 772. The inner side of the first moving frame 771 is fixedly connected to a first connecting frame 773, and the side of the first connecting frame 773 is fixedly connected to a sponge block 774. The side of the sponge block 774 contacts the side of the CCD camera 74. The inner side of the second moving frame 772 is fixedly connected to a second connecting frame 775, and the inner side of the second connecting frame 775 is fixedly connected to a bent plate 776. The side of the bent plate 776 away from the second connecting frame 775 contacts the side of the CCD camera 74. When the compartment cover 73 is closed, when the compartment cover 73 is squeezed with the sensor 75, the sensor 75 is sensed and a command is issued, so that the output end of the electric hydraulic cylinder 76 drives the first moving frame 771 and the second moving frame 772 to contact the CCD camera 74. The lens of the CCD camera 74 moves back and forth twice, so that the second moving frame 772 drives the scraper 546 through the second connecting frame 775 to clean and scratch the lens of the CCD camera 74, so as to avoid a large amount of dust and impurities being attached to the lens of the CCD camera 74 when the CCD camera 74 is exposed to the outside for a long time, thereby interfering with the normal shooting of the CCD camera 74. At the same time, when the output end of the electric hydraulic cylinder 76 drives the first moving frame 771 to move back and forth, the first moving frame 771 drives the sponge block 774 through the first connecting frame 773 to clean and wipe the lens of the CCD camera 74, so as to avoid rain falling on the lens of the CCD camera 74 when working on rainy days, so that when the warehouse door is closed, rain still remains on the lens of the CCD camera 74, and when the rain dries up, a large amount of water stains will remain on the lens of the CCD camera 74, thereby causing the CCD camera 74 to shoot blurry images; like Fig. 9 A pipeline vibration reduction butt joint structure method of a pneumatic ash conveying automatic butt joint device includes the following steps: S1: The automatic docking device for pneumatic ash conveying pipeline adopts visual servo control. Through the motion control device with different degrees of freedom, under the guidance of machine vision, the pipeline interface between the ash conveying pipeline and the ash conveying vehicle body is automatically docked; S2: After the pneumatic ash conveying is automatically connected, the ash conveying air and dust in the ash conveying tank truck flow rapidly in the pipeline, causing the vehicle body pipeline to vibrate violently. The pipeline quick connector 51 is installed on the slide plate 61 of the device and supported by the linear slider 66, so that the pipeline quick connector 51 becomes a mass block with a certain sliding ability, thereby playing a role in absorbing part of the pipeline vibration energy; S3: In practical applications, for different applications, the energy dissipation effect of the first spring 65 + hydraulic damping rod 69 can be adjusted by adjusting the damping regulating valve 63 of the damping rod to adjust the structural damping and thus adjust the energy dissipation effect.

[0011] The specific workflow is as follows: When working, the pneumatic ash conveying pipeline of the dust collector ash hopper and the quick connector are arranged on the docking device. The docking device is an inclined structure. The device drive is realized by a servo motor and two linear servo cylinders. The oblique angle layout can reduce the alignment adjustment range on the one hand and reduce the load-bearing force of the device on the other hand. When the device is not working, the pipeline interface and the pipeline are located on the inclined bracket. When working, the control system guides the CCD camera 74 to control the vertical electric servo cylinder to complete the pitch mechanism adjustment and the rotation mechanism to complete the deflection azimuth adjustment. After the mechanism completes the interface alignment, the propulsion component 4 realizes the mechanism docking. During the ash conveying process, the pneumatic ash conveying will cause the pipeline to vibrate greatly. For this reason, the device is designed with no hard connection between the vertical electric servo cylinder and the propulsion component 4. Instead, a set of rubber wheels are designed on the top of the servo cylinder. The propulsion component 4 is pushed by the sliding, and the pitching up and down of the propulsion component 4 is completed. This design effectively reduces the impact of vibration shock during the ash conveying process on the servo cylinder, thereby improving the reliability of the device. After the pneumatic ash conveying is automatically connected, the ash conveying force of the ash tank truck and the rapid flow of dust in the pipeline cause the vehicle body pipeline to vibrate violently. Part of the shaking energy is transmitted to the docking device through the pipe joint, causing damage to the structure and key components of the docking device; The pneumatic ash conveying pipeline of the dust collector ash hopper and the pipeline quick connector 51 are installed and arranged on the inclined slide plate component 6. The slide block of the pipeline quick connector 51 is installed with a spring + hydraulic damping vibration reduction mechanism. The pipeline quick connector 51 is installed on the slide plate 61 of the device and supported by a linear slider 66, so that the quick connector becomes a mass block with a certain sliding ability, thereby playing a role in absorbing part of the pipeline vibration energy; the pipeline quick connector 51 is clamped by a leaf spring 67 through a hinge 64 and connected to one end of a first spring 65 + hydraulic damping rod 69, so that the vibration energy of the pipeline will be dissipated by the first spring 65 + hydraulic damping rod 69, and the other end of the damping rod is fixed to the slide plate 61 of the device through a hinge 64. In actual applications, for different applications, the energy dissipation effect of the first spring 65 + hydraulic damping rod 69 can be adjusted by adjusting the damping regulating valve 63 of the damping rod to adjust the structural damping and thus the energy dissipation effect; When the ash conveying force of the ash conveying tank truck and the dust flow in the pipe quick connector 51, a clearance groove 52 is provided on the side of the pipe quick connector 51 to prevent a large amount of dust from entering the pipe quick connector 51, thereby causing the dust to pass slowly, increasing the friction between the dust and the inner side of the pipe quick connector 51, and causing wear on the inner side of the pipe quick connector 51. At the same time, guide plates 53 are evenly arranged on the inner side of the pipe quick connector 51 to prevent the material from being unevenly distributed when the dust flows in the pipe quick connector 51, that is, the deviation phenomenon. The guide plates 53 can concentrate the dust in the pipe. The materials on one side or one area are dispersed so that the materials are evenly distributed on the cross section of the pipe. For example, in a pipe for conveying dusty materials, the dusty materials may be biased toward the bottom or one side of the pipe due to gravity or uneven air flow speed. The guide plate 53 can change the movement trajectory of the materials to make the materials evenly distributed in the pipe, thereby improving the conveying efficiency of the pipe. At the same time, when the dust moves quickly in the pipe quick connector 51, the dust impacts the contact mechanism 54, so that the contact mechanism 54 moves inside the pipe quick connector 51, thereby cleaning the inside of the pipe quick connector 51. When dust passes through the pipe quick connector 51 quickly, a large amount of dust impacts the circular plate 545, so that the circular plate 545 drives the scraper 546 to move on the connecting shaft 542 through the sliding sleeve 543. When the conveying work is finished, the impact force of the dust on the circular plate 545 is smaller than the reset stretching of the second spring 544, so that the second spring 544 drives the circular plate 545 to reset and move on the connecting shaft 542 through the sliding sleeve 543, and drives the scraper 546 to clean and scratch the inner side of the pipe quick connector 51, so as to avoid the dust gradually accumulating on the pipe wall when passing through the pipe quick connector 51, which will reduce the effective inner diameter of the pipe. As the residual dust layer thickens, the internal space of the pipe becomes narrower and narrower, and a large amount of dust adheres to the pipe wall. When the inner diameter of the pipe is reduced to a certain extent, it will affect the air flow speed and the normal conveying of materials, and eventually lead to the phenomenon of pipe blockage. The central axis of the CCD camera 74 is parallel to the axis of the pipe interface and highly consistent, which reduces the difficulty of system calibration. Since the entire mechanism works outdoors, it is necessary to solve the protection of the CCD camera 74. For this reason, a CCD camera 74 compartment is designed. When the motion mechanism works, a small electric cylinder 72 is used to push open the compartment cover 73. After the system is completed, the compartment cover 73 is automatically closed to protect the camera and reduce the damage to the lens caused by dust and oil. When the CCD camera 74 is working, the small electric cylinder 72 is controlled, and the output end of the small electric cylinder 72 drives the bin cover 73 to move and open, so that the CCD camera 74 can perform visual work. At the same time, when the bin cover 73 is opened and the bin cover 73 is released from squeezing the sensor 75, the sensor 75 is sensed and sends a command, so that the output end of the electric hydraulic cylinder 76 drives the moving mechanism 77 to move to the side away from the CCD camera 74, so as to avoid the moving mechanism 77 interfering with the work of the CCD camera 74. When the bin cover 73 is closed, the bin cover 73 and the sensor 75 are squeezed, and the sensor 75 is sensed and sends a command, so that the output end of the electric hydraulic cylinder 76 drives the first moving frame 771 and the second moving frame 772 to reciprocate the lens of the CCD camera 74 twice, so that the second moving frame 772 drives the scraper 546 to clean the lens of the CCD camera 74 through the second connecting frame 775, so as to avoid a large amount of dust and impurities on the lens of the CCD camera 74 when the CCD camera 74 is exposed to the outside for a long time, thereby interfering with the At the same time, when the output end of the electric hydraulic cylinder 76 drives the first movable frame 771 to move back and forth, the first movable frame 771 drives the sponge block 774 through the first connecting frame 773 to clean and wipe the lens of the CCD camera 74, thereby avoiding rain falling on the lens of the CCD camera 74 when working on rainy days, so that when the warehouse door is closed, rain still remains on the lens of the CCD camera 74, and then when the rain dries up, a large amount of water stains will remain on the lens of the CCD camera 74, causing the CCD camera 74 to take blurred pictures.

[0012] Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field and related fields without creative work should fall within the scope of protection of the present invention. The structures, devices and operating methods not specifically described and explained in the present invention are implemented according to the conventional means in the field unless otherwise specified and limited.

Claims

1. A pipeline vibration reduction butt joint structure of a pneumatic ash conveying automatic butt joint device, characterized in that: include: A fixed plate (1), the top of the fixed plate (1) being fixedly connected to a rotating component (2), the top of the fixed plate (1) being fixedly connected to a lifting component (3), the side of the rotating component (2) being rotatably connected to a propulsion component (4), the propulsion component (4) being slidably connected to a slide component (6), and the top of the slide component (6) being fixedly connected to a visual component (7); A pipeline component (5), the pipeline component (5) is used to dock with the pipeline vehicle to perform pneumatic conveying, and the bottom of the pipeline component (5) is fixedly connected to the top of the slide component (6); The pipeline component (5) comprises a pipeline quick connector (51), a clearance groove (52) is provided on the inner side of the pipeline quick connector (51), guide plates (53) are evenly arranged on the inner side of the pipeline quick connector (51), the side surface of the guide plate (53) is fixedly connected to the inner side of the pipeline quick connector (51), and a contact mechanism (54) is fixedly connected to the inner side of the pipeline quick connector (51); The slide component (6) comprises a slide (61), a first spring (65) and a hydraulic damping rod (69); a circular arc block (68) is fixedly connected to the top of the slide (61); a side of the circular arc block (68) is fixedly connected to a pipe quick connector (51); a linear slider (66) is fixedly connected to the side of the pipe quick connector (51); the pipe quick connector (51) is mounted on the slide (61) and supported by the linear slider (66); a leaf spring (67) is sleeved on the pipe quick connector (51); both sides of the top of the slide (61) are fixedly connected to a fixing seat (62); a side of the fixing seat (62) is fixedly connected to a damping regulating valve (63); the pipe quick connector (51) is clamped by the leaf spring (67) and connected to the first spring (65) and one end of the hydraulic damping rod (69) through a hinge (64); the other end of the hydraulic damping rod (69) is flange-connected to the damping regulating valve (63).

2. The pipeline vibration-damping butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 1 is characterized by: The clearance groove (52) is located on a side of the guide plate (53) away from the contact mechanism (54). The number of the guide plates (53) is five, and the five guide plates (53) are evenly arranged with the pipeline quick connector (51) as the center.

3. The pipeline vibration reduction butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 1 is characterized by: The contact mechanism (54) comprises a connecting block (541), the side of the connecting block (541) being fixedly connected to the inner side of the pipe quick connector (51), the side of the connecting block (541) being fixedly connected to a connecting shaft (542), the side of the connecting shaft (542) being slidably connected to a sliding sleeve (543), the side of the sliding sleeve (543) being fixedly connected to a circular plate (545), both sides of the circular plate (545) being fixedly connected to scrapers (546), and a second spring (544) being sleeved on the connecting shaft (542).

4. The pipeline vibration reduction butt joint structure of the automatic pneumatic ash conveying butt joint device according to claim 3 is characterized by: The side of the scraper (546) away from the circular plate (545) contacts the inner side of the pipe quick connector (51), one end of the second spring (544) is fixedly connected to the connection block (541), and the other end of the second spring (544) is fixedly connected to the connection block (541).

5. The pipeline vibration-damping butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 1 is characterized by: The visual component (7) comprises a camera compartment (71), the top of the camera compartment (71) is fixedly connected to a small electric cylinder (72), the output end of the small electric cylinder (72) is fixedly connected to a compartment cover (73), the inner side of the camera compartment (71) is fixedly connected to a CCD camera (74), the side of the camera compartment (71) is fixedly connected to a sensor (75), both sides of the camera compartment (71) are fixedly connected to an electric hydraulic cylinder (76), and the output end of the electric hydraulic cylinder (76) is fixedly connected to a moving mechanism (77).

6. The pipeline vibration-damping butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 5 is characterized by: The bottom of the camera compartment (71) is fixedly connected to the top of the slide plate (61), and both sides of the compartment cover (73) are rotatably connected to the inner side of the camera compartment (71). The camera compartment (71) is arranged on one side of the top of the slide plate (61) close to the pipeline quick connector (51).

7. The pipeline vibration-damping butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 5 is characterized by: The moving mechanism (77) comprises a first moving frame (771) and a second moving frame (772); the first moving frame (771) is fixedly connected to a first connecting frame (773) on its inner side; a sponge block (774) is fixedly connected to a side of the first connecting frame (773); the second moving frame (772) is fixedly connected to a second connecting frame (775) on its inner side; and the second connecting frame (775) is fixedly connected to a bent plate (776) on its inner side.

8. The pipeline vibration-damping butt joint structure of the automatic butt joint device for pneumatic ash conveying according to claim 7 is characterized by: The number of the electric hydraulic cylinders (76) is two, the output end of the electric hydraulic cylinder (76) is fixedly connected to the first movable frame (771), the side of the sponge block (774) contacts the side of the CCD camera (74), the output end of another electric hydraulic cylinder (76) is fixedly connected to the side of the second movable frame (772), and the side of the bent plate (776) away from the second connecting frame (775) contacts the side of the CCD camera (74).

9. A pipeline vibration reduction butt joint structure method for a pneumatic ash conveying automatic butt joint device, characterized in that: The pipeline vibration-damping butt joint structure of the automatic pneumatic ash conveying butt joint device described in claim 1 comprises the following steps: S1: The automatic docking device for pneumatic ash conveying pipeline adopts visual servo control. Through the motion control device with different degrees of freedom, under the guidance of machine vision, the pipeline interface between the ash conveying pipeline and the ash conveying vehicle body is automatically docked; S2: After the pneumatic ash conveying is automatically connected, the ash conveying pneumatic force of the ash conveying tank truck and the dust flow rapidly in the pipeline, causing the vehicle body pipeline to vibrate violently. The pipeline quick connector (51) is installed on the slide plate (61) of the device and supported by a linear slider (66), so that the pipeline quick connector (51) becomes a mass block with a certain sliding ability, thereby playing a role in absorbing part of the pipeline vibration energy; S3: In practical applications, for different applications, the energy dissipation effect of the first spring (65) + hydraulic damping rod (69) can be adjusted by adjusting the damping regulating valve (63) of the damping rod to adjust the structural damping and thus adjust the energy dissipation effect.

Images