Carriage bottom excess material sweeping and collecting equipment and sweeping and collecting method

Abstract

The invention discloses a carriage bottom excess material sweeping and collecting method and device, and belongs to the technical field of carriage sweeping and collecting The method comprises the following steps that in the process of sweeping and collecting carriage bottom excess materials, if it is recognized that frozen coal reaches a preset height, height information of the frozen coal is automatically collected; the sweeping and collecting equipment is controlled to automatically move backwards by a first preset distance, then the sweeping and collecting equipment is controlled to move at a first moving speed, and the milling roller is controlled to rotate at a first rotating speed; after the device crosses the frozen coal, the device reversely moves by a first preset distance again and then forwards moves at a first moving speed and a first rotating speed to cross the frozen coal, the height of the frozen coal is recognized during the period, and then the sweeping and collecting device is controlled to cross the frozen coal at a second moving speed and a second rotating speed; and the previous steps are circularly executed until the preset time is continued or the frozen coal is lower than the preset height, then moving is continued until automatic cleaning and collecting of the bottom of the whole carriage are completed, the labor intensity can be effectively reduced, and the operation efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of carriage cleaning and collection, and in particular to a cleaning and collection device and a cleaning and collection method for residual materials at the bottom of a carriage, which are used for cleaning and collecting frozen coal at the bottom of a carriage. Background Art

[0002] As an important source of energy, the supply and transportation of coal become particularly important. During transportation, when the temperature drops, coal is easily frozen into blocks, especially the coal at the bottom of the carriage. Under the action of gravity squeezing the coal from above, it is easy to stick firmly to the bottom of the carriage and is extremely difficult to clean.

[0003] Generally, after the carriage is cleaned and the coal residues are collected, the agglomerated frozen coal is cleaned manually, which is labor-intensive and has low cleaning efficiency.

[0004] In addition, in the prior art, such as the patent publication number CN116494920A, an adaptive carriage residual material cleaning and collecting device is disclosed, which includes a cleaning box, the cleaning box is provided with a telescopic drive assembly and a bottom brush frame that can swing up and down, and the bottom brush frame is equipped with a bottom brush assembly for cleaning, the telescopic drive assembly is connected between the cleaning box and the bottom brush frame, and is used for operation when the telescopic drive assembly extends out and pushes the bottom brush frame downward so that the bottom brush assembly is pressed against the working surface for cleaning / or is used when the bottom brush assembly encounters the extrusion of a raised obstacle on the working surface, the telescopic drive assembly is pushed upward by the bottom brush assembly to retract so that the bottom brush assembly is lifted up for avoidance, that is, when encountering raised strongly sticky materials, such as frozen coal, it is automatically lifted up for avoidance to improve the cleaning efficiency and reduce the wear and collision of the bottom brush assembly, and the raised strongly sticky materials also require additional subsequent processing. Summary of the invention

[0005] The embodiments of the present application provide a residual material cleaning and collection device and a cleaning and collection method for the bottom of a carriage, which can implement different residual material cleaning strategies for frozen coal at different heights, so as to automatically complete the cleaning and collection of frozen coal at the bottom of the carriage as much as possible, thereby effectively reducing labor intensity and improving work efficiency.

[0006] A first aspect of an embodiment of the present application provides a method for cleaning and collecting residual materials at the bottom of a carriage, which is used to automatically clean and collect residual materials including frozen coal at the bottom of the entire carriage, comprising the following steps:

[0007] S10, during the process of the cleaning and collecting device automatically moving to clean and collect the residual materials at the bottom of the carriage, if it is recognized that the frozen coal at the bottom of the carriage reaches a predetermined height, the height information of the frozen coal is automatically collected to form a first height signal; if it is not recognized that the frozen coal at the bottom of the carriage reaches the predetermined height, the cleaning and collecting device continues to move in a positive direction to clean and collect the residual materials at the bottom of the carriage, wherein the predetermined height is greater than or equal to 5 cm;

[0008] S20, based on the collected frozen coal height information, controlling the cleaning and collecting device to automatically reverse a first predetermined distance to pass over the frozen coal in a reverse direction, and then controlling the cleaning and collecting device to move at a first moving speed corresponding to the height of the frozen coal, and controlling a milling roller with a milling head on the cleaning and collecting device to rotate at a first rotation speed corresponding to the height of the frozen coal;

[0009] S30, after the cleaning and collecting device passes over the frozen coal, the cleaning and collecting device again moves backwards by the first predetermined distance, and then moves in the positive direction at the first moving speed and the first rotating speed to pass over the frozen coal, during which the height information of the frozen coal is again identified and collected to form a second height signal, and then based on the second height signal, the cleaning and collecting device is controlled to move over the frozen coal at a second moving speed, and the milling roller is controlled to rotate at a second rotating speed during the movement, wherein the height corresponding to the second height signal is less than or equal to the height corresponding to the first height signal, and the second moving speed is greater than or equal to the first moving speed;

[0010] S40, step 30 is executed in a loop until the predetermined time lasts or the height of the frozen coal is lower than the predetermined height, and then the cleaning and collecting device continues to move in the positive direction until the automatic cleaning and collection of the entire bottom of the carriage is completed.

[0011] In one possible implementation, when the height of the frozen coal is 5-10 cm, the moving speed of the cleaning and collecting equipment is 2.0-2.8 m / min, and the rotation speed of the milling roller is 42-44 r / min; when the height of the frozen coal is 10-15 cm, the moving speed of the cleaning and collecting equipment is 1.2-2.0 m / min, and the rotation speed of the milling roller is 40-42 r / min; when the height of the frozen coal is 15-20 cm, the moving speed of the cleaning and collecting equipment is 0.6-1.1 m / min, and the rotation speed of the milling roller is 38-40 r / min.

[0012] In a possible implementation, the method for cleaning and collecting residual materials at the bottom of the carriage also includes step S50, manually intervening in the automatic cleaning and collection state of the cleaning and collection equipment based on the frozen coal information collected by video surveillance, changing it to a temporary manual control state, and manually and remotely controlling the moving speed, moving direction, moving distance and rotation speed of the milling roller of the cleaning and collection equipment until the manual cleaning and collection of the predetermined distance is completed or the manual cleaning and collection of the remaining part of the bottom of the carriage is completed.

[0013] In a possible implementation, the frozen coal information collected by the video surveillance is obtained based on a camera installed on the cleaning and collecting device and / or a camera installed in the external environment, wherein the frozen coal information is height information of the frozen coal or shape information of the frozen coal.

[0014] In a possible implementation, in step S10, the height information of the frozen coal is automatically identified and collected based on the stroke change of the hydraulic cylinder that controls the milling height of the milling roller, wherein the hydraulic cylinder is controlled to automatically extend or retract based on the change in oil pressure, thereby forming a stroke change, wherein the oil pressure range of the hydraulic cylinder is maintained at 4-8MPa.

[0015] The second aspect of an embodiment of the present application provides a residual material cleaning and collecting device at the bottom of a carriage, which is used to implement the aforementioned residual material cleaning and collecting method at the bottom of a carriage, the cleaning and collecting device includes a box body, rotating support frames are symmetrically arranged on both sides of the box body, a residual material absorption mechanism is arranged at the bottom of the box body, a milling roller is arranged on the front side of the residual material absorption mechanism, a milling head is arranged on the surface of the milling roller, a plurality of hydraulic cylinders are arranged on the front side of the box body at the same height direction, the hydraulic cylinders are located above the milling roller, and the piston rods of the hydraulic cylinders are respectively connected to the milling rollers through adapter frames, the adapter frame includes a first bracket, a second bracket and a spring shock absorber connected between the first bracket and the second bracket, the first bracket and the second bracket are both hinged to the box body through the inner end, the piston rod is hingedly connected to the top of the outer end of the first bracket, and the outer end of the second bracket is fixedly connected to different positions in the length direction of the milling roller.

[0016] In a possible implementation, the residual material absorption mechanism includes a mounting frame, the mounting frame has a mounting vertical plate, the mounting vertical plate extends in a horizontal direction, and is divided into two left and right active areas by a partition on the front side, and blocks are symmetrically arranged on both sides of the active area;

[0017] The mounting vertical plate is respectively provided with suction cylinders in the two movable areas, and the suction cylinder is sleeved with a limit frame below the mounting vertical plate. The suction cylinder is hinged to the limit frame through a hinge shaft, and the limit frame is provided with a first hinge point directly below the hinge shaft, and the suction cylinder is symmetrically provided with stop ears cooperating with the stop block below the hinge shaft, and the suction cylinder is provided with a second hinge point above the hinge shaft, and the first hinge point and the second hinge point are connected by a spring, and a driving structure for driving the two limit frames to synchronously reciprocate horizontally is installed on the rear side of the mounting vertical plate.

[0018] In a possible implementation, the driving structure includes a telescopic element, a linkage, a first adapter plate and a second adapter plate, wherein the first adapter plate and the second adapter plate are respectively connected to the two limit frames, the telescopic element is horizontally installed on the rear side of the mounting vertical plate, and the telescopic axis of the telescopic element is fixedly connected to the first adapter plate, the linkage is distributed in a U-shape and is rotatably arranged on the rear side of the mounting vertical plate, including an upper linkage belt and a lower linkage belt symmetrically distributed up and down, the first adapter plate is connected to the lower linkage belt, and the second adapter plate is connected to the upper linkage belt.

[0019] In a possible implementation, the mounting frame further includes a front baffle, which is located at the front side of the suction cylinder and fixedly connected to the mounting vertical plate via connecting plates at both ends, and the front baffle extends in a horizontal direction.

[0020] In a possible implementation, a material blocking inclined plate is connected to the bottom of the front baffle plate, and the material blocking inclined plate is inclined downward close to the mounting vertical plate, and the inclination angle is 20°-40°;

[0021] The mounting frame also includes a top connecting plate and two L-shaped rotating side plates symmetrically hingedly installed at both ends of the top connecting plate, the two L-shaped rotating side plates extend in parallel, and the other ends of the two L-shaped rotating side plates are respectively hinged to the connecting plates, and the four hinge points of the two L-shaped rotating side plates located at the same end of the top connecting plate form a parallelogram.

[0022] Beneficial effects: Compared with the prior art, the cleaning and collection device and cleaning and collection method for residual materials at the bottom of the carriage provided by the present application executes a predetermined residual material cleaning strategy based on the height information of the frozen coal, and can automatically complete the thorough cleaning and collection of all residual materials including the frozen coal in the entire carriage, with a high degree of automation, which can effectively reduce labor intensity and improve cleaning efficiency;

[0023] During the automatic cleaning and collection process of the cleaning and collection equipment, it is also possible to switch to a manual intervention working mode, and then manually control the cleaning for various complex scenarios, which can further improve work efficiency and have high work flexibility.

[0024] These and other objects, features and advantages of the present invention will be fully reflected in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] Figure 1 The schematic diagram shows the principle of the method for cleaning and collecting residual materials at the bottom of the carriage of the present application.

[0026] Figure 2 The schematic diagram of the structure of the residual material cleaning and collecting equipment at the bottom of the carriage of the present application is shown.

[0027] Figure 3 A partial structural schematic diagram of the residual material cleaning and collecting equipment at the bottom of a carriage of the present application is shown.

[0028] Figure 4 The schematic diagram of the structure of the residual material absorption mechanism in the present application is shown.

[0029] Figure 5 A rear view structural schematic diagram of the residual material absorption mechanism in the present application is shown.

[0030] Figure 6 A side structural schematic diagram of the residual material absorption mechanism in the present application is shown. DETAILED DESCRIPTION

[0031] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art can think of other obvious variations. The basic principles of the present invention defined in the following description can be applied to other embodiments, variations, improvements, equivalents, and other technical solutions that do not deviate from the spirit and scope of the present invention.

[0032] Those skilled in the art should understand that, in the disclosure of the specification, the orientation or position relationship indicated by the terms "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. are based on the orientation or position relationship shown in the drawings, which are only for the convenience of describing the present 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 operate in a specific orientation. Therefore, the above terms should not be understood as limiting the present invention.

[0033] It is to be understood that the term "one" should be understood as "at least one" or "one or more", that is, in one embodiment, the number of an element may be one, while in another embodiment, the number of the element may be multiple, and the term "one" should not be understood as a limitation on the quantity.

[0034] refer to Figure 1 The embodiment of the present application provides a method for cleaning and collecting residual materials at the bottom of a carriage, which is used to automatically clean and collect residual materials including frozen coal at the bottom of the entire carriage, including the following steps:

[0035] S10, in the process of the cleaning and collecting device automatically moving (it can move automatically or be driven to move automatically) to clean and collect the residual materials at the bottom of the carriage, if it is recognized that the frozen coal at the bottom of the carriage reaches a predetermined height, the height information of the frozen coal is automatically collected to form a first height signal; if it is not recognized that the frozen coal at the bottom of the carriage reaches the predetermined height, the cleaning and collecting device continues to move in the positive direction to clean and collect the residual materials at the bottom of the carriage, wherein the predetermined height is greater than or equal to 5 cm, and the height change refers to the maximum height protruding relative to the bottom of the carriage;

[0036] S20, based on the collected frozen coal height information, controlling the cleaning and collecting device to automatically reverse a first predetermined distance to pass over the frozen coal in a reverse direction, and then controlling the cleaning and collecting device to move at a first moving speed corresponding to the height of the frozen coal, and controlling a milling roller with a milling head on the cleaning and collecting device to rotate at a first rotation speed corresponding to the height of the frozen coal, so as to automatically and quickly and effectively clean the frozen coal with the first height signal through an adapted moving speed and rotation speed, instead of passing over or avoiding these protruding frozen coals;

[0037] S30, after the cleaning and collecting device passes over the frozen coal, it again moves backwards by the first predetermined distance, and then moves over the frozen coal in the positive direction at the first moving speed and the first rotating speed, during which the height information of the frozen coal is again identified and collected to form a second height signal, and then the cleaning and collecting device is controlled to move over the frozen coal at the second moving speed based on the second height signal, and the milling roller is controlled to rotate at the second rotating speed during the movement, wherein the height corresponding to the second height signal may be equal to the height corresponding to the first height signal, indicating that the first cleaning effect is not good and needs to be continued, at which time the second moving speed is equal to the first moving speed, or the height corresponding to the second height signal may be less than the height corresponding to the first height signal, indicating that the first cleaning of the frozen coal has a certain effect, and at this time the second moving speed is greater than the first moving speed;

[0038] S40, step 30 is executed repeatedly until a predetermined time (such as 3-8 minutes of reciprocating cleaning) is continued or the height of the frozen coal is lower than the predetermined height, and then the cleaning and collecting device continues to move in the positive direction until the automatic cleaning and collection of the entire carriage bottom is completed.

[0039] Therefore, the method for cleaning and collecting residual materials at the bottom of the carriage provided in the present application can specifically clean the frozen coal at the bottom of the carriage during the process of automatically cleaning and collecting residual materials at the bottom of the carriage. Based on the height of the frozen coal, a corresponding predetermined cleaning strategy can be used to completely clean and collect various residual materials at the bottom of the entire carriage, including frozen coal. It has a high degree of automation and can effectively reduce labor intensity and improve cleaning efficiency.

[0040] Specifically, when the height of the frozen coal is 5-10 cm, the moving speed of the cleaning and collecting equipment is 2.0-2.8 m / min, and the rotation speed of the milling roller is 42-44 r / min; when the height of the frozen coal is 10-15 cm, the moving speed of the cleaning and collecting equipment is 1.2-2.0 m / min, and the rotation speed of the milling roller is 40-42 r / min; when the height of the frozen coal is 15-20 cm, the moving speed of the cleaning and collecting equipment is 0.6-1.1 m / min, and the rotation speed of the milling roller is 38-40 r / min.

[0041] More specifically, when the maximum height of the frozen coal was monitored to be 12 cm, the moving speed of the cleaning and collecting equipment was 1.3 m / min, and the rotation speed of the milling roller was 41 r / s; when the maximum height of the frozen coal was monitored to be 18 cm, the moving speed of the cleaning and collecting equipment was 0.65 m / min, and the rotation speed of the milling roller was 39 r / s.

[0042] For example, the height corresponding to the first height signal is 18 cm. When the cleaning and collecting equipment moves in the positive direction at a moving speed of 0.65 m / min and a milling roller rotation speed of 39 r / s to clean the frozen coal, it then moves in the opposite direction to cross the frozen coal, and then moves in the positive direction at the first moving speed and the first rotation speed to clean the frozen coal again, the height information of the frozen coal is identified during this period. If the height of the frozen coal is still above 15 cm, the frozen coal is cleaned back and forth again at the first moving speed and the first rotation speed, and then the height information of the frozen coal is identified again when crossing the frozen coal in a square. If the height of the frozen coal reaches 10-15 cm, for example 12 cm, after repeated cleaning, the cleaning and collecting equipment moves in the positive direction at a moving speed of 1.3 m / min and a milling roller rotation speed of 41 r / s to clean the frozen coal, and so on.

[0043] Therefore, the second moving speed may be equal to the first moving speed, or it may be greater than the first moving speed. Since the frozen coal will only become shorter as it is cleaned, or the height remains unchanged, the second moving speed will not be less than the first moving speed. In addition, for different height ranges of the frozen coal, the rotation speed of the milling roller may be equal or unequal. Usually, in order to obtain better milling effect and reduce wear on the milling head, the higher the frozen coal, the lower the rotation speed of the milling roller. In addition, whether it is moving at the first moving speed for cleaning or moving at the second moving speed for cleaning, the timing to continue moving forward can be determined according to the cleaning duration, the number of reciprocating cleaning times or the final maximum height of the frozen coal, so as to ensure both cleaning efficiency and cleaning effect. Fourth, in the process of square movement and reverse movement of the cleaning and collecting equipment, the milling roller rotates continuously. Therefore, the milling head on the milling roller can repeatedly act on the frozen coal in two completely opposite rotation directions, so as to achieve better cleaning effect.

[0044] In one embodiment, the method for cleaning and collecting residual material at the bottom of the carriage also includes step S50, which manually intervenes in the automatic cleaning and collection state of the cleaning and collection equipment based on the frozen coal information collected by video surveillance, and changes it to a temporary manual control state, and manually and remotely controls the moving speed, moving direction, moving distance and rotation speed of the milling roller of the cleaning and collection equipment until the manual cleaning and collection of a predetermined distance is completed or the manual cleaning and collection of the remaining part of the bottom of the carriage is completed. In this way, manual remote control cleaning can be performed for special situations such as different cleaning needs (such as local special cleaning needs) and different scenarios (such as machine automatic control failures), which can further improve work efficiency and increase the flexibility of cleaning residual materials in the carriage.

[0045] Further preferably, the frozen coal information collected by the video surveillance is obtained based on a camera installed on the cleaning and collecting equipment and / or a camera installed in the external environment, wherein the frozen coal information is the height information of the frozen coal or the appearance information of the frozen coal, wherein the appearance information of the frozen coal includes the height, external shape, coverage range, etc. of the frozen coal. In this way, even when the frozen coal is not very high but has a large coverage range, it can be cleaned through manual control to improve the cleaning effect of the frozen coal in the carriage.

[0046] In one embodiment, in step S10, the height information of the frozen coal is automatically identified and collected based on the stroke change of the hydraulic cylinder that controls the milling height of the milling roller, wherein the hydraulic cylinder is controlled to automatically extend or retract based on the change in oil pressure, thereby forming a stroke change, wherein the oil pressure range of the hydraulic cylinder is maintained at 4-8 MPa.

[0047] That is to say, the hydraulic cylinder always maintains in the predetermined oil pressure range. When the oil pressure is lower than the set oil pressure range, it means that the reverse pressure of the frozen coal on the milling head is small, that is, the height of the frozen coal is low. At this time, the hydraulic system controls the hydraulic cylinder to automatically extend until the hydraulic cylinder is within the set pressure range. On the contrary, when the oil pressure of the hydraulic cylinder is higher than the set oil pressure range, it means that the reverse pressure of the frozen coal on the milling head is large, that is, the height of the frozen coal is high. At this time, the hydraulic system controls the hydraulic cylinder to automatically retract until the oil pressure of the hydraulic cylinder is within the set oil pressure range. As the hydraulic cylinder extends and retracts, the piston rod in the hydraulic cylinder has different strokes, so the height of the frozen coal can be directly converted or calculated through this stroke change, with high accuracy. This is a passive feedback control method based on the height of frozen coal, rather than raising the milling head through active control, with higher control accuracy and better adaptability. Therefore, based on the change in the height of the frozen coal, the cleaning and collecting equipment provides a corresponding moving speed, the milling head on the cleaning and collecting equipment provides a corresponding rotation speed, and the hydraulic cylinder raises or lowers the milling head accordingly. At the same time, the adaptive automatic changes of the three aspects are combined to quickly and effectively clean the frozen coal.

[0048] Based on the same working principle, the second aspect of the embodiment of the present application provides a vehicle bottom residual material cleaning and collection device, which is used to implement the above-mentioned vehicle bottom residual material cleaning and collection method. Figures 2 to 6 The cleaning and collecting device includes a box body 100, wherein rotating support frames 110 are symmetrically arranged on both sides of the box body 100 for providing guidance and support when the cleaning and collecting device moves in a directional manner, wherein a residual material absorption mechanism 120 is arranged at the bottom of the box body 100 for collecting residual materials in the carriage by adsorption, and furthermore, a milling roller 130 is arranged at the front side of the residual material absorption mechanism 120 of the box body 100, wherein a milling head 131 is arranged on the surface of the milling roller 130, and a plurality of hydraulic cylinders 140 are arranged at the same height direction on the front side of the box body 100, and the hydraulic cylinders 140 are located above the milling roller 130. The piston rod 141 of the hydraulic cylinder 140 is connected to the milling roller 130 through an adapter frame. Specifically, the adapter frame includes a first bracket 151, a second bracket 152 and a spring shock absorber 153 connected between the first bracket 151 and the second bracket 152, wherein the first bracket 151 and the second bracket 152 are both hinged to the box 100 through the inner end, wherein the piston rod 141 is hingedly connected to the top of the outer end of the first bracket 151, and the outer end of the second bracket 152 is fixedly connected to different positions in the length direction of the milling roller 130, so that the milling height of the milling roller 130 can be changed by the coordinated work of multiple hydraulic cylinders 140.

[0049] In one embodiment, the residual material absorption mechanism 120 includes a mounting frame 10. The mounting frame 10 has a mounting vertical plate 20. The mounting vertical plate 20 extends in the horizontal direction and is divided into two left and right active areas 201 by a partition on the front side, and blocks 21 are symmetrically arranged on both sides of the active area 201, wherein the front side refers to the front side when the cleaning and collecting device moves in the positive direction;

[0050] The mounting vertical plate 20 is provided with a suction barrel 30 in the two active areas 201. The suction barrel 30 is sleeved with a limit frame 31 below the mounting vertical plate 20, and the suction barrel 30 is hinged with the limit frame 31 through a hinge shaft 32. In addition, the limit frame 31 is provided with a first hinge point 33 directly below the hinge shaft 32, and the suction barrel 30 is symmetrically provided with stop ears 34 cooperating with the stop block 21 below the hinge shaft 32, and the suction barrel 30 is provided with a second hinge point 35 above the hinge shaft 32, and the first hinge point 33 and the second hinge point 35 are connected by a spring 36. In addition, a driving structure for driving the two limit frames 31 to synchronously reciprocate horizontally is installed on the rear side of the mounting vertical plate 20.

[0051] Specifically, in the process of the spring 36 connecting the first hinge point 33 and the second hinge point 34, when the first hinge point 33, the hinge axis 32 and the second hinge point 35 are located on the same vertical line, the length of the spring 36 is the longest, and when the suction barrel 30 is deflected, whether it is deflected to the left or to the right, the length of the spring 36 will be slightly shorter. Therefore, in the initial state of the suction barrel 30, the suction barrel 30 is maintained in a deflected state, wherein the balance force of this state is achieved by relying on the spring 36. When the driving structure drives the two limit frames 31 to move synchronously horizontally back and forth, the stop ear 34 will first contact the stop block 21, thereby forming a reverse thrust below the suction barrel 30, such as the initial state When the suction barrel 30 tilted to the left touches the stopper 21 on the right, the stopper 21 will first block the suction barrel 30, and push the suction barrel 30 backward from below, so that the suction barrel 30 will gradually become a vertical state, and then become a right-tilted state, and then move to the left in the right-tilted state, and so on, so that the suction barrel 30 can reciprocate, tilt and swing in the active area 201, during which the driving structure drives the limit frame 31 to move back and forth, even if the suction barrel 30 remains in the right-tilted state when moving to the right, the stopper ear 34 will not touch the stopper 21, and the suction barrel 30 continues to maintain the right-tilted state and moves to the left in the next round of movement, so that it can automatically get on the right track.

[0052] Therefore, in the carriage residual material absorption device provided in the present application, the two suction cylinders 30 continuously move back and forth, tilt and swing in the two active areas 201, and can fully cover the entire active area 201, rather than the area corresponding to the suction port of the suction cylinder 30 itself, thereby greatly improving the scope of cleaning and absorption of carriage residual materials, with high work efficiency and good cleaning effect.

[0053] In one embodiment, the driving structure includes a telescopic element 41, a linkage 42, a first adapter plate 43 and a second adapter plate 44, wherein the telescopic element 41 is preferably a telescopic cylinder, such as an oil cylinder, a pneumatic cylinder, an electric cylinder, etc., wherein the first adapter plate 43 and the second adapter plate 44 are respectively connected to the two limit frames 31, and the telescopic element 41 is horizontally installed on the rear side of the mounting vertical plate 20, and the telescopic shaft of the telescopic element 41 is fixedly connected to the first adapter plate 43, which is used to drive the first adapter plate 43 to move back and forth in a directional manner. In addition, the linkage 42 is distributed in a U-shaped shape and is rotatable. The rotation is arranged on the rear side of the mounting vertical plate 20, including an upper linkage belt 421 and a lower linkage belt 422 which are symmetrically distributed up and down, wherein the first adapter plate 43 is connected to the lower linkage belt 422, and the second adapter plate 44 is connected to the upper linkage belt 421. In this way, when the telescopic element 41 drives the corresponding limit frame 31 to move through the first adapter plate 43, the first adapter plate 43 will drive the linkage member 42 to rotate, and then can synchronously drive the second adapter plate 44 to move, thereby the two limit frames 31 can be driven to move synchronously and directional at the same time through the telescopic element 41, which is convenient to control and easy to maintain.

[0054] In one embodiment, the mounting frame 10 further includes a front baffle 50. The front baffle 50 is located at the front side of the suction barrel 20 and is fixedly connected to the mounting vertical plate 20 through connecting plates 51 at both ends. The front baffle 50 extends in the horizontal direction and is used to block larger material blocks, so as to prevent multiple larger material blocks from flowing into the suction barrel 30 at the same time, thereby preventing the suction barrel 30 from being stuck or blocked and affecting the suction effect.

[0055] Further preferably, a material blocking inclined plate 52 is connected to the bottom of the front baffle plate 50, and the material blocking inclined plate 52 is inclined downward close to the mounting vertical plate 20, and the inclination angle is 20°-40°;

[0056] The mounting frame 10 also includes a top connecting plate 60 and two L-shaped rotating side plates 61 symmetrically hingedly installed at both ends of the top connecting plate 60, wherein the two L-shaped rotating side plates 61 extend in parallel, and the other ends of the two L-shaped rotating side plates 61 are hinged to the connecting plate 51 respectively, and the four hinge points of the two L-shaped rotating side plates 61 located at the same end of the top connecting plate 60 form a parallelogram. In this way, on the one hand, material can be blocked by the material blocking inclined plate 52, and when some slightly larger material blocks enter the inclined surface of the material blocking inclined plate 52, as the equipment moves forward, under the action of the two L-shaped rotating side plates 61, the material blocks will lift the material blocking inclined plate 52 a certain distance until they can enter the active area 201 and be absorbed by the suction cylinder 30. Obviously, the upper limit of the lifting distance is constrained by the gap between the two L-shaped rotating side plates 61, and larger material blocks that cannot enter the side of the material blocking inclined plate 52 cannot lift the material blocking inclined plate 52.

[0057] It should be noted that the terms "first, second" in the present application are only used for descriptive purposes and do not indicate any order. They cannot be understood as indicating or implying relative importance. These terms can be interpreted as names.

[0058] It should be understood by those skilled in the art that the embodiments of the present invention described above and shown in the accompanying drawings are only examples and do not limit the present invention. The advantages of the present invention have been fully and effectively achieved. The functional and structural principles of the present invention have been demonstrated and explained in the embodiments, and the embodiments of the present invention may be deformed or modified in any way without departing from the principles.

Claims

1. A method for cleaning and collecting residual materials at the bottom of a carriage, which is used to automatically clean and collect residual materials including frozen coal at the bottom of the entire carriage, and is characterized in that: The following steps are involved: S10, during the process of the cleaning and collecting device automatically moving to clean and collect the residual materials at the bottom of the carriage, if it is recognized that the frozen coal at the bottom of the carriage reaches a predetermined height, the height information of the frozen coal is automatically collected to form a first height signal; if it is not recognized that the frozen coal at the bottom of the carriage reaches the predetermined height, the cleaning and collecting device continues to move in a positive direction to clean and collect the residual materials at the bottom of the carriage, wherein the predetermined height is greater than or equal to 5 cm; S20, based on the collected frozen coal height information, controlling the cleaning and collecting device to automatically reverse a first predetermined distance to pass over the frozen coal in a reverse direction, and then controlling the cleaning and collecting device to move at a first moving speed corresponding to the height of the frozen coal, and controlling a milling roller with a milling head on the cleaning and collecting device to rotate at a first rotation speed corresponding to the height of the frozen coal; S30, after the cleaning and collecting device passes over the frozen coal, the cleaning and collecting device again moves backwards by the first predetermined distance, and then moves in the positive direction at the first moving speed and the first rotating speed to pass over the frozen coal, during which the height information of the frozen coal is again identified and collected to form a second height signal, and then based on the second height signal, the cleaning and collecting device is controlled to move over the frozen coal at a second moving speed, and the milling roller is controlled to rotate at a second rotating speed during the movement, wherein the height corresponding to the second height signal is less than or equal to the height corresponding to the first height signal, and the second moving speed is greater than or equal to the first moving speed; S40, step 30 is executed in a loop until the predetermined time lasts or the height of the frozen coal is lower than the predetermined height, and then the cleaning and collecting device continues to move in the positive direction until the automatic cleaning and collection of the entire bottom of the carriage is completed.

2. The method for cleaning and collecting residual materials at the bottom of a carriage according to claim 1, characterized in that: When the height of the frozen coal is 5-10cm, the moving speed of the cleaning and collecting equipment is 2.0-2.8m / min, and the rotation speed of the milling roller is 42-44r / min; when the height of the frozen coal is 10-15cm, the moving speed of the cleaning and collecting equipment is 1.2-2.0m / min, and the rotation speed of the milling roller is 40-42r / min; when the height of the frozen coal is 15-20cm, the moving speed of the cleaning and collecting equipment is 0.6-1.1m / min, and the rotation speed of the milling roller is 38-40r / min.

3. The method for cleaning and collecting residual materials at the bottom of a carriage according to claim 1, characterized in that: It also includes step S50, based on the frozen coal information collected by video surveillance, manually intervening in the automatic cleaning and collection state of the cleaning and collection equipment, changing it to a temporary manual control state, manually and remotely controlling the moving speed, moving direction, moving distance and rotation speed of the milling roller of the cleaning and collection equipment until the manual cleaning and collection of the predetermined distance is completed or the manual cleaning and collection of the remaining part of the bottom of the car is completed.

4. The method for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 3, characterized in that: The frozen coal information collected by the video surveillance is obtained based on a camera installed on the cleaning and collecting device and / or a camera installed in the external environment, wherein the frozen coal information is height information of the frozen coal or shape information of the frozen coal.

5. The method for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 1, characterized in that: In step S10, the height information of the frozen coal is automatically identified and collected based on the stroke change of the hydraulic cylinder that controls the milling height of the milling roller, wherein the hydraulic cylinder is controlled to automatically extend or retract based on the change of oil pressure, thereby forming a stroke change, wherein the oil pressure range of the hydraulic cylinder is maintained at 4-8MPa.

6. A device for cleaning and collecting residual materials at the bottom of a carriage, used for implementing the method for cleaning and collecting residual materials at the bottom of a carriage as claimed in any one of claims 1 to 5, characterized in that: The cleaning and collecting equipment includes a box body, rotating support frames are symmetrically arranged on both sides of the box body, a residual material absorption mechanism is arranged at the bottom of the box body, a milling roller is arranged on the front side of the residual material absorption mechanism, a milling head is arranged on the surface of the milling roller, and a plurality of hydraulic cylinders are arranged on the front side of the box body at the same height direction, the hydraulic cylinders are located above the milling roller, and the piston rods of the hydraulic cylinders are respectively connected to the milling roller through an adapter frame, the adapter frame includes a first bracket, a second bracket and a spring shock absorber connected between the first bracket and the second bracket, the first bracket and the second bracket are both hinged to the box body through the inner end, the piston rod is hingedly connected to the top of the outer end of the first bracket, and the outer end of the second bracket is fixedly connected to different positions in the length direction of the milling roller.

7. The equipment for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 6, characterized in that: The residual material absorption mechanism comprises a mounting frame, the mounting frame has a mounting vertical plate, the mounting vertical plate extends in the horizontal direction and is divided into two left and right active areas by a partition plate on the front side, and blocks are symmetrically arranged on both sides of the active area; The mounting vertical plate is respectively provided with suction cylinders in the two movable areas, and the suction cylinder is sleeved with a limit frame below the mounting vertical plate. The suction cylinder is hinged to the limit frame through a hinge shaft, and the limit frame is provided with a first hinge point directly below the hinge shaft, and the suction cylinder is symmetrically provided with stop ears cooperating with the stop block below the hinge shaft, and the suction cylinder is provided with a second hinge point above the hinge shaft, and the first hinge point and the second hinge point are connected by a spring, and a driving structure for driving the two limit frames to synchronously reciprocate horizontally is installed on the rear side of the mounting vertical plate.

8. The equipment for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 7, characterized in that: The driving structure includes a telescopic element, a linkage, a first adapter plate and a second adapter plate, wherein the first adapter plate and the second adapter plate are respectively connected to the two limit frames, the telescopic element is horizontally installed on the rear side of the mounting vertical plate, and the telescopic shaft of the telescopic element is fixedly connected to the first adapter plate, the linkage is distributed in a U-shape and is rotatably arranged on the rear side of the mounting vertical plate, and includes an upper linkage belt and a lower linkage belt symmetrically distributed up and down, the first adapter plate is connected to the lower linkage belt, and the second adapter plate is connected to the upper linkage belt.

9. The equipment for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 7, characterized in that: The mounting frame further comprises a front baffle, which is located at the front side of the suction cylinder and is fixedly connected to the mounting vertical plate via connecting plates at both ends, and the front baffle extends in a horizontal direction.

10. The equipment for cleaning and collecting residual materials at the bottom of a carriage as claimed in claim 9, characterized in that: The bottom of the front baffle is connected with a material blocking inclined plate, and the material blocking inclined plate is inclined downward close to the mounting vertical plate, and the inclination angle is 20°-40°; The mounting frame also includes a top connecting plate and two L-shaped rotating side plates symmetrically hingedly installed at both ends of the top connecting plate, the two L-shaped rotating side plates extend in parallel, and the other ends of the two L-shaped rotating side plates are respectively hinged to the connecting plates, and the four hinge points of the two L-shaped rotating side plates located at the same end of the top connecting plate form a parallelogram.

Images