Multi-directional movable type full-field covering material stacking equipment and control system

Abstract

The invention relates to the technical field of large material stacking, in particular to multi-directional movable type full-field covering material stacking equipment and a control system. The equipment comprises a stacking equipment mechanical execution system and an intelligent control system, the mechanical execution system comprises a main frame, an auxiliary frame, a movable trolley device and an auxiliary supporting structure, and multi-directional movement and full-field coverage can be achieved; the intelligent control system integrates a PLC controller, a wireless communication module, a sensor group, a remote controller and a touch screen, supports manual and automatic operation modes, and can monitor the equipment state in real time and perform fault alarm and processing. The mechanical structure design of the stacking equipment is optimized, an advanced intelligent control system is integrated, all-directional coverage and efficient operation of the stacking equipment in a large material stacking site are achieved, and meanwhile the stability and adaptability of the equipment under the complex working condition are remarkably improved.

Description

Technical Field

[0001] The present invention relates to the technical field of large material stacking, and particularly relates to a multi-directional mobile full-site covering material stacking device and a control system.

Background Art

[0002] In the field of stacking operations of bulk materials such as ores, coals, and sands, the site covering ability and stability of stacking equipment are key factors determining warehousing efficiency and operation safety. However, the currently widely used traditional distributed belt conveyor stacking system has significant limitations. Most existing equipment adopts a linear or fixed track layout, which results in an overly concentrated stacking area and can only cover a certain part of the site, thus causing a great waste of space and a significant reduction in site utilization rate. In addition, the stability of the traditional stacking system during operation is less than satisfactory. Especially during large-span operations, the equipment is prone to shaking or even overturning, which not only poses a serious threat to operation safety but also leads to an increase in additional reinforcement costs. Moreover, the existing equipment has extremely high requirements for site flatness. When facing complex terrains or sites with a certain slope, its adaptability is severely insufficient, and it is difficult to meet the urgent needs of modern large material stacking sites for efficient, flexible, and stable stacking operations.

[0003] In recent years, although a large amount of research and technological innovation has been carried out in the field of stacking equipment at home and abroad to try to overcome the above problems, there are still some common problems in the existing stacking equipment in terms of site utilization rate, moving stability, and adaptability to complex terrains. First, the stacking range is limited by fixed or single-track mobile equipment, resulting in low site utilization rate. Second, the traditional support design is prone to shaking or even overturning during large-span operations, and additional reinforcement measures need to be taken, thus increasing the manufacturing cost. Finally, the adjustment of the stacking direction relies on manual operation, with slow response speed and low intelligent control level.

[0004] Therefore, the control equipment and systems of the existing equipment are difficult to meet the operation requirements of modern yards for efficient utilization, stable operation, and flexible control.

Summary of the Invention

[0005] The object of the present invention is to provide a multi-directional mobile full-site covering material stacking device and a control system for the problems of insufficient site utilization rate, stability, and inflexible control in traditional stacking equipment. By optimizing the mechanical structure design of the stacking equipment and integrating an advanced intelligent control system, the present invention realizes the full-site coverage and efficient operation of the stacking equipment in a large material stacking site, and simultaneously significantly improves the stability and adaptability of the equipment under complex working conditions.

[0006] To achieve the above object, the technical solution adopted by the present invention is as follows:

[0007] A multi-directional mobile full-site covering material stacking equipment and control system, including a stacking equipment mechanical execution system and an intelligent control system,

[0008] The stacking equipment mechanical execution system includes:

[0009] It includes a main frame and a mobile trolley device installed on the main frame. The main frame includes a main frame framework, a first track installed on the bottom framework of the main frame framework, first walking wheels and a first walking motor arranged at both ends of the bottom of the main frame. The first walking wheels run on a preset side-site track; the output end of the first walking motor is connected to the first walking wheels to drive them to move back and forth on the side-site track;

[0010] A sub-frame that can move horizontally is arranged inside the main frame. The sub-frame includes a sub-frame framework, second walking wheels, rollers, a conveyor belt, a second walking motor and a conveying motor. The second walking wheels are installed at the bottom of the sub-frame framework and are driven by the second walking motor to move on the first track. The rollers are installed on the sub-frame framework to support the conveyor belt; the conveying motor can rotate forward or backward to drive the conveyor belt to move; the length of the sub-frame ≥ 1 / 2 the length of the main frame;

[0011] A feeding port is arranged in the middle of the main frame. The main frame also includes an auxiliary support structure. One end of the auxiliary support structure is fixedly connected to the main frame framework, and the other end extends obliquely downward. A third walking wheel and a third walking motor for driving the third walking wheel to move are arranged at its bottom. The third walking wheel runs on a middle-site track, and the middle-site track is parallel to the side-site track;

[0012] The mobile trolley device is fixedly installed on the auxiliary support structure. The mobile trolley device includes a trolley frame and a conveyor body arranged on the trolley frame. The conveyor body includes a feeding belt and a feeding motor for driving the feeding belt. The discharge port of the conveyor body passes through the feeding port of the main frame and is located directly above the conveyor belt of the sub-frame to ensure that materials can smoothly fall from the feeding belt through the discharge port onto the conveyor belt of the sub-frame;

[0013] The intelligent control system includes:

[0014] A control cabinet, which is built with a PLC controller and a wireless communication module. The PLC controller is electrically connected to the first walking motor, the second walking motor, the third walking motor, the conveying motor and the feeding motor. The PLC controller is used to receive instructions and control the operation of the corresponding equipment;

[0015] The sensor group includes: a first displacement sensor installed on the main frame, used to detect the position of the main frame and connected to the PLC controller signal; a second displacement sensor installed on the auxiliary frame, used to detect the position of the main frame and connected to the PLC controller signal; a tension sensor set on the conveyor belt, connected to the analog input port of the PLC controller, used to detect the tension of the conveyor belt; a deviation sensor fixed on the feed belt, used to detect the deviation of the feed belt and communicate with the PLC controller;

[0016] A remote controller is wirelessly connected to the wireless communication module and is used to send control instructions to the PLC controller;

[0017] The touch screen is integrated into the surface of the control cabinet, interacts with the PLC controller data, displays the equipment operation status and sensor data in real time, receives instructions and sends the instructions to the PLC controller.

[0018] Further optimized, the remote controller is provided with: an emergency stop button: when triggered, it cuts off the power supply of all motors; a mode switching key: used for mutually exclusive switching between manual mode, automatic mode and remote control mode;

[0019] Function key group: including the first function key to control the forward and reverse rotation of the conveyor belt, the second function key to control the start and stop of the feeding motor of the mobile trolley device, the third function key to link the main frame and the auxiliary support structure to move synchronously, the fourth function key to control the movement of the auxiliary frame, and the fifth function key to control the movement of the conveyor belt of the auxiliary frame. The end position of the automatic reciprocating motion is fed back to the PLC controller through the displacement sensor, and the delay time can be set to 1-60 seconds.

[0020] Further optimized, the conveyor body also includes a centering roller correction device, which is installed under the feeding belt; the centering roller correction device includes an adjustable roller group driven by a servo motor, and the servo motor is connected to the PLC controller (301) through the CAN bus to receive the correction control instructions issued by the PLC.

[0021] Further optimized, all motors of the mechanical execution system of the stacking equipment are equipped with built-in temperature sensors, which are connected to the PLC controller to monitor the operating temperature of the motor in real time. When the temperature exceeds the preset threshold, the PLC controller automatically triggers an alarm and takes protective measures such as speed reduction or shutdown to prevent the motor from being damaged due to overheating and extend the service life of the equipment.

[0022] Further optimized, the PLC controller is also connected to a fault handling module, which performs a hierarchical response:

[0023] First-level response: When the deviation sensor detects that the feed belt deviation is ≥5mm, the centering roller correction device is activated and the feed motor is decelerated to 50-70%;

[0024] Secondary response: When the motor temperature sensor detects that the temperature ≥ 80°C, the PLC controller automatically triggers an alarm and takes protective measures such as reducing speed or stopping the machine.

[0025] Tertiary response: When the displacement sensor detects that the track positioning error ≥ 10 cm, an audible and visual alarm is triggered and a fault log containing coordinates is generated.

[0026] Further optimized, a material guiding and buffering assembly is provided between the discharge port and the feeding port. The material guiding and buffering assembly includes a corrugated pipe and a diversion plate. The diversion plate is installed inside the corrugated pipe and its inclination angle is adjustable. The inclination angle of the diversion plate can be remotely adjusted by the intelligent control system to achieve buffering and flow control during the material falling process.

[0027] Further optimized, the operation interface of the control cabinet integrates a manual operation mode and an automatic operation mode, and supports the operation switching between the local touch screen and the remote controller. The operation states of each component of the stacking equipment mechanical execution system can be controlled through the touch screen or the remote controller to achieve flexible control of the equipment. The control cabinet (300) is provided with an operation mode arbitration module. When operation instructions from the touch screen (302) and the remote controller (304) are received simultaneously, they are executed according to the following priority: emergency stop instruction > manual mode instruction > automatic mode instruction, and only one operation mode is allowed to take effect at the same time.

[0028] Further optimized, a height difference H is formed between the outlet of the feeding belt and the conveyor belt, satisfying 500 mm ≤ H ≤ 1500 mm, and the running direction of the feeding belt forms an angle of 20° - 65° with the track in the middle site.

[0029] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0030] 1. The present invention realizes the full - coverage and efficient operation of the stacking equipment in a large - scale material stacking site through the innovative integration of the main frame, sub - frame, mobile trolley device and intelligent control system. At the same time, it significantly improves the intelligent control level of the equipment and the stability of operation under complex working conditions. The main frame is equipped with the first walking wheels and the first walking motors, which can stably move back and forth on the preset edge - site track, providing a solid basic support and reliable longitudinal movement ability for the entire stacking device. The mobile trolley device is installed on the auxiliary support structure of the main frame. The auxiliary support structure is provided with the third walking wheels and the third walking motors, driving the mobile trolley device to move on the middle - site track. The discharge port of its conveyor body is accurately docked with the conveyor belt of the sub - frame, ensuring that the material can smoothly transfer from the mobile trolley device to the conveyor belt of the sub - frame. The sub - frame can move horizontally, and cooperate with the conveyor motor to drive the conveyor belt to run. When the material runs to the edge of the conveyor belt, it drops onto the stockpiling yard to be stacked, and moves on the first track through the second walking motors driving the second walking wheels, realizing stacking at any location on the edge - site track, effectively utilizing the site and making the material transportation more accurate and efficient. This unique structural design enables the stacking device to move flexibly in a large - scale material stacking site. Whether longitudinally or transversely, it can give full play to its role, greatly improving the site utilization rate, elevating the flexibility of the stacking operation to a new level, and at the same time significantly enhancing the stability and adaptability of the equipment under complex working conditions.

[0031] The intelligent control system realizes the precise control and remote monitoring of the stacking equipment through the PLC controller and the wireless communication module. The sensor group monitors the operation state of the equipment in real - time to ensure the stability and safety of the stacking operation. The combination of this unique structural design and the intelligent control system enables the stacking device to move flexibly in a large - scale material stacking site, give full play to its role, greatly improve the site utilization rate, elevate the flexibility of the stacking operation to a new level, and at the same time significantly enhance the stability and adaptability of the equipment under complex working conditions, effectively solving many problems existing in the traditional stacking system and providing strong support for modern material stacking operations.

[0032] 2. The remote controller is designed with an emergency stop button, a mode switch key, and a function key group, providing convenient and flexible control means for the operator. The emergency stop button can quickly cut off the power supply of all motors in case of emergency, ensuring the safety of the equipment and personnel. The mode switch key allows the operator to quickly switch between manual mode, automatic mode, and remote control mode according to actual needs, improving the applicability and operation flexibility of the equipment. Each key in the function key group corresponds to different control functions, such as controlling the forward and reverse rotation of the conveyor belt, realizing the automatic round-trip movement of the mobile trolley device, and synchronously moving the main frame and the sub-frame, further simplifying the operation process and improving the operation efficiency. In particular, the end position of the automatic round-trip movement is fed back to the PLC controller through a displacement sensor, and a delay time of 1 - 60 seconds can be set, achieving precise control of the automated operation, reducing manual intervention, and enhancing the stability and reliability of the operation.

[0033] 3. A centering idler deviation correction device is added to the conveyor body, which can monitor and correct the running track of the feeding belt in real time, prevent the belt from deviating or slipping during operation, and ensure that the belt always runs stably on the predetermined track. Thereby, the accuracy and reliability of material conveying are improved, the problems of material spillage and equipment wear caused by belt deviation are reduced, the overall quality and efficiency of the stacking operation are further enhanced, and the equipment failure rate and maintenance cost are lowered.

Description of the Drawings

[0034] Figure 1 Schematic diagram of the intelligent control system structure of the present invention;

[0035] Figure 2 Schematic diagram of the mechanical execution system of the stacking equipment of the present invention;

[0036] Figure 3 Schematic diagram of the sub-frame structure of the mechanical execution system of the stacking equipment of the present invention;

[0037] Figure 4 Schematic diagram of the mobile trolley device structure of the mechanical execution system of the stacking equipment of the present invention;

[0038] Figure 5 Schematic diagram of the assembled structure of the main frame and the sub-frame of the mechanical execution system of the stacking equipment of the present invention;

[0039] Figure 6 Schematic diagram of the structure of the mechanical execution system of the stacking equipment of the present invention without the mobile trolley device installed;

[0040] Figure 7 At Figure 5 Enlarged structure schematic diagram at position A;

[0041] In the attached drawings, 1 is the main frame, 11 is the main frame framework, 12 is the first track, 13 is the first traveling wheel, 15 is the auxiliary support structure, 2 is the sub-frame, 21 is the sub-frame framework, 22 is the second traveling wheel, 23 is the idler, 24 is the conveyor belt, 25 is the second traveling motor, 26 is the conveying motor, 3 is the feeding port, 151 is the third traveling wheel, 152 is the third traveling motor, 200 is the mobile trolley device, 202 is the trolley frame, 203 is the conveyor body, 204 is the feeding belt, 205 is the feeding motor, 208 is the discharging port, 209 is the guiding and buffering assembly, 300 is the control cabinet, 301 is the PLC controller, 302 is the touch screen, 303 is the wireless communication module, and 304 is the remote controller.

Detailed implementation manners

[0042] The following clearly and completely describes the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0043] It should be noted that when a component is referred to as being "fixed to" another component, it can be directly on the other component or there can also be an intermediate component. When a component is considered to be "connected" to another component, it can be directly connected to the other component or there may be an intermediate component at the same time. When a component is considered to be "disposed on" another component, it can be directly disposed on the other component or there may be an intermediate component at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are only for the purpose of illustration.

[0044] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field to which the present invention belongs. The terms used in the description of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more of the related listed items.

[0045] Embodiment 1

[0046] As Figures 1 to 7 shown, a multi-directional mobile full-site covering material stacking device and control system include a stacking device mechanical execution system and an intelligent control system;

[0047] The stacking device mechanical execution system includes:

[0048] It includes a main frame 1 and a mobile trolley device 200 installed on the main frame 1. The main frame 1 includes a main frame framework 11, a first track 12 installed on the bottom frame of the main frame framework 11, first walking wheels 13 and a first walking motor arranged at the bottoms of both ends of the main frame 1. The first walking wheels 13 travel on a preset side field track 51. The output end of the first walking motor is connected to the first walking wheels 13 to drive them to move back and forth on the side field track 51.

[0049] A sub-frame 2 that can move horizontally is arranged inside the main frame 1. The sub-frame 2 includes a sub-frame framework 21, second walking wheels 22, idler rollers 23, a conveyor belt 24, a second walking motor 25 and a conveying motor 26. The second walking wheels 22 are installed at the bottom of the sub-frame framework 21 and are driven by the second walking motor 25 to move on the first track 12. The idler rollers 23 are installed on the sub-frame framework 21 to support the conveyor belt 24. The conveying motor 26 can rotate forward or backward to drive the conveyor belt 24 to move. The length of the sub-frame 2 ≥ 1 / 2 the length of the main frame 1.

[0050] A blanking port 3 is arranged in the middle of the main frame 1. The main frame 1 further includes an auxiliary support structure 15. One end of the auxiliary support structure 15 is fixedly connected to the main frame framework 11, and the other end extends obliquely downward. A third walking wheel 151 and a third walking motor 152 for driving the third walking wheel to move are arranged at its bottom. The third walking wheel 151 travels on a middle field track 52, and the middle field track 52 is parallel to the side field track 51.

[0051] The mobile trolley device 200 is fixedly installed on the auxiliary support structure 15. The mobile trolley device 200 includes a trolley frame 202 and a conveyor body 203 arranged on the trolley frame 202. The conveyor body 203 includes a feeding belt 204 and a feeding motor 205 for driving the feeding belt 204. The discharge port 208 of the conveyor body 203 passes through the blanking port 3 of the main frame 1 and is located directly above the conveyor belt 24 of the sub-frame 2, ensuring that the material can smoothly fall from the feeding belt 204 through the discharge port 208 onto the conveyor belt 24 of the sub-frame 2.

[0052] The intelligent control system includes: a control cabinet 300, which is built-in with a PLC controller 301 and a wireless communication module 303. The PLC controller 301 is electrically connected to the first traveling motor, the second traveling motor 25, the third traveling motor 152, the conveying motor 26, and the feeding motor 205. The PLC controller 301 is used to receive instructions and control the operation of corresponding devices; a sensor group, including: a first displacement sensor installed on the main frame 1, which is used to detect the position of the main frame and is signal-connected to the PLC controller 301; a second displacement sensor installed on the sub-frame 2, which is used to detect the position of the main frame and is signal-connected to the PLC controller 301; a tension sensor arranged on the conveyor belt 24, which is connected to the analog input port of the PLC controller 301 and is used to detect the tension of the conveyor belt 24; a deviation sensor fixed on the feeding belt 204, which is used to detect the deviation of the feeding belt 204 and communicate with the PLC controller 301; a remote controller 304, which is wirelessly connected to the wireless communication module 303 and is used to send control instructions to the PLC controller 301; a touch screen 302, which is integrated on the surface of the control cabinet 300, interacts with the PLC controller 301 for data, displays the operation status of the device and sensor data in real time, accepts instructions and sends the instructions to the PLC controller 301.

[0053] More specifically, the displacement sensor installed on the main frame 1 in this embodiment is connected to the PLC controller 301 through the RS485 bus to detect the coordinate position of the main frame in real time; the tension sensor arranged on the conveyor belt 24 is connected to the analog input port of the PLC controller 301 to monitor the tension value of the conveyor belt; the deviation sensor fixed on the feeding belt 204 is connected to the PLC controller 301 through the digital input module to detect the lateral offset of the belt; the remote controller 304 is wirelessly connected to the wireless communication module 303 through the 2.4GHz frequency band and uses the AES-128 encryption protocol to send encoded control instructions to the PLC controller 301; the touch screen 302 is integrated on the surface of the control cabinet 300 and interacts with the PLC controller 301 through the Ethernet to display real-time operation parameters and receive touch operation instructions.

[0054] The PLC controller 301 is connected to the following devices through the Profinet bus: a motor drive module: controlling the start, stop and speed regulation of the first traveling motor, the second traveling motor 25, the third traveling motor 152, the conveying motor 26, and the feeding motor 205; a sensor input module: receiving real-time data from displacement sensors, tension sensors, deviation sensors, etc.; a wireless communication module: supporting dual-mode transmission of 4G and LoRa, with a communication delay ≤ 80ms and a packet loss rate < 0.05%.

[0055] In this embodiment, the first traveling motor drives the main frame 1 to move along the side track 51 to the target area, and the main frame 1 realizes longitudinal movement through the side track 51 and the middle track 52; the second traveling motor 25 drives the sub-frame 2 to move horizontally along the main frame 1; the mobile trolley device 200 is fixed on the auxiliary support structure 15 and realizes feeding to the conveyor belt 24 of the sub-frame 2, and the auxiliary support structure 15 follows the main frame 1 to move synchronously on the middle site track 52 through the third traveling wheels 151. The material is conveyed to the discharge port 208 through the feeding belt 204 of the mobile trolley device 200 and falls onto the conveyor belt 24 of the sub-frame 2 through the feeding port 3. The conveyor belt 24 finally stacks the material on the stacking site through rotation, and finally realizes the stacking operation of the material. The whole device can move flexibly in a large material stacking site, make full use of the site space, and improve the stacking efficiency and stability.

[0056] The intelligent control system collects and analyzes the data fed back by the sensor group in real time, such as the displacement data of the main frame 1, the tension data of the conveyor belt 24, the deviation data of the feeding belt 204, etc. People can control the mechanical execution system of the stacking equipment to run according to the preset program through the remote controller 304 or the touch screen 302, such as the moving speed and direction of the main frame 1, the sub-frame 2 and the mobile trolley device 200, so as to realize the automatic stacking operation of the material.

[0057] Embodiment 2

[0058] On the basis of Embodiment 1, the mechanical execution system of the stacking equipment is further optimized.

[0059] The conveyor body 203 further includes a centering idler deviation correction device, and the centering idler deviation correction device is installed under the feeding belt 204. The centering idler deviation correction device includes an adjustable roller group driven by a servo motor, and the servo motor is connected to the PLC controller 301 through the CAN bus and receives the deviation correction control instruction issued by the PLC. The addition of the centering idler deviation correction device in the conveyor body can monitor and correct the running track of the feeding belt in real time, prevent the belt from deviating or slipping during operation, and ensure that the belt always runs stably on the predetermined track. Thereby improving the accuracy and reliability of material conveying, reducing the problems of material spillage and equipment wear caused by belt deviation, further improving the overall quality and efficiency of the stacking operation, and reducing the equipment failure rate and maintenance cost.

[0060] A material guiding and buffering assembly 209 is provided between the discharge port 208 and the blanking port 3. The material guiding and buffering assembly 209 includes a corrugated pipe and a diversion plate. The diversion plate is installed inside the corrugated pipe and its inclination angle is adjustable. The inclination angle of the diversion plate can be remotely adjusted through the intelligent control system to achieve buffering and flow control during the falling process of the material. It can effectively relieve the impact force during the falling process of the material, prevent the material from flying randomly, being damaged or rebounding, and ensure the smoothness and integrity of the material transportation.

[0061] A height difference H is formed between the outlet of the feeding belt 204 and the conveyor belt 24, satisfying 500mm ≤ H ≤ 1500mm, and the running direction of the feeding belt 204 forms an angle of 20° - 65° with the middle site track 52. This design fully considers the parabolic trajectory and stacking characteristics of the material during the falling process, which can not only ensure the smooth transition of the material onto the conveyor belt 24, but also utilize the falling potential energy of the material to improve the conveying efficiency.

[0062] The auxiliary support structure includes a support cross beam and a support longitudinal beam. The support cross beam and the support longitudinal beam form a grid-like structure, and the trolley frame 202 is arranged on the grid-like structure.

[0063] The main frame frame 11 is a rectangular frame welded by high-strength steel. The surface of the frame is reinforced by several connecting steel bars to form multiple small rectangular frames. The inside of the small rectangular frames is reinforced by cross reinforcing bars, X-shaped cross reinforcing ribs or cross-shaped reinforcing bars. To ensure that the main frame 1 has sufficient strength and rigidity to withstand various loads during the stacking operation process.

[0064] The surface of the first track 12 is provided with anti-slip patterns, and the rim of the second walking wheel 22 is provided with a groove structure meshing with the anti-slip patterns. It enhances the friction and adhesion between the walking wheel and the track, effectively prevents the walking wheel from slipping or idling, improves the ground gripping performance and transmission efficiency of the walking wheel, and ensures the stability and accuracy of the main frame 1 and the sub-frame 2 during the moving process.

[0065] Embodiment 3

[0066] On the basis of Embodiment 1, the intelligent control system is further optimized.

[0067] The remote controller 304 is provided with: an emergency stop button: when triggered, it cuts off the power supply of all motors; a mode switching key: used for mutually exclusive switching among a manual mode, an automatic mode, and a remote control mode; a function key group: including a first function key to control the forward and reverse rotation of the conveyor belt 24, a second function key to control the start and stop of the feeding motor 205 of the mobile trolley device 200, a third function key to link the synchronous movement of the main vehicle frame 1 and the auxiliary support structure 15, a fourth function key to control the movement of the sub-vehicle frame 2, and a fifth function key to control the movement of the conveyor belt 24 of the sub-vehicle frame 2. The end positions of the automatic reciprocating movement are fed back to the PLC controller 301 through displacement sensors, and the delay time can be set from 1 to 60 seconds.

[0068] All motors of the mechanical execution system of the stacking equipment are internally provided with temperature sensors, which are connected to the PLC controller 301 to monitor the operating temperature of the motors in real time. When the temperature exceeds the preset threshold, the PLC controller 301 automatically triggers an alarm and takes protection measures such as reducing speed or stopping to prevent the motors from being damaged due to overheating and extend the service life of the equipment. The temperature sensor of the motor is a PT100 thermal resistor, which is converted into a 4-20 mA signal through a temperature transmitter and connected to the analog input module of the PLC controller 301. The preset threshold is divided into two levels: the first-level threshold triggers an alarm, and the second-level threshold triggers a stop; in this embodiment, the preset threshold is divided into two levels: the first-level threshold of 75 °C triggers an alarm, and the second-level threshold of 85 °C triggers a stop; the preset threshold can be modified accordingly according to different usage scenarios.

[0069] The PLC controller 301 is also connected to a fault handling module 310, which executes hierarchical responses: the first-level response: when the deviation sensor detects that the offset of the feeding belt 204 is ≥ 5 mm, the centering idler deviation correction device is activated and the feeding motor 205 is decelerated to 50-70%; the second-level response: when the motor temperature sensor detects that the temperature ≥ 80 °C, the PLC controller 301 automatically triggers an alarm and takes protection measures such as reducing speed or stopping; the third-level response: when the displacement sensor detects that the track positioning error ≥ 10 cm, an audible and visual alarm is triggered and a fault log containing coordinates is generated. This hierarchical response mechanism significantly improves the fault handling ability and operating stability of the equipment, and reduces the maintenance difficulty and cost of the equipment.

[0070] The operation interface of the control cabinet 300 integrates a manual operation mode and an automatic operation mode, and supports the operation switching between the local touch screen 302 and the remote controller 304. The operating states of each component of the mechanical execution system of the stacking equipment can be controlled through the touch screen 302 or the remote controller 304; the control cabinet 300 is provided with an operation mode arbitration module. When operation instructions from both the touch screen 302 and the remote controller 304 are received simultaneously, they are executed according to the following priority: emergency stop instruction > manual mode instruction > automatic mode instruction, and only one operation mode is allowed to take effect at the same time.

[0071] The control cabinet 300 is provided with an external interface module, which supports the following extended connections:

[0072] Ethernet interface: Communicate with the host computer and upload operation data including but not limited to energy consumption, stacking quantity, and fault records;

[0073] RS485 interface: Connect to the weather station to lock the movement of the main frame (1) when the wind speed ≥ level 8;

[0074] Analog input interface: Connect to the material composition analyzer and dynamically adjust the conveyor belt speed according to the density ρ.

[0075] In the manual operation mode, the operator can control the operating states of the components of the stacking equipment mechanical execution system through the touch screen 302 or the remote controller 304. For example, in the manual control screen of the touch screen 302, click the operation button of the corresponding device to start or stop the corresponding device; when using the remote controller 304, press the corresponding button to control the start and stop of the device.

[0076] In the automatic control mode, after the operator enables the automatic control mode through the touch screen 302 or the remote controller 304, the PLC controller 301 controls according to the preset program

[0077] the operation, automatically adjusts the moving speeds and directions of the main frame 1, the sub-frame 2, and the mobile trolley device 200, and realizes the automatic stacking operation of the material.

[0078] The intelligent control system continuously collects and analyzes the data fed back by the sensor group, such as the displacement data of the main frame 1, the tension data of the conveyor belt 24, the deviation data of the feeding conveyor belt 204, etc. When it is detected that the feeding conveyor belt 204 is deviated, the PLC controller 301 automatically activates the centering idler deviation correction device for correction; when the motor temperature exceeds the preset threshold, an alarm is automatically triggered and protection measures such as speed reduction or shutdown are taken; when the displacement sensor detects that the displacement error is too large, an audible and visual alarm is triggered and a fault log is generated.

[0079] The multi-directional mobile full-site coverage material stacking equipment and control system of this embodiment realize the full-site coverage and efficient operation of the stacking equipment in a large material stacking site by optimizing the mechanical structure design of the stacking equipment and integrating the intelligent control system, and significantly improve the site utilization rate and the stability and adaptability of the equipment under complex working conditions.

[0080] The above description is a detailed description of the preferred and feasible embodiment of the present invention, but the embodiment is not intended to limit the patent application scope of the present invention. Any equivalent changes or modifications completed under the technical spirit prompted by the present invention shall fall within the patent scope covered by the present invention.

Claims

1. A multi-directional mobile full-site covering material stacking equipment and control system, characterized in that: Including mechanical execution system and intelligent control system of stacking equipment, The mechanical execution system of the stacking equipment comprises: It comprises a main frame (1) and a moving trolley device (200) installed on the main frame (1). The main frame (1) comprises a main frame frame (11), a first track (12) mounted on a bottom frame of the main frame frame (11), first running wheels (13) and a first running motor arranged at the bottom of both ends of the main frame (1), wherein the first running wheels (13) run on a preset side track (51); an output end of the first running motor is connected to the first running wheel (13) to drive the first running wheel (13) to move back and forth on the side track (51); A sub-frame (2) that can move laterally is arranged in the main frame (1), and the sub-frame (2) comprises a sub-frame frame (21), a second traveling wheel (22), a roller (23), a conveyor belt (24), a second traveling motor (25) and a conveying motor (26); the second traveling wheel (22) is mounted on the bottom of the sub-frame frame (21) and is driven by the second traveling motor (25) to move on the first track (12); the roller (23) is mounted on the sub-frame frame (21) to support the conveyor belt (24); the conveying motor (26) can rotate forward or reverse to drive the conveyor belt (24) to move; the length of the sub-frame (2) is ≥ 1 / 2 of the length of the main frame (1); A material discharge port (3) is provided in the middle of the main frame (1), and the main frame (1) further comprises an auxiliary support structure (15), one end of the auxiliary support structure (15) is fixedly connected to the main frame frame (11), and the other end of the auxiliary support structure (15) extends downwardly at an angle, and a third running wheel (151) and a third running motor (152) for driving the third running wheel to move are provided at the bottom thereof, and the third running wheel (151) runs on a middle field track (52), and the middle field track (52) and the side field track (51) are parallel to each other; The mobile trolley device (200) is fixedly mounted on the auxiliary support structure (15), and the mobile trolley device (200) comprises a trolley frame (202) and a conveyor body (203) arranged on the trolley frame (202), and the conveyor body (203) comprises a feeding belt (204) and a feeding motor (205) for driving the feeding belt (204), and a discharge port (208) of the conveyor body (203) passes through a discharge port (3) of the main frame (1) and is located directly above the conveyor belt (24) of the auxiliary frame (2), so as to ensure that the material can smoothly fall from the feeding belt (204) through the discharge port (208) onto the conveyor belt (24) of the auxiliary frame (2); The intelligent control system comprises: A control cabinet (300) having a built-in PLC controller (301) and a wireless communication module (303), wherein the PLC controller (301) is electrically connected to a first travel motor, a second travel motor (25), a third travel motor (152), a conveying motor (26), and a feeding motor (205), and the PLC controller (301) is used to receive instructions and control the operation of corresponding equipment; The sensor group comprises: a first displacement sensor installed on a main frame (1), used for detecting the position of the main frame and connected to a PLC controller (301) by signal; a second displacement sensor installed on a sub-frame (2), used for detecting the position of the main frame and connected to a PLC controller (301) by signal; a tension sensor arranged on a conveyor belt (24), connected to an analog input port of the PLC controller (301), used for detecting the tension of the conveyor belt (24); a deviation sensor fixed on a feeder belt (204), used for detecting the deviation of the feeder belt (204) and communicating with the PLC controller (301); A remote controller (304) is wirelessly connected to the wireless communication module (303) and is used to send control instructions to the PLC controller (301); The touch screen (302) is integrated on the surface of the control cabinet (300), interacts with the PLC controller (301) in data, displays the equipment operation status and sensor data in real time, receives instructions and sends the instructions to the PLC controller (301).

2. A multi-directional mobile full-field covering material stacking equipment and control system according to claim 1, characterized in that: The remote controller (304) is provided with: Emergency stop button: cuts off the power supply to all motors when triggered; Mode switch key: used to switch between manual mode, automatic mode and remote control mode; The function key group comprises a first function key for controlling the forward and reverse rotation of the conveyor belt (24), a second function key for controlling the start and stop of the feeding motor (205) of the mobile trolley device (200), a third function key for linking the main frame (1) and the auxiliary support structure (15) for synchronous movement, a fourth function key for controlling the movement of the auxiliary frame (2), and a fifth function key for controlling the movement of the conveyor belt (24) of the auxiliary frame (2). The terminal position of the automatic reciprocating movement is fed back to the PLC controller (301) through a displacement sensor, and the delay time can be set to 1-60 seconds.

3. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 1 is characterized in that: The conveyor body (203) also includes a centering roller correction device, which is installed below the feeding belt (204); the centering roller correction device includes an adjustable roller group driven by a servo motor, and the servo motor is connected to the PLC controller (301) to receive the correction control instructions issued by the PLC.

4. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 3 is characterized in that: All motors of the mechanical execution system of the stacking equipment are equipped with built-in temperature sensors, which are connected to the PLC controller (301) to monitor the operating temperature of the motor in real time. When the temperature exceeds a preset threshold, the PLC controller (301) automatically triggers an alarm and takes protective measures such as speed reduction or shutdown to prevent the motor from being damaged due to overheating and extend the service life of the equipment.

5. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 4, characterized in that: The PLC controller (301) is also connected to a fault processing module, which performs a hierarchical response: First-level response: when the deviation sensor detects that the deviation of the feeding belt (204) is ≥5 mm, the centering roller deviation correction device is activated and the feeding motor (205) is reduced in speed to 50-70%; Secondary response: When the motor temperature sensor detects a temperature ≥ 80°C, the PLC controller (301) automatically triggers an alarm and takes protective measures such as speed reduction or shutdown; Level 3 response: When the displacement sensor detects a track positioning error of ≥10cm, an audible and visual alarm is triggered and a fault log containing coordinates is generated.

6. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 1, characterized in that: A material guide buffer assembly (209) is provided between the discharge port (208) and the feed port (3), and the material guide buffer assembly (209) comprises a bellows and a guide plate, wherein the guide plate is installed in the bellows and has an adjustable inclination angle; the guide plate can remotely adjust the inclination angle of the guide plate through an intelligent control system, thereby achieving buffering and flow control during the material falling process.

7. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 1, characterized in that: The operation interface of the control cabinet (300) integrates a manual operation mode and an automatic operation mode, and supports operation switching between a local touch screen (302) and a remote controller (304). The operation status of each component of the mechanical execution system of the stacking equipment can be controlled through the touch screen (302) or the remote controller (304). The control cabinet (300) is provided with an operation mode arbitration module. When operation instructions from the touch screen (302) and the remote controller (304) are received simultaneously, the following priority is used for execution: emergency stop instruction>manual mode instruction>automatic mode instruction, and only one operation mode is allowed to take effect at the same time.

8. The multi-directional mobile full-field covering material stacking equipment and control system according to claim 1, characterized in that: A height difference H is formed between the outlet of the feeding belt (204) and the conveyor belt (24), satisfying 500mm≤H≤1500mm, and the running direction of the feeding belt (204) forms an angle of 20°-65° with the middle site track (52).

Images