Coal bunker dynamic unblocking device and method based on bionic and digital twinning

Abstract

The invention belongs to the technical field of coal bunker unblocking, and aims to solve the problem that the coal bunker is inconvenient to clean due to the conditions that the coal bunker is blocked by large coal blocks and pulverized coal is adhered to the wall of a conical coal discharging bunker and the like. The invention provides a coal bunker dynamic unblocking device and method based on bionic and digital twinning. The coal bunker dynamic unblocking device comprises a bionic conical coal discharging bunker, a longitudinal telescopic mechanism, a scaling and torsional pendulum mechanism, a spiral wriggling mechanism and a material monitoring and decision-making module. The material monitoring and decision-making module is installed on the outer surface of the bionic conical coal discharging bin and used for monitoring strain signals of the bionic conical coal discharging bin and controlling the longitudinal telescopic mechanism, the scaling and torsional pendulum mechanism and the spiral wriggling mechanism to act based on the strain signals, and contraction, relaxation, torsion, bending and wriggling of the bionic conical coal discharging bin are achieved. The flexible bionic conical coal discharging bin is designed on the basis of the bionic principle of intestinal tract movement and snake mouth stretching, and the risk of coal blockage is avoided by referring to the bionic principle.

Description

Technical Field

[0001] The present invention belongs to the technical field of coal bunker plugging removal, and particularly relates to a dynamic coal bunker plugging removal device and method based on bionics and digital twin. Background Art

[0002] Coal bunkers are used to store pulverized coal and coal lumps. A belt conveyor is often connected to the lower part of the coal bunker, and coal lumps, pulverized coal, etc. are transported to the required equipment, such as the furnace of a thermal power plant, through a conical coal discharging bunker. However, when taking coal from the coal bunker, blockages often occur at the conical coal discharging bunker due to large coal blocks, or due to excessive moisture caused by wet weather, the pulverized coal adheres to the wall of the conical coal discharging bunker, reducing the internal passage and causing blockages.

[0003] Most coal bunkers still adopt the method of manual coal cleaning. Although no special equipment is required, it is time-consuming and laborious, and the working environment of workers is harsh. Another solution is to install vibration equipment, stirring equipment, etc. inside the coal bunker for cleaning. This method has a certain effect. However, if the equipment fails, it is extremely inconvenient to repair because the coal in the coal bunker needs to be cleared out. Summary of the Invention

[0004] In order to solve at least one of the above technical problems existing in the prior art, the present invention provides a dynamic coal bunker plugging removal device and method based on bionics and digital twin.

[0005] The present invention is implemented by adopting the following technical solutions: A dynamic coal bunker plugging removal device based on bionics and digital twin includes a bionic conical coal discharging bunker, a longitudinal telescopic mechanism, a scaling and torsion mechanism, a spiral peristaltic mechanism, and a material monitoring and decision-making module; the bionic conical coal discharging bunker is a flexible structure, located between the upper and lower discs of the longitudinal telescopic mechanism, and can realize axial telescoping along the disc under the drive of the telescopic member of the longitudinal telescopic mechanism; the scaling and torsion mechanism is installed between the discharge end of the bionic conical coal discharging bunker and the lower disc of the longitudinal telescopic mechanism, and the scaling and torsion mechanism is used to control the opening degree and torsion angle of the discharge port of the bionic conical coal discharging bunker; the spiral track of the spiral peristaltic mechanism surrounds the outer periphery of the bionic conical coal discharging bunker and is connected to the upper disc of the longitudinal telescopic mechanism, and the peristaltic mechanism of the spiral peristaltic mechanism can move on the spiral track and generate a peristaltic squeezing force on the bionic conical coal discharging bunker; the material monitoring and decision-making module is installed on the outer surface of the bionic conical coal discharging bunker, used to monitor the strain signal of the bionic conical coal discharging bunker, and control the longitudinal telescopic mechanism, the scaling and torsion mechanism, and the spiral peristaltic mechanism to act based on the strain signal, so as to realize the contraction, relaxation, torsion, bending, and peristalsis of the bionic conical coal discharging bunker.

[0006] Preferably, the bionic conical coal discharging bunker is made of high-strength wear-resistant rubber material, and reinforcing ribs are arranged inside; the diameter of the feed inlet of the bionic conical coal discharging bunker is larger than that of the discharge outlet.

[0007] Preferably, the longitudinal telescopic mechanism includes a telescopic member, an upper disc body and a lower disc body. The upper disc body is fixed at the feeding end of the bionic conical coal discharging bin, and a channel matching the feeding end is provided at the central position. The telescopic member includes a plurality of telescopic oil cylinders arranged at intervals along the outer circumference of the disc body. The lower disc body is connected below the upper disc body through the telescopic oil cylinders, and a channel matching the discharging end is provided at the central position.

[0008] Preferably, a plurality of scaling and swinging mechanisms are arranged at intervals along the circumference of the lower disc body. The scaling and swinging mechanism includes a scaling and swinging hydraulic cylinder, a swinging motor, a swinging bracket and a swinging sliding groove. The swinging sliding groove is located on the circumference of a virtual circle with the center of the lower disc body as the center and one of the radii. The swinging sliding groove is an arc-shaped groove. The two ends of the scaling and swinging hydraulic cylinder are respectively rotatably connected to the discharging end of the bionic conical coal discharging bin and the swinging bracket. The swinging bracket is slidably arranged in the swinging sliding groove and is driven by the swinging motor. A driving wheel connected to the output shaft of the swinging motor is arranged at the lower end of the swinging bracket.

[0009] Preferably, the spiral peristaltic mechanism includes a spiral track, a track fixing frame and a peristaltic mechanism. The spiral track is connected to the upper disc body of the longitudinal telescopic mechanism through the track fixing frame. The peristaltic mechanism includes a peristaltic body, a peristaltic hydraulic cylinder, a swing arm, a peristaltic motor, a rotating triangular frame and peristaltic wheels. Three peristaltic wheels are rotatably connected in a triangular shape on the inner layer of the rotating triangular frame. The swing arm is rotatably connected between the peristaltic body and the rotating triangular frame. The two ends of the peristaltic hydraulic cylinder are respectively rotatably connected to the peristaltic body and the swing arm. The driving shaft of the peristaltic motor is key-connected to the central shaft of the rotating triangular frame. The peristaltic motor is used to drive the rotating triangular frame to rotate around its center to provide a rotating force for the peristaltic wheels, and the peristaltic hydraulic cylinder is used to drive the swing arm to rotate at a small angle.

[0010] Preferably, the material monitoring and decision-making module includes strain gauges and a digital twin control module. A plurality of strain gauges are evenly arranged in layers along the circumference of the bionic conical coal discharging bin. The digital twin control module controls the actions of the longitudinal telescopic mechanism, the scaling and swinging mechanism and the spiral peristaltic mechanism based on the strain signals collected by the strain gauges at the bionic conical coal discharging bin.

[0011] In the second aspect of the present invention, a dynamic coal bunker blockage clearing method based on bionics and digital twin is further provided, including the following steps:

[0012] Based on the multi-body system dynamics-discrete element software, a rigid-flexible-discrete coupling model of the dynamic blockage clearing device is established, and the simulation of the dynamic coal bunker blockage clearing is carried out;

[0013] Taking the motion state of coal particles in the simulation process as the input, and the total strain values of the corresponding bionic conical coal discharging bunker as the target, a convolutional neural network is used for fitting to obtain the corresponding relationship between the strain values and the internal coal particles. According to the strain values, the fault conditions of coal blockage and coal powder adhesion inside are judged, as well as the motion state of coal particles inside under normal conditions, so as to complete the establishment of the digital twin system;

[0014] In the digital twin system, based on the deep reinforcement learning algorithm, the longitudinal telescopic system, the scaling and swing system, and the spiral peristaltic system cooperate to complete the bionic actions of contraction, relaxation, torsion, bending, and peristalsis. Taking the strain values corresponding to the smooth coal discharging of coal particles inside, the peristalsis after coal blockage and the smooth coal discharging after peristalsis as the target for training, the best actions are decided;

[0015] Obtain the real-time strain values of the strain gauges at the bionic conical coal discharging bunker, input the real-time strain values into the digital twin system. The digital twin system monitors the motion state of coal particles in the current bionic conical coal discharging bunker in real time, and decides the best motion state and feedbacks it to the longitudinal telescopic system, the scaling and swing system, and the spiral peristaltic system in the real world for actions.

[0016] Preferably, in the rigid-flexible-dispersive coupling model of the dynamic plugging removal device, the bionic conical coal discharging bunker is built as a flexible body, and the longitudinal telescopic mechanism, the scaling and swing mechanism, the spiral peristaltic mechanism, and the strain gauges are rigid bodies. The discrete element method is used to restore the real shape and material properties of coal blocks, simulate the situations of coal blockage, smooth coal discharging, smooth coal discharging after peristalsis after coal blockage, and failure to smoothly discharge coal after peristalsis after coal blockage, and conduct simulation analysis, recording the strain values under each simulation.

[0017] Preferably, based on the original diameter D of the discharge port of the flexible bionic conical coal bunker, the diameters of coal particles are set to 0.1D, 0.2D, 0.3D... D, and the shapes of coal particles are randomly generated according to the real situation;

[0018] Carry out simulation. Through simulation, the strain values under different working conditions of smooth coal discharging, coal blockage, and smooth coal discharging after peristalsis after coal blockage can be obtained; a convolutional neural network is used for fitting to obtain the non-linear relationship between the strain values and the internal coal particles.

[0019] Preferably, the digital twin system re-judges the monitored state every 0.5 s to adjust the action strategy in real time, and the deep reinforcement learning algorithm is the Deep Deterministic Policy Gradient algorithm.

[0020] Compared with the prior art, the beneficial effects of the present invention are:

[0021] Based on the bionic principles of intestinal peristalsis and snake mouth stretching, a flexible bionic conical coal bunker is designed, and the risk of coal blockage is avoided by referring to the bionic principles. The damage such as tearing of the flexible bionic conical coal bunker during the extrusion process is avoided by means of screw extrusion.

[0022] Based on digital twin technology, the movement state of coal blocks in the coal bunker is monitored in real time, providing data support for the control strategy, enabling the judgment of whether blockage occurs inside without the need to open holes or use expensive instruments for monitoring. The use of strain gauges has the characteristic of low cost.

[0023] Based on the deep reinforcement learning algorithm, the movement of the control system is controlled. This scheme belongs to a pure data-driven strategy, without the need to establish a complex mechanism mathematical model, and has the characteristics of low development cost and high efficiency. And the adjustment of the control strategy is set once every 0.5 s, which is a dynamic process and is conducive to timely discovery of the risk of blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0025] Figure 1 It is the overall structure diagram of the present invention;

[0026] Figure 2 It is the schematic diagram of the dynamic blockage clearing device of the present invention;

[0027] Figure 3 It is the schematic diagram of the scaling and torsional pendulum system of the present invention;

[0028] Figure 4 It is the schematic diagram of the screw peristalsis system of the present invention

[0029] Figure 5 It is the schematic diagram of the peristaltic device of the present invention (first perspective);

[0030] Figure 6 It is the schematic diagram of the peristaltic device of the present invention (second perspective).

[0031] In the figure: 1 - bionic conical coal discharging bunker; 2.1 - telescopic member; 2.2 - upper disc body; 2.3 - lower disc body; 3.1 - spiral track; 3.2 - track fixing bracket; 3.3 - peristaltic body; 3.4 - peristaltic hydraulic cylinder; 3.5 - swing arm; 3.6 - peristaltic motor; 3.7 - rotating tripod; 3.8 - peristaltic wheel; 4.1 - scaling and swinging hydraulic cylinder; 4.2 - swinging motor; 4.3 - swinging support; 4.4 - swinging sliding groove; 5 - strain gauge; 6 - coal bunker. Specific implementation mode

[0032] Combined with the accompanying drawings in the embodiments of the present invention, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts belong to the scope protected by the present invention.

[0033] It should be noted that the structures, ratios, sizes, etc. shown in the drawings of this specification are only used to cooperate with the content disclosed in the specification for those who are familiar with this technology to understand and read, and are not used to limit the limited conditions under which the present invention can be implemented. Therefore, they do not have technical essence. Any modification of the structure, change of the proportional relationship or adjustment of the size, without affecting the effects that the present invention can produce and the purposes that can be achieved, should fall within the scope covered by the technical content disclosed in the present invention. It should be noted that in this specification, relational terms such as first and second are only used to distinguish one entity from several other entities, and do not necessarily require or imply any actual relationship or order between these entities.

[0034] The present invention provides an embodiment:

[0035] As Figures 1 to 6As shown in the figure, a dynamic coal bunker plugging removal device based on bionics and digital twin includes a bionic conical coal discharging bunker 1, a longitudinal telescopic mechanism, a scaling and torsion mechanism, a spiral peristaltic mechanism, and a material monitoring and decision-making module; the bionic conical coal discharging bunker 1 is a flexible structure located between the upper and lower discs of the longitudinal telescopic mechanism, and can realize telescoping along the axial direction of the disc under the drive of the telescopic member 2.1 of the longitudinal telescopic mechanism; the scaling and torsion mechanism is installed between the discharge end of the bionic conical coal discharging bunker 1 and the lower disc 2.3 of the longitudinal telescopic mechanism, and the scaling and torsion mechanism is used to control the opening degree and torsion angle of the discharge port of the bionic conical coal discharging bunker 1; the spiral track 3.1 of the spiral peristaltic mechanism surrounds the outer periphery of the bionic conical coal discharging bunker 1 and is connected to the upper disc 2.2 of the longitudinal telescopic mechanism, and the peristaltic mechanism of the spiral peristaltic mechanism can move on the spiral track 3.1 and generate a peristaltic-like squeezing force on the bionic conical coal discharging bunker 1; the material monitoring and decision-making module is installed on the outer surface of the bionic conical coal discharging bunker 1, and is used to monitor the strain signal of the bionic conical coal discharging bunker 1, and control the longitudinal telescopic mechanism, the scaling and torsion mechanism, and the spiral peristaltic mechanism to act based on the strain signal, so as to realize the contraction, relaxation, torsion, bending and peristalsis of the bionic conical coal discharging bunker 1.

[0036] In this embodiment, the bionic conical coal discharging bunker 1 is made of high-strength wear-resistant rubber material, and is internally provided with reinforcing ribs; the diameter of the feeding port of the bionic conical coal discharging bunker 1 is larger than that of the discharging port, and it can withstand the impact and wear of the coal flow. The bionic conical coal discharging bunker can imitate the intestinal peristalsis principle under the drive of the spiral peristaltic system, so that the coal blocks can be smoothly discharged. Under the drive of the scaling and torsion system, it simulates the flexible telescoping of the snake's mouth to realize automatic adjustment of the opening size and reduce the accumulation of coal blocks. With the coordinated cooperation of the longitudinal telescopic system, the scaling and torsion system, and the spiral peristaltic system, multi-modal movements can be carried out, including contraction, relaxation, torsion, bending and peristalsis, effectively dredging the coal flow and preventing blockage.

[0037] The longitudinal telescopic mechanism includes a telescopic member 2.1, an upper disc 2.2 and a lower disc 2.3. The upper disc 2.2 is fixed at the feeding end of the bionic conical coal discharging bunker 1 and has a channel matching the feeding end at the central position. The telescopic member 2.1 includes multiple telescopic oil cylinders arranged at intervals along the outer periphery of the disc. The lower disc 2.3 is connected below the upper disc 2.2 through the telescopic oil cylinder and has a channel matching the discharging end at the central position.

[0038] Multiple zooming and swaying mechanisms are arranged at intervals along the circumference of the lower plate 2.3, and the zooming and swaying mechanisms include a zooming and swaying hydraulic cylinder 4.1, a swaying motor 4.2, a swaying bracket 4.3, and a swaying sliding groove 4.4; the swaying sliding groove 4.4 is located on the circumference of a virtual circle with the center of the lower plate 2.3 as the center and one of the radii as the center, and the swaying sliding groove 4.4 is an arc groove, and the two ends of the zooming and swaying hydraulic cylinder 4.1 are respectively connected to the discharge end of the bionic conical coal bin 1 and the swaying bracket 4.3 for rotation, and the swaying bracket 4.3 is slidably arranged in the swaying sliding groove 4.4 and driven by the swaying motor 4.2, and the lower end of the swaying bracket 4.3 is provided with a driving wheel connected to the output shaft of the swaying motor 4.2. The swaying bracket 4.3 and the swaying sliding groove 4.4 are connected by a concave-convex groove sliding connection to limit the movement of the swaying bracket 4.3 in the vertical direction, so as to avoid flying out of the swaying sliding groove 4.4 when swaying.

[0039] By scaling and retracting the torsion hydraulic cylinder 4.1, the opening of the bionic conical coal bunker can be made to have different opening sizes like a snake's mouth. When the torsion bracket slides to different positions of the torsion sliding groove, the bionic conical coal bunker can be twisted to different degrees, so that the coal powder stuck inside can fall off.

[0040] The spiral peristaltic mechanism comprises a spiral track 3.1, a track fixing frame 3.2 and a peristaltic mechanism; the spiral track 3.1 is connected to the upper plate body 2.2 of the longitudinal telescopic mechanism through the track fixing frame 3.2; the peristaltic mechanism comprises a peristaltic body 3.3, a peristaltic hydraulic cylinder 3.4, a swing arm 3.5, a peristaltic motor 3.6, a rotating tripod 3.7 and a peristaltic wheel 3.8, the three peristaltic wheels 3.8 are rotatably connected to the inner layer of the rotating tripod 3.7 in a triangular shape, the swing arm 3.5 is rotatably connected between the peristaltic body 3.3 and the rotating tripod 3.7, the two ends of the peristaltic hydraulic cylinder 3.4 are rotatably connected to the peristaltic body 3.3 and the swing arm 3.5 respectively, the driving shaft of the peristaltic motor 3.6 is keyed to the central axis of the rotating tripod 3.7, the peristaltic motor 3.6 is used to drive the rotating tripod 3.7 to rotate around its center to provide rotational force for the peristaltic wheel 3.8, and the peristaltic hydraulic cylinder 3.4 is used to drive the swing arm to rotate at a small angle. The flexible bionic conical coal discharge bin 1 generates a creeping squeezing force on the coal blocks inside the bin, so that the blocked coal blocks inside can be smoothly discharged or broken into small coal particles.

[0041] The material monitoring and decision-making module includes a strain gauge 5 and a digital twin control module. The multiple strain gauges 5 are evenly and layeredly arranged along the circumference of the bionic conical coal bin 1, divided into 3 layers, with 6 evenly distributed on each layer, and are arranged in the strain gauge installation groove; the digital twin control module controls the longitudinal telescopic mechanism, the scaling and torsion mechanism, and the spiral peristaltic mechanism based on the strain signal at the bionic conical coal bin 1 collected by the strain gauge 5.

[0042] In the second aspect of the present invention, there is also provided a dynamic coal bunker plugging removal method based on bionics and digital twin, including the following steps:

[0043] S1: Based on the multi-body system dynamics-discrete element software, establish a rigid-flexible-discrete coupling model of the dynamic plugging removal device, and conduct simulation of dynamic coal bunker plugging removal; in the rigid-flexible-discrete coupling model of the dynamic plugging removal device, the bionic conical coal discharging bunker 1 is built as a flexible body, the longitudinal telescopic mechanism, the scaling and torsion mechanism, the spiral peristaltic mechanism and the strain gauge 5 are rigid bodies, and the discrete element method is used to restore the true shape and material properties of the coal blocks, simulate the situations of coal blockage, smooth coal discharging, smooth coal discharging after peristalsis after blockage, and failure to smoothly discharge coal after peristalsis after blockage, and conduct simulation analysis, recording the strain values under each simulation.

[0044] S2: Taking the motion state of coal particles in the simulation process as the input, the total strain values of the corresponding bionic conical coal discharging bunker as the target, and fitting with a convolutional neural network to obtain the corresponding relationship between the strain values and the internal coal particles, and judging whether there are fault conditions such as coal blockage and coal powder adhesion inside according to the strain values, as well as the motion state of coal particles inside under normal conditions, to complete the establishment of the digital twin system;

[0045] Specifically, in the simulation, the size of the coal particles is defined by oneself, and any size or shape can be set, but it needs to be set according to the coal particles in the real coal bunker. With different coal particles, the strain values under different coal particles will be automatically output based on the rigid-flexible-discrete coupling model. During the simulation, a single variable is controlled. Based on the original diameter D of the discharge port of the flexible bionic conical coal bunker, the coal particle diameters are set to 0.1D, 0.2D, 0.3D... D, and the shapes of the coal particles are randomly generated according to the actual situation; conduct simulation, and through the simulation, the strain values under different working conditions of smooth coal discharging, coal blockage, and smooth coal discharging after peristalsis after blockage can be obtained; use a convolutional neural network for fitting to obtain the non-linear relationship between the strain values and the internal coal particles.

[0046] S3: In the digital twin system, based on the deep reinforcement learning algorithm, control the longitudinal telescopic system, the scaling and torsion system, and the spiral peristaltic system to cooperate to complete the bionic actions of contraction, relaxation, torsion, bending and peristalsis, and train with the strain values corresponding to smooth coal discharging of coal particles inside and smooth coal discharging after peristalsis after blockage as the target to make a decision on the best action; the deep reinforcement learning algorithm is the Deep Deterministic Policy Gradient algorithm.

[0047] S4: Obtain the real-time strain value of the strain gauge at the bionic conical coal discharge bunker, input the real-time strain value into the digital twin system. The digital twin system monitors the motion state of the coal particles in the current bionic conical coal discharge bunker in real time, and decides the optimal motion state and feeds it back to the longitudinal telescopic system, scaling and swinging system, and spiral peristaltic system in the real world for action. The digital twin system re-judges the monitored state every 0.5 s to adjust the action strategy in real time and avoid the risk of blockage.

[0048] As described above, it is only the preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claimed rights.

Claims

1. A coal bunker dynamic blockage clearing device based on bionics and digital twins, characterized by: It includes a bionic conical coal bunker (1), a longitudinal telescopic mechanism, a zoom and torsion mechanism, a spiral peristaltic mechanism and a material monitoring and decision-making module; The bionic conical coal discharge bin (1) is a flexible structure, located between the upper and lower disks of the longitudinal telescopic mechanism, and can be telescoped along the axial direction of the disk under the drive of the telescopic member (2.1) of the longitudinal telescopic mechanism; the zooming and torsion mechanism is installed between the discharge end of the bionic conical coal discharge bin (1) and the lower disk (2.3) of the longitudinal telescopic mechanism, and the zooming and torsion mechanism is used to control the opening and closing degree and torsion angle of the discharge port of the bionic conical coal discharge bin (1); the spiral track (3.1) of the spiral peristaltic mechanism surrounds the outer periphery of the bionic conical coal discharge bin (1) The spiral peristaltic mechanism is connected to the upper disk (2.2) of the longitudinal telescopic mechanism, and the peristaltic mechanism of the spiral peristaltic mechanism can move on the spiral track (3.1) and generate a peristaltic squeezing force on the bionic conical coal bunker (1); the material monitoring and decision-making module is installed on the outer surface of the bionic conical coal bunker (1), and is used to monitor the strain signal of the bionic conical coal bunker (1), and control the longitudinal telescopic mechanism, the scaling and torsion mechanism, and the spiral peristaltic mechanism based on the strain signal, so as to realize the contraction, relaxation, torsion, bending and peristalsis of the bionic conical coal bunker (1).

2. According to claim 1, a coal bunker dynamic blockage clearing device based on bionics and digital twins is characterized by: The bionic conical coal bunker (1) is made of a high-strength wear-resistant rubber material and is provided with reinforcing ribs inside; the diameter of the feed port of the bionic conical coal bunker (1) is greater than the diameter of the discharge port.

3. According to claim 1, a coal bunker dynamic blockage clearing device based on bionics and digital twins is characterized by: The longitudinal telescopic mechanism comprises a telescopic member (2.1), an upper disc body (2.2) and a lower disc body (2.3); the upper disc body (2.2) is fixed to the feeding end of the bionic conical coal bin (1) and has a channel matching the feeding end at the center; the telescopic member (2.1) comprises a plurality of telescopic oil cylinders arranged at intervals along the outer periphery of the disc body; the lower disc body (2.3) is connected to the lower side of the upper disc body (2.2) through the telescopic oil cylinder and has a channel matching the discharging end at the center.

4. According to claim 1, a coal bunker dynamic blockage clearing device based on bionics and digital twins is characterized by: A plurality of zooming and twisting mechanisms are arranged at intervals along the circumference of the lower disk (2.3), and the zooming and twisting mechanisms include a zooming and twisting hydraulic cylinder (4.1), a twisting motor (4.2), a twisting bracket (4.3), and a twisting sliding groove (4.4); the twisting sliding groove (4.4) is located on the circumference of a virtual circle with a radius having the center of the lower disk (2.3) as the center of the circle, and the twisting sliding groove (4.4) is an arc groove; the two ends of the zooming and twisting hydraulic cylinder (4.1) are respectively rotatably connected to the discharge end of the bionic conical coal discharge bin (1) and the twisting bracket (4.3); the twisting bracket (4.3) is slidably arranged in the twisting sliding groove (4.4) and driven by the twisting motor (4.2); and the lower end of the twisting bracket (4.3) is provided with a driving wheel connected to the output shaft of the twisting motor (4.2).

5. The coal bunker dynamic blockage clearing device based on bionics and digital twins according to claim 1 is characterized by: The spiral peristaltic mechanism comprises a spiral track (3.1), a track fixing frame (3.2) and a peristaltic mechanism; the spiral track (3.1) is connected to the upper plate body (2.2) of the longitudinal telescopic mechanism through the track fixing frame (3.2); the peristaltic mechanism comprises a peristaltic body (3.3), a peristaltic hydraulic cylinder (3.4), a swing arm (3.5), a peristaltic motor (3.6), a rotating tripod (3.7) and a peristaltic wheel (3.8); the three peristaltic wheels (3.8) are connected to the inner layer of the rotating tripod (3.7) in a triangular shape, and the swing arm (3.5) is connected to the inner layer of the rotating tripod (3.7) in a triangular shape. The arm (3.5) is rotatably connected between the peristaltic body (3.3) and the rotating tripod (3.7); the two ends of the peristaltic hydraulic cylinder (3.4) are rotatably connected to the peristaltic body (3.3) and the swing arm (3.5) respectively; the driving shaft of the peristaltic motor (3.6) is key-connected to the central shaft of the rotating tripod (3.7); the peristaltic motor (3.6) is used to drive the rotating tripod (3.7) to rotate around its center to provide a rotating force for the peristaltic wheel (3.8); and the peristaltic hydraulic cylinder (3.4) is used to drive the swing arm to rotate at a small angle.

6. The coal bunker dynamic blockage clearing device based on bionics and digital twins according to claim 1 is characterized by: The material monitoring and decision-making module comprises a strain gauge (5) and a digital twin control module. The multiple strain gauges (5) are evenly and layeredly arranged along the circumference of the bionic conical coal discharge bin (1). The digital twin control module controls the actions of the longitudinal telescopic mechanism, the zoom and torsion mechanism, and the spiral peristaltic mechanism based on the strain signal at the bionic conical coal discharge bin (1) collected by the strain gauge (5).

7. A method for dynamic coal bunker blockage clearing based on bionics and digital twins, which is based on the dynamic coal bunker blockage clearing device based on bionics and digital twins as claimed in any one of claims 1 to 6, characterized in that: The following steps are involved: Based on multi-body system dynamics-discrete element software, a rigid-flexible-discrete coupling model of the dynamic blockage clearing device was established, and the simulation of dynamic blockage clearing of the coal bunker was carried out; The motion state of coal particles in the simulation process is used as input, and the corresponding strain values ​​of the bionic conical coal bunker are used as the target. The convolutional neural network is used for fitting to obtain the corresponding relationship between the strain value and the internal coal particles. According to the strain value, it is judged whether there is coal blockage or coal powder adhesion fault condition inside, as well as the motion state of coal particles inside under normal conditions, to complete the establishment of the digital twin system. In the digital twin system, the longitudinal telescopic system, the scaling and torsion system, and the spiral peristaltic system are controlled based on the deep reinforcement learning algorithm to cooperate to complete the bionic actions of contraction, relaxation, twisting, bending, and peristalsis. The training is based on the strain value corresponding to the smooth coal discharge from the inside and the smooth coal discharge after peristalsis after coal blockage, and the best action is decided. The real-time strain value of the strain gauge at the bionic conical coal bunker is obtained and input into the digital twin system. The digital twin system monitors the motion state of the coal particles in the current bionic conical coal bunker in real time, and decides the best motion state and feeds it back to the longitudinal extension system, scaling and torsion system, and spiral peristaltic system in the real world for action.

8. A method for dynamic coal bunker blockage clearing based on bionics and digital twins according to claim 7, characterized in that: In the rigid-flexible-discrete coupling model of the dynamic blockage clearing device, the bionic conical coal discharge bin (1) is constructed as a flexible body, and the longitudinal telescopic mechanism, the scaling and torsion swing mechanism, the spiral creeping mechanism and the strain gauge (5) are rigid bodies. The discrete element method is used to restore the real shape and material properties of the coal block, simulate the situations of coal blockage, smooth coal discharge, smooth coal discharge after creeping after coal blockage, and coal blockage after creeping and failure to discharge coal smoothly, and perform simulation analysis, and record the strain value under each simulation.

9. A method for dynamic coal bunker blockage clearing based on bionics and digital twins according to claim 8, characterized in that: Taking the original diameter D of the discharge port of the flexible bionic conical coal bunker as the benchmark, the diameters of the coal particles are set to 0.1D, 0.2D, 0.3D...D, and the shapes of the coal particles are randomly generated according to the actual situation; Through simulation, the strain values ​​under different working conditions, including smooth coal discharge, coal blockage, and coal blockage but smooth coal discharge after creeping, can be obtained. Convolutional neural network is used for fitting to obtain the nonlinear relationship between the strain value and the internal coal particles.

10. A method for dynamic coal bunker blockage clearing based on bionics and digital twins according to claim 7, characterized in that: The digital twin system re-judges the monitored status every 0.5s to adjust the action strategy in real time. The deep reinforcement learning algorithm is the Deep Deterministic Policy Gradient algorithm.

Images