Coal mine scraper feeding machine with self-cleaning function

Abstract

The invention relates to the technical field of coal mine scraper blade feeding machines with a self-cleaning function, in particular to a coal mine scraper blade feeding machine with a self-cleaning function. The feeding unit comprises a conveying assembly for transferring moving torque to materials, and the conveying assembly comprises a conveying belt and a plurality of baffles; the self-cleaning unit is used for cleaning the material adhesion bodies on the conveying belt to a corresponding recycling position and comprises a flexible scraper and a negative pressure recycling assembly; the detection unit is used for collecting a surface image and detecting the infrared movement characteristics of the material adhesion body and the actual distance between the flexible scraper and the isolation interface; and the control unit is used for determining the scraping pressure according to the position change distance of the material adhesion body, constructing a rigid isolation interface and determining the scraping position of the flexible scraper and the horizontal movement speed of the flexible scraper according to the position of the rigid isolation interface. According to the device, the differentiated cleaning and material recycling functions aiming at the material adhesion bodies in different feeding processes are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of scraper loading machines for coal mines, in particular to a scraper loading machine for coal mines with a self-cleaning function. Background Art

[0002] During the loading process of the scraper loaders, the cleaning units of traditional scraper loaders mostly use rigid scrapers, which cannot perform differentiated cleaning according to the properties of the material adhesion bodies, resulting in low cleaning efficiency and some material residues; the rigid scrapers can easily damage the surface of the conveyor belt during the cleaning process, shortening the service life of the conveyor belt; the existing equipment lacks an efficient material recovery mechanism, resulting in the inability to effectively recover the material adhesion bodies scraped off during the cleaning process, causing waste of resources and environmental pollution; the existing technology lacks the ability to detect and analyze material adhesion bodies in real time and data, and cannot accurately judge the status of material adhesion bodies, resulting in incomplete cleaning.

[0003] In the prior art, Chinese patent publication number CN116374557B discloses an underground scraper for coal mines, comprising: a structural module for providing support for the scraper and forming a transportation channel, a machine head for providing power, a transmission module for transmitting and transporting materials, a high-pressure spray module for spraying water mist and / or high-pressure water column, and a scraper module, the scraper module comprising a plurality of conventional scrapers and a plurality of cleaning scrapers, the cleaning scrapers are equipped with cleaning blades for cleaning the bottom plate deposits on the bottom plate, the cleaning scraper adjusts the inclination angle through the rotating shaft, a detection module for obtaining a plurality of data and a central control processor for adjusting the high-pressure spray module and the cleaning scraper according to the detection module data. By setting the cleaning scraper, the bottom plate of the scraper can be cleaned while the scraper is working, thereby effectively improving the durability of the equipment. It can be seen that the underground scraper for coal mines has the problem of material loss due to the direct contact between the rigid scraper and the conveyor belt, which is easy to wear after long-term use, and the material adhesion bodies scraped off during the cleaning process cannot be effectively recovered. Summary of the Invention

[0004] To this end, the present invention provides a scraper loading machine for coal mines with a self-cleaning function, which is used to overcome the problems in the prior art of material loss caused by the rigid scraper being in direct contact with the conveyor belt and easily wearing out after long-term use, and the material adhesion bodies scraped off during the cleaning process cannot be effectively recovered.

[0005] To achieve the above-mentioned purpose, the present invention provides a scraper loading machine for coal mines with a self-cleaning function, comprising: a main body; a loading unit, which is connected to the main body and is used to transport the materials generated in the coal mine to the target position, including a conveying assembly for transmitting a moving torque to the materials, including a conveyor belt, a plurality of baffles fixedly arranged at equal intervals on the upper surface of the conveyor belt, and a constraint groove fixedly connected to the main body; a self-cleaning unit, which is connected to the loading unit and is used to clean the material adherents on the conveyor belt to the corresponding recovery position, including a flexible scraper arranged on the constraint groove and a negative pressure recovery assembly arranged below the flexible scraper for negative pressure recovery of the material adherents; a detection unit, It is connected to the feeding unit to collect surface images of the baffle and the inner wall of the constraint groove and detect the infrared movement characteristics of the material adhesion body and the actual distance between the flexible scraper and the isolation interface; the control unit is respectively connected to the feeding unit, the self-cleaning unit and the detection unit to determine the scraping pressure according to the position change distance of each material adhesion body in unit time, construct the rigid isolation interface of each material adhesion body according to the infrared movement characteristics of each material adhesion body, determine the scraping position of the flexible scraper according to the position of the rigid isolation interface, and determine the horizontal movement speed of the flexible scraper according to the vertical distance between the flexible scraper and the rigid isolation interface.

[0006] Furthermore, the loading unit further includes: The transmission assembly is connected to the conveying assembly and is used to transmit the moving torque to the conveying assembly, including a baffle sprocket, a transmission sprocket, a driving transmission shaft, a driven transmission shaft and a power belt, wherein: The power belt is movably mounted on the active transmission shaft and the driven transmission shaft to transmit the rotational torque of the active transmission shaft to the driven transmission shaft; the active transmission shaft and the driven transmission shaft cooperate with each other to convert the rotational torque of the drive motor into the moving torque of the conveyor belt; the baffle sprocket is fixedly connected to the active transmission shaft to transmit the rotational torque to the conveyor belt; the transmission sprocket is connected to the active transmission shaft to transmit the rotational torque of the drive motor to the active transmission shaft; The driving assembly is connected to the transmission assembly to provide rotational power for the transmission assembly, and includes a driving motor and a reducer connected to the driving motor.

[0007] Furthermore, the detection unit includes: a first image sensor, which is arranged on a side of the main body close to the flexible scraper and is used to collect surface images of the baffle and the inner wall of the constraint groove; an infrared sensor disposed between the first image sensor and the flexible scraper to obtain an infrared image of the material adhered to the body; The second image sensor is arranged below the first image sensor and is used to detect the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface.

[0008] Furthermore, the self-cleaning unit further includes: a rigid scraper, which is arranged on the other side of the main body away from the driving motor and is used to process rigid material adhered thereto; The flexible scraper adjustment component is fixedly connected to the flexible scraper and is used to dynamically adjust the pressure, direction and horizontal movement speed of the flexible scraper on the baffle.

[0009] Furthermore, the control unit is respectively connected to the first image sensor, the second image sensor and the flexible scraper adjustment component to obtain the movement distance of the adhesion point of the material adhesion body on the baffle per unit time, and under the condition that the movement distance is greater than the preset first movement distance, the pressure adjustment component is controlled to reduce the scraping pressure.

[0010] Furthermore, the upper surface or lower surface of the irregular body formed by the thickness sampling point set on each material adhesion body is determined as the rigid isolation interface, wherein, The upper surface or lower surface is determined as the closed surface with the largest area formed by connecting several thickness sampling points at the top or bottom of the irregular body. Among them, the thickness sampling point set includes a first thickness point set and a second thickness point set, and a number of thickness points that meet the requirement that the movement distance of the thickness point is greater than or equal to the first preset displacement are determined as the first thickness point set; and a number of thickness points that meet the requirement that the movement distance of the thickness point is less than the first preset displacement are determined as the second thickness point set.

[0011] Furthermore, the vertical scraping position of the flexible scraper is the position of the rigid isolation interface.

[0012] Furthermore, based on the fact that the horizontal distance between the rigid area on each material adhesion body and the non-rigid area on the nearest material adhesion body is less than the width of the flexible scraper, the flexible scraper adjustment component is controlled to feed the flexible scraper from the non-rigid area to the rigid area to scrape the material. The area where the first thickness point set is located is determined as a non-rigid area, and the area where the second thickness point set is located is determined as a rigid area.

[0013] Furthermore, based on the leakage amount of the adhesion material being greater than the preset leakage amount and the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface being greater than the preset distance, the flexible scraper adjustment component is controlled to increase the horizontal movement speed of the flexible scraper.

[0014] Furthermore, a collection bucket for collecting leaked adhesive materials that have not entered the negative pressure recovery component and a weight sensor for detecting the weight of the leaked adhesive materials are provided below the negative pressure recovery component.

[0015] Compared with the prior art, the beneficial effect of the present invention lies in that the present invention determines the scraping pressure according to the position change distance of each material adhesion body in unit time. When the adhesion ability reflected by the change of the adhesion position of the material adhesion body itself on the baffle changes, the scraping pressure is reduced to overcome the problem of reduced scraping accuracy caused by the enhanced movement and diffusion ability of the material adhesion body compared with the previous one due to the incompatibility between the scraping pressure and the adhesion ability of the material adhesion body; by constructing a rigid isolation interface for each material adhesion body according to the infrared movement characteristics of each material adhesion body, since the rigidity of different areas inside each material adhesion body may be different, it may also cause the scraper to wear or the scraping effect to decrease when scraping according to the original scraper, so the rigid isolation interface is constructed according to the infrared movement characteristics, so that the rigidity state of each part inside each material adhesion body can be accurately displayed, so that the scraper can accurately scrape the material adhesion body when scraping, thereby improving the scraping accuracy and reducing the degree of wear; By determining the horizontal movement speed of the flexible scraper according to the vertical distance between the flexible scraper and the rigid isolation interface, when the vertical distance between the flexible scraper and the rigid isolation interface is relatively close, the flexible scraper is likely to touch the rigid area, thereby reducing the position accuracy of the scraping material, resulting in poor compensation accuracy for the initial velocity of the material adhesion body. Therefore, by increasing the horizontal movement speed of the flexible scraper to compensate for the situation where some material adhesion bodies cannot reach the negative pressure recovery component when the scraping pressure is reduced, the accuracy of cleaning the adhered materials during the loading process is improved.

[0016] Furthermore, the present invention dynamically adjusts the scraping pressure, position and curved surface according to the properties of the material adhesion body by setting a flexible scraper and a negative pressure recovery component of the self-cleaning unit, thereby avoiding the wear problem caused by direct contact between the traditional rigid scraper and the conveyor belt, extending the service life of the scraper and the conveyor belt, and being able to efficiently recover the scraped material adhesion bodies to the designated area, reducing material residue and environmental pollution, and improving material utilization.

[0017] Furthermore, the present invention can monitor the thickness and distribution of material adhesion bodies in real time by combining the self-cleaning unit with the detection unit and the control unit, automatically adjust the pressure, position and movement speed of the flexible scraper, and realize intelligent control of the cleaning process.

[0018] Furthermore, the present invention provides a rigid isolation interface for the material adhesion body, so that the self-cleaning unit can accurately identify the rigidity distribution of the material adhesion body, divide the material adhesion body into a rigid area and a non-rigid area, and ensure targeted cleaning.

[0019] Furthermore, the present invention divides the adhesion material into a rigid area and a non-rigid area by setting a first thickness point set and a second thickness point set, so that the flexible scraper scrapes the material by feeding from the non-rigid area to the rigid area. Through the principle of compatibility of similar materials, the pressure required by the flexible scraper during the scraping process is smaller than that of feeding only from the rigid area, thereby achieving rapid scraping.

[0020] Furthermore, the present invention adopts a scraping method in which a flexible scraper is provided to feed from a non-rigid area to a rigid area, and utilizes the principle of compatibility of similar materials to gradually adapt to the rigidity changes of the material adhesion body, thereby avoiding the resistance that may be generated when directly contacting the rigid area.

[0021] Furthermore, the present invention provides a negative pressure recovery component to recover the material adhered bodies scraped off by the flexible scraper to a designated area, thereby avoiding the impact of material accumulation on equipment operation.

[0022] Furthermore, the present invention controls the horizontal movement speed of the flexible scraper so that the material adherents reach the recovery area of the negative pressure recovery component, so that the negative pressure recovery component can accurately recover the material adherents and reduce material loss. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a structural diagram of a scraper feeder for coal mines with a self-cleaning function according to an embodiment of the present invention; Figure 2 This is a block diagram of the overall structure of a scraper feeder for coal mines with a self-cleaning function according to an embodiment of the present invention; Description of the drawings: 1-main body, 2-driven transmission shaft, 3-flexible scraper, 4-first image sensor, 5-baffle, 6-power belt, 7-speed reducer, 8-rigid scraper, 9-active transmission shaft, 10-transmission sprocket, 11-drive motor, 12-conveyor belt, 13-baffle sprocket. DETAILED DESCRIPTION

[0024] In order to make the objects and advantages of the present invention more clearly understood, the present invention is further described below in conjunction with embodiments; it should be understood that the specific embodiments described herein are merely used to explain the present invention and are not intended to limit the present invention.

[0025] The preferred embodiments of the present invention are described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present invention and are not intended to limit the scope of protection of the present invention.

[0026] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside", and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. This is only for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0027] Furthermore, it should be noted that, in the description of the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; mechanical connections or electrical connections; direct connections or indirect connections through an intermediate medium; and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0028] See also Figure 1 and Figure 2 As shown in the figure, they are respectively a structural schematic diagram and an overall structural block diagram of a scraper feeder for coal mines with a self-cleaning function according to an embodiment of the present invention; the scraper feeder for coal mines with a self-cleaning function according to an embodiment of the present invention comprises: Subject 1; A loading unit connected to the main body 1 for transporting the material generated in the coal mine to the target location, comprising a conveying assembly for transmitting a moving torque to the material, including a conveyor belt 12, a plurality of baffles 5 fixedly arranged at equal intervals on the upper surface of the conveyor belt, and a restraining groove fixedly connected to the main body 1; A self-cleaning unit connected to the feeding unit is used to clean the material adhered on the conveyor belt 12 to the corresponding recovery position, including a flexible scraper 3 provided on the restraining groove and a negative pressure recovery component provided below the flexible scraper 3 for recovering the material adhered under negative pressure; a detection unit connected to the feeding unit, for collecting surface images of the baffle and the inner wall of the constraint groove, infrared movement characteristics of the material adhered body, and the actual distance between the flexible scraper 3 and the rigid isolation interface; A control unit is respectively connected to the feeding unit, the self-cleaning unit and the detection unit, and is used to determine the scraping pressure according to the position change distance of each material adhesion body per unit time, construct a rigid isolation interface for each material adhesion body according to the infrared movement characteristics of each material adhesion body, determine the scraping position of the flexible scraper 3 according to the position of the rigid isolation interface, and determine the horizontal movement speed of the flexible scraper 3 according to the vertical distance between the flexible scraper 3 and the rigid isolation interface.

[0029] Specifically, the negative pressure recovery component includes a negative pressure centrifugal fan, a dust collection hood, a conveying pipe, a cyclone separator, a pulse jet cleaning mechanism and an ash discharge valve.

[0030] Those skilled in the art will understand that the pulse jet cleaning mechanism includes a pulse valve, an air storage cylinder and a jet pipe; there is no limitation on the size, model and material of the pulse valve, air storage cylinder and the jet pipe, and the technology in this field can be adaptively adjusted according to the actual application environment.

[0031] Specifically, the loading unit further includes: The transmission assembly is connected to the conveying assembly to transmit the moving torque to the conveying assembly, including a baffle sprocket 13, a transmission sprocket 10, a driving transmission shaft 9, a driven transmission shaft 2 and a power belt 6, wherein: The power belt 6 is movably mounted on the active transmission shaft 9 and the driven transmission shaft 2 to transmit the rotational torque of the active transmission shaft 9 to the driven transmission shaft 2; the active transmission shaft 9 and the driven transmission shaft 2 cooperate with each other to convert the rotational torque of the drive motor 11 into the moving torque of the conveyor belt 12; the baffle sprocket 13 is fixedly connected to the active transmission shaft 9 to transmit the rotational torque to the conveyor belt 12; the transmission sprocket 10 is connected to the active transmission shaft 9 to transmit the rotational torque of the drive motor 11 to the active transmission shaft 9; The driving assembly is connected to the transmission assembly to provide rotational power for the transmission assembly, and includes a driving motor 11 and a reducer 7 connected to the driving motor 11 .

[0032] Specifically, the detection unit includes: a first image sensor 4, which is arranged on one side of the main body 1 close to the flexible scraper 3, and is used to capture the surface image of the baffle 5 and the surface image of the inner wall of the constraint groove; an infrared sensor (not shown), which is disposed between the first image sensor 4 and the flexible scraper 3 and is used to obtain an infrared image of the material adhered to the body; The second image sensor (not shown in the figure) is arranged below the first image sensor 4 and is used to detect the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface.

[0033] Specifically, the self-cleaning unit also includes: A rigid scraper 8 is provided on the other side of the main body 1 away from the driving motor 11 and is used to process rigid material adherence; The flexible scraper adjustment assembly (not shown) is fixedly connected to the flexible scraper 3 and is used to dynamically adjust the pressure, direction and horizontal movement speed of the flexible scraper 3 on the baffle 5.

[0034] Specifically, the flexible scraper adjustment component can be a cooperative structure of a servo motor, a ball screw and a rack and pinion mechanism, or it can be a combination of a variable frequency motor and a gearbox sprocket to adjust the scraping pressure and horizontal movement speed of the scraper; the scraping direction adjustment is achieved through a rotating component connected to the flexible scraper component; the rotating component includes a rotating motor and a rotating shaft.

[0035] In practice, the present invention dynamically adjusts the scraping pressure, position and curved surface according to the properties of the material adhesion body by setting the flexible scraper 3 of the self-cleaning unit and the negative pressure recovery component, thereby avoiding the wear problem caused by direct contact between the traditional rigid scraper 8 and the conveyor belt 12, extending the service life of the scraper and the conveyor belt 12, and being able to efficiently recover the scraped material adhesion bodies to the designated area, reducing material residue and environmental pollution, and improving material utilization.

[0036] Specifically, the control unit is respectively connected to the first image sensor 4, the second image sensor and the flexible scraper adjustment component to obtain the movement distance of the adhesion point of the material adhesion body on the baffle 5 per unit time, and under the condition that the movement distance is greater than the preset movement distance, the pressure adjustment component is controlled to reduce the pressure of the flexible scraper 3 on the baffle 5.

[0037] Optionally, under normal temperature and pressure conditions, the preset moving distance can be set in the range of [5mm, 20mm]; Preferably, under normal temperature and pressure conditions, the preferred embodiment of the preset moving distance is 10 mm.

[0038] During implementation, when the moving distance per unit time exceeds the value of the preset first moving distance by less than 5 mm, the scraping pressure is adjusted to 0.9 times the current scraping pressure; when the moving distance per unit time exceeds the value of the preset first moving distance by more than 5 mm, the scraping pressure is reduced by 0.1 N for every 1 mm of excess. For example, if the moving distance per unit time is 15 mm and the current scraping pressure is 3 N, the reduced scraping pressure is 0.9×3N=2.7 N.

[0039] In practice, the present invention monitors the distribution and thickness of material adhesion in real time by means of the first image sensor 4, infrared sensor and second image sensor provided in the detection unit, analyzes the rigidity, viscosity and movement of the material, and adjusts the cleaning position and pressure of the scraper.

[0040] Specifically, the upper surface or lower surface of the irregular body formed by the thickness sampling point set on each material adhesion body is determined as the rigid isolation interface, wherein, The upper surface or lower surface is determined as the closed surface with the largest area formed by connecting several thickness sampling points at the top or bottom of the irregular body. Among them, the thickness sampling point set includes a first thickness point set and a second thickness point set, and a number of thickness points that meet the requirement that the movement distance of the thickness point is greater than or equal to the first preset displacement are determined as the first thickness point set; and a number of thickness points that meet the requirement that the movement distance of the thickness point is less than the first preset displacement are determined as the second thickness point set.

[0041] Optionally, the optional range of the first preset displacement is [2mm, 10mm]; Preferably, the first preset displacement is set to 6 mm.

[0042] In practice, the present invention sets a rigid isolation interface for the material adherent body, so that the self-cleaning unit can accurately identify the rigidity distribution of the material adherent body, divide the material into rigid areas and non-rigid areas, and ensure targeted cleaning.

[0043] Specifically, the vertical scraping position of the flexible scraper 3 is the position of the rigid isolation interface.

[0044] Specifically, based on the fact that the horizontal distance between the rigid area on each material adhesion body and the non-rigid area on the nearest material adhesion body is less than the width of the flexible scraper, the flexible scraper adjustment component is controlled to feed the flexible scraper 3 from the non-rigid area to the rigid area to scrape the material. The area where the first thickness point set is located is determined as a non-rigid area, and the area where the second thickness point set is located is determined as a rigid area.

[0045] In practice, the present invention adopts a scraping method in which the flexible scraper 3 feeds from the non-rigid area to the rigid area, and utilizes the principle of compatibility of similar materials to gradually adapt to the rigidity changes of the material adhesion body, thereby avoiding the resistance that may be generated when directly contacting the rigid area.

[0046] Specifically, in one embodiment of the present invention, the width of the flexible scraper 3 is set to 300 mm.

[0047] Specifically, based on the leakage amount of the adhesion material being greater than the preset leakage amount and the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface being greater than the preset distance, the flexible scraper adjustment component is controlled to increase the horizontal movement speed of the flexible scraper.

[0048] Specifically, a collection bucket for collecting the leaked adhesive material that has not entered the negative pressure recovery component and a weight sensor for detecting the weight of the leaked adhesive material are provided below the negative pressure recovery component.

[0049] Optionally, the optional range of the preset distance is [30 mm, 50 mm].

[0050] Preferably, the preset distance is 40 mm.

[0051] Specifically, in this embodiment, the preset leakage rate of the adhesive material is 100 g / min.

[0052] Optionally, the pressure range of the negative pressure recovery component is [-5kPa, -20kPa]; Preferably, in this embodiment, the pressure of the negative pressure recovery component is selected to be -15kPa.

[0053] Specifically, the horizontal moving speed of the flexible scraper 3 that allows the material adhered body to reach the recovery area of the negative pressure recovery component is calculated as follows: ; in, is the adjusted horizontal moving speed of the flexible scraper 3, is the initial horizontal moving speed of the flexible scraper 3, is the adjustment coefficient, is the distance between the flexible scraper 3 and the rigid isolation interface, The relationship between the adjustment coefficient k and the distance d between the flexible scraper 3 and the rigid isolation interface is: ; When d = 10 mm, k = 1-0.05·10 = 0.5; When d=5mm, k=1-0.05·5=0.75.

[0054] A specific embodiment is: The recycling area is 120 , the pressure of the negative pressure recovery component is 15kPa, and the initial horizontal moving speed is is 1cm / s, adjustment coefficient is 0.75, when the distance d between the flexible scraper 3 and the rigid isolation interface is 5 mm, the adjusted horizontal moving speed is: ; Therefore, the horizontal moving speed of the adjusted flexible scraper is 4.75 cm / s.

[0055] Working process: The drive motor 11 transmits the rotational torque to the active drive shaft 9 through the reducer 7; the active drive shaft 9 drives the driven drive shaft 2 through the power belt 6, converting the rotational torque into the moving torque of the conveyor belt 12; the baffle 5 on the conveyor belt 12 transports the material generated by the coal mine to the target location. The restraint groove is fixedly connected to the main body 1 to ensure that the material does not deviate from the conveyor belt 12 during the conveying process. The first image sensor 4 captures the surface image of the conveyor belt 12 and monitors the distribution of material adhesions in real time; the infrared sensor detects the infrared image of the material adhesions and analyzes the rigidity, viscosity, and movement of the material; the second image sensor detects the actual distance between the flexible scraper 3 and the rigid isolation interface to ensure the accuracy of the scraper's cleaning position and pressure adjustment. Based on the data from the detection unit, the movement distance of the thickness sampling points on the material adhesion is analyzed; based on the first thickness point set and the second thickness point set, a rigid isolation interface of the material adhesion is constructed; the rigid isolation interface is used to determine the scraping position and curvature of the flexible scraper 3. The control unit dynamically adjusts the pressure of the flexible scraper 3 on the baffle 5 based on the changing distance of the material adherents. When the distance between the flexible scraper 3 and the rigid isolation interface exceeds a preset distance, the control unit increases the horizontal movement speed of the flexible scraper 3 via the flexible scraper adjustment assembly. When the horizontal distance between the rigid area and the nearest non-rigid area on the material adherent is less than the width of the flexible scraper 3, the flexible scraper 3 is controlled to advance from the non-rigid area to the rigid area. Based on the principle of like substances being compatible, the flexible scraper 3 controls the flexible scraper adjustment assembly to advance the flexible scraper 3 from the non-rigid area to the rigid area to scrape the material. Material adherents scraped off by the flexible scraper 3 are absorbed by the negative pressure recovery assembly and transported to a designated recovery area via a recovery pipe. A rigid scraper 8 is located on the other side of the main body 1, away from the drive motor 11, to handle material adherents with higher rigidity. The rigid scraper 8 works in conjunction with the flexible scraper 3 to ensure the efficiency and thoroughness of the cleaning process.

[0056] Thus far, the technical solutions of the present invention have been described in conjunction with the preferred embodiments shown in the accompanying drawings. However, it will be readily understood by those skilled in the art that the scope of protection of the present invention is obviously not limited to these specific embodiments. Without departing from the principles of the present invention, those skilled in the art may make equivalent changes or substitutions to the relevant technical features, and the technical solutions after such changes or substitutions will fall within the scope of protection of the present invention.

Claims

1. A scraper feeder for coal mines with a self-cleaning function, characterized in that: include: main body; a loading unit connected to the main body and used to transport the material generated in the coal mine to a target location, comprising a conveying assembly for transmitting a moving torque to the material, including a conveyor belt, a plurality of baffles fixedly arranged at equal intervals on the upper surface of the conveyor belt, and a restraining groove fixedly connected to the main body; A self-cleaning unit connected to the feeding unit is used to clean the material adhered on the conveyor belt to the corresponding recovery position, including a flexible scraper provided on the restraining groove and a negative pressure recovery component provided below the flexible scraper for recovering the material adhered under negative pressure; a detection unit connected to the feeding unit, for collecting surface images of the baffle and the inner wall of the constraint groove and detecting infrared movement characteristics of the material adhered body and the actual distance between the flexible scraper and the isolation interface; A control unit is respectively connected to the feeding unit, the self-cleaning unit and the detection unit, and is used to determine the scraping pressure according to the position change distance of each material adhesion body per unit time, construct a rigid isolation interface for each material adhesion body according to the infrared movement characteristics of each material adhesion body, determine the scraping position of the flexible scraper according to the position of the rigid isolation interface, and determine the horizontal movement speed of the flexible scraper according to the vertical distance between the flexible scraper and the rigid isolation interface.

2. The scraper feeder with self-cleaning function for coal mines according to claim 1, characterized in that: The loading unit further comprises: The transmission assembly is connected to the conveying assembly and is used to transmit the moving torque to the conveying assembly, including a baffle sprocket, a transmission sprocket, a driving transmission shaft, a driven transmission shaft and a power belt, wherein: The power belt is movably mounted on the active transmission shaft and the driven transmission shaft to transmit the rotational torque of the active transmission shaft to the driven transmission shaft; the active transmission shaft and the driven transmission shaft cooperate with each other to convert the rotational torque of the drive motor into the moving torque of the conveyor belt; the baffle sprocket is fixedly connected to the active transmission shaft to transmit the rotational torque to the conveyor belt; the transmission sprocket is connected to the active transmission shaft to transmit the rotational torque of the drive motor to the active transmission shaft; The driving assembly is connected to the transmission assembly to provide rotational power for the transmission assembly, and includes a driving motor and a reducer connected to the driving motor.

3. The scraper feeder with self-cleaning function for coal mines according to claim 1, characterized in that: The detection unit comprises: a first image sensor, which is arranged on a side of the main body close to the flexible scraper and is used to collect surface images of the baffle and the inner wall of the constraint groove; an infrared sensor disposed between the first image sensor and the flexible scraper to obtain an infrared image of the material adhered to the body; The second image sensor is arranged below the first image sensor and is used to detect the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface.

4. The scraper feeder with self-cleaning function for coal mines according to claim 1, characterized in that: The self-cleaning unit also includes: a rigid scraper, which is arranged on the other side of the main body away from the driving motor and is used to process rigid material adhered thereto; The flexible scraper adjustment component is fixedly connected to the flexible scraper and is used to dynamically adjust the pressure, direction and horizontal movement speed of the flexible scraper on the baffle.

5. The scraper loading machine with self-cleaning function for coal mines according to claim 4, characterized in that: The control unit is respectively connected to the first image sensor, the second image sensor and the flexible scraper adjustment component to obtain the movement distance of the adhesion point of the material adhesion body on the baffle per unit time, and controls the pressure adjustment component to reduce the scraping pressure when the movement distance is greater than the preset first movement distance.

6. The scraper loading machine with self-cleaning function for coal mines according to claim 5, characterized in that: The upper surface or lower surface of the irregular body formed by the thickness sampling point set on each material adhesion body is determined as the rigid isolation interface, wherein, The upper surface or lower surface is determined as the closed surface with the largest area formed by connecting several thickness sampling points at the top or bottom of the irregular body. Among them, the thickness sampling point set includes a first thickness point set and a second thickness point set, and a number of thickness points that meet the requirement that the movement distance of the thickness point is greater than or equal to the first preset displacement are determined as the first thickness point set; and a number of thickness points that meet the requirement that the movement distance of the thickness point is less than the first preset displacement are determined as the second thickness point set.

7. The scraper feeder with self-cleaning function for coal mines according to claim 6, characterized in that: The vertical scraping position of the flexible scraper is the position of the rigid isolation interface.

8. The scraper feeder with self-cleaning function for coal mines according to claim 7, characterized in that: Based on the fact that the horizontal distance between the rigid area on each material adhesion body and the non-rigid area on the nearest material adhesion body is less than the width of the flexible scraper, the flexible scraper adjustment component is controlled to feed the flexible scraper from the non-rigid area to the rigid area to scrape the material. The area where the first thickness point set is located is determined as a non-rigid area, and the area where the second thickness point set is located is determined as a rigid area.

9. The scraper loading machine with self-cleaning function for coal mines according to claim 8, characterized in that: Based on the leakage amount of the adhesion material being greater than the preset leakage amount and the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface being greater than the preset distance, the flexible scraper adjustment component is controlled to increase the horizontal movement speed of the flexible scraper.

10. The scraper loading machine with self-cleaning function for coal mines according to claim 9, characterized in that: A collection bucket for collecting leaked and adhered materials that have not entered the negative pressure recovery component and a weight sensor for detecting the weight of the leaked and adhered materials are also provided below the negative pressure recovery component.

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