Coal mine scraper feeder with self-cleaning function

Abstract

The present application relates to the technical field of coal mine scraper feeder with self-cleaning function, especially relates to a coal mine scraper feeder with self-cleaning function, which comprises a main body, a feeding unit, a self-cleaning unit, a detection unit and a control unit.The feeding unit comprises a conveying assembly for transferring a moving torque to the material, and the conveying assembly comprises a conveyor belt and a plurality of baffles.The self-cleaning unit is used to clean the material adhering body on the conveyor belt to the corresponding recovery position, and comprises a flexible scraper and a negative pressure recovery assembly.The detection unit collects surface images and detects the infrared movement characteristics of the material adhering body and the actual distance between the flexible scraper and the isolation interface.The control unit determines the scraping pressure according to the position change distance of the material adhering body, constructs a rigid isolation interface, and determines the scraping position of the flexible scraper and the horizontal moving speed of the flexible scraper according to its position.The present application realizes differentiated cleaning of the material adhering body in different feeding processes and material recovery function.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of coal mine scraper feeders, in particular to a coal mine scraper feeder with self-cleaning function. BACKGROUND

[0002] During the feeding process of the scraper feeder, the cleaning unit of the traditional scraper feeder adopts a rigid scraper, which cannot perform differential cleaning according to the properties of the material adhering body, resulting in low cleaning efficiency and partial material residue. The rigid scraper 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 recycling mechanism, which makes it difficult to effectively recycle the material adhering body scraped during the cleaning process, resulting in resource waste and environmental pollution. The existing technology lacks real-time detection and data analysis capabilities for the material adhering body, which cannot accurately determine the state of the material adhering body, resulting in incomplete cleaning.

[0003] In the prior art, Chinese patent publication CN116374557B discloses a coal mine underground scraper, which includes a structure module for providing support to the scraper and forming a transportation channel, a head for providing power, a transmission module for transmitting material, a high-pressure spray module for spraying water mist and / or high-pressure water column, and a scraper module. The scraper module includes a plurality of conventional scrapers and a plurality of cleaning scrapers, the cleaning scrapers are equipped with cleaning blades to clean the bottom plate accumulation on the bottom plate, the cleaning scrapers are adjusted by a rotating shaft to adjust the inclination angle, a detection module for obtaining a plurality of data, and a central control processor for adjusting the high-pressure spray module and the cleaning scrapers according to the data of the detection module. By setting the cleaning scrapers, 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 coal mine underground scraper has the problems of material loss caused by the direct contact between the rigid scraper and the conveyor belt, easy wear after long-term use, and the inability to effectively recycle the material adhering body scraped during the cleaning process. SUMMARY

[0004] Therefore, the present application provides a coal mine scraper feeder with self-cleaning function to overcome the problems of material loss caused by the direct contact between the rigid scraper and the conveyor belt, easy wear after long-term use, and the inability to effectively recycle the material adhering body scraped during the cleaning process in the prior art.

[0005] In order to achieve the above object, the present application provides a coal mine scraper feeder with self-cleaning function, comprising: a main body; a feeding unit connected with the main body for conveying the material generated by the coal mine to the target position, comprising a conveying assembly for transmitting the moving torque to the material, comprising a conveyor belt, a plurality of baffles fixedly arranged on the upper surface of the conveyor belt at equal intervals, and a constraint groove fixedly connected with the main body; a self-cleaning unit connected with the feeding unit for cleaning the material adhering body on the conveyor belt to the corresponding recovery position, comprising a flexible scraper arranged on the constraint groove and a negative pressure recovery assembly arranged below the flexible scraper for recovering the material adhering body by negative pressure; a detection unit connected with the feeding unit for collecting the surface image of the baffles and the inner wall of the constraint groove and detecting the infrared movement characteristics of the material adhering body and the actual distance between the flexible scraper and the isolation interface; a control unit connected with the feeding unit, the self-cleaning unit and the detection unit respectively for determining the scraping pressure according to the position change distance of each material adhering body in unit time, constructing the rigid isolation interface of each material adhering body according to the infrared movement characteristics of each material adhering body, determining the scraping position of the flexible scraper according to the position of the rigid isolation interface, and determining the horizontal moving speed of the flexible scraper according to the vertical distance between the flexible scraper and the rigid isolation interface.

[0006] Further, the feeding unit further comprises:

[0007] A transmission assembly connected with the conveying assembly for transmitting the moving torque to the conveying assembly, comprising a baffle chain wheel, a transmission sprocket, a driving transmission shaft, a driven transmission shaft and a power belt, wherein,

[0008] The power belt is movably sleeved on the driving transmission shaft and the driven transmission shaft for transmitting the rotating torque of the driving transmission shaft to the driven transmission shaft; the driving transmission shaft and the driven transmission shaft cooperate with each other to convert the rotating torque of the driving motor into the moving torque of the conveyor belt; the baffle chain wheel is fixedly connected with the driving transmission shaft for transmitting the rotating torque to the conveyor belt; the transmission sprocket is connected with the driving transmission shaft for transmitting the rotating torque of the driving motor to the driving transmission shaft;

[0009] A driving assembly connected with the transmission assembly for providing rotating power of the transmission assembly, comprising a driving motor and a reducer connected with the driving motor.

[0010] Further, the detection unit comprises:

[0011] A first image sensor arranged on the side of the main body close to the flexible scraper for collecting the surface image of the baffles and the inner wall of the constraint groove;

[0012] an infrared sensor disposed between the first image sensor and the flexible scraper to acquire an infrared image of the material adhering body;

[0013] a second image sensor disposed below the first image sensor to detect the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface.

[0014] Further, the self-cleaning unit further comprises:

[0015] a rigid scraper disposed on the other side of the main body away from the driving motor to process the rigid material adhering body;

[0016] a flexible scraper adjusting assembly fixedly connected with the flexible scraper to dynamically adjust the pressure, direction and horizontal moving speed of the flexible scraper on the baffle.

[0017] Further, the control unit is connected with the first image sensor, the second image sensor and the flexible scraper adjusting assembly to acquire the moving distance of the adhering point of the material adhering body on the baffle per unit time, and under the condition that the moving distance is greater than a preset first moving distance, the pressure adjusting assembly is controlled to reduce the scraping pressure.

[0018] Further, the upper surface or the lower surface of an irregular body composed of a set of thickness sampling points on each material adhering body is determined as the rigid isolation interface, wherein

[0019] the closed surface with the largest area connected by connecting a plurality of thickness sampling points on the uppermost or lowermost of the irregular body is determined as the upper surface or the lower surface,

[0020] wherein the set of thickness sampling points comprises a first set of thickness points and a second set of thickness points, a plurality of thickness points satisfying the condition that the moving distance of the thickness point is greater than or equal to a first preset displacement are determined as the first set of thickness points, and a plurality of thickness points satisfying the condition that the moving distance of the thickness point is less than the first preset displacement are determined as the second set of thickness points.

[0021] Further, the vertical scraping position of the flexible scraper is the position of the rigid isolation interface.

[0022] Further, based on the horizontal distance between the rigid region on each material adhering body and the non-rigid region on the material adhering body closest to it being less than the width of the flexible scraper, the flexible scraper adjusting assembly is controlled to feed the flexible scraper from the non-rigid region to the rigid region for scraping,

[0023] wherein the region where the first set of thickness points is located is determined as the non-rigid region, and the region where the second set of thickness points is located is determined as the rigid region.

[0024] Further, based on the leakage amount of the adhering material being greater than the preset leakage amount and the actual distance between the lower end of the flexible scraper and the upper end of the rigid isolation interface being greater than the preset distance, the flexible scraper adjusting assembly is controlled to increase the horizontal movement speed of the flexible scraper.

[0025] Further, the negative pressure recovery assembly is further provided below with a collection barrel for collecting the leaked adhering material that does not enter the negative pressure recovery assembly and a weight sensor arranged below the collection barrel for detecting the weight of the leaked adhering material.

[0026] Compared with the prior art, the present application has the beneficial effects that: the present application determines the scraping pressure according to the position change distance of each material adhering body in unit time, reduces the scraping pressure when the adhesion ability of the material adhering body changes in response to the change of the adhesion position of the material adhering body on the baffle, overcomes the problem of reduced scraping accuracy caused by the increased diffusion ability of the material adhering body compared to before due to the inadaptation of the scraping pressure to the adhesion ability of the material adhering body; the rigid isolation interface of each material adhering body is constructed according to the infrared movement characteristics of each material adhering body, the rigidity of different regions inside each material adhering body may be different, which may cause wear of the scraper or reduction of the scraping effect when the scraper scrapes according to the original scraping method, therefore, the rigid isolation interface is constructed according to the infrared movement characteristics, which can accurately display the rigidity state of each part inside each material adhering body, so that the scraper can accurately scrape the material adhering body when scraping, thereby improving the accuracy of scraping and reducing the degree of wear; the horizontal movement speed of the flexible scraper is determined 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 small, the flexible scraper is easy to touch the rigid region, thereby reducing the position accuracy of scraping and causing poor compensation accuracy of the initial speed of the material adhering body, therefore, the horizontal movement speed of the flexible scraper is increased to compensate for the situation that part of the material adhering body cannot reach the negative pressure recovery assembly when the scraping pressure is reduced, thereby improving the accuracy of cleaning the adhering material during the feeding process.

[0027] Further, the present application dynamically adjusts the scraping pressure, position and curved surface of the flexible scraper and the negative pressure recovery assembly according to the properties of the material adhering body through the self-cleaning unit, avoids the wear problem caused by the direct contact between the traditional rigid scraper and the conveyor belt, prolongs the service life of the scraper and the conveyor belt, efficiently recovers the scraped material adhering body to the designated area, reduces material residue and environmental pollution, and improves the utilization rate of the material.

[0028] Further, the self-cleaning unit is combined with the detection unit and the control unit, so that the thickness and distribution of the material adhering body can be monitored in real time, the pressure, position and moving speed of the flexible scraper are automatically adjusted, and intelligent control of the cleaning process is realized.

[0029] Further, the self-cleaning unit can accurately identify the rigidity distribution of the material adhering body, the material adhering body is divided into rigid regions and non-rigid regions, and the pertinence of cleaning is ensured.

[0030] Further, the material adhering body is divided into rigid regions and non-rigid regions by the first thickness point set and the second thickness point set, so that the flexible scraper feeds from the non-rigid region to the rigid region for scraping, the pressure of the flexible scraper required for the scraping process is smaller than that of the feeding mode from the rigid region only, and rapid scraping is realized.

[0031] Further, the flexible scraper feeds from the non-rigid region to the rigid region for scraping, and gradually adapts to the rigidity change of the material adhering body by using the principle of compatibility of similar substances, so that the resistance generated when directly contacting the rigid region is avoided.

[0032] Further, the material adhering body scraped by the flexible scraper is recycled to a specified area by the negative pressure recycling assembly, so that the influence of material accumulation on the operation of the equipment is avoided.

[0033] Further, the horizontal moving speed of the flexible scraper is controlled, so that the material adhering body reaches the recycling area of the negative pressure recycling assembly, the material adhering body is accurately recycled by the negative pressure recycling assembly, and the loss of the material is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0034] Figure 1 is a structure diagram of a coal mine scraper feeder with a self-cleaning function according to an embodiment of the present application;

[0035] Figure 2 is a structure diagram of a coal mine scraper feeder with a self-cleaning function according to an embodiment of the present application;

[0036] BRIEF DESCRIPTION OF DRAWINGS: 1-main body, 2-driven transmission shaft, 3-flexible scraper, 4-first image sensor, 5-baffle, 6-power belt, 7-reducer, 8-rigid scraper, 9-driven transmission shaft, 10-transmission sprocket, 11-driving motor, 12-conveying belt, 13-baffle sprocket. DETAILED DESCRIPTION

[0037] In order to make the objects, technical schemes and advantages of the present application clearer, the following further describes the present application with reference to the embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and not to limit the present application.

[0038] The preferred embodiments of the present application are described below with reference to the drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and are not intended to limit the protection scope of the present application.

[0039] It should be noted that, in the description of the present application, the terms indicating the direction or positional relationship such as "upper", "lower", "left", "right", "inner", "outer" and the like are based on the direction or positional relationship shown in the drawings, which 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, and therefore cannot be understood as a limitation on the present application.

[0040] In addition, it should also be noted that, in the description of the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connecting", "connection" should be understood broadly, for example, it can be fixed connection, or detachable connection, or integrally connected; it can be mechanical connection, or electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or the internal communication of two elements. Those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0041] Please refer to Figure 1 and Figure 2 respectively, which are a structural schematic diagram and an overall structure block diagram of a coal mine scraper feeder with self-cleaning function according to an embodiment of the present application. The coal mine scraper feeder with self-cleaning function according to the embodiment of the present application comprises:

[0042] a main body 1;

[0043] a feeding unit connected with the main body 1, used to deliver the material generated by the coal mine to a target position, comprising a delivery assembly used to transmit a moving torque to the material, comprising a conveyor belt 12, a plurality of baffles 5 fixedly arranged at equal intervals on the upper surface of the conveyor belt, and a constraint groove fixedly connected with the main body 1;

[0044] a self-cleaning unit connected with the feeding unit, used to clean the material adhering body on the conveyor belt 12 to a corresponding recovery position, comprising a flexible scraper 3 arranged on the constraint groove and a negative pressure recovery assembly arranged below the flexible scraper 3 and used to recover the material adhering body by negative pressure;

[0045] a detection unit connected with the feeding unit, configured to collect surface images of the baffle and the inner wall of the constraint groove, infrared movement features of the material adhering body, and the actual distance between the flexible scraper 3 and the rigid isolation interface;

[0046] a control unit connected with the feeding unit, the self-cleaning unit, and the detection unit, respectively, configured to determine the scraping pressure according to the position change distance of each material adhering body within a unit time, to construct the rigid isolation interface of each material adhering body according to the infrared movement features of each material adhering body, to determine the scraping position of the flexible scraper 3 according to the position of the rigid isolation interface, and to 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.

[0047] Specifically, the negative pressure recovery assembly includes a negative pressure centrifugal fan, a dust suction hood, a conveying pipeline, a cyclone separator, a pulse blowing dust removal mechanism, and a dust removal valve.

[0048] Those skilled in the art can understand that the pulse blowing dust removal mechanism includes a pulse valve, an air cylinder, and a blowing pipe; the size, type, and material of the pulse valve, the air cylinder, and the blowing pipe are not limited, and those skilled in the art can make adaptive adjustments according to the actual application environment.

[0049] Specifically, the feeding unit further includes:

[0050] a transmission assembly connected with the conveying assembly, configured to transmit the movement torque to the conveying assembly, including a baffle chain wheel 13, a transmission chain wheel 10, a driving transmission shaft 9, a driven transmission shaft 2, and a power belt 6, wherein,

[0051] the power belt 6 movably sheaths the driving transmission shaft 9 and the driven transmission shaft 2, configured to transmit the rotation torque of the driving transmission shaft 9 to the driven transmission shaft 2; the driving transmission shaft 9 and the driven transmission shaft 2 cooperate to convert the rotation torque of the driving motor 11 into the movement torque of the conveying belt 12; the baffle chain wheel 13 is fixedly connected with the driving transmission shaft 9, configured to transmit the rotation torque to the conveying belt 12; the transmission chain wheel 10 is connected with the driving transmission shaft 9, configured to transmit the rotation torque of the driving motor 11 to the driving transmission shaft 9;

[0052] a driving assembly connected with the transmission assembly, configured to provide rotation power for the transmission assembly, including a driving motor 11 and a speed reducer 7 connected with the driving motor 11.

[0053] Specifically, the detection unit includes:

[0054] a first image sensor 4 arranged on one side of the main body 1 close to the flexible scraper 3, configured to collect surface images of the baffle 5 and the inner wall of the constraint groove;

[0055] an infrared sensor (not shown in the figure) arranged between the first image sensor 4 and the flexible scraper 3 to acquire an infrared image of the material adhering body;

[0056] a second image sensor (not shown in the figure) arranged below the first image sensor 4 to detect the actual distance between the lower end of the flexible scraper and the upper end of the rigid isolation interface.

[0057] Specifically, the self-cleaning unit further comprises:

[0058] a rigid scraper 8 arranged on the other side of the main body 1 away from the driving motor 11 to process the rigid material adhering body;

[0059] a flexible scraper adjusting assembly (not shown in the figure) fixedly connected with the flexible scraper 3 to dynamically adjust the pressure, direction and horizontal moving speed of the flexible scraper 3 on the baffle 5.

[0060] Specifically, the flexible scraper adjusting assembly can be a combination of a servo motor, a ball screw and a gear rack mechanism, or a combination of a variable frequency motor and a gear box sprocket to adjust the scraping pressure and horizontal moving speed of the scraper; the scraping direction adjustment is realized through a rotating assembly connected with the flexible scraper assembly; the rotating assembly comprises a rotating motor and a rotating shaft.

[0061] In the implementation, the flexible scraper 3 of the self-cleaning unit and the negative pressure recovery assembly dynamically adjust the scraping pressure, position and curved surface according to the properties of the material adhering body, avoid the wear problem caused by the direct contact between the traditional rigid scraper 8 and the conveyor belt 12, prolong the service life of the scraper and the conveyor belt 12, and can efficiently recover the scraped material adhering body to the designated area, reduce material residue and environmental pollution, and improve the material utilization rate.

[0062] Specifically, the control unit is connected with the first image sensor 4, the second image sensor and the flexible scraper adjusting assembly respectively to acquire the moving distance of the adhering point of the material adhering body on the baffle 5 per unit time, and under the condition that the moving distance is greater than a preset moving distance, the pressure adjusting assembly is controlled to reduce the pressure of the flexible scraper 3 on the baffle 5.

[0063] Optionally, under normal temperature and pressure conditions, the optional range of the preset moving distance is [5mm, 20mm];

[0064] Preferably, under normal temperature and pressure conditions, the preferred embodiment of the preset moving distance is 10mm.

[0065] In the implementation, when the moving distance in unit time exceeds the preset first moving distance by a value within 5 mm, the scraping pressure is adjusted to 0.9 times of the current scraping pressure; when the moving distance in unit time exceeds the preset first moving distance by more than 5 mm, the scraping pressure is reduced by 0.1 N for each 1 mm of excess, for example, the moving distance in unit time is 15 mm, and the current scraping pressure is 3 N, so that the reduced scraping pressure is 0.9*3N=2.7N.

[0066] In the implementation, the present application monitors the distribution and thickness of the material adhesion body in real time through the first image sensor 4, the infrared sensor and the second image sensor arranged in the detection unit, analyzes the rigidity, viscosity and movement of the material, and adjusts the cleaning position and pressure of the scraper.

[0067] Specifically, the upper surface or the lower surface of the irregular body formed based on the set of thickness sampling points on each material adhesion body is determined as the rigid isolation interface, wherein,

[0068] The closed surface with the maximum area connected by the lines connecting a plurality of uppermost or lowermost thickness sampling points of the irregular body is determined as the upper surface or the lower surface,

[0069] The set of thickness sampling points includes a first set of thickness points and a second set of thickness points, a plurality of thickness points satisfying a moving distance greater than or equal to a first preset displacement are determined as the first set of thickness points, and a plurality of thickness points satisfying a moving distance less than the first preset displacement are determined as the second set of thickness points.

[0070] Optionally, the optional range of the first preset displacement is [2mm, 10mm];

[0071] Preferably, the preferred embodiment of the first preset displacement is set to 6mm.

[0072] In the implementation, the present application sets the rigid isolation interface of the material adhesion body, so that the self-cleaning unit can accurately identify the rigidity distribution of the material adhesion body, divide the material into rigid regions and non-rigid regions, and ensure the pertinence of cleaning.

[0073] Specifically, the vertical scraping position of the flexible scraper 3 is the position of the rigid isolation interface.

[0074] Specifically, based on the horizontal distance between the rigid region on each material adhesion body and the non-rigid region on the nearest material adhesion body being less than the width of the flexible scraper, the flexible scraper adjusting assembly controls the flexible scraper 3 to feed the flexible scraper 3 from the non-rigid region to the rigid region for scraping,

[0075] The region where the first thickness point set is located is determined as a non-rigid region, and the region where the second thickness point set is located is determined as a rigid region.

[0076] In the implementation, the present application gradually adapts to the rigidity change of the material adhering body by setting the flexible scraper 3 to feed in the scraping mode from the non-rigid region to the rigid region, and avoiding the resistance that may be generated when directly contacting the rigid region by using the principle of compatibility of similar substances.

[0077] Specifically, in one embodiment of the present application, the width of the flexible scraper 3 is set to 300 mm.

[0078] Specifically, based on the fact that the leakage amount of the material adhering body is greater than the preset leakage amount and the actual distance between the lower end of the flexible scraper and the upper end of the rigid isolation interface is greater than the preset distance, the flexible scraper adjusting assembly is controlled to increase the horizontal moving speed of the flexible scraper.

[0079] Specifically, the lower portion of the negative pressure recovery assembly is further provided with a collection barrel for collecting the leaked material adhering body that does not enter the negative pressure recovery assembly and a weight sensor arranged below the collection barrel for detecting the weight of the leaked material adhering body.

[0080] Optionally, the optional range of the preset distance is [30 mm, 50 mm].

[0081] Preferably, the preferred embodiment of the preset distance is 40 mm.

[0082] Specifically, in this embodiment, the preset leakage amount of the material adhering body is 100 g / min.

[0083] Optionally, the pressure range of the negative pressure recovery assembly is [-5 kPa, -20 kPa].

[0084] Preferably, in this embodiment, the pressure of the negative pressure recovery assembly is selected to be -15 kPa.

[0085] Specifically, the horizontal moving speed of the flexible scraper 3 for making the material adhering body reach the recovery region of the negative pressure recovery assembly is calculated by the following formula:

[0086]

[0087] wherein v is the adjusted horizontal moving speed of the flexible scraper 3, is the initial horizontal moving speed of the flexible scraper 3, k is the adjustment coefficient, and d is the distance between the flexible scraper 3 and the rigid isolation interface.

[0088] wherein the relationship between the adjustment coefficient k and the distance d between the flexible scraper 3 and the rigid isolation interface is:

[0089] k = 1 - 0.05·d

[0090] When d = 10 mm, k = 1 - 0.05 * 10 = 0.5;

[0091] When d=5mm, k=1-0.05·5=0.75.

[0092] A specific example is as follows:

[0093] The recycling area is 120 The pressure of the negative pressure recovery component is 15 kPa, and the initial horizontal moving speed is... With a speed of 1 cm / s and an adjustment coefficient k of 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:

[0094]

[0095] Therefore, the horizontal movement speed of the adjusted flexible scraper is 4.75 cm / s.

[0096] Working process: the driving motor 11 transmits the rotating torque to the driving shaft 9 through the reducer 7; the driving shaft 9 drives the driven shaft 2 through the power belt 6, and converts the rotating torque into the moving torque of the conveyor belt 12; the baffle 5 on the conveyor belt 12 conveys the material generated in the coal mine to the target position. The constraint groove is fixedly connected with the main body 1, so as to ensure that the material does not deviate from the conveyor belt 12 during conveying. The first image sensor 4 collects the surface image of the conveyor belt 12, and monitors the distribution of the material adhesion body in real time; the infrared sensor detects the infrared image of the material adhesion body, 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, so as to ensure the accuracy of the cleaning position and pressure adjustment of the scraper. Based on the data of the detection unit, the moving distance of the thickness sampling point of the material adhesion body is analyzed; based on the first thickness point set and the second thickness point set, the rigid isolation interface of the material adhesion body is constructed; the rigid isolation interface is used to determine the scraping position and curved surface of the flexible scraper 3. According to the position change distance of the material adhesion body, the control unit dynamically adjusts the pressure of the flexible scraper 3 on the baffle 5; when the distance between the flexible scraper 3 and the rigid isolation interface is greater than the preset distance, the control unit increases the horizontal moving speed of the flexible scraper 3 through the flexible scraper adjusting assembly; when the horizontal distance between the rigid region on the material adhesion body and the nearest non-rigid region is less than the width of the flexible scraper 3, the flexible scraper 3 is controlled to feed from the non-rigid region to the rigid region; the flexible scraper 3 scrapes the material adhesion body through the principle of compatibility of similar substances, and the flexible scraper adjusting assembly controls the flexible scraper 3 to feed from the non-rigid region to the rigid region. The material adhesion body scraped by the flexible scraper 3 is adsorbed by the negative pressure recovery assembly, and is conveyed to the designated recovery area through the recovery pipeline. The rigid scraper 8 is arranged on the other side of the main body 1 away from the driving motor 11, and is used for processing the material adhesion body with strong rigidity; the rigid scraper 8 cooperates with the flexible scraper 3 to ensure the efficiency and thoroughness of the cleaning process.

[0097] So far, the technical scheme of the present application has been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments. Those skilled in the art can make equivalent changes or replacements to the related technical features without departing from the principles of the present application, and the technical scheme after the changes or replacements will fall within the protection scope of the present application.

Claims

1. A coal mine scraper feeder with self-cleaning function, characterized in that, The application relates to a coal mine material feeding device, which comprises a main body, a material feeding unit connected with the main body and used for feeding material generated in a coal mine to a target position, a self-cleaning unit connected with the material feeding unit and used for cleaning material adhering bodies on a conveying belt to a corresponding recovery position, a detection unit connected with the material feeding unit and used for collecting surface images of the baffle and the inner wall of the constraint groove and detecting infrared movement features of the material adhering bodies and the actual distance between the flexible scraper and the isolation interface, and a control unit connected with the material feeding unit, the self-cleaning unit and the detection unit respectively and used for determining a scraping pressure according to the position change distance of each material adhering body in unit time, constructing a rigid isolation interface of each material adhering body according to the infrared movement features of each material adhering body, determining a scraping position of the flexible scraper according to the position of the rigid isolation interface, determining a horizontal movement speed of the flexible scraper according to the vertical distance between the flexible scraper and the rigid isolation interface, determining the rigid isolation interface based on the upper surface or the lower surface of an irregular body formed by a set of thickness sampling points on each material adhering body, determining the upper surface or the lower surface based on a closed curved surface with the maximum area formed by connecting a plurality of thickness sampling points at the uppermost or the lowermost of the irregular body, wherein the set of thickness sampling points comprises a first set of thickness points and a second set of thickness points, a plurality of thickness points satisfying a movement distance greater than or equal to a first preset displacement are determined as the first set of thickness points, and a plurality of thickness points satisfying a movement distance less than the first preset displacement are determined as the second set of thickness points. The material feeding unit further comprises a transmission assembly connected with the conveying assembly and used for transmitting the movement torque to the conveying assembly, a driving assembly connected with the transmission assembly and used for providing the transmission assembly with rotating power, and a baffle chain wheel, a transmission chain wheel, a driving transmission shaft, a driven transmission shaft and a power belt, wherein the power belt is movably sleeved on the driving transmission shaft and the driven transmission shaft, the driving transmission shaft and the driven transmission shaft are matched with each other to convert the rotating torque of a driving motor into the movement torque of the conveying belt, the baffle chain wheel is fixedly connected with the driving transmission shaft and used for transmitting the rotating torque to the conveying belt, and the transmission chain wheel is connected with the driving transmission shaft and used for transmitting the rotating torque of the driving motor to the driving transmission shaft. The detection unit comprises a first image sensor arranged on the side of the main body close to the flexible scraper and used for collecting the surface images of the baffle and the inner wall of the constraint groove. ​ ​ ​ ​ ​ ​ 2. The coal mine scraper feeder with self-cleaning function according to claim 1, characterized in that, ​ ​ ​ ​ 3. The coal mine scraper feeder with self-cleaning function according to claim 1, characterized in that, ​ ​ an infrared sensor disposed between the first image sensor and the flexible scraper to acquire an infrared image of the material adhering body; a second image sensor disposed below the first image sensor to detect the actual distance between the lower end of the flexible scraper and the uppermost end of the rigid isolation interface.

4. The coal mine scraper feeder with self-cleaning function according to claim 2, characterized in that, The self-cleaning unit further comprises: a rigid scraper disposed on the other side of the main body away from the driving motor to process the rigid material adhering body; a flexible scraper adjusting assembly fixedly connected with the flexible scraper to dynamically adjust the pressure, direction and horizontal moving speed of the flexible scraper on the baffle.

5. The coal mine scraper feeder with self-cleaning function according to claim 3, characterized in that, The control unit is connected with the first image sensor, the second image sensor and the flexible scraper adjusting assembly to acquire the moving distance of the adhering point of the material adhering body on the baffle per unit time, and control the pressure adjusting assembly to reduce the scraping pressure when the moving distance is greater than a preset first moving distance.

6. The coal mine scraper feeder with self-cleaning function according to claim 5, characterized in that, The vertical scraping position of the flexible scraper is the position of the rigid isolation interface.

7. The coal mine scraper feeder with self-cleaning function according to claim 6, characterized in that, Based on the horizontal distance between the rigid region on each material adhering body and the non-rigid region on the material adhering body closest to the rigid region being less than the width of the flexible scraper, the flexible scraper adjusting assembly is controlled to feed the flexible scraper from the non-rigid region to the rigid region for scraping, wherein the region where the first thickness point set is located is determined as the non-rigid region, and the region where the second thickness point set is located is determined as the rigid region.

8. The coal mine scraper feeder with self-cleaning function according to claim 7, characterized in that, Based on the leakage amount of the adhering material being greater than a 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 a preset distance, the flexible scraper adjusting assembly is controlled to increase the horizontal moving speed of the flexible scraper.

9. The coal mine scraper feeder with self-cleaning function according to claim 8, characterized in that, The negative pressure recovery assembly is further provided below with a collection barrel to collect the leaked adhering material that does not enter the negative pressure recovery assembly and a weight sensor disposed below the collection barrel to detect the weight of the leaked adhering material.

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