Earthwork conveying device for constructional engineering

Abstract

The invention discloses an earthwork conveying device for constructional engineering, and relates to the technical field of earthwork conveying. Through the flattening assembly, steel bars and other metal materials in earthwork can be turned out conveniently, and therefore the metal materials in the earthwork can be recycled conveniently; by using the removing assembly, metal materials in the earthwork can be conveniently recycled, waste of the metal materials is avoided, and therefore resources are saved; earthwork is scanned in real time through the metal detector, the detector is ensured to completely cover the width of the earthwork in combination with the mathematical matching relation between the moving speed of the threaded sleeve and the conveying speed of the conveying belt, and missing detection is avoided; the length of the metal part is calculated according to the detection time and the moving speed, the position and continuity of metal impurities are accurately judged through transverse distance data of the marked position and adjacent marking logic, and the positioning precision is improved; the recovery value of the metal impurities is distinguished through the length threshold value and the mark number threshold value, the impurities reaching the recovery standard are automatically triggered to be recovered by the manipulator, manual intervention is reduced, and the recovery efficiency is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of earthwork transportation, in particular to an earthwork transportation device for construction engineering. Background Art

[0002] In the field of construction engineering, earthwork handling is a basic and critical task. Its efficiency and quality have a significant impact on the progress, cost and environmental performance of the entire project. Earthwork transportation, as an important link in the earthwork handling process, is responsible for transporting earth from one place to another. When transporting earth, an earth conveying device is needed; however, when using the existing earth conveying device, since the earth contains metal materials, these metal materials will be transported along with the earth, resulting in waste of metal materials and thus waste of resources; and the traditional device cannot achieve real-time and accurate detection of metal impurities in the earth, and lacks an automated speed adjustment and recovery mechanism, which affects construction efficiency. Summary of the Invention

[0003] In order to solve the problems in the background technology, the present invention proposes an earthwork conveying device for construction engineering.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions: A soil conveying device for construction engineering, comprising a bracket, a connecting shaft symmetrically rotating in the bracket, a driving motor provided at the outer end of one of the connecting shafts, a conveying roller fixed to the outer wall of the connecting shaft, and a conveyor belt provided between the conveying rollers; A frame is provided on the top surface of the bracket, and a leveling component for leveling earthwork is provided on one side of the frame, and a rejecting component for rejecting steel is provided on the other side; An intelligent control component is provided inside the control box of the conveying device, and the intelligent control component includes an analysis module; The analysis module analyzes the data transmitted by the acquisition module, and determines whether the moving speed of the threaded sleeve needs to be adjusted according to the transmission speed of the conveyor belt. If adjustment is required, a speed regulation signal is generated and transmitted to the execution module; the locations where metal impurities exist in the earthwork are marked, and the positions of the marks are analyzed to determine the number of marks and the length of the metal impurities; if the number of marks reaches a threshold or the length of the metal impurities exceeds the corresponding threshold, a metal rejection signal is generated and transmitted to the execution module.

[0005] Preferably, the flattening assembly includes a screw rod rotatably arranged on the frame, a servo motor arranged at one end of the screw rod and a threaded sleeve arranged on the outer wall of the screw rod, and the threaded sleeve is slidably arranged with the frame, a mounting frame is fixedly connected to the bottom surface of the threaded sleeve, and a plurality of scraping rods are evenly arranged on the bottom surface of the mounting frame.

[0006] Preferably, the rejection component includes a robot arm arranged on the top surface of the frame, a clamp is provided on the robot arm, and a camera cooperating with the robot arm is provided in the frame.

[0007] Preferably, edge guards are provided at the edges of the conveyor belt, and the edge guards are made of flexible rubber material.

[0008] Preferably, mounting holes are provided on the upper and lower sides of the middle position of the clamp of the control clamp, a rotating roller is installed on the inside of the mounting hole, a transmission belt is installed on the outside of the rotating roller, and a micro motor is installed on the outside of the clamp corresponding to the position of the upper rotating roller, and the upper rotating roller is driven to rotate by the control of the micro motor.

[0009] Preferably, the intelligent control component includes an acquisition module and an execution module; The acquisition module collects the detection width data, the conveyor belt transmission speed and the thread sleeve movement speed, and transmits the collected data to the analysis module; The execution module receives the speed control signal transmitted by the analysis module, and then adjusts the moving speed of the threaded sleeve. With standard speed For comparison, if , then deceleration adjustment is performed, and the adjustment range ;like , then speed adjustment is performed, and the adjustment range ; Receive the metal rejection signal transmitted by the analysis module, and control the robot to recycle the metal parts at the corresponding positions in sequence according to the position marks of the metal parts.

[0010] Preferably, the analysis module performs the following analysis steps for speed regulation: S1: The detection width of the metal detector is , the conveyor belt transmission speed is , the moving speed of the threaded sleeve is , the width data of the earthwork is , when the moving speed of the threaded sleeve and the conveyor belt needs to meet: When the metal detector completes the detection operation on the earthwork, the speed of the threaded sleeve at this time is recorded as the standard speed. ; S2: If , a speed control signal is generated and transmitted to the execution module; after receiving the speed control signal, the execution module adjusts the moving speed of the threaded sleeve to With standard speed For comparison, if , then deceleration adjustment is performed, and the adjustment range ;like , then speed adjustment is performed, and the adjustment range .

[0011] Preferably, the analysis module performs the following steps for analyzing the location of metal impurities: K1: When the metal detector moves, the timing operation is performed when the detector triggers the alarm, and the entire detection time period of the metal detector is recorded. According to the time period and the moving speed of the threaded sleeve Calculate the length of metal parts inside the earthwork , and according to the transmission speed of the conveyor belt Infer the position of metal parts in the earthwork; if the length of the detected metal parts , then the length of the metal component is judged to be small, and it is preliminarily judged that there is no meaning in recycling. The position of the metal component on the earthwork is marked. is the preset metal component length threshold; otherwise, a metal rejection signal is generated according to the marked position and transmitted to the execution module; the marking method is to add the lateral distance data corresponding to each back and forth movement on the corresponding earthwork, and mark it with the number of times and lateral movement distance; K2: After completing the detection operation of the entire earthwork, read the mark on the corresponding earthwork. If the lateral movement distance data of the mark corresponding to the adjacent movement times meets the following conditions: , then the positions corresponding to the two marks are determined to be the same metal part, and the number of adjacent moves that meet the above conditions is Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. and They are the lateral movement distance data of the marks corresponding to the adjacent movement times; K3: If , then the number of marks on the entire earthwork Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. The preset number threshold.

[0012] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are: 1. By using the flattening component, it is easy to turn out the metal materials such as steel bars in the earthwork, thereby facilitating the recycling of the metal materials in the earthwork; by using the removing component, it is easy to recycle the metal materials in the earthwork, avoiding the waste of metal materials and thus saving resources; 2. Scan the earthwork in real time using a metal detector. The mathematical matching relationship between the threaded sleeve's movement speed and the conveyor belt's transmission speed ensures that the detector fully covers the width of the earthwork to avoid missed detections. The length of the metal component is calculated based on the detection time and movement speed, and the horizontal distance data of the mark position and the logic of adjacent marks are used to accurately determine the location and continuity of metal impurities, thereby improving positioning accuracy. 3. The analysis module compares the actual speed of the threaded sleeve with the standard speed in real time, automatically generates a speed control signal, and drives the execution module to accurately adjust the speed of the servo motor (speed up or slow down), ensuring the integrity of the detection coverage while avoiding energy waste caused by excessive operation of the motor; the threaded sleeve speed is adjusted by the servo motor first, reducing the intervention on the conveyor belt drive motor, and the output power is dynamically adjusted in combination with the control algorithm to ensure that the system always operates in the high-efficiency energy-saving range; the recovery value of metal impurities is distinguished by the length threshold and the number of marks threshold, and the impurities that meet the recovery standard are automatically triggered by the robot for recovery, reducing manual intervention and improving recovery efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It shows a schematic structural diagram of a front view provided by an embodiment of the present invention; Figure 2 It shows a schematic structural diagram of a side view provided by an embodiment of the present invention; Figure 3 A schematic diagram of a cross-sectional structure according to a front view perspective provided by an embodiment of the present invention is shown; Figure 4 A system flow chart provided according to an embodiment of the present invention is shown.

[0014] Legend: 1. Bracket; 2. Drive motor; 3. Edge guard; 4. Frame; 5. Manipulator; 6. Clamp; 7. Servo motor; 8. Threaded sleeve; 9. Screw; 10. Mounting bracket; 11. Scraper rod; 12. Conveyor roller; 13. Conveyor belt; 14. Camera; 15. Connecting shaft. DETAILED DESCRIPTION

[0015] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0016] See also Figures 1-4 , the present invention provides a technical solution: A soil conveying device for construction projects includes a bracket 1, characterized in that a connecting shaft 15 is symmetrically rotated inside the bracket 1, a drive motor 2 is provided at the outer end of one of the connecting shafts 15, and the drive motor 2 is mounted on the bracket 1 through a frame to support the drive motor 2 and ensure the normal operation of the drive motor 2; conveying rollers 12 are fixed to the outer wall of the connecting shaft 15, a conveyor belt 13 is provided between the conveyor rollers 12, and edge guards 3 are provided at the edges of the conveyor belt 13. Through the use of the edge guards 3, it is convenient to block the soil on the conveyor belt 13 to prevent the soil from falling from the conveyor belt 13; and the edge guards 3 are made of flexible rubber material, which facilitates the bending of the edge guards 3, thereby facilitating the transmission of the conveyor belt 13.

[0017] A frame 4 is provided on the top surface of the bracket 1, and a flattening component for flattening the earth is provided on one side of the frame 4. By using the flattening component, it is convenient to turn out metal materials such as steel bars in the earth, thereby facilitating the recycling of metal materials in the earth and saving resources; a removal component for removing steel is provided on the other side; by using the removal component, it is convenient to recycle metal materials in the earth, avoiding waste of metal materials and thus saving resources.

[0018] In the present invention, the flattening assembly includes a screw rod 9 rotatably arranged on the frame 4, a servo motor 7 arranged at one end of the screw rod 9, and the servo motor 7 is installed on the side of the frame 4 through a fixing frame, which is used to support the servo motor 7, thereby ensuring the normal operation of the servo motor 7; and a threaded sleeve 8 arranged on the outer wall of the screw rod 9, and the threaded sleeve 8 is slidably arranged with the frame 4, and a mounting frame 10 is fixedly connected to the bottom surface of the threaded sleeve 8, and a plurality of scraping rods 11 are evenly arranged on the bottom surface of the mounting frame 10, and there are gaps between the scraping rods 11, which facilitates the leakage of earthwork, thereby facilitating the removal of metal materials in the earthwork.

[0019] In the present invention, the rejection assembly includes a manipulator 5 mounted on the top surface of a frame 4. The manipulator 5 is equipped with a clamp 6. A camera 14 is mounted within the frame 4, which is compatible with the manipulator 5 and bolted to the top surface of the frame 4. The camera 14 is used to capture images of metal materials in the earthwork, thereby facilitating the manipulator 5's movement of the clamp 6 to recover the metal, thus facilitating metal recovery. The frame 4 is also equipped with a control device (conventional technology, not shown), which includes an image processor and a controller. The image processor and camera 14 are electrically connected via wires, and the controller and manipulator 5 are also electrically connected via wires.

[0020] A metal detector is installed on one side of the outer wall of the threaded sleeve 8, so that the threaded sleeve 8 can detect the earth transported on the conveyor belt 13 during the reciprocating movement of the threaded sleeve 8 on the frame 4; a distance sensor is installed on the metal detector, and when it detects that the distance between the metal detector and the object below is less than the distance data between the metal detector and the conveyor belt 13, the detection operation is started; an intelligent control component is set inside the control box of the conveying device, and the intelligent control component includes an acquisition module, an analysis module and an execution module; The acquisition module collects the detection width data, the transmission speed of the conveyor belt 13 and the moving speed of the threaded sleeve 8, and transmits the collected data to the analysis module; The analysis module analyzes the data transmitted by the acquisition module and determines whether the moving speed of the threaded sleeve 8 needs to be adjusted based on the transmission speed of the conveyor belt 13. If adjustment is required, a speed adjustment signal is generated and transmitted to the execution module; the locations where metal impurities exist in the earthwork are marked, and the marked positions are analyzed to determine the number of marks and the length of the metal impurities; if the number of marks reaches a threshold or the length of the metal impurities exceeds the corresponding threshold, a metal rejection signal is generated and transmitted to the execution module; The detection width of the metal detector is , the transmission speed of the conveyor belt 13 is , the moving speed of the threaded sleeve 8 is In order for the metal detector to perform a complete detection operation on the earthwork, the moving speed of the threaded sleeve 8 and the conveyor belt 13 must meet the following requirements: , the threaded sleeve 8 speed that satisfies the above relationship is recorded as the standard speed , is the width data of earthwork; if , a speed control signal is generated and transmitted to the execution module; after receiving the speed control signal, the execution module adjusts the moving speed of the threaded sleeve 8 to With standard speed For comparison, if , then deceleration adjustment is performed, and the adjustment range ;like , then speed adjustment is performed, and the adjustment range ; formula Due to the time consistency of detection coverage, the detection width of the metal detector is , when the conveyor belt is moving at a speed When running, the detection width The time it takes for the earth to pass under the detector is The overall width of the earthwork is , the threaded sleeve needs to move in the same time distance, so its speed Need to meet , it is deduced that , standard speed , ensuring that the detector completes the horizontal scan within the time it takes for the earthwork to pass through, covering the entire width of the earthwork; like , indicating that the threaded sleeve moves too fast, which may cause the detection area to overlap and increase energy consumption; at this time, the deceleration amplitude , reduce the speed of the servo motor (such as from 1500rpm to 1200rpm) to return the moving speed to the standard value; if , the threaded sleeve moves too slowly, a detection blind area will appear, and the speed needs to be increased (For example, from 1000 rpm to 1200 rpm). During the speed regulation process, the PID control algorithm (proportional coefficient 0.5, integral time 1s, differential time 0.1s) is used to smoothly adjust the speed to avoid energy loss caused by frequent starting and stopping of the motor; When the metal detector moves, the timing operation is performed when the detector triggers the alarm, and the entire time period of the metal detector is recorded. According to the time period and the moving speed of the threaded sleeve 8, the time period is recorded. Calculate the length of metal parts inside the earthwork , and according to the transmission speed of the conveyor belt 13 Infer the position of metal parts in the earthwork; if the length of the detected metal parts , then the length of the metal component is judged to be small, and it is preliminarily judged that there is no meaning in recycling. The position of the metal component on the earthwork is marked. is the preset metal component length threshold; otherwise, a metal rejection signal is generated according to the marked position and transmitted to the execution module; the marking method is to add the lateral distance data corresponding to each back and forth movement on the corresponding earthwork, and mark it with the number of times and lateral movement distance; After completing the detection operation of the entire earthwork, read the mark on the corresponding earthwork. If the lateral movement distance data of the mark corresponding to the adjacent movement times meets the following conditions: , then the positions corresponding to the two marks are determined to be the same metal part, and the number of adjacent moves that meet the above conditions is Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. and They are the lateral movement distance data of the marks corresponding to the adjacent movement times; like , then the number of marks on the entire earthwork Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. is a preset number threshold; after the execution module receives the metal removal signal, the manipulator 5 recovers the metal parts at the corresponding positions in turn according to the position marks of the metal parts; When the metal detector triggers the alarm, the system starts timing (accuracy 1ms), the thread sleeve moving speed is , then the length of the metal part ; For example, the detection time is 2s, ,but ; When marking, the number of times the threaded sleeve moves back and forth The horizontal distance of each movement Record the position; if the lateral distance between adjacent marks meets , indicating that the two marks correspond to the two ends of the same metal part (such as the width of the earthwork , , ,but , determined to be the same object; Length threshold It is usually set to 10cm. Metals smaller than this value (such as nails) have high recycling costs and are therefore not recycled for the time being. Set to 5, if the number of marks in 1m² soil is ≥5, it means that there are a lot of small-sized metals (such as wire fragments). Although the length of each piece is insufficient, the total amount has recycling value. For example, if a adjacent marks meet the conditions, (like , , ), the recycling is triggered to avoid missing densely distributed metal groups.

[0021] At the middle position of the clamping plate of the control clamp 6, mounting holes are provided on the upper and lower sides, a rotating roller is installed on the inside of the mounting hole, a conveyor belt is installed on the outside of the rotating roller, and a micro motor is installed on the outside of the clamping plate corresponding to the position of the upper rotating roller. The micro motor controls the upper rotating roller to rotate, so that the conveyor belt on the outside of the two rotating rollers rotates; when the clamping plate of the control clamp 6 clamps multiple targets at one time, it can continuously perform the clamping operation of multiple targets. After completing the clamping operation of one target, the control clamp 6 remains tilted during the movement, so that the conveyor belt can transfer the clamped target to the inside of the temporary storage box. Driven by the micro motor, the conveyor belt rotates to drive the clamped target upward, and the clamped target falls into the temporary storage box when it is separated from the conveyor belt. The temporary storage box is arranged on the side of the control clamp 6 close to the clamping plate.

[0022] Working principle: When the present invention is in use, earth is placed on the conveyor belt 13, and then the drive motor 2 is started. The output shaft of the drive motor 2 rotates to drive the connecting shaft 15 to rotate, and then drives the conveyor roller 12 to rotate, thereby driving the conveyor belt 13 to rotate, thereby realizing the movement of earth; Then, the servo motor 7 is turned on, and the output shaft of the servo motor 7 rotates to drive the screw 9 to rotate, thereby driving the threaded sleeve 8 to move back and forth on the frame 4, thereby driving the mounting frame 10 and the scraper rod 11 to move back and forth, so as to facilitate the removal of metal materials in the earthwork, thereby facilitating the recovery of metal materials; Finally, the image of the earthwork is collected by the camera 14, and then the image is transmitted to the image processor. After processing by the image processor, the controller controls the manipulator 5 to control the clamp 6 to clamp the metal material and place it in the same position to realize the recycling of the metal material.

[0023] The above description of the embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. An earthwork conveying device for construction engineering, comprising a bracket (1), characterized in that: A connecting shaft (15) is symmetrically rotated in the bracket (1), a driving motor (2) is provided at the outer end of one of the connecting shafts (15), a conveying roller (12) is fixedly connected to the outer wall of the connecting shaft (15), and a conveying belt (13) is provided between the conveying rollers (12); A frame (4) is provided on the top surface of the bracket (1), and a leveling component for leveling earthwork is provided on one side of the frame (4), and a rejecting component for rejecting steel is provided on the other side; An intelligent control component is provided inside the control box of the conveying device, and the intelligent control component includes an analysis module; The analysis module analyzes the data transmitted from the acquisition module, determines whether the moving speed of the threaded sleeve (8) needs to be adjusted according to the transmission speed of the conveyor belt (13), and if so, generates a speed adjustment signal and transmits the speed adjustment signal to the execution module; marks the locations where metal impurities exist in the earthwork, analyzes the positions of the marks, determines the number of marks and the length of the metal impurities; if the number of marks reaches a threshold or the length of the metal impurities exceeds the corresponding threshold, generates a metal rejection signal, and transmits the metal rejection signal to the execution module.

2. The earthwork conveying device for construction engineering according to claim 1, characterized in that: The flattening assembly comprises a screw (9) rotatably arranged on a frame (4), a servo motor (7) arranged at one end of the screw (9), and a threaded sleeve (8) arranged on the outer wall of the screw (9), wherein the threaded sleeve (8) is slidably arranged with the frame (4), a mounting frame (10) is fixedly connected to the bottom surface of the threaded sleeve (8), and a plurality of scraping rods (11) are evenly arranged on the bottom surface of the mounting frame (10).

3. The earthwork conveying device for construction engineering according to claim 1, characterized in that: The rejection assembly comprises a manipulator (5) arranged on the top surface of a frame (4), a clamp (6) is provided on the manipulator (5), and a camera (14) cooperating with the manipulator (5) is provided in the frame (4).

4. The earthwork conveying device for construction engineering according to claim 1, characterized in that: Edge guards (3) are provided at the edges of the conveyor belt (13), and the edge guards (3) are made of flexible rubber material.

5. The earthwork conveying device for construction engineering according to claim 3, characterized in that: Mounting holes are provided on the upper and lower sides of the middle position of the clamping plate of the control clamp (6), a rotating roller is installed on the inner side of the mounting hole, a transmission belt is installed on the outer side of the rotating roller, and a micro motor is installed on the outer side of the clamping plate at the position corresponding to the upper rotating roller, and the upper rotating roller is driven to rotate by the control of the micro motor.

6. The earthwork conveying device for construction engineering according to claim 1, characterized in that: The intelligent control component includes an acquisition module and an execution module; An acquisition module collects detection width data, a transmission speed of the conveyor belt (13), and a moving speed of the threaded sleeve (8), and transmits the collected data to an analysis module; The execution module receives the speed control signal transmitted by the analysis module, and then adjusts the moving speed of the threaded sleeve (8) With standard speed For comparison, if , then deceleration adjustment is performed, and the adjustment range ;like , then speed adjustment is performed, and the adjustment range ; Receive the metal rejection signal transmitted by the analysis module, and control the robot (5) to recycle the metal parts at the corresponding positions in sequence according to the position marks of the metal parts.

7. The earthwork conveying device for construction engineering according to claim 1, characterized in that: The analysis steps for speed regulation by the analysis module are as follows: S1: The detection width of the metal detector is , the transmission speed of the conveyor belt (13) is , the moving speed of the threaded sleeve (8) is , the width data of the earthwork is , when the moving speed of the threaded sleeve (8) and the conveyor belt (13) needs to meet: When the metal detector completes the detection operation on the earthwork, the speed of the threaded sleeve (8) at this time is recorded as the standard speed. ; S2: If , a speed control signal is generated and transmitted to the execution module; after receiving the speed control signal, the execution module adjusts the moving speed of the threaded sleeve (8) With standard speed For comparison, if , then deceleration adjustment is performed, and the adjustment range ;like , then speed adjustment is performed, and the adjustment range .

8. The earthwork conveying device for construction engineering according to claim 7, characterized in that: The steps for the analysis module to analyze the location of metal impurities are as follows: K1: When the metal detector moves, the timing operation is performed when the detector triggers the alarm, and the entire detection time period of the metal detector is recorded. According to the time period and the moving speed of the threaded sleeve (8), Calculate the length of metal parts inside the earthwork , and according to the transmission speed of the conveyor belt (13) Infer the position of metal parts in the earthwork; if the length of the detected metal parts , then the length of the metal component is judged to be small, and it is preliminarily judged that there is no meaning in recycling. The position of the metal component on the earthwork is marked. is the preset metal component length threshold; otherwise, a metal rejection signal is generated according to the marked position and transmitted to the execution module; the marking method is to add the lateral distance data corresponding to each back and forth movement on the corresponding earthwork, and mark it with the number of times and lateral movement distance; K2: After completing the detection operation of the entire earthwork, read the mark on the corresponding earthwork. If the lateral movement distance data of the mark corresponding to the adjacent movement times meets the following conditions: , then the positions corresponding to the two marks are determined to be the same metal part, and the number of adjacent moves that meet the above conditions is Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. and They are the lateral movement distance data of the marks corresponding to the adjacent movement times; K3: If , then the number of marks on the entire earthwork Perform statistics, if , then a metal rejection signal is generated according to the marked position and transmitted to the execution module. The preset number threshold.

Images