A multi-graded granular material automatic output system and use method

Abstract

The present invention relates to the field of intelligent warehousing technology, and specifically to an automatic output system for multi-graded granular materials and a method for using the same. The discharge port of the discharge hopper is always located at the rotation center of a secondary climbing belt conveyor relative to a horizontal belt conveyor, and the force position of the horizontal belt conveyor receiving the falling materials remains unchanged. The discharge hopper on the horizontal belt conveyor is positioned by a discharge hopper laser positioner, and the position of the equipment with walking and shoveling functions is accurately solved in conjunction with the angles measured by the discharge hopper angle encoder and the traction hole angle encoder. The particulate matter in the silo and the collecting hopper is monitored by a three-dimensional laser scanning radar, a high-position laser rangefinder, and a low-position laser rangefinder. There is no need to set detection sensors on the equipment with walking and shoveling functions, and the positioning of the equipment with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if a large amount of dust is generated during the transmission of the granular materials, it will not hinder the automatic operation of the output system.

Description

Technical Field

[0001] The present invention relates to the field of intelligent warehousing technology, and in particular to an automatic output system for multi-graded granular materials and a method for using the system. Background Art

[0002] In the process of industrial and agricultural production, the transportation or storage, processing, mixing and stirring of granular materials are very common, such as grain, coal, slag, sand and gravel, plastic, etc. At present, traditional loaders are used for short-distance transportation or loading and unloading of granular materials in storage yards. The transportation or loading and unloading of traditional loaders relies entirely on manual operation, and manual operation that repeats the same action is very prone to fatigue. Especially in the process of transporting or loading and unloading granular materials, operators are required to move back and forth short distances in the storage area, constantly accumulating, transporting or loading and unloading granular materials. This operation method is prone to production safety accidents. In the production and processing of concrete, when loading and unloading granular materials of different gradations, the loader operator is completely dependent on visual perception to carry out transportation or loading and unloading. It is also easy to have problems such as wrong material loading and insufficient material in the aggregate hopper, which leads to changes in the gradation of the mixture and affects the production quality of concrete.

[0003] To achieve automatic output of multi-graded granular materials, some construction companies have adopted methods such as sunken batching devices in concrete mixing plants, containerized sunken batching, and sunken mixing plants. These methods require large volumes of concrete to be placed underground in the silo, resulting in very high construction costs. The investment in building a sunken mixing plant is around 10 million yuan, and once a project is completed, it is no longer worth promoting.

[0004] Therefore, the applicant invented and conceived the prior Chinese patent application with publication number CN117445191A to solve the above problems. However, during actual use, the applicant found that the following problems still needed to be solved:

[0005] 1. In the prior application, the sensors used for positioning and identification of the automatic loading robot were integrated into the robot. However, a large amount of dust was generated when the granular materials were automatically output. The dust seriously affected the sensitivity of the various sensors integrated into the automatic loading robot. Even if a spray dust suppression device was installed, it was of no help to the large amount of dust generated during the transportation of the granular materials. The fully automatic loading system with multiple robots coordinated at the mixing station was restricted by the on-site environment, making it impossible to achieve automatic loading.

[0006] 2. In the prior application, the automatic loading robot was positioned using a UWB base station positioning method. However, this method has high investment costs, and the UWB signal is easily blocked by mechanical structures, resulting in signal reflection or attenuation, thereby affecting the accuracy of positioning. Summary of the Invention

[0007] The purpose of the present invention is to provide a multi-graded granular material automatic output system and a method for using the system in order to solve the problems existing in the prior art.

[0008] In order to achieve the above object, the technical solution adopted by the present invention is:

[0009] In the first aspect, the present invention provides a multi-graded granular material automatic output system, including granular material automatic output equipment, granular material intelligent identification system and granular material automatic output information unit; at least one granular material automatic output equipment is set in each silo, and the granular material automatic output equipment includes equipment with walking and shoveling functions, a granular material output system and an equipment automation control system; the equipment with walking and shoveling functions includes a spiral shoveling hopper; the granular material output system includes a two-stage climbing belt conveyor, a traction hole angle encoder, a horizontal belt conveyor, a discharge hopper with sliding and rotating functions and a discharge hopper laser locator, and the discharge hopper is set on the horizontal belt conveyor. The discharging hopper can move along the horizontal belt conveyor, and the discharging hopper laser locator is respectively provided at both ends of the horizontal belt conveyor, and the target point of the discharging hopper laser locator is the outer edge of both sides of the discharging hopper, and the discharging hopper laser locator is used to measure the position of the discharging hopper on the horizontal belt conveyor; the discharging hopper includes an upper component, a lower component, a hollow bearing, a hollow discharge port and a discharging hopper angle encoder, the upper component and the lower component are rotatably connected through the hollow bearing, the upper component is hinged to the upper end of the secondary climbing belt conveyor, and the lower end of the secondary climbing belt conveyor is rotatably connected to the walking and shoveling belt conveyor through the belt conveyor traction hole. The equipment has a material feeding function, the lower part of the component is a walking trolley and is arranged on the horizontal belt conveyor, the lower part of the component is connected to the upper part of the component and the horizontal belt conveyor through the hollow discharge port, the discharge hopper angle encoder is arranged on the edge of the hollow bearing, the discharge hopper angle encoder is used to measure the rotation angle of the upper part of the component and the lower part of the component, the traction hole angle encoder is arranged on the traction hole of the belt conveyor, the traction hole angle encoder is used to measure the rotation angle of the secondary climbing belt conveyor and the equipment with walking and shoveling functions; the granular material intelligent identification system includes a three-dimensional laser scanning radar, a high-position laser rangefinder, a low-position laser rangefinder and Aggregate hopper; the three-dimensional laser scanning radar is arranged at one end of the silo partition wall near the aggregate hopper, and the three-dimensional laser scanning radar is used to scan the three-dimensional accumulation data of the granular material in the silo; the high-position laser rangefinder and the low-position laser rangefinder are respectively arranged at the aggregate hopper, the high-position laser rangefinder is used to monitor the highest aggregate level of the aggregate hopper, and the low-position laser rangefinder is used to monitor the lowest aggregate level of the aggregate hopper; the three-dimensional accumulation data and the real-time data of the material pile in the aggregate hopper are collected to the main control center; the granular material automatic output information unit includes an automatic silo system and an automatic output system; the automatic silo system is used to input granular materials of different gradations into corresponding silos;The automated output system is developed through automated control software that aggregates the three-dimensional accumulation data in each silo and the real-time data of the material pile in the hopper. Based on this three-dimensional accumulation data and the high and low position data of the material pile in the hopper, the mixing station's master control center uses a wireless communication module to control the equipment's automated control system in real time, monitor the real-time status of the equipment with travel and shoveling functions, and direct each piece of automated granular material output equipment to operate automatically according to the required working conditions.

[0010] The multi-graded granular material automatic output system described in the present invention is adopted, by configuring the discharge hopper into an upper and lower part that can rotate relative to each other, the upper part component rotates with the secondary climbing belt conveyor, and the lower part component moves along the horizontal belt conveyor, and the discharge port of the discharge hopper is always at the rotation center of the secondary climbing belt conveyor relative to the horizontal belt conveyor, the horizontal belt conveyor receives the falling materials with unchanged force position and uniform force, the discharge port of the discharge hopper is always located on the horizontal belt conveyor, and there is no need to consider that the change in the angle between the secondary climbing belt conveyor and the horizontal belt conveyor causes the discharge port of the discharge hopper to separate from the horizontal belt conveyor, thereby avoiding the movement restriction of the equipment with walking and shoveling functions; the discharge hopper on the horizontal belt conveyor is positioned by the discharge hopper laser locator, and then cooperated with The angle measured by the discharge hopper angle encoder can be used to determine the position of the secondary climbing belt conveyor, and the known length of the secondary climbing belt conveyor combined with the angle measured by the traction hole angle encoder can accurately determine the position of the equipment with walking and shoveling functions. The three-dimensional accumulation data of the granular material in the silo is scanned by the three-dimensional laser scanning radar, the highest aggregate level of the aggregate hopper is monitored by the high-position laser rangefinder, and the lowest aggregate level of the aggregate hopper is monitored by the low-position laser rangefinder, so as to monitor the particulate matter in the silo and the aggregate hopper. There is no need to set a detection sensor on the equipment with walking and shoveling functions, and the positioning of the equipment with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if the granular material generates a large amount of dust during the transmission process, it will not hinder the automatic operation of the multi-graded granular material automatic output system.

[0011] As a preferred technical solution of the present invention, the granular material intelligent identification system also includes a high-definition camera, which is arranged at one end of the silo away from the collecting hopper, and is used to observe the accumulation of granular materials in the silo.

[0012] As a further preferred technical solution of the present invention, the granular material intelligent identification system also includes a switch, a network cable and a display screen. The three-dimensional accumulation data in each silo, the real-time picture of the granular material accumulation in each silo, and the real-time data of the material pile in the collecting hopper are collected on the display screen of the main control center through the switch and the network cable.

[0013] As a preferred technical solution of the present invention, a support rod is provided on the silo partition wall, and the three-dimensional laser scanning radar is installed on the support rod.

[0014] As an optimal technical solution of the present invention, the equipment with walking and shoveling functions also includes an equipment frame, a crawler walking device, and a first-level climbing belt conveyor. The crawler walking device is arranged at the lower end of the equipment frame, the spiral shoveling bucket is arranged at the front end of the equipment frame, the belt conveyor traction hole is arranged at the rear end of the equipment frame, and the first-level climbing belt conveyor is arranged at the upper end of the equipment frame.

[0015] As a further preferred technical solution of the present invention, a crawler driving motor is provided on the crawler walking device, spiral driving motors are provided at the ends of both sides of the spiral shovel hopper, a belt conveyor motor is provided on the driving wheel of the first-stage climbing belt conveyor, and an arm lifting cylinder is provided on the front side of the equipment frame and below the first-stage climbing belt conveyor.

[0016] As a further preferred technical solution of the present invention, the automatic pellet output equipment also includes an equipment power system, which includes a three-phase motor, a twin oil pump, a hydraulic oil tank and a high-pressure oil pipe. The equipment power system is arranged on the equipment with walking and shoveling functions. The three-phase motor is connected to the twin oil pump, and the twin oil pump is connected to the hydraulic oil tank and the high-pressure oil pipe. The high-pressure oil pipe is respectively connected to the arm lifting cylinder, the crawler drive motor and the screw drive motor.

[0017] As a further preferred technical solution of the present invention, the three-phase motor and the belt conveyor motor are driven by electricity.

[0018] As a preferred technical solution of the present invention, the equipment with walking and shoveling functions also includes a sand rake roller device, which includes a sand rake roller support frame, a drive motor, a transmission belt, a sand rake roller and a sand rake nail. The sand rake roller support frame is arranged at the upper end of the spiral shovel hopper, the drive motor is arranged on the sand rake roller support frame, the sand rake roller is arranged at the cantilever end of the sand rake roller support frame, the sand rake roller is located obliquely in front of the spiral shovel hopper, the sand rake nail is arranged on the sand rake roller, and the sand rake roller is connected to the drive motor through the transmission belt.

[0019] With this structural arrangement, the sand-raking roller device is arranged in front of the spiral shoveling hopper to assist the spiral shoveling hopper in shoveling fine particles, thereby avoiding shoveling difficulties and even damage to the spiral drive motor.

[0020] In a second aspect, the present invention further provides a method for using the automatic output system for multi-graded granular materials. The method comprises the following steps:

[0021] The device with walking and shoveling functions moves in the silo, dragging the discharge hopper to move on the horizontal belt conveyor, the discharge hopper laser positioning instrument measures the position of the discharge hopper on the horizontal belt conveyor, the discharge hopper angle encoder measures the rotation angle of the upper component and the lower component, and the traction hole angle encoder measures the rotation angle of the secondary climbing belt conveyor and the device with walking and shoveling functions, thereby determining the position and angle parameters of the device with walking and shoveling functions;

[0022] The three-dimensional laser scanning radar scans the three-dimensional accumulation data of the granular material in the silo, the high-position laser rangefinder and the low-position laser rangefinder respectively monitor the highest and lowest aggregate levels of the aggregate hopper, and based on the three-dimensional accumulation data and the real-time data of the material pile in the aggregate hopper, each of the granular material automatic output devices is controlled to operate automatically according to the required working conditions.

[0023] According to the method for using the automatic output system for multi-graded granular materials described in the present invention, the discharge hopper on the horizontal belt conveyor is positioned by the discharge hopper laser locator, and the orientation of the secondary climbing belt conveyor can be obtained by combining the angle measured by the discharge hopper angle encoder. The known length of the secondary climbing belt conveyor and the angle measured by the traction hole angle encoder can then be used to accurately determine the position of the device with walking and shoveling functions, without the need for positioning the device with walking and shoveling functions through a UWB base station. On this basis, the three-dimensional accumulation data of the granular material in the silo is scanned by the three-dimensional laser scanning radar, the highest aggregate level of the aggregate hopper is monitored by the high-position laser rangefinder, and the lowest aggregate level of the aggregate hopper is monitored by the low-position laser rangefinder, so that particulate matter in the silo and the aggregate hopper is monitored. There is no need to set a detection sensor on the device with walking and shoveling functions, and the positioning of the device with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if a large amount of dust is generated during the transmission of the granular material, it will not hinder the automatic operation of the automatic output system for multi-graded granular materials.

[0024] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0025] 1. The multi-graded granular material automatic output system described in the present invention configures the discharge hopper into two relatively rotatable upper and lower parts, the upper part rotates with the secondary climbing belt conveyor, and the lower part moves along the horizontal belt conveyor, the discharge port of the discharge hopper is always at the rotation center of the secondary climbing belt conveyor relative to the horizontal belt conveyor, the horizontal belt conveyor receives the falling materials with unchanged force position and uniform force, the discharge port of the discharge hopper is always located on the horizontal belt conveyor, and there is no need to consider that the change of the angle between the secondary climbing belt conveyor and the horizontal belt conveyor causes the discharge port of the discharge hopper to separate from the horizontal belt conveyor, thereby avoiding the movement restriction of the equipment with walking and shoveling functions; the discharge hopper on the horizontal belt conveyor is positioned by the discharge hopper laser locator, and then the horizontal belt conveyor is coordinated with the horizontal belt conveyor to carry out the loading and unloading of the materials. The angle measured by the discharge hopper angle encoder can be used to determine the position of the secondary climbing belt conveyor, and the known length of the secondary climbing belt conveyor combined with the angle measured by the traction hole angle encoder can accurately determine the position of the device with walking and shoveling functions. The three-dimensional laser scanning radar scans the three-dimensional accumulation data of the granular material in the silo, the high-position laser rangefinder monitors the highest aggregate level of the aggregate hopper, and the low-position laser rangefinder monitors the lowest aggregate level of the aggregate hopper to monitor the particulate matter in the silo and the aggregate hopper. There is no need to set a detection sensor on the device with walking and shoveling functions, and the positioning of the device with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if the granular material generates a large amount of dust during the transmission process, it will not hinder the automatic operation of the multi-graded granular material automatic output system.

[0026] 2. A preferred multi-graded granular material automatic output system of the present invention is provided with a sand-raking roller device in front of the spiral shovel hopper to assist the spiral shovel hopper in shoveling fine granular materials, thereby avoiding shoveling difficulties and even damage to the spiral drive motor;

[0027] 3. A method for using a multi-graded granular material automatic output system according to the present invention comprises: using the hopper laser locator to locate the hopper on the horizontal belt conveyor, and then using the angle measured by the hopper angle encoder to determine the position of the secondary climbing belt conveyor. Furthermore, the known length of the secondary climbing belt conveyor and the angle measured by the traction hole angle encoder can accurately determine the position of the device with walking and shoveling functions, eliminating the need for positioning the device with walking and shoveling functions through a UWB base station. Furthermore, the hopper and the hopper are monitored for particulate matter by scanning the three-dimensional accumulation data of the granular material in the silo using the three-dimensional laser scanning radar, monitoring the highest aggregate level of the aggregate hopper using the high-position laser rangefinder, and monitoring the lowest aggregate level of the aggregate hopper using the low-position laser rangefinder. This eliminates the need for sensors on the device with walking and shoveling functions, and the positioning of the device with walking and shoveling functions does not rely on sensors installed thereon. Therefore, even if a large amount of dust is generated during the conveying process, it will not hinder the automatic operation of the multi-graded granular material automatic output system. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a top view schematic diagram of the automatic output system of multi-graded granular materials;

[0029] Figure 2 This is a schematic diagram of the main view of the automatic output system for multi-graded granular materials;

[0030] Figure 3 This is a schematic diagram of the main view of the equipment with walking and shoveling functions;

[0031] Figure 4 It is a schematic diagram of the main view of the discharge hopper;

[0032] Figure 5 Schematic diagram of the top view of the discharge hopper.

[0033] Markings in the figure: 1- equipment frame, 2- crawler walking device, 3- spiral shovel hopper, 4- sand rake roller support frame, 5- drive motor, 6- transmission belt, 7- sand rake roller, 8- sand rake nail, 9- arm cylinder, 10- first-stage climbing belt conveyor, 11- equipment power system, 12- integrated industrial computer, 13- belt conveyor traction hole, 14- second-stage climbing belt conveyor, 15- horizontal belt conveyor, 16- discharge hopper laser positioning instrument, 17- discharge hopper, 18- upper part component, 19- lower part component, 20- hollow bearing, 21- hollow discharge port, 22- discharge hopper angle encoder, 23- collecting hopper, 24- high-position laser rangefinder, 25- low-position laser rangefinder, 26- support rod, 27- 3D laser scanning radar, 28- silo partition wall, 29- high-definition camera. DETAILED DESCRIPTION

[0034] The present invention will be further described in detail below in conjunction with test examples and specific embodiments. However, this should not be understood as limiting the scope of the present invention to the following embodiments, and all technologies implemented based on the present invention fall within the scope of the present invention.

[0035] Unless otherwise specified, in the description of the specific embodiments of the present invention, the terms indicating the orientation or positional relationship, such as "upper", "lower", "left", "right", "center", "inside", and "outside", are based on the expressions of the orientation or positional relationship shown in the accompanying drawings, or are the orientation or positional relationship in which the invented product / device / apparatus is placed when it is conventionally used. These terms of orientation or positional relationship are merely for the purpose of facilitating the description of the scheme of the present invention or simplifying the description of the specific embodiments to facilitate the rapid understanding of the scheme by technicians, and do not indicate or imply that a specific device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship, and therefore should not be understood as limiting the present invention.

[0036] In addition, if the terms "horizontal", "vertical", "overhanging", "parallel" and the like appear, it does not mean that the corresponding devices / components / elements are required to be absolutely horizontal or vertical or overhanging or parallel, but may be slightly tilted or have deviations. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but may be slightly tilted. Alternatively, it can be simply understood that the corresponding devices / components / elements are set in directions such as "horizontal", "vertical", "overhanging", and "parallel", and can have an error / deviation of ±10% relative to the corresponding direction setting, more preferably an error / deviation within ±8%, more preferably an error / deviation within ±6%, more preferably an error / deviation within ±5%, and more preferably an error / deviation within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its role in the solution of the present invention.

[0037] In addition, the expressions “first”, “second”, “third”, etc. in the terms are merely used to distinguish the description of the same or similar components, and should not be understood as emphasizing or implying the relative importance of specific components.

[0038] In addition, in the description of the embodiments of the present invention, "several," "plurality," and "a number" represent at least two. It can also be any number such as two, three, four, five, six, seven, eight, nine, or even more than nine.

[0039] Furthermore, in the description of the technical solution of the present invention, unless otherwise expressly specified, defined, or limited, the terms "disposed," "installed," "connected," "connected," "provided with," "laid," and "arranged" should be understood broadly. For example, they may refer to fixed connections, detachable connections, or integral connections. They may be welded, riveted, bolted, threaded, or other commonly used connection methods in the art. Such connections may be mechanical, electrical, or communicative; they may be direct, indirect via an intermediate medium, or internally connected between two components.

[0040] In the related art, the applicant's prior Chinese patent application with publication number CN117445191A, during actual use, the applicant found that the following problems still need to be solved: 1. In the prior application, a large amount of dust will be generated when the granular material is automatically output, and the dust will seriously affect the perception sensitivity of various sensors integrated on the automatic feeding robot. Even if a spray dust reduction device is configured, it will be of no help to the large amount of dust generated during the transmission of the granular material. The multi-robot collaborative full-automatic feeding system of the mixing station is restricted by the on-site environment and cannot realize automatic feeding; 2. In the prior application, the automatic feeding robot is positioned by UWB base station positioning, but this method has high investment cost, and the UWB signal is easily blocked by the mechanical structure, resulting in signal reflection or attenuation, thereby affecting the accuracy of positioning; 3. In the prior application, the towing hole provided at the upper end of the mobile belt conveyor is connected to the towing shaft provided on the towing bracket of the fixed belt conveyor, The figure eight discharging funnel is connected to the upper end of the mobile belt conveyor, and the mobile belt conveyor rotates with the towing shaft of the fixed belt conveyor as the center, so that the inverted figure eight discharging funnel moves along an arc; on the one hand, as the angle between the mobile belt conveyor and the fixed belt conveyor is different, the materials dropped by the inverted figure eight discharging funnel fall at different points on the fixed belt conveyor, resulting in uneven force on the fixed belt conveyor to receive the materials. On the other hand, it is necessary to ensure that the materials dropped by the inverted figure eight discharging funnel fall onto the fixed belt conveyor, resulting in the limited rotation angle between the mobile belt conveyor and the fixed belt conveyor, thereby resulting in the limited movement range of the automatic loading robot within the silo site; 4. In the prior application, for some fine particles with smaller particle sizes, especially fine sand, which have a larger density, if it encounters humid weather or the water content in the fine particles is high, the resistance to the spiral shovel hopper is relatively large, and it is easy to have difficulty in shoveling materials; if there is no human intervention, the corresponding spiral drive motor is easily damaged after the spiral shovel hopper has difficulty in shoveling materials and is stuck. For this reason, the technical solution of the present application was produced, and the following is combined with Figures 1 to 5 To elaborate.

[0041] Example 1

[0042] like Figures 1 to 5As shown, the multi-graded granular material automatic output system of the present invention includes multiple granular material automatic output devices, a granular material intelligent identification system and a granular material automatic output information unit.

[0043] like Figure 1 As shown, at least one automatic pellet material output device is set in a silo, and the automatic pellet material output device includes a device with walking and shoveling functions, a device power system 11, a device sensing system, a pellet material output system, and a device automatic control system.

[0044] like Figures 1 to 3 As shown, the equipment with walking and shoveling functions includes an equipment frame 1, a crawler walking device 2, a spiral shoveling bucket 3, a sand rake roller device, a first-level climbing belt conveyor 10, a belt conveyor traction hole 13, a crawler drive motor, a spiral drive motor, a belt conveyor motor, a cable plug, and an integrated industrial computer 12.

[0045] like Figure 2 and Figure 3 As shown, the crawler walking device 2 is arranged at the lower end of the equipment frame 1, the crawler driving motor is arranged on the crawler walking device 2, the spiral shovel bucket 3 and the sand rake roller device are arranged at the front end of the equipment frame 1, the spiral driving motor is arranged at the ends on both sides of the spiral shovel bucket 3, the sand rake roller device is arranged above the spiral shovel bucket 3, the belt conveyor traction hole 13 is arranged at the rear end of the equipment frame 1, the cable plug is arranged on one side of the belt conveyor traction hole 13, the first-level climbing belt conveyor 10 is arranged at the upper end of the equipment frame 1, the belt conveyor motor is arranged on the driving wheel of the first-level climbing belt conveyor 10, the arm lifting cylinder 9 is arranged on the front side of the equipment frame 1 and below the first-level climbing belt conveyor 10, and the integrated industrial control computer 12 is arranged on the outside of the equipment frame 1.

[0046] like Figure 3As shown, the sand-raking roller device includes a sand-raking roller support frame 4, a drive motor 5, a transmission belt 6, a sand-raking roller 7, and sand-raking spikes 8. The sand-raking roller support frame 4 is arranged at the upper end of the spiral shovel hopper 3, the drive motor 5 is arranged on the sand-raking roller support frame 4, and the sand-raking roller 7 is arranged at the cantilever end of the sand-raking roller support frame 4. The sand-raking roller 7 is located obliquely in front of the spiral shovel hopper 3, and multiple groups of sand-raking spikes 8 are arranged on the sand-raking roller 7. The sand-raking roller 7 is connected to the drive motor 5 via the transmission belt 6, and the drive motor 5 provides power for the operation of the sand-raking roller 7. The main purpose of the sand-raking roller device is to increase resistance when the spiral shovel hopper 3 encounters fine sand with high density and high water content, making it difficult for the spiral shovel hopper 3 to shovel material. At this time, the sand-raking roller device is started, and the sand-raking spikes 8 arranged on the sand-raking roller 7 rake and loosen the fine sand with high water content, so that the spiral shovel hopper 3 can shovel material smoothly.

[0047] like Figure 2 and Figure 3 As shown, the equipment power system 11 includes a three-phase motor, a double oil pump, a three-position four-way solenoid valve, a hydraulic oil tank, the arm lifting cylinder 9, a high-pressure oil pipe, the track drive motor, the screw drive motor, the belt conveyor motor, and the drive motor 5. The three-phase motor is arranged in the middle of the equipment frame 1 to provide power for the double oil pump, and the hydraulic oil in the hydraulic oil tank is respectively delivered to the track drive motor, the screw drive motor, and the arm lifting cylinder 9 through the high-pressure oil pipe to ensure the normal operation of the track drive motor, the screw drive motor, and the arm lifting cylinder 9. The oil pressure is controlled by the three-position four-way solenoid valve to control the operating speed of the track drive motor and the screw drive motor and the telescopic length of the arm lifting cylinder 9. The belt conveyor motor and the drive motor 5 are directly driven by electricity.

[0048] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, the equipment sensing system includes a PLC control system, a discharge hopper laser locator 16, a traction hole angle encoder, a discharge hopper angle encoder 22, an inclination sensor, a wireless communication module, a transistor relay, and a touch screen.

[0049] like Figure 2 and Figure 3As shown, the tilt sensor is arranged on the middle frame beam of the equipment frame 1, the PLC control system is arranged in the integrated industrial computer 12 arranged on the outside of the equipment frame 1, and the wireless communication module and the transistor relay are arranged on the PLC control system; real-time communication between the equipment sensing system and the mixing station main control system is maintained; the touch screen is arranged on the integrated industrial computer 12 to ensure that real-time parameters can be input into the PLC control system in a timely manner.

[0050] like Figure 1 、 Figure 2 、 Figure 4 and Figure 5 As shown, the granular material output system includes a two-stage climbing belt conveyor 14, the traction hole angle encoder, the horizontal belt conveyor 15, a discharge hopper 17 with sliding and rotation functions, the discharge hopper angle encoder 22, and the discharge hopper laser locator 16. The discharge hopper 17 is arranged on the horizontal belt conveyor 15, and the discharge hopper 17 can slide left and right on the horizontal belt conveyor 15; the discharge hopper laser locator 16 is respectively arranged at both ends of the horizontal belt conveyor 15, and the target point of the discharge hopper laser locator 16 is the outer edge of both sides of the discharge hopper 17. The discharge hopper laser locator 16 can measure the exact position of the discharge hopper 17 on the horizontal belt conveyor 15.

[0051] like Figure 1 and Figure 2 As shown, the lower end of the secondary climbing belt conveyor 14 is hinged to the belt conveyor traction hole 13, and the traction hole angle encoder is provided on the belt conveyor traction hole 13 to accurately measure the rotation angle of the secondary climbing belt conveyor 14 and the equipment frame 1, and the upper end of the secondary climbing belt conveyor 14 is hinged to the discharge hopper 17; the secondary climbing belt conveyor 14 and the horizontal belt conveyor 15 are kept at an angle greater than 20 degrees and less than 80 degrees at all times.

[0052] like Figure 4 and Figure 5As shown, the discharging hopper 17 includes an upper component 18, a lower component 19, a hollow bearing 20, a hollow discharging port 21, and the discharging hopper angle encoder 22. The upper component 18 is a hopper for towing the secondary climbing belt conveyor 14, and the lower component 19 is a walking trolley provided with an eight-wheel walking device. The upper component 18 and the lower component 19 are rotatably connected through the hollow bearing 20. The lower component 19 has a hollow portion, which connects the upper component 18 and the horizontal belt conveyor 15, and the hollow portion is the hollow discharging port 21; the upper component 18 rotates relative to the lower component 19 with the swing angle of the secondary climbing belt conveyor 14; the discharging hopper angle encoder 22 is provided on the edge of the hollow bearing 20 to accurately measure the rotation angle of the upper component 18 and the lower component 19.

[0053] like Figure 1 and Figure 2 As shown, the discharge hopper laser locator 16 provided at both ends of the horizontal belt conveyor 15 is used to determine the precise position of the discharge hopper 17. The orientation of the secondary climbing belt conveyor 14 and the primary climbing belt conveyor 10 are calculated based on the angles read out by the discharge hopper angle encoder 22 and the traction hole angle encoder. The position and angle of the machine are deduced, and the precise position and angle parameters of the equipment having walking and shoveling functions are determined.

[0054] A circuit safety busbar and relay assembly are horizontally arranged along the horizontal belt conveyor 15, and cables and plugs are arranged up and down along the secondary climbing belt conveyor 14. The upper ends of the cables and plugs are slidingly connected to the circuit safety busbar and relay assembly, and the lower ends of the cables and plugs are connected to the cable plug of the equipment with walking and shoveling functions. The circuit safety busbar and relay assembly are connected to a power source to supply power to the equipment with walking and shoveling functions.

[0055] The equipment automation control system is developed by developing a software system to collect multi-channel information of the equipment with walking and shoveling functions, the equipment power system 11, the equipment sensing system, and the granular material output system. Through the wireless communication module, it commands and controls the crawler drive motor, the spiral drive motor, the arm lifting cylinder 9, the drive motor 5, the motor of the first-level climbing belt conveyor 10, the motor of the second-level climbing belt conveyor 14, and the motor of the horizontal belt conveyor 15, and operates automatically according to the required working conditions.

[0056] The equipment automation control system is provided with a sand raking starting threshold and an alarm threshold; when the spiral shovel hopper 3 has difficulty in shoveling materials and the corresponding spiral drive motor power rises to the sand raking starting threshold, the equipment automation control system controls the drive motor 5 to work and drives the sand raking roller 7 to rotate. After the sand raking nails 8 on the sand raking roller 7 rake and loosen the granular material in front of the spiral shovel hopper 3, the spiral shovel hopper 3 can shovel materials smoothly; when the spiral drive motor power exceeds the sand raking starting threshold and continues to rise to the alarm threshold, the equipment automation control system controls the granular material automatic output device to stop working and alarm.

[0057] like Figure 1 As shown, the granular material intelligent identification system includes a three-dimensional laser scanning radar 27, a high-position laser rangefinder 24, a low-position laser rangefinder 25, a high-definition camera 29, a collecting hopper 23, a switch, a network cable, and a display screen.

[0058] like Figure 1 As shown, a support rod 26 is provided at one end of the silo partition wall 28 close to the collecting hopper 23, and the three-dimensional laser scanning radar 27 is provided on the support rod 26. The three-dimensional laser scanning radar 27 is used to scan the three-dimensional accumulation data of the granular material in the silo; the high-definition camera 29 is provided at one end of the silo away from the collecting hopper 23, and the high-definition camera 29 is used to observe the accumulation picture of the granular material in the silo; the high-position laser rangefinder 24 and the low-position laser rangefinder 25 are respectively provided at the collecting hopper 23, and the high-position laser rangefinder 24 and the low-position laser rangefinder 25 are respectively provided at the collecting hopper 23. The optical rangefinder 24 is used to monitor the highest aggregate level of the aggregate hopper 23, and the low-level laser rangefinder 25 is used to monitor the lowest aggregate level of the aggregate hopper 23; through the switch and the network cable, the three-dimensional accumulation data of the granular materials in each silo, the real-time picture of the accumulation of granular materials in each silo, and the real-time data of the material pile in the aggregate hopper 23 monitored by the high-level laser rangefinder 24 and the low-level laser rangefinder 25 are collected on the display screen of the main control center. The main control center is provided with a main console, and the main console includes a PLC and the display screen.

[0059] The granular material automatic output information unit includes an automated silo system and an automated output system; the automated silo system is used to input granular materials of different grades into corresponding silos; the automated output system is developed by developing an automated control software that collects three-dimensional accumulation data of granular materials in each silo and monitors real-time data of the material pile in the collecting hopper 23. Based on the three-dimensional accumulation data and the high and low position data of the material pile in the collecting hopper 23, the main control center of the mixing station controls the equipment automation control system of the granular material automatic output equipment in real time through the wireless communication module, processes the real-time data of the equipment with walking and shoveling functions, starts / stops the equipment power system 11 and the equipment sensing system, and directs the crawler drive motor, the screw drive motor, the arm cylinder 9, the motor of the first climbing belt conveyor 10, the motor of the second climbing belt conveyor 14, and the motor of the horizontal belt conveyor 15 on the granular material automatic output equipment to operate automatically according to the required working conditions, thereby achieving the advantage of automatically outputting multi-graded granular materials according to the designed ratio.

[0060] The multi-graded granular material automatic output system uses laser scanning technology to perform three-dimensional scans of the materials in each silo, creating three-dimensional material data. Based on the acquired three-dimensional material data, the loading trajectory of the traveling and shoveling equipment is planned. When the collection hopper 23 requires material, the traveling and shoveling equipment is controlled to automatically shovel and load the material according to the planned trajectory, without any human intervention, achieving full automation. The multi-graded granular material automatic output system automatically scans and identifies materials, autonomously plans the running trajectory of the traveling and shoveling equipment, and can automatically handle unexpected situations that may arise during the loading process, demonstrating a certain level of intelligence.

[0061] The present embodiment describes an automatic output system for multi-graded granular materials, by configuring the discharge hopper 17 to be two relatively rotatable upper and lower parts, the upper component 18 rotates with the secondary climbing belt conveyor 14, and the lower component 19 moves along the horizontal belt conveyor 15, the discharge port of the discharge hopper 17 is always at the rotation center of the secondary climbing belt conveyor 14 relative to the horizontal belt conveyor 15, the horizontal belt conveyor 15 receives the falling materials with unchanged force position and uniform force, the discharge port of the discharge hopper 17 is always located on the horizontal belt conveyor 15, and there is no need to consider that the change in the angle between the secondary climbing belt conveyor 14 and the horizontal belt conveyor 15 causes the discharge port of the discharge hopper 17 to separate from the horizontal belt conveyor 15, thereby avoiding the movement restriction of the equipment with walking and shoveling functions; the discharge hopper 17 on the horizontal belt conveyor 15 is positioned by the discharge hopper laser locator 16, and the angle measured by the discharge hopper angle encoder 22 can be used to obtain the angle. The orientation of the secondary climbing belt conveyor 14, and the known length of the secondary climbing belt conveyor 14 combined with the angle measured by the traction hole angle encoder, can accurately solve the position of the equipment with walking and shoveling functions; the three-dimensional accumulation data of the granular material in the silo is scanned by the three-dimensional laser scanning radar 27, the highest aggregate level of the aggregate hopper 23 is monitored by the high-position laser rangefinder 24, and the lowest aggregate level of the aggregate hopper 23 is monitored by the low-position laser rangefinder 25, so as to monitor the particulate matter in the silo and the aggregate hopper 23. There is no need to set a detection sensor on the equipment with walking and shoveling functions, and the positioning of the equipment with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if the granular material generates a large amount of dust during the transportation process, it will not hinder the automatic operation of the multi-graded granular material automatic output system; by setting the sand rake roller device in front of the spiral shoveling hopper 3, the spiral shoveling hopper 3 is assisted in the shoveling operation of fine granular material, avoiding shoveling difficulties or even damage to the spiral drive motor.

[0062] Example 2

[0063] like Figures 1 to 5 As shown, the method for using the automatic output system for multi-graded granular materials of the present invention, using the automatic output system for multi-graded granular materials as described in Example 1, comprises the following steps:

[0064] The device with walking and shoveling functions moves in the silo, dragging the discharge hopper 17 to move on the horizontal belt conveyor 15. The discharge hopper laser positioner 16 measures the position of the discharge hopper 17 on the horizontal belt conveyor 15. The discharge hopper angle encoder 22 measures the rotation angle of the upper component 18 and the lower component 19. The traction hole angle encoder measures the rotation angle between the secondary climbing belt conveyor 14 and the device with walking and shoveling functions, thereby determining the position and angle parameters of the device with walking and shoveling functions.

[0065] The three-dimensional laser scanning radar 27 scans the three-dimensional accumulation data of the granular material in the silo, and the high-position laser rangefinder 24 and the low-position laser rangefinder 25 respectively monitor the highest and lowest aggregate levels of the aggregate hopper 23. Based on the three-dimensional accumulation data and the real-time data of the material pile in the aggregate hopper 23, each of the granular material automatic output devices is controlled to operate automatically according to the required working conditions.

[0066] The method for using the multi-graded granular material automatic output system described in this embodiment is to locate the discharge hopper 17 on the horizontal belt conveyor 15 through the discharge hopper laser locator 16, and then the angle measured by the discharge hopper angle encoder 22 can be used to obtain the orientation of the secondary climbing belt conveyor 14, and then the known length of the secondary climbing belt conveyor 14 can be used to determine the angle measured by the traction hole angle encoder to accurately solve the position of the equipment with walking and shoveling functions, without the need to use a UWB base station to locate the equipment with walking and shoveling functions; on this basis By scanning the three-dimensional accumulation data of the granular material in the silo by the three-dimensional laser scanning radar 27, monitoring the highest aggregate level of the aggregate hopper 23 by the high-position laser rangefinder 24, and monitoring the lowest aggregate level of the aggregate hopper 23 by the low-position laser rangefinder 25, the silo and the aggregate hopper 23 are monitored for particulate matter. There is no need to set a detection sensor on the equipment with walking and shoveling functions, and the positioning of the equipment with walking and shoveling functions does not need to rely on the sensors set thereon. Therefore, even if the granular material generates a large amount of dust during the transmission process, it will not hinder the automatic operation of the multi-graded granular material automatic output system.

[0067] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-graded granular material automatic output system, comprising a granular material automatic output device, a granular material intelligent identification system and a granular material automatic output information unit, characterized in that: At least one automatic pellet material output device is provided in each silo, and the automatic pellet material output device includes a device with walking and shoveling functions, a pellet material output system and an equipment automation control system; the device with walking and shoveling functions includes a spiral shoveling hopper (3); the pellet material output system includes a two-stage climbing belt conveyor (14), a traction hole angle encoder, a horizontal belt conveyor (15), a discharge hopper (17) with sliding and rotating functions and a discharge hopper laser locator (16), the discharge hopper (17) is provided on the horizontal belt conveyor (15), the discharge hopper (17) can move along the horizontal belt conveyor (15), the discharge hopper laser locator (16) is provided at both ends of the horizontal belt conveyor (15), the target point of the discharge hopper laser locator (16) is the outer edge of both sides of the discharge hopper (17), and the discharge hopper laser locator (16) is used to measure the position of the discharge hopper (17) on the horizontal belt conveyor (15); The discharging hopper (17) comprises an upper component (18), a lower component (19), a hollow bearing (20), a hollow discharging port (21) and a discharging hopper angle encoder (22). The upper component (18) and the lower component (19) are rotatably connected via the hollow bearing (20). The upper component (18) is hinged to the upper end of the secondary climbing belt conveyor (14). The lower end of the secondary climbing belt conveyor (14) is rotatably connected to the equipment having the walking and shoveling functions via the belt conveyor traction hole (13). The lower component (19) is a walking trolley and is arranged on the horizontal belt conveyor. On the conveyor (15), the lower component (19) is connected to the upper component (18) and the horizontal belt conveyor (15) through the hollow discharge port (21), the discharge hopper angle encoder (22) is set on the edge of the hollow bearing (20), and the discharge hopper angle encoder (22) is used to measure the rotation angle of the upper component (18) and the lower component (19), and the traction hole angle encoder is set on the belt conveyor traction hole (13), and the traction hole angle encoder is used to measure the rotation angle of the secondary climbing belt conveyor (14) and the equipment with walking and shoveling functions; The granular material intelligent identification system comprises a three-dimensional laser scanning radar (27), a high-position laser rangefinder (24), a low-position laser rangefinder (25) and a collecting hopper (23); the three-dimensional laser scanning radar (27) is arranged at one end of the silo partition wall (28) close to the collecting hopper (23), and the three-dimensional laser scanning radar (27) is used to scan the three-dimensional accumulation data of the granular material in the silo; the high-position laser rangefinder (24) and the low-position laser rangefinder (25) are respectively arranged at the collecting hopper (23), the high-position laser rangefinder (24) is used to monitor the highest aggregate level of the collecting hopper (23), and the low-position laser rangefinder (25) is used to monitor the lowest aggregate level of the collecting hopper (23); the three-dimensional accumulation data and the real-time data of the material pile in the collecting hopper (23) are collected to the main control center; The automatic output information unit for granular materials includes an automatic silo system and an automatic output system; the automatic silo system is used to input granular materials of different gradations into corresponding silos; the automatic output system is developed by developing an automatic control software to collect the three-dimensional accumulation data in each silo and the real-time data of the material pile in the aggregate hopper (23); based on the three-dimensional accumulation data and the high-level and low-level data of the material pile in the aggregate hopper (23), the main control center of the mixing station controls the equipment automatic control system in real time through a wireless communication module, controls the real-time status of the equipment with walking and shoveling functions, and directs each of the automatic granular material output equipment to operate automatically according to the required working conditions.

2. The multi-graded granular material automatic output system according to claim 1, characterized in that: The granular material intelligent identification system further comprises a high-definition camera (29), which is arranged at one end of the silo away from the collecting hopper (23), and is used to observe the accumulation picture of the granular material in the silo.

3. The automatic output system for multi-graded granular materials according to claim 2, characterized in that: The granular material intelligent identification system also includes a switch, a network cable and a display screen, through which the three-dimensional accumulation data in each silo, the real-time picture of the granular material accumulation in each silo, and the real-time data of the material pile in the collecting hopper (23) are collected on the display screen of the main control center.

4. The automatic output system for multi-graded granular materials according to claim 1, characterized in that: A support rod (26) is provided on the silo partition wall (28), and the three-dimensional laser scanning radar (27) is arranged on the support rod (26).

5. The automatic output system for multi-graded granular materials according to claim 1, characterized in that: The equipment with walking and shoveling functions also includes an equipment frame (1), a crawler walking device (2), and a first-stage climbing belt conveyor (10); the crawler walking device (2) is arranged at the lower end of the equipment frame (1); the spiral shoveling bucket (3) is arranged at the front end of the equipment frame (1); the belt conveyor traction hole (13) is arranged at the rear end of the equipment frame (1); and the first-stage climbing belt conveyor (10) is arranged at the upper end of the equipment frame (1).

6. The automatic output system for multi-graded granular materials according to claim 5, characterized in that: The crawler walking device (2) is provided with a crawler driving motor, the ends of the spiral shovel hopper (3) are provided with spiral driving motors, the driving wheel of the first-stage climbing belt conveyor (10) is provided with a belt conveyor motor, and the front side of the equipment frame (1) and the bottom of the first-stage climbing belt conveyor (10) are provided with an arm lifting cylinder (9).

7. The automatic output system for multi-graded granular materials according to claim 6, characterized in that: The automatic pellet material output device further comprises a device power system (11), the device power system (11) comprising a three-phase motor, a double oil pump, a hydraulic oil tank and a high-pressure oil pipe, the device power system (11) is arranged on the device having the walking and shoveling functions, the three-phase motor is connected to the double oil pump, the double oil pump is connected to the hydraulic oil tank and the high-pressure oil pipe, and the high-pressure oil pipe is respectively connected to the arm lifting cylinder (9), the crawler drive motor and the screw drive motor.

8. The automatic output system for multi-graded granular materials according to claim 7, characterized in that: The three-phase motor and the belt conveyor motor are driven by electricity.

9. The automatic output system for multi-graded granular materials according to any one of claims 1 to 8, characterized in that: The equipment with walking and shoveling functions also includes a sand rake roller device, which includes a sand rake roller support frame (4), a drive motor (5), a transmission belt (6), a sand rake roller (7) and a sand rake nail (8). The sand rake roller support frame (4) is provided at the upper end of the spiral shoveling hopper (3), the drive motor (5) is provided on the sand rake roller support frame (4), the sand rake roller (7) is provided at the cantilever end of the sand rake roller support frame (4), the sand rake roller (7) is located obliquely in front of the spiral shoveling hopper (3), the sand rake nail (8) is provided on the sand rake roller (7), and the sand rake roller (7) is connected to the drive motor (5) through the transmission belt (6).

10. A method for using a multi-graded granular material automatic output system, characterized in that: Utilizing the multi-graded granular material automatic output system according to any one of claims 1 to 9, the method comprises the following steps: The device with walking and shoveling functions moves in the silo, dragging the discharge hopper (17) to move on the horizontal belt conveyor (15), the discharge hopper laser positioner (16) measures the position of the discharge hopper (17) on the horizontal belt conveyor (15), the discharge hopper angle encoder (22) measures the rotation angle of the upper component (18) and the lower component (19), and the traction hole angle encoder measures the rotation angle of the secondary climbing belt conveyor (14) and the device with walking and shoveling functions, thereby determining the position and angle parameters of the device with walking and shoveling functions; The three-dimensional laser scanning radar (27) scans the three-dimensional accumulation data of the granular material in the silo, the high-position laser rangefinder (24) and the low-position laser rangefinder (25) respectively monitor the highest and lowest aggregate levels of the aggregate hopper (23), and based on the three-dimensional accumulation data and the real-time data of the material pile in the aggregate hopper (23), each of the granular material automatic output devices is controlled to operate automatically according to the required working conditions.

Images