An automated granule output device

Abstract

The present application relates to the technical field of intelligent warehousing, and particularly relates to a granular material automatic output device, which is characterized in that a sand raking roller device is arranged in front of a spiral material shovel hopper to assist the spiral material shovel hopper in the shovel operation of fine granular material, so as to avoid shovel difficulty and even damage of the spiral driving motor; the discharge hopper is configured as two parts that can rotate relative to each other, the upper part component rotates with the secondary climbing belt conveyor, the lower part component moves along the horizontal belt conveyor, the discharge opening 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 material at a constant position and with uniform stress, so as to avoid the limitation of movement of the device with walking and shovel functions; the discharge hopper on the horizontal belt conveyor is positioned by a discharge hopper laser positioner, and then the angle measured by a discharge hopper angle encoder and a traction hole angle encoder is used to accurately solve the position of the device with walking and shovel functions.

Description

Technical Field

[0001] This invention relates to the field of intelligent warehousing technology, and in particular to an automated output device for granular materials. Background Technology

[0002] In industrial and agricultural production, the transportation, storage, processing, mixing, and stirring of granular materials are widespread, including grains, coal, slag, sand, gravel, and plastics. Currently, short-distance transport and unloading of granular materials in storage yards are done using traditional loaders. Traditional loader transport and unloading rely entirely on manual operation, and the repetitive nature of manual work easily leads to fatigue. Especially during the transport and unloading of granular materials, operators need to move back and forth within the storage area, constantly accumulating, transporting, or unloading the materials. This operating method is prone to safety accidents. In concrete production, when loading and unloading granular materials of different gradations, relying entirely on the loader operator's visual perception for transport and unloading can easily lead to problems such as incorrect material loading or insufficient material in the hopper, resulting in changes to the mixture gradation and affecting the quality of the concrete.

[0003] Therefore, the applicant devised a prior Chinese patent application with publication number CN117246788A to solve the aforementioned problems. However, in actual use, the applicant discovered the following problems that still need to be addressed:

[0004] 1. In the prior application, for some fine particles with small particle size, especially fine sand, the density is relatively high. If the weather is humid or the moisture content of the fine particles is high, the resistance of the auger shovel bucket will be greater, and it will be easy to encounter difficulties in shoveling the material.

[0005] 2. In the prior application, the towing hole at the upper end of the mobile belt conveyor 5 is connected to the towing shaft on the towing bracket of the fixed belt conveyor 6. The inverted V-shaped discharge funnel 5-2 is connected to the upper end of the mobile belt conveyor 5. The mobile belt conveyor 5 rotates around the towing shaft of the fixed belt conveyor 6, so that the inverted V-shaped discharge funnel 5-2 moves along an arc. On the one hand, as the angle between the mobile belt conveyor 5 and the fixed belt conveyor 6 is different, the landing point of the inverted V-shaped discharge funnel 5-2 on the fixed belt conveyor 6 is different, resulting in uneven force on the fixed belt conveyor 6. On the other hand, it is necessary to ensure that the inverted V-shaped discharge funnel 5-2 drops material onto the fixed belt conveyor 6, which restricts the rotation angle of the mobile belt conveyor 5 and the fixed belt conveyor 6, thereby limiting the movement range of the automatic feeding robot in the silo area.

[0006] 3. In the previous application, the positioning of the automatic feeding robot was carried out by UWB base station positioning. However, this method has high investment costs, and UWB signals are easily blocked by mechanical structures, resulting in signal reflection or attenuation, which affects the accuracy of positioning. Summary of the Invention

[0007] The purpose of this invention is to provide an automated pellet output device to address the problems existing in the prior art.

[0008] To achieve the above objectives, the technical solution adopted by the present invention is as follows:

[0009] In a first aspect, the present invention provides an automated pellet output device, comprising a device with walking and shoveling functions and a pellet output system; the device with walking and shoveling functions includes a spiral shovel bucket and a rake roller device, the rake roller device including a rake roller support frame, a drive motor, a transmission belt, a rake roller, and rake nails, the rake roller support frame being mounted on the upper end of the spiral shovel bucket, the drive motor being mounted on the rake roller support frame, the rake roller being mounted on the cantilever end of the rake roller support frame, the rake roller being located diagonally in front of the spiral shovel bucket, the rake nails being mounted on the rake roller, and the rake roller being connected to the drive motor via the transmission belt; the pellet 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 positioning device, the discharge hopper being mounted on the horizontal belt conveyor and movable along the horizontal belt conveyor, the discharge hopper laser positioning device being mounted at both ends of the horizontal belt conveyor, and the discharge hopper laser positioning device being... The target points are the outer edges of both sides of the discharge hopper. The discharge hopper laser positioning instrument is used to measure the position of the discharge hopper on the horizontal belt conveyor. The discharge hopper includes an upper component, a lower component, a hollow bearing, a hollow discharge port, and a discharge 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. The lower end of the secondary climbing belt conveyor is rotatably connected to the device with walking and shoveling functions through the belt conveyor traction hole. The lower component is a traveling trolley and is mounted on the horizontal belt conveyor. The lower component connects the upper component and the horizontal belt conveyor through the hollow discharge port. The discharge hopper angle encoder is installed on the edge of the hollow bearing. The discharge hopper angle encoder is used to measure the rotation angle between the upper component and the lower component. The belt conveyor traction hole angle encoder is installed on the belt conveyor traction hole. The traction hole angle encoder is used to measure the rotation angle between the secondary climbing belt conveyor and the device with walking and shoveling functions.

[0010] The automated granular material output device of this invention utilizes a rake roller device installed in front of the spiral shovel hopper to assist in the shoveling of fine granular materials, avoiding difficulties in shoveling and even damage to the spiral drive motor. The discharge hopper is configured as two relatively rotatable parts, the upper part rotating with the secondary climbing belt conveyor, and the lower part moving along the horizontal belt conveyor. The discharge port of the discharge hopper is always located at the rotation center of the secondary climbing belt conveyor relative to the horizontal belt conveyor. The horizontal belt conveyor receives the falling material with a constant and uniform force, and the discharge port of the discharge hopper is always located on the horizontal belt conveyor. On the conveyor, there is no need to consider the change in the angle between the secondary climbing belt conveyor and the horizontal belt conveyor, which would cause the discharge port of the discharge hopper to detach from the horizontal belt conveyor, thus avoiding restrictions on the movement of the equipment with walking and shoveling functions. The discharge hopper on the horizontal belt conveyor is positioned by the discharge hopper laser positioning device, and the position of the secondary climbing belt conveyor can be obtained by measuring the angle with the discharge hopper angle encoder. Then, by combining the known length of the secondary climbing belt conveyor with the angle measured by the traction hole angle encoder, the position of the equipment with walking and shoveling functions can be accurately calculated. This automated granular material output equipment has a simple structure, is easy to use, and has good performance.

[0011] As a preferred technical solution of the present invention, the equipment with walking and shoveling functions further includes an equipment frame, a tracked walking device, and a primary climbing belt conveyor. The tracked walking device is provided at the lower end of the equipment frame, the spiral shovel and the sand rake roller device are provided at the front end of the equipment frame, the belt conveyor traction hole is provided at the rear end of the equipment frame, and the primary climbing belt conveyor is provided at the upper end of the equipment frame.

[0012] As a further preferred technical solution of the present invention, the tracked walking device is provided with a track drive motor, the two ends of the spiral shovel bucket are provided with spiral drive motors, the drive wheel of the first-stage climbing belt conveyor is provided with a belt conveyor motor, and the front side of the equipment frame and the lower part of the first-stage climbing belt conveyor are provided with lifting arm cylinders.

[0013] As a further preferred technical solution of the present invention, the automated pellet output device also includes a power system, which includes a three-phase motor, a dual oil pump, a hydraulic tank, and a high-pressure oil pipe. The power system is located on the device with walking and shoveling functions. The three-phase motor is connected to the dual oil pump, which is connected to the hydraulic tank and the high-pressure oil pipe. The high-pressure oil pipe is connected to the boom cylinder, the track drive motor, and the screw drive motor, respectively.

[0014] As a further preferred technical solution of the present invention, the three-phase motor, the belt conveyor motor and the drive motor are driven by electricity.

[0015] As a further preferred technical solution of the present invention, the device with walking and shoveling functions also includes an integrated industrial control computer, which is installed on the outside of the device frame and has a PLC control system inside.

[0016] As a further preferred technical solution of the present invention, the automated pellet output device further includes an equipment sensing system, which includes an inclination sensor, a discharge hopper laser positioning device, a traction hole angle encoder, a discharge hopper angle encoder, and a PLC control system.

[0017] As a further preferred technical solution of the present invention, the PLC control system is provided with a wireless communication module and a transistor relay, and the wireless communication module is communicatively connected to the main control system of the mixing plant.

[0018] As a further preferred technical solution of the present invention, the automated pellet output device also includes an automated control system, which is connected to the device with walking and shoveling functions, the device power system, the device sensing system and the pellet output system.

[0019] Secondly, the present invention also provides a method of using an automated pellet output device, comprising the following steps:

[0020] The device with walking and shoveling functions moves in the hopper, dragging the discharge hopper to move on the horizontal belt conveyor. The discharge hopper laser positioning device measures the position of the discharge hopper on the horizontal belt conveyor. The discharge hopper angle encoder measures the rotation angle between the upper component and the lower component. The traction hole angle encoder measures the rotation angle between 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.

[0021] The spiral shovel bucket performs shoveling operations; when the spiral shovel bucket has difficulty shoveling, and the power of the corresponding spiral drive motor rises to the sand-raking start threshold, the equipment automation control system controls the drive motor to work, driving the sand-raking drum to rotate. The sand-raking nails on the sand-raking drum rake and loosen the granular material in front of the spiral shovel bucket, and then the spiral shovel bucket performs shoveling; when the power of the spiral drive motor exceeds the sand-raking start threshold and continues to rise to the alarm threshold, the equipment automation control system controls the automatic granular material output device to stop working and sounds an alarm.

[0022] The method of using the automated pellet output device of the present invention involves positioning the discharge hopper on the horizontal belt conveyor using a discharge hopper laser positioning device. The position of the secondary climbing belt conveyor can be determined by measuring the angle using the discharge hopper angle encoder. Then, using the known length of the secondary climbing belt conveyor and the angle measured by the traction hole angle encoder, the position of the device with walking and shoveling functions can be accurately calculated without the need for a UWB base station for positioning the device. A rake roller device is installed in front of the spiral shovel hopper. By setting a rake start threshold, when the power of the spiral drive motor triggers the rake start threshold, it is determined that shoveling is difficult, and the rake roller is activated to assist the spiral shovel hopper in shoveling fine pellets. When the power of the spiral drive motor triggers the alarm threshold, the automated pellet output device stops working and sounds an alarm to prevent damage to the spiral drive motor. This method is simple in steps, easy to operate, and has good results.

[0023] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0024] 1. The automated granular material output device of the present invention, by setting the rake roller device in front of the spiral shovel hopper, assists the spiral shovel hopper in shoveling fine granular materials, avoiding shoveling difficulties or even damage to the spiral drive motor; by configuring 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 located at the rotation center of the secondary climbing belt conveyor relative to the horizontal belt conveyor, the horizontal belt conveyor receives the falling material at a constant and uniform force position, and the discharge port of the discharge hopper is always located on the horizontal belt conveyor. On the conveyor, there is no need to consider the change in the angle between the secondary climbing belt conveyor and the horizontal belt conveyor, which would cause the discharge port of the discharge hopper to detach from the horizontal belt conveyor, thus avoiding restrictions on the movement of the equipment with walking and shoveling functions. The discharge hopper is positioned on the horizontal belt conveyor by the discharge hopper laser positioning device, and the position of the secondary climbing belt conveyor can be obtained by measuring the angle with the discharge hopper angle encoder. Then, by combining the known length of the secondary climbing belt conveyor with the angle measured by the traction hole angle encoder, the position of the equipment with walking and shoveling functions can be accurately calculated. This automated pellet output equipment has a simple structure, is easy to use, and has good performance.

[0025] 2. The method of using the automated pellet output device of the present invention involves positioning the discharge hopper on the horizontal belt conveyor using a discharge hopper laser positioning device, and then determining the orientation of the secondary climbing belt conveyor by measuring the angle with the discharge hopper angle encoder. Using the known length of the secondary climbing belt conveyor and the angle measured by the traction hole angle encoder, the position of the device with walking and shoveling functions can be accurately determined without the need for a UWB base station for positioning the device. A rake roller device is installed in front of the spiral shovel hopper. By setting a rake start threshold, when the power of the spiral drive motor triggers the rake start threshold, it is determined that shoveling is difficult, and the rake roller is activated to assist the spiral shovel hopper in shoveling fine pellets. When the power of the spiral drive motor triggers the alarm threshold, the automated pellet output device stops working and alarms, preventing damage to the spiral drive motor. This method is simple in steps, easy to operate, and has good results. Attached Figure Description

[0026] Figure 1 This is a front view schematic diagram of an automated pellet output device.

[0027] Figure 2 A top view schematic diagram of an automated pellet output equipment;

[0028] Figure 3 A front view schematic diagram of a device with walking and shoveling functions;

[0029] Figure 4 A top view diagram of a device with walking and shoveling functions;

[0030] Figure 5 This is a front view schematic diagram of the discharge hopper;

[0031] Figure 6 This is a top view of the discharge hopper.

[0032] The markings in the diagram are: 1-Equipment frame, 2-Crawler walking device, 3-Spiral shovel bucket, 4-Sand rake roller support frame, 5-Drive motor, 6-Transmission belt, 7-Sand rake roller, 8-Sand rake nail, 9-Lifting arm cylinder, 10-First-stage climbing belt conveyor, 11-Equipment power system, 12-Integrated industrial control computer, 13-Belt conveyor traction hole, 14-Second-stage climbing belt conveyor, 15-Horizontal belt conveyor, 16-Discharge hopper laser positioning device, 17-Discharge hopper, 18-Upper component, 19-Lower component, 20-Hollow bearing, 21-Hollow discharge port, 22-Discharge hopper angle encoder. Detailed Implementation

[0033] The present invention will be further described in detail below with reference to experimental examples and specific embodiments. However, this should not be construed as limiting the scope of the above-mentioned subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0034] Unless otherwise specified, the use of terms such as "upper," "lower," "left," "right," "center," "inner," and "outer" to indicate orientation or positional relationships in the description of specific embodiments of the present invention is based on the orientation or positional relationships shown in the accompanying drawings, or the orientation or positional relationship in which the product / equipment / device is typically placed during use. These terms are merely for the purpose of facilitating the description of the present invention or simplifying the description in specific embodiments, enabling those skilled in the art to quickly understand the solution, and do not indicate or imply that a particular device / component / element must have a specific orientation, or be constructed and operated in a specific positional relationship. Therefore, they should not be construed as limitations on the present invention.

[0035] Furthermore, the use of terms such as "horizontal," "vertical," "suspended," and "parallel" does not imply that the corresponding device / component / element must be absolutely horizontal, vertical, suspended, or parallel, but rather that it can be slightly tilted or have a deviation. For example, "horizontal" merely means that its direction is more horizontal relative to "vertical," not that the structure must be completely horizontal, but that it can be slightly tilted. Alternatively, it can be simplified to mean that the corresponding device / component / element, when set in a "horizontal," "vertical," "suspended," or "parallel" direction, can have an error / deviation of ±10% relative to the corresponding direction, more preferably within ±8%, more preferably within ±6%, more preferably within ±5%, and more preferably within ±4%. As long as the corresponding device / component / element is within the error / deviation range, it can still achieve its function in the present invention.

[0036] Furthermore, the use of terms such as "first," "second," and "third" in terminology is merely for distinguishing descriptions of identical or similar components and should not be interpreted as emphasizing or implying the relative importance of a particular component.

[0037] Furthermore, in the description of the embodiments of the present invention, "several", "more than", and "a number of" represent at least two. The number can be any number, such as 2, 3, 4, 5, 6, 7, 8, or 9, and can even exceed nine.

[0038] Furthermore, in the description of the technical solution of this invention, unless otherwise explicitly specified / limited / restricted, the terms "set up," "install," "connect," "link," "provided with," "laid out," and "arranged" should be interpreted broadly. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to common connection methods in the art, such as welding, riveting, bolting, and threaded connections. Such connections can be mechanical, electrical, or communication connections; they can be direct connections or indirect connections through an intermediate medium; and they can refer to the internal communication between two components.

[0039] In the related technology, the applicant's prior Chinese patent application with publication number CN117246788A has revealed the following problems that need to be addressed during actual use: 1. In the prior application, for some fine particles with small particle sizes, especially fine sand, the density is relatively high. If the weather is humid or the moisture content of the fine particles is high, the resistance to the auger shovel bucket is large, making it easy to encounter difficulties in shoveling the material. If there is no human intervention, the corresponding auger drive motor is easily damaged after the auger shovel bucket becomes stuck due to difficulty in shoveling the material; 2. In the prior application, the drag hole provided at the upper end of the mobile belt conveyor is connected to the drag shaft provided on the drag bracket of the fixed belt conveyor, and the inverted V-shaped discharge funnel is connected to the upper end of the mobile belt conveyor. The mobile belt conveyor is connected to the fixed belt... The conveyor's drag shaft rotates in a circle, causing the inverted V-shaped discharge hopper to move along an arc. On one hand, as the angle between the moving and fixed belt conveyors varies, the material from the inverted V-shaped discharge hopper lands at different points on the fixed belt conveyor, resulting in uneven force on the fixed belt conveyor. On the other hand, ensuring the material from the inverted V-shaped discharge hopper lands on the fixed belt conveyor limits the rotation angle between the moving and fixed belt conveyors, thus restricting the movement range of the automatic feeding robot within the silo area. 3. In previous applications, the automatic feeding robot was positioned using UWB base station positioning. However, this method is costly, and UWB signals are easily blocked by mechanical structures, leading to signal reflection or attenuation, thus affecting positioning accuracy. Therefore, the technical solution of this application was developed, which is described below in conjunction with... Figures 1 to 6 To elaborate.

[0040] Example 1

[0041] like Figures 1 to 6 As shown, the automated pellet output device of the present invention includes a device with walking and shoveling functions, a device power system 11, a device sensing system, a pellet output system, and a device automated control system.

[0042] like Figures 1 to 4As shown, the equipment with walking and shoveling functions includes a vehicle frame 1, a tracked walking device 2, a spiral shovel 3, a sand rake roller device, a first-stage climbing belt conveyor 10, a belt conveyor traction hole 13, a track drive motor, a spiral drive motor, a belt conveyor motor, a cable plug, and an integrated industrial control computer 12.

[0043] like Figure 3 and Figure 4 As shown, the tracked walking device 2 is installed at the lower end of the equipment frame 1, and the tracked driving motor is installed on the tracked walking device 2. The spiral shovel 3 and the sand-raking roller device are installed at the front end of the equipment frame 1. The spiral driving motor is installed at both ends of the spiral shovel 3. The sand-raking roller device is installed above the spiral shovel 3. The belt conveyor traction hole 13 is installed at the rear end of the equipment frame 1. The cable plug is installed on one side of the belt conveyor traction hole 13. The first-stage climbing belt conveyor 10 is installed at the upper end of the equipment frame 1. The belt conveyor motor is installed on the drive wheel of the first-stage climbing belt conveyor 10. The lifting arm cylinder 9 is installed on the front side of the equipment frame 1 and below the first-stage climbing belt conveyor 10. The integrated industrial control computer 12 is installed on the outside of the equipment frame 1.

[0044] like Figure 3 and Figure 4 As 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 nails 8. The sand-raking roller support frame 4 is installed on the upper end of the spiral shovel 3, and the drive motor 5 is installed on the sand-raking roller support frame 4. The sand-raking roller 7 is installed at the cantilever end of the sand-raking roller support frame 4, and the sand-raking roller 7 is located diagonally in front of the spiral shovel 3. Multiple sets of sand-raking nails 8 are installed on the sand-raking roller 7. The sand-raking roller 7 is connected to the drive motor 5 through 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 that when the spiral shovel 3 encounters fine sand with high density and high moisture content, the resistance increases and the spiral shovel 3 has difficulty scooping the material. At this time, the sand-raking roller device is activated, and the sand-raking nails 8 installed on the sand-raking roller 7 loosen the fine sand with high moisture content, so that the spiral shovel 3 can scoop the material smoothly.

[0045] like Figure 1 and Figure 3As shown, the equipment power system 11 includes a three-phase motor, a dual-phase oil pump, a three-position four-way solenoid valve, a hydraulic oil tank, the boom cylinder 9, a high-pressure oil pipe, a track drive motor, a screw drive motor, a belt conveyor motor, and a drive motor 5. The three-phase motor is located in the middle of the equipment frame 1 to provide power to the dual-phase oil pump. The hydraulic oil in the hydraulic oil tank is delivered to the track drive motor, the screw drive motor, and the boom cylinder 9 through the high-pressure oil pipe, respectively, to ensure the normal operation of the track drive motor, the screw drive motor, and the boom cylinder 9. The three-position four-way solenoid valve controls the oil pressure to regulate the operating speed of the track drive motor and the screw drive motor, as well as the extension length of the boom cylinder 9. The belt conveyor motor and the drive motor 5 are directly driven by electricity.

[0046] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the equipment sensing system includes a PLC control system, a hopper laser positioning device 16, a traction hole angle encoder, a hopper angle encoder 22, an tilt sensor, a wireless communication module, a transistor relay, and a touch screen.

[0047] like Figure 1 and Figure 3 As shown, the tilt sensor is installed on the frame beam in the middle of the equipment frame 1, and the PLC control system is installed in the integrated industrial control computer 12 located on the outside of the equipment frame 1. The PLC control system is equipped with the wireless communication module and the transistor relay to maintain real-time communication between the equipment sensing system and the mixing plant's overall control system. The touch screen is installed on the integrated industrial control computer 12 to ensure that real-time parameters can be input to the PLC control system in a timely manner.

[0048] like Figure 1 , Figure 2 , Figure 5 and Figure 6 As shown, the pellet 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, a discharge hopper angle encoder 22, and a discharge hopper laser positioning device 16. The discharge hopper 17 is installed on the horizontal belt conveyor 15 and can slide left and right on the horizontal belt conveyor 15. The discharge hopper laser positioning device 16 is installed at both ends of the horizontal belt conveyor 15. The target point of the discharge hopper laser positioning device 16 is the outer edge of both sides of the discharge hopper 17, and the discharge hopper laser positioning device 16 can measure the accurate position of the discharge hopper 17 on the horizontal belt conveyor 15.

[0049] 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. An angle encoder is installed on the belt conveyor traction hole 13 to accurately measure the rotation angle between the secondary climbing belt conveyor 14 and the equipment frame 1. 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.

[0050] like Figure 5 and Figure 6 As shown, the discharge hopper 17 includes an upper component 18, a lower component 19, a hollow bearing 20, a hollow discharge port 21, and a discharge hopper angle encoder 22. The upper component 18 is a hopper that tows the secondary climbing belt conveyor 14, and the lower component 19 is a trolley equipped with an eight-wheel walking device. The upper component 18 and the lower component 19 are rotatably connected by the hollow bearing 20. The lower component 19 has a hollow portion that connects the upper component 18 and the horizontal belt conveyor 15. The hollow portion is the hollow discharge port 21. The upper component 18 rotates relative to the lower component 19 according to the swing angle of the secondary climbing belt conveyor 14. The discharge hopper angle encoder 22 is installed on the edge of the hollow bearing 20 to accurately measure the rotation angle between the upper component 18 and the lower component 19.

[0051] like Figure 1 and Figure 2 As shown, the precise position of the discharge hopper 17 is determined by the discharge hopper laser positioning device 16 set at both ends of the horizontal belt conveyor 15. Based on the angles read by the discharge hopper angle encoder 22 and the traction hole angle encoder, the orientation of the secondary climbing belt conveyor 14 and the primary climbing belt conveyor 10 is calculated, the position and angle of the machine are deduced, and the precise position and angle parameters of the equipment with walking and shoveling functions are determined.

[0052] A circuit safety sliding contact line and relay assembly are horizontally arranged along the horizontal belt conveyor 15, and cables and plugs are vertically arranged along the secondary climbing belt conveyor 14. The upper ends of the cables and plugs are slidably connected to the circuit safety sliding contact line and relay assembly, and the lower ends of the cables and plugs are connected to the cable plug of the device with walking and shoveling functions. The circuit safety sliding contact line and relay assembly are connected to a power source to supply power to the device with walking and shoveling functions.

[0053] The automated control system for the equipment is developed by a software system that gathers multiple information sources from the equipment with walking and shoveling functions, the equipment power system 11, the equipment sensing system, and the pellet output system. Through the wireless communication module, it commands and controls the track drive motor, the screw drive motor, the boom cylinder 9, the drive motor 5, the motors of the first-stage climbing belt conveyor 10, the motors of the second-stage climbing belt conveyor 14, and the motors of the horizontal belt conveyor 15 to operate automatically according to the required working conditions.

[0054] The automated control system of the equipment has a sand-raking start threshold and an alarm threshold. When the spiral shovel hopper 3 has difficulty shoveling material, and the power of the corresponding spiral drive motor rises to the sand-raking start threshold, the automated control system controls the drive motor 5 to work, driving the sand-raking drum 7 to rotate. The sand-raking nails 8 on the sand-raking drum 7 loosen the granular material in front of the spiral shovel hopper 3, allowing the spiral shovel hopper 3 to shovel material smoothly. When the power of the spiral drive motor exceeds the sand-raking start threshold and continues to rise to the alarm threshold, the automated control system controls the granular material automatic output device to stop working and sounds an alarm.

[0055] This embodiment describes an automated granular material output device. By installing a rake roller device in front of the spiral shovel hopper 3, the device assists the spiral shovel hopper 3 in shoveling fine granular materials, avoiding difficulties in shoveling and even damage to the spiral drive motor. The discharge hopper 17 is configured as two relatively rotatable parts, with the upper part 18 rotating with the secondary climbing belt conveyor 14 and the lower part 19 moving along the horizontal belt conveyor 15. The discharge port of the discharge hopper 17 is always located 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 material at a constant and uniform force position, and the discharge port of the discharge hopper 17 is always located at the horizontal belt conveyor... On the conveyor 15, there is no need to consider the change in the angle between the secondary climbing belt conveyor 14 and the horizontal belt conveyor 15, which would cause the discharge port of the discharge hopper 17 to detach from the horizontal belt conveyor 15, thus avoiding restrictions on the movement 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 positioning instrument 16, and the position of the secondary climbing belt conveyor 14 can be obtained by measuring the angle with the discharge hopper angle encoder 22. Then, by combining the known length of the secondary climbing belt conveyor 14 with the angle measured by the traction hole angle encoder, the position of the equipment with walking and shoveling functions can be accurately calculated. This automated granular material output equipment has a simple structure, is easy to use, and has good performance.

[0056] Example 2

[0057] like Figures 1 to 6 As shown, the method of using the automated pellet output device of the present invention, utilizing the automated pellet output device as described in Example 1, includes the following steps:

[0058] The device with walking and shoveling functions moves in the hopper, dragging the discharge hopper 17 to move on the horizontal belt conveyor 15. The discharge hopper laser positioning device 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 between 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.

[0059] The spiral shovel hopper 3 performs shoveling operations; when the spiral shovel hopper 3 has difficulty shoveling, and the power of the corresponding spiral drive motor rises to the sand-raking start threshold, the equipment automation control system controls the drive motor 5 to work, driving the sand-raking drum 7 to rotate. The sand-raking nails 8 on the sand-raking drum 7 rake and loosen the granular material in front of the spiral shovel hopper 3, and then the spiral shovel hopper 3 performs shoveling; when the power of the spiral drive motor exceeds the sand-raking start threshold and continues to rise to the alarm threshold, the equipment automation control system controls the automatic granular material output device to stop working and sounds an alarm.

[0060] This embodiment describes a method for using an automated pellet output device. The discharge hopper 17 on the horizontal belt conveyor 15 is positioned using the discharge hopper laser positioning device 16. The position of the secondary climbing belt conveyor 14 is determined by the angle measured by the discharge hopper angle encoder 22. Using the known length of the secondary climbing belt conveyor 14 and the angle measured by the traction hole angle encoder, the position of the device with walking and shoveling functions can be accurately calculated without the need for a UWB base station for positioning. A rake roller device is installed in front of the spiral shovel hopper 3. By setting a rake start threshold, when the power of the spiral drive motor triggers the rake start threshold, it is determined that shoveling is difficult, and the rake roller 7 is activated to assist the spiral shovel hopper 3 in shoveling fine pellets. When the power of the spiral drive motor triggers the alarm threshold, the automated pellet output device stops working and sounds an alarm to prevent damage to the spiral drive motor. This method is simple, easy to operate, and effective.

[0061] 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 within the protection scope of the present invention.

Claims

1. An automated pellet output device, comprising a device with walking and shoveling functions and a pellet output system, characterized in that, The device with walking and shoveling functions includes a spiral shovel bucket (3) and a sand rake roller device. The sand rake roller device includes a sand rake roller support frame (4), a drive motor (5), a transmission belt (6), a sand rake roller (7), and sand rake nails (8). The sand rake roller support frame (4) is set at the upper end of the spiral shovel bucket (3). The drive motor (5) is set on the sand rake roller support frame (4). The sand rake roller (7) is set at the cantilever end of the sand rake roller support frame (4). The sand rake roller (7) is located diagonally in front of the spiral shovel bucket (3). The sand rake nails (8) are set on the sand rake roller (7). The sand rake roller (7) is connected to the drive motor (5) through the transmission belt (6). The pellet 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 positioning device (16). The discharge hopper (17) is installed on the horizontal belt conveyor (15). The discharge hopper (17) can move along the horizontal belt conveyor (15). The discharge hopper laser positioning device (16) is installed at both ends of the horizontal belt conveyor (15). The target point of the discharge hopper laser positioning device (16) is the outer edge of both sides of the discharge hopper (17). The discharge hopper laser positioning device (16) is used to measure the position of the discharge hopper (17) on the horizontal belt conveyor (15). The discharge hopper (17) includes an upper component (18), a lower component (19), a hollow bearing (20), a hollow discharge port (21), and a discharge hopper angle encoder (22). The upper component (18) and the lower component (19) are rotatably connected through 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 device with walking and shoveling functions through the belt conveyor traction hole (13). The lower component (19) is a traveling trolley and is located 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 provided on the edge of the hollow bearing (20). The discharge hopper angle encoder (22) is used to measure the rotation angle between the upper component (18) and the lower component (19). The traction hole angle encoder is provided on the belt conveyor traction hole (13). The traction hole angle encoder is used to measure the rotation angle between the secondary climbing belt conveyor (14) and the equipment with walking and shoveling functions.

2. The automated pellet output device according to claim 1, characterized in that, The equipment with walking and shoveling functions also includes an equipment frame (1), a tracked walking device (2), and a first-stage climbing belt conveyor (10). The tracked walking device (2) is installed at the lower end of the equipment frame (1), the spiral shovel (3) and the sand rake roller device are installed at the front end of the equipment frame (1), the belt conveyor traction hole (13) is installed at the rear end of the equipment frame (1), and the first-stage climbing belt conveyor (10) is installed at the upper end of the equipment frame (1).

3. The automated pellet output device according to claim 2, characterized in that, The tracked walking device (2) is equipped with a track drive motor, the spiral shovel bucket (3) is equipped with a spiral drive motor at both ends, the drive wheel of the first-stage climbing belt conveyor (10) is equipped with a belt conveyor motor, and the front side of the equipment frame (1) and the lower part of the first-stage climbing belt conveyor (10) are equipped with a lifting arm cylinder (9).

4. The automated pellet output device according to claim 3, characterized in that, It also includes a power system (11), which includes a three-phase motor, a dual oil pump, a hydraulic tank and a high-pressure oil pipe. The power system (11) is installed on the equipment with walking and shoveling functions. The three-phase motor is connected to the dual oil pump, the dual oil pump is connected to the hydraulic tank and the high-pressure oil pipe, and the high-pressure oil pipe is connected to the boom cylinder (9), the track drive motor and the screw drive motor respectively.

5. The automated pellet output device according to claim 4, characterized in that, The three-phase motor, the belt conveyor motor, and the drive motor (5) are electrically driven.

6. The automated pellet output device according to claim 4, characterized in that, The equipment with walking and shoveling functions also includes an integrated industrial computer (12). The integrated industrial computer (12) is installed on the outside of the equipment frame (1). The integrated industrial computer (12) is equipped with a PLC control system.

7. The automated pellet output device according to claim 6, characterized in that, It also includes an equipment sensing system, which includes an inclination sensor, the discharge hopper laser positioning device (16), the traction hole angle encoder, the discharge hopper angle encoder (22), and the PLC control system.

8. The automated pellet output device according to claim 7, characterized in that, The PLC control system is equipped with a wireless communication module and a transistor relay. The wireless communication module is connected to the main control system of the mixing plant.

9. The automated pellet output device according to claim 7, characterized in that, It also includes an automated control system for the equipment, which is connected to the equipment with walking and shoveling functions, the equipment power system (11), the equipment sensing system and the pellet output system.

10. A method of using an automated pellet output device, characterized in that, The method using the automated pellet output device as described in any one of claims 1-9 includes the following steps: The device with walking and shoveling functions moves in the hopper and drags the discharge hopper (17) to move on the horizontal belt conveyor (15). The discharge hopper laser positioning device (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 between 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. The spiral shovel hopper (3) performs shoveling operations; when the spiral shovel hopper (3) has difficulty shoveling, and the power of the corresponding spiral drive motor rises to the sand-raking start threshold, the equipment automation control system controls the drive motor (5) to work, driving the sand-raking drum (7) to rotate. The sand-raking nails (8) on the sand-raking drum (7) rake and loosen the granular material in front of the spiral shovel hopper (3), and then the spiral shovel hopper (3) performs shoveling; when the power of the spiral drive motor exceeds the sand-raking start 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.

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