Dustless automatic coal cinder transfer device adopting flexible docking

Abstract

This invention relates to the field of coal slag treatment technology, specifically to a dust-free automated coal slag transfer device employing flexible docking. The device includes a chassis and an AGV (Automated Guided Vehicle) unit. The AGV unit is fixedly connected to the bottom of the chassis, and a main support is fixedly connected to the bottom of the inner side of the chassis. This invention provides a dust-free automated coal slag transfer device employing flexible docking. It features an AGV unit for controlling the chassis to move along the required loading and unloading path for slag. In operation, the system first schedules the AGV unit to the corresponding slag bin. Upon reaching the docking position, it docks with the slag outlet via the upper interface and docking assembly. A side rod connected to the outer ring pushes the docking arm to rotate along the top of the fixed arm and close synchronously. Simultaneously, the top openings of the flexible plates connected to several docking arms also close until the docking arm contacts the slag outlet. At this point, the top openings of the flexible plates wrap around the outside of the slag outlet, allowing coal slag to be input through the slag bin.

Description

Technical Field

[0001] This invention relates to the field of coal slag treatment technology, specifically to a dust-free automated coal slag transfer device employing flexible docking. Background Technology

[0002] As is well known, coal slag transfer is a key link in the treatment of solid waste after industrial coal combustion. The core objective is to efficiently, environmentally, and cost-effectively transport coal slag from the furnace bottom and slag outlet to storage, sorting, or comprehensive utilization sites. Pre-treatment is required based on the characteristics of coal slag, such as high temperature, high hardness, dust content, and fluctuating moisture content. After screening and crushing large-particle coal slag, a suitable solution is selected based on the transfer distance, scale, and environmental protection requirements.

[0003] In existing technologies, coal slag is generally transported manually or by traditional vehicles, which cannot be automated. It requires close cooperation among multiple people, resulting in problems such as being time-consuming, labor-intensive, and having cumbersome connections. There is an urgent need for intelligent transformation to build a power plant unmanned transfer system that integrates safety, intelligence, and scalability. This system would enable fully automated unmanned operation of the entire logistics transportation process for coal slag and gravel in the plant area, including automatic loading and unloading, automatic control, autonomous navigation and obstacle avoidance, and automatic energy charging. In addition, due to the special nature of the coal slag and gravel transfer business in power plants, the transported goods are prone to generating large amounts of dust over a long period of time during loading and unloading, which can easily cause adverse effects.

[0004] Based on the above-mentioned situation, we found that existing coal slag transfer technologies have difficulty avoiding the above problems at the same time. Therefore, we propose a dust-free automated coal slag transfer device with flexible docking that can be flexibly connected and adapted to various slag discharge outlets, while reducing environmental dust during operation and improving the degree of automation. Summary of the Invention

[0005] (a) Technical problems to be solved

[0006] To address the shortcomings of existing technologies, this invention provides a dust-free automated coal slag transfer device with flexible docking, which has the advantages of flexible docking and adaptability to various slag discharge ports, while reducing environmental dust during operation and improving the degree of automation.

[0007] (II) Technical Solution

[0008] The above-mentioned technical objective of the present invention is achieved through the following technical solution: a dust-free automated coal slag transfer device with flexible docking, comprising a chassis and an AGV device, wherein the AGV device is fixedly connected to the bottom of the chassis, a main support is fixedly connected to the bottom of the inner side of the chassis, a transfer compartment is provided on the inner side of the main support, a top plate is fixedly connected to the top of the chassis, an upper interface is fixedly connected to the top of the top plate, and a docking component is fixedly connected to the top of the upper interface;

[0009] The docking assembly includes a connecting tube, an outer ring on the outside of the connecting tube, a bowl-shaped bucket fixedly connected to the top of the connecting tube, a plurality of fixed arms fixedly connected to the inner side of the bowl-shaped bucket, the fixed arms being fixedly connected to the connecting tube on the side near the connecting tube, a docking arm being rotatably connected to the top of the fixed arm, a side rod being rotatably connected to the outside of the docking arm, and the bottom of the side rod being fixedly connected to the outer ring.

[0010] The inner side of the bowl-shaped bucket is provided with a flexible sheet, and the outer side of the flexible sheet is fixedly connected to the fixed arm and the docking arm respectively.

[0011] Using the above technical solution, an AGV device is set up to control the chassis to move along the required slag loading and unloading path. In use, the system first dispatches the AGV device to the corresponding slag bin. Upon reaching the docking position, it connects to the slag outlet via the upper interface and docking assembly. During docking, the slag outlet pipe or valve is located at the top of the docking assembly. At this time, the outer ring moves vertically upward, and the side rod connected to it pushes the docking arm to rotate along the top of the fixed arm and close synchronously. Simultaneously, the top opening of the flexible sheet connected to several docking arms also closes until the docking arm contacts the slag outlet. At this point, the top opening of the flexible sheet covers... Wrapped around the outside of the slag outlet, the slag material can be fed into the slag bin. After sliding down the flexible sheet, it is stored in the transfer bin through the bowl-shaped hopper and connecting pipe via the upper interface. After a single discharge is completed, the slag bin stops feeding, and the outer ring falls vertically to reset the docking arm. After moving to the docking position, the outer ring is controlled to rise again until several docking arms contact each other, and the top opening of the flexible sheet is reduced to a minimum. This can prevent impurities from entering during transportation or slag material from spilling out due to airflow and bumps. Furthermore, since the slag material is not fed into the slag bin in an open manner, it can effectively reduce dust diffusion.

[0012] The present invention is further configured such that: a connecting rib is fixedly connected to the outer side of the transfer chamber, an airbag is fixedly connected to the outer side of the connecting rib, and a ring frame is fixedly connected to the inner side of the main support, with the inner side of the ring frame being fixedly connected to the outer side of the airbag.

[0013] By adopting the above technical solution, a ring frame is set up to support the connecting ribs and the transfer chamber through airbags. When coal slag material is fed in, it will vibrate when it impacts the inner wall of the transfer chamber. However, the force can be absorbed by the airbags to reduce the collision between the structures.

[0014] The present invention is further configured such that: an electric cylinder and a limiting rod are fixedly connected to the top of the top plate; the telescopic end of the electric cylinder is fixedly connected to the bottom of the outer ring; and the outer side of the limiting rod is slidably connected to the outer ring.

[0015] By adopting the above technical solution, an electric cylinder is set up to push and pull the outer ring to raise and lower it. When the outer ring moves, it will slide along the limit rod to keep the movement path vertical and prevent tilting or rotation.

[0016] The present invention is further configured such that: a short bracket is fixedly connected to the inner side of the bowl-shaped bucket, the inner side of the short bracket is fixedly connected to a fixed arm, a protective shell is provided on the inner side of the bowl-shaped bucket, an end frame is fixedly connected to the outer side of the protective shell, and the outer side of the end frame is fixedly connected to the short bracket.

[0017] By adopting the above technical solution, a short bracket is set to further connect the fixed arm. At the same time, the end frame installed with the short bracket can facilitate the control of the descent position of the slag chamber outlet, avoiding excessive descent of the outlet that could cause jamming or blockage of the structure. The arc-shaped design of the top of the protective shell can assist the slag material to slide down when it comes into contact with the material, preventing it from accumulating.

[0018] The present invention is further configured such that: a servo motor is installed on the inner side of the protective shell, an output shaft is fixedly connected to the output end of the servo motor, a dial is fixedly connected to the outer side of the output shaft, and an anti-blocking plate is fixedly connected to the bottom of the dial.

[0019] By adopting the above technical solution, a servo motor can be set inside the protective shell to prevent direct impact from falling coal slag. When coal slag is input, the servo motor can drive the output shaft to rotate, and the connected rotary shaft and anti-blocking plate can continuously agitate to prevent blockage when a large amount of coal slag falls.

[0020] The present invention is further configured such that: a hollow shaft is fixedly connected to the outer side of the bottom of the output shaft, a tension spring is fixedly connected to the inner side of the hollow shaft, an inner shaft is slidably connected to the inner side of the hollow shaft, the inner shaft is fixedly connected to the tension spring on the side near the tension spring, and a thickened bar is fixedly connected to the inner wall of the transfer chamber, the thickened bar and the inner shaft are used in conjunction.

[0021] By adopting the above technical solution, a hollow shaft is set to cooperate with an inner shaft. When the output shaft rotates, the inner shaft is thrown out of the hollow shaft due to centrifugal force and hits the thickened bar, causing it to vibrate with the transfer chamber through the connecting ribs and air bladder. During the vibration, it can help the coal slag material falling into the transfer chamber to spread evenly, and it is not easy to accumulate in the middle and thus fail to fully fill the interior of the transfer chamber.

[0022] The present invention is further configured such that: an operation panel is installed on the left side of the chassis, an energy storage component is installed on the inside of the chassis, a charging brush is provided on the front side of the chassis, anti-collision laser sensors are installed on the top, outer side and bottom of the chassis, and a material valve is fixedly connected to the bottom of the transfer chamber.

[0023] The above technical solution uses an energy storage component and an operation panel for external control system control of the device. The top anti-collision laser sensor is used to detect high-altitude obstacles, and the obstacle avoidance strategy adopts emergency braking and area restriction strategies. The middle anti-collision laser sensor is mainly responsible for detecting conventional obstacles on the running path, such as personnel, other moving automated guided vehicles, stacked materials, tool vehicles, etc., and the obstacle avoidance strategy adopts a composite strategy of graded deceleration, dynamic detour and stopping and waiting. The bottom anti-collision laser sensor is used to detect low-lying obstacles on the ground, such as scattered coal slag, tools, lost parts, thresholds, and protrusions or pits on the ground. The material valve is used to discharge the transferred coal slag after the transfer bin reaches the slag yard docking position.

[0024] The present invention is further configured such that a lower dust collection hopper and an upper dust collection hopper are fixedly connected to the bottom of the inner side of the chassis and the top of the top plate, respectively, and a fan device is installed inside the chassis.

[0025] By adopting the above technical solution, a fan device is set up to generate airflow suction, and the lower dust hopper works in conjunction with the upper dust hopper to suck up the dust overflowing from the top and bottom of the transfer position, further reducing dust.

[0026] The present invention is further configured such that: an air inlet pipe is provided on the inner side of the casing, the top and bottom of the air inlet pipe are fixedly connected to the bottom of the upper dust hopper and the top of the lower dust hopper, respectively; an auxiliary box is fixedly connected to the right side of the inner side of the casing; the left side of the auxiliary box is fixedly connected to the air inlet end of the fan device; and the front side of the auxiliary box is fixedly connected to the rear side of the air inlet pipe.

[0027] The above technical solution involves setting up an air inlet pipe to connect the upper and lower dust collection hoppers, and then using an auxiliary box to input airflow into the fan device before discharging it to the outside.

[0028] The present invention is further configured such that: a partition is fixedly connected to the inner side of the auxiliary box, a pull-out bracket is slidably connected to the inner side of the auxiliary box, the pull-out bracket is located at the bottom of the partition, a filter screen is installed on the top of the partition, and the top of the filter screen is installed with the top of the inner side of the auxiliary box.

[0029] By adopting the above technical solution, a partition is set to separate the airflow passage and the dust collection location. After the airflow passes through the filter and filters out the dust, it will fall into the interior of the pull-out rack for easy removal and cleaning by personnel.

[0030] (III) Beneficial Effects

[0031] Compared with the prior art, the present invention provides a dust-free automated coal slag transfer device with flexible docking, which has the following beneficial effects:

[0032] This dust-free automated slag transfer device employs flexible docking. An AGV (Automated Guided Vehicle) is used to control the movement of the chassis along the required slag loading and unloading path. In operation, the system first dispatches the AGV to the corresponding slag bin. Upon reaching the docking position, it connects to the slag outlet via the upper interface and docking assembly. During docking, the slag outlet pipe or valve is positioned at the top of the docking assembly. At this point, the outer ring moves vertically upwards, and the connected side rod pushes the docking arm to rotate along the top of the fixed arm and close synchronously. Simultaneously, the openings at the top of the flexible plates connected to several docking arms also close until the docking arm contacts the slag outlet. At this point, the flexible... The top opening of the flexible sheet wraps around the outside of the slag outlet, allowing slag to be fed into the slag bin. After sliding down the flexible sheet, the slag is stored in the transfer bin via the bowl-shaped hopper and connecting pipe through the upper interface. Once a single discharge is completed, the slag bin stops feeding, and the outer ring drops vertically to reset the docking arm. After moving to the docking position, the outer ring is controlled to rise again until several docking arms contact each other, minimizing the top opening of the flexible sheet. This prevents impurities from entering during transportation or slag from spilling out due to airflow and bumps. Furthermore, since the slag is not fed into the slag bin in an open manner, dust dispersion is effectively reduced. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the main structure of the present invention;

[0034] Figure 2 This is a schematic diagram of the docking component in this invention;

[0035] Figure 3 This is a schematic diagram of the docking components in this invention;

[0036] Figure 4 This is a schematic diagram of the internal structure of the transshipment warehouse in this invention;

[0037] Figure 5 This is an external schematic diagram of the chassis in this invention;

[0038] Figure 6 This is a schematic diagram of the internal structure of the chassis in this invention;

[0039] Figure 7 This is a schematic diagram of the connection of the auxiliary box in this invention;

[0040] Figure 8 This is a schematic diagram of the interior of the auxiliary box in this invention;

[0041] Figure 9 For the present invention Figure 6 A magnified view of a portion of point A in the middle.

[0042] In the diagram: 1. Chassis; 2. AGV device; 3. Main support; 4. Transfer bin; 5. Top plate; 6. Upper interface; 7. Docking assembly; 71. Connecting pipe; 72. Outer ring; 73. Bowl-shaped bucket; 74. Fixed arm; 75. Docking arm; 76. Side rod; 8. Flexible sheet; 9. Connecting rib; 10. Airbag; 11. Ring frame; 12. Electric cylinder; 13. Limiting rod; 14. Short support; 15. Protective shield. 16. Protective housing; 17. End frame; 18. Output shaft; 19. Dial shaft; 20. Anti-clogging plate; 21. Hollow shaft; 22. Tension spring; 23. Inner shaft; 24. Thickened bar; 25. Anti-collision laser sensor; 26. Material valve; 27. Lower dust hopper; 28. Upper dust hopper; 29. ​​Fan device; 30. Air inlet pipe; 31. Auxiliary box; 32. Partition plate; 33. Pull-out rack; 34. Filter screen; 35. Servo motor. Detailed Implementation

[0043] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0044] Example 1

[0045] Please see Figure 1-9 A dust-free automated coal slag transfer device with flexible docking includes a chassis 1 and an AGV device 2. The AGV device 2 is fixedly connected to the bottom of the chassis 1. A main support 3 is fixedly connected to the bottom inside the chassis 1. A transfer chamber 4 is provided inside the main support 3. A top plate 5 is fixedly connected to the top of the chassis 1. An upper interface 6 is fixedly connected to the top of the top plate 5. A docking component 7 is fixedly connected to the top of the upper interface 6.

[0046] The docking assembly 7 includes a connecting tube 71, an outer ring 72 on the outside of the connecting tube 71, a bowl-shaped bucket 73 fixedly connected to the top of the connecting tube 71, a plurality of fixed arms 74 fixedly connected to the inner side of the bowl-shaped bucket 73, the side of the fixed arm 74 near the connecting tube 71 fixedly connected to the connecting tube 71, a docking arm 75 rotatably connected to the top of the fixed arm 74, a side rod 76 rotatably connected to the outside of the docking arm 75, and the bottom of the side rod 76 fixedly connected to the outer ring 72.

[0047] The inner side of the bowl-shaped bucket 73 is provided with a flexible sheet 8, and the outer side of the flexible sheet 8 is fixedly connected to the fixed arm 74 and the docking arm 75 respectively.

[0048] By setting up AGV device 2 to control the chassis 1 to move along the required slag loading and unloading path, in use, the system first dispatches AGV device 2 to the corresponding slag bin. After reaching the docking position, it docks with the slag outlet through the upper interface 6 and docking assembly 7. During docking, the slag outlet pipe or valve is located at the top of docking assembly 7. At this time, the outer ring 72 is moved vertically upward, and the side rod 76 connected to it will push the docking arm 75 to rotate along the top of the fixed arm 74 and close synchronously. At the same time as closing, the top opening of the flexible sheet 8 connected to several docking arms 75 will also close until the docking arm 75 contacts the slag outlet. At this time, the top opening of the flexible sheet 8 wraps around the slag outlet. Outside the slag outlet, slag material can be input through the slag silo. After sliding down the flexible sheet 8, it is stored in the transfer silo 4 through the bowl-shaped hopper 73 and connecting pipe 71 via the upper interface 6. After a single discharge is completed, the slag silo stops input, and at the same time, the outer ring 72 falls vertically to reset the docking arm 75. After moving to the docking position, the outer ring 72 is controlled to rise again until several docking arms 75 contact each other, thus minimizing the opening at the top of the flexible sheet 8. This can prevent impurities from entering during transportation or slag material from spilling out due to airflow and bumps. Furthermore, since the slag material is not input into the slag silo in an open manner when docking with the slag silo, dust diffusion can be effectively reduced.

[0049] The outer side of the transfer chamber 4 is fixedly connected to a connecting rib 9, and the outer side of the connecting rib 9 is fixedly connected to an airbag 10. The inner side of the main support 3 is fixedly connected to a ring frame 11, and the inner side of the ring frame 11 is fixedly connected to the outer side of the airbag 10. By setting the ring frame 11, the connecting rib 9 and the transfer chamber 4 are supported by the airbag 10. When coal slag is fed in, the transfer chamber 4 will vibrate when it impacts the inner wall. The airbag 10 can absorb the force to reduce the collision between structures. The top plate 5 is fixedly connected to an electric cylinder 12 and a limiting rod 13. The telescopic end of the electric cylinder 12 is fixedly connected to the bottom of the outer ring 72. The outer side of the limiting rod 13 is slidably connected to the outer ring 72. 12. The outer ring 72 is used to push and pull, causing it to rise and fall. When moving, the outer ring 72 slides along the limiting rod 13 to maintain a vertical movement path, preventing tilting or rotation. A short bracket 14 is fixedly connected to the inner side of the bowl-shaped hopper 73. The inner side of the short bracket 14 is fixedly connected to the fixed arm 74. A protective shell 15 is provided on the inner side of the bowl-shaped hopper 73. An end frame 16 is fixedly connected to the outer side of the protective shell 15. The outer side of the end frame 16 is fixedly connected to the short bracket 14. The short bracket 14 is used to further connect the fixed arm 74. Simultaneously, the end frame 16 installed with the short bracket 14 facilitates control of the descent position of the slag bin outlet, preventing excessive descent of the outlet from causing structural jamming or blockage. The arc-shaped design at the top of the protective shell 15 helps the coal slag material slide off upon contact, preventing it from accumulating. A servo motor 34 is installed inside the protective shell 15, and an output shaft 17 is fixedly connected to the output end of the servo motor 34. A deflector shaft 18 is fixedly connected to the outer side of the output shaft 17, and an anti-blocking plate 19 is fixedly connected to the bottom of the deflector shaft 18. By setting up the servo motor 34, the inner side of the protective shell 15 can be prevented from being directly hit by falling coal slag material. When coal slag material is input, the servo motor 34 can drive the output shaft 17 to rotate, and the deflector shaft 18 and the anti-blocking plate 19 connected to it can continuously agitate to prevent blockage when a large amount of coal slag material falls. A hollow core is fixedly connected to the outer side of the bottom of the output shaft 17. A tension spring 21 is fixedly connected to the inner side of the hollow shaft 20, and an inner shaft 22 is slidably connected to the inner side of the hollow shaft 20. The inner shaft 22 is fixedly connected to the tension spring 21 on the side close to the tension spring 21. A thickened bar 23 is fixedly connected to the inner wall of the transfer chamber 4. The thickened bar 23 and the inner shaft 22 work together. By setting the hollow shaft 20 to work with the inner shaft 22, when the output shaft 17 rotates, the inner shaft 22 is thrown out of the hollow shaft 20 due to centrifugal force and strikes the thickened bar 23, causing it to vibrate with the transfer chamber 4 through the connecting rib 9 and the air bag 10. During vibration, it can help the coal slag material falling into the transfer chamber 4 to spread evenly, and it is not easy to accumulate in the middle and thus fail to fully fill the interior of the transfer chamber 4.

[0050] The working principle of this embodiment is as follows: The system schedules the AGV device 2 to drive the chassis 1 to the slag bin docking position. The electric cylinder 12 pushes the outer ring 72 to rise vertically along the limit rod 13. The side rod 76 then drives the docking arm 75 to rotate around the fixed arm 74 and retract synchronously. The top opening of the flexible sheet 8 connected to the docking arm 75 and the fixed arm 74 retracts synchronously until the docking arm 75 fits against the outside of the slag discharge port. The flexible sheet 8 completely wraps the discharge port to form a sealed channel. The slag material slides into the bowl-shaped hopper 73 through the flexible sheet 8, and then enters the transfer bin 4 through the connecting pipe 71 and the upper interface 6. The sealed structure reduces dust diffusion from the source. After a single feeding is completed, the electric cylinder 12 pulls the outer ring 72 down, and the docking arm 75 resets and releases the discharge port. After the device leaves the docking position, the outer ring 72 is raised again to make the docking arms 75 contact each other, and the opening of the flexible sheet 8 is reduced to the minimum to prevent slag spillage or impurities from entering during transportation. During the process of preventing blockage and assisting in uniform feeding, the inner side of the protective shell 15 is protected. The servo motor 34 drives the output shaft 17 to rotate, which in turn drives the rotary shaft 18 and the anti-blocking plate 19 to continuously stir the coal slag in the bowl-shaped hopper 73, preventing blockage when a large amount of material falls. The arc-shaped top of the protective shell 15 cooperates with the short support 14 and the end frame 16 to assist the material to slide down and avoid stagnation and jamming. At the same time, when the output shaft 17 rotates, the inner shaft 22 in the hollow shaft 20 is thrown out by centrifugal force and hits the thickened bar 23 on the inner wall of the transfer chamber 4, causing the transfer chamber 4 to vibrate. The vibration is transmitted to the airbag 10 through the connecting rib 9. The airbag 10 further buffers the vibration force, which not only avoids structural collision damage, but also makes the coal slag in the transfer chamber 4 spread evenly, improves the utilization rate of the chamber space, and buffers and protects the impact force generated by the coal slag material impacting the inner wall of the transfer chamber 4. The airbag 10 absorbs the impact force through its own elastic deformation, reduces the collision vibration between the transfer chamber 4 and the main support 3 and the ring frame 11, and ensures the structural stability and service life of the device.

[0051] Example 2

[0052] refer to Figure 1-8 A dust-free automated coal slag transfer device with flexible docking is provided, wherein an operation panel is installed on the left side of the chassis 1, an energy storage component is installed inside the chassis 1, a charging brush is provided on the front side of the chassis 1, and anti-collision laser sensors 24 are installed on the top, outside and bottom of the chassis 1, and a material valve 25 is fixedly connected to the bottom of the transfer chamber 4.

[0053] The device is controlled by an external control system via an energy storage component and an operation panel. The top anti-collision laser sensor 24 is used to detect obstacles at high altitudes. The obstacle avoidance strategy adopts emergency braking and area restriction strategies. The middle anti-collision laser sensor 24 is mainly responsible for detecting conventional obstacles on the running path, such as personnel, other moving automatic navigation vehicles, stacked materials, tool vehicles, etc. The obstacle avoidance strategy adopts a composite strategy of graded deceleration, dynamic detour and stopping and waiting. The bottom anti-collision laser sensor 24 is used to detect low-lying obstacles on the ground, such as scattered coal slag, tools, lost parts, thresholds, and protrusions or pits on the ground. The material valve 25 is used to discharge the transferred coal slag after the transfer bin 4 runs to the slag yard docking position.

[0054] The bottom of the inner side of the casing 1 and the top of the top plate 5 are respectively fixedly connected to the lower dust collection hopper 26 and the upper dust collection hopper 27. A fan device 28 is installed inside the casing 1. The fan device 28 generates airflow suction. The lower dust collection hopper 26 works in conjunction with the upper dust collection hopper 27 to suck up dust overflowing from the top and bottom of the transfer position, further reducing dust. An air inlet pipe 29 is provided inside the casing 1. The top and bottom of the air inlet pipe 29 are respectively fixedly connected to the bottom of the upper dust collection hopper 27 and the top of the lower dust collection hopper 26. A secondary box 30 is fixedly connected to the right side of the inner side of the casing 1. The left side of the secondary box 30 is fixedly connected to the air inlet end of the fan device 28. The front side of the secondary box 30... The air inlet duct 29 is fixedly connected to the rear side of the air inlet duct 29. The air inlet duct 29 is used to connect the upper dust hopper 27 and the lower dust hopper 26. The airflow is input to the fan device 28 through the auxiliary box 30 and then discharged to the outside. A partition 31 is fixedly connected to the inner side of the auxiliary box 30, and a pull-out frame 32 is slidably connected to the inner side of the auxiliary box 30. The pull-out frame 32 is located at the bottom of the partition 31, and a filter screen 33 is installed on the top of the partition 31. The top of the filter screen 33 is installed on the top of the inner side of the auxiliary box 30. By setting the partition 31, the position where the airflow passes and the position where the dust is collected are separated. After the airflow passes through the filter screen 33 and filters out the dust, it will fall into the interior of the pull-out frame 32 for easy removal and cleaning by personnel.

[0055] The working principle of this embodiment is as follows: the energy storage component provides power, the operation panel is connected to the external control system to coordinate the control device, the charging brush meets the automatic charging requirements, the system schedules the AGV device to drive the chassis 1 to move to the slag bin docking position, the electric cylinder 12 pushes the outer ring 72 to rise along the limit rod 13, and through the side rod 76 drives the docking arm 75 to retract around the fixed arm 74, so that the flexible sheet 8 wraps around the slag discharge port to form a sealed channel. The coal slag enters the transfer bin 4 through the flexible sheet 8, the bowl-shaped hopper 73, the connecting pipe 71 and the upper interface 6. When feeding, the servo motor 34 in the protective shell 15 drives the output shaft 17 to rotate, driving the agitator 18 and the anti-blocking plate 19 to stir and prevent blockage. At the same time, the rotation of the output shaft 17 causes the inner shaft 22 in the hollow shaft 20 to be centrifugally thrown out. The thickened bar 23 of the impact transfer chamber 4, together with the connecting rib 9 and the airbag 10, realizes the vibration of the transfer chamber 4 to spread the material evenly. The airbag 10 can also buffer the vibration generated by the impact of coal slag. The anti-collision laser sensors 24 on the top, outside and bottom of the chassis 1 are divided to avoid obstacles and ensure the safety of the transfer. After the fan device 28 is started, the upper and lower dust suction hoppers 26 suck the dust overflowing from the working area into the auxiliary box 30 through the air inlet pipe 29. After being filtered by the filter screen 33, the dust falls into the pull-out frame 32 under the partition 31 for easy cleaning. When the device arrives at the slag yard docking position, the bottom material valve 25 of the transfer chamber 4 is opened to discharge the coal slag. After leaving the docking position, the outer ring 72 can be controlled to rise again to reduce the opening of the flexible plate 8 to prevent coal slag from spilling or impurities from entering during transportation.

[0056] This specific embodiment is merely an explanation of the present invention and is not intended to limit the invention. Those skilled in the art can make modifications to this embodiment without contributing any inventive step after reading this specification. Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A dust-free automated coal cinder transfer device with flexible docking, comprising a machine box (1) and an AGV device (2), characterized in that: The AGV device (2) is fixedly connected to the bottom of the chassis (1). The bottom of the inner side of the chassis (1) is fixedly connected to the main support (3). The inner side of the main support (3) is provided with a transfer chamber (4). The top of the chassis (1) is fixedly connected to the top plate (5). The top of the top plate (5) is fixedly connected to the upper interface (6). The top of the upper interface (6) is fixedly connected to the docking assembly (7). The docking assembly (7) includes a connecting tube (71), an outer ring (72) is provided on the outside of the connecting tube (71), a bowl-shaped bucket (73) is fixedly connected to the top of the connecting tube (71), a plurality of fixed arms (74) are fixedly connected to the inner side of the bowl-shaped bucket (73), the side of the fixed arm (74) near the connecting tube (71) is fixedly connected to the connecting tube (71), the top of the fixed arm (74) is rotatably connected to a docking arm (75), the outer side of the docking arm (75) is rotatably connected to a side rod (76), and the bottom of the side rod (76) is fixedly connected to the outer ring (72). The inner side of the bowl-shaped bucket (73) is provided with a flexible sheet (8), and the outer side of the flexible sheet (8) is fixedly connected to the fixed arm (74) and the docking arm (75) respectively. The inner side of the bowl-shaped bucket (73) is fixedly connected to a short bracket (14), the inner side of the short bracket (14) is fixedly connected to a fixed arm (74), the inner side of the bowl-shaped bucket (73) is provided with a protective shell (15), the outer side of the protective shell (15) is fixedly connected to an end frame (16), and the outer side of the end frame (16) is fixedly connected to the short bracket (14). A servo motor (34) is installed on the inner side of the protective shell (15). An output shaft (17) is fixedly connected to the output end of the servo motor (34). A dial shaft (18) is fixedly connected to the outer side of the output shaft (17). An anti-blocking plate (19) is fixedly connected to the bottom of the dial shaft (18). A hollow shaft (20) is fixedly connected to the outer side of the bottom of the output shaft (17). A tension spring (21) is fixedly connected to the inner side of the hollow shaft (20). An inner shaft (22) is slidably connected to the inner side of the hollow shaft (20). The side of the inner shaft (22) close to the tension spring (21) is fixedly connected to the tension spring (21). A thickened bar (23) is fixedly connected to the inner wall of the transfer chamber (4). The thickened bar (23) and the inner shaft (22) are used together.

2. The dust-free automated coal slag transfer device with flexible docking as described in claim 1, characterized in that: The outer side of the transfer chamber (4) is fixedly connected to a connecting rib (9), and the outer side of the connecting rib (9) is fixedly connected to an airbag (10). The inner side of the main support (3) is fixedly connected to a ring frame (11), and the inner side of the ring frame (11) is fixedly connected to the outer side of the airbag (10).

3. The dust-free automated coal slag transfer device with flexible docking as described in claim 1, characterized in that: The top plate (5) is fixedly connected to an electric cylinder (12) and a limiting rod (13). The telescopic end of the electric cylinder (12) is fixedly connected to the bottom of the outer ring (72). The outer side of the limiting rod (13) is slidably connected to the outer ring (72).

4. The dust-free automated coal slag transfer device with flexible docking as described in claim 1, characterized in that: An operation panel is installed on the left side of the chassis (1), an energy storage component is installed on the inside of the chassis (1), a charging brush is provided on the front side of the chassis (1), and anti-collision laser sensors (24) are installed on the top, outside and bottom of the chassis (1). A material valve (25) is fixedly connected to the bottom of the transfer chamber (4).

5. A dust-free automated coal slag transfer device with flexible docking as described in claim 1, characterized in that: The bottom of the inner side of the casing (1) and the top of the top plate (5) are respectively fixedly connected to the lower dust collection hopper (26) and the upper dust collection hopper (27), and a fan device (28) is installed inside the casing (1).

6. A dust-free automated coal slag transfer device with flexible docking as described in claim 5, characterized in that: The inner side of the casing (1) is provided with an air inlet pipe (29). The top and bottom of the air inlet pipe (29) are fixedly connected to the bottom of the upper dust collection hopper (27) and the top of the lower dust collection hopper (26), respectively. The right side of the inner side of the casing (1) is fixedly connected to a secondary box (30). The left side of the secondary box (30) is fixedly connected to the air inlet end of the fan device (28). The front side of the secondary box (30) is fixedly connected to the rear side of the air inlet pipe (29).

7. A dust-free automated coal slag transfer device with flexible docking as described in claim 6, characterized in that: A partition (31) is fixedly connected to the inner side of the sub-box (30), and a pull-out bracket (32) is slidably connected to the inner side of the sub-box (30). The pull-out bracket (32) is located at the bottom of the partition (31), and a filter screen (33) is installed on the top of the partition (31). The filter screen (33) is fixedly connected to the top of the inner side of the sub-box (30).

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