Carriage residual coal ultrahigh pressure jet flow cleaning device

Abstract

The utility model discloses a carriage residual coal ultrahigh-pressure jet flow cleaning device, and belongs to the field of coal car carriage unloading equipment, the carriage residual coal ultrahigh-pressure jet flow cleaning device comprises a high-pressure nozzle assembly and a mechanical arm, the high-pressure nozzle assembly is arranged at the tail end of the mechanical arm, and the mechanical arm is arranged on a pressing beam of a car dumper. The mechanical arm can drive the high-pressure spray head assembly to be arranged at the safe position in the compartment, residual coal, caking coal and frozen coal in the compartment are washed and stripped, the adhering coal layers on the inner wall and the bottom of the compartment are effectively broken and washed away through the ultrahigh-pressure jet flow technology, and cleaning operation is conducted through concentrated high-pressure water flow through the ultrahigh-pressure jet flow technology. Compared with a common cleaning mode, more water is saved, the water content of fuel coal entering a factory can be effectively controlled, the mechanical arm can flexibly adjust the position of the high-pressure spray head assembly, it is guaranteed that a large number of fallen coal blocks are avoided when the car dumper turns over a compartment, the coal blocks enter the compartment to be cleaned at the proper time, and an existing car dumper system can be modified or newly added conveniently.

Description

Technical Field

[0001] The present application belongs to the field of coal carriage unloading equipment, and in particular, relates to an ultra-high pressure jet cleaning device for residual coal in a carriage. Background Art

[0002] With the growing demand for coal transportation, car dumpers have been widely used in the field of coal loading and unloading due to their high efficiency and automation. However, in actual operation, a small amount of residual coal is usually left in the coal carriage after the car dumper unloads. This phenomenon is the result of the combined effect of multiple factors, among which the internal structure of the carriage and the quality of coal are important factors leading to residual coal. When the humidity of coal is high or contains more sticky substances, its fluidity will be significantly reduced, forming an adhesion layer on the inner wall or bottom of the carriage, which is difficult to completely dump through the simple tilting action of the car dumper. This sticky residue not only increases the difficulty of cleaning work, but may also have an adverse effect on subsequent transportation and carriage use.

[0003] In order to clean up these residual coal, the commonly used methods are mainly manual cleaning and intelligent cleaning systems for train cargo compartments. The manual cleaning method has problems such as poor working environment, high labor intensity, and safety and environmental protection hazards. The intelligent cleaning system for train compartments can complete the cleaning of a large number of compartments in a short time, improve the overall efficiency, and reduce the risk of manual entry into the compartments. However, the system also has some disadvantages in practical applications, especially in continuous coal unloading operations. First, the cost is high. Due to the complexity of the system, maintenance is difficult and the maintenance cost is relatively high. At the same time, if the system fails, the repair time is long, which affects the operation efficiency. Second, it occupies a large area and requires a large installation space, including the control room, equipment storage area, and the mobile track of the cleaning robot. Installing such large equipment in a limited space will bring about the problem of space utilization. Third, in continuous coal unloading operations, the intelligent cleaning system for train cargo compartments usually needs to be cleaned after the dumper unloads. If the efficiency of the cleaning system cannot match the efficiency of the dumper, it is easy to cause conflicts between equipment or confusion in the operation process. It can be seen that the existing technology needs to be further improved and improved. Utility Model Content

[0004] The utility model provides an ultra-high pressure jet cleaning device for residual coal in a carriage, so as to at least solve or alleviate one or more technical problems in the prior art, or at least provide a beneficial choice.

[0005] In order to achieve the above purpose, the utility model provides the following technical solutions:

[0006] A device for cleaning residual coal in a carriage by ultra-high pressure jets comprises a high pressure nozzle assembly and a mechanical arm, wherein the high pressure nozzle assembly is arranged at the end of the mechanical arm, and the mechanical arm is arranged on the pressure beam of a car tipper and is placed in a safe position outside the carriage to avoid falling coal blocks. When the car tipper flips the carriage, the mechanical arm can drive the high pressure nozzle assembly or make the high pressure nozzle assembly enter the carriage to wash and crush the residual coal in the carriage, and the residual coal falls freely into the coal unloading bin.

[0007] The ultra-high pressure jet cleaning device for residual coal in the carriage of the present application adopts ultra-high pressure jet technology. The high-pressure nozzle assembly can generate a strong impact force, effectively break up and wash away the adhered coal layer on the inner wall and bottom of the carriage. This high-pressure jet has a stronger cleaning ability than ordinary nozzle water spray, and can remove the residual coal more thoroughly. The ultra-high pressure jet technology uses concentrated high-pressure water flow for cleaning, which is more water-saving than ordinary water spraying methods, and can effectively control the water volume and the moisture content of the fuel coal entering the factory. The mechanical arm can flexibly adjust the position of the high-pressure nozzle assembly to ensure that it avoids a large amount of fallen coal blocks when the tipping machine flips the carriage, and enters the carriage for cleaning at the right time. The installation of the device is relatively simple, does not take up extra space, and is easy to modify or add to the existing tipping machine system. The cleaned residual coal is transported to the coal unloading bin through the belt under the tipping machine, thereby realizing the recovery of residual coal.

[0008] In a preferred implementation, the robotic arm is a six-axis robotic arm with a protection grade of IP68, so as to adjust the position and angle of the high-pressure nozzle assembly to adapt to different distribution conditions of residual coal in the vehicle.

[0009] The six-axis robot arm with protection level IP68 can prevent foreign objects and dust from intruding, and can be immersed in water for a long time under a certain pressure without being damaged. This is crucial for the robot arm working in the harsh environment of flushing residual coal, which can ensure that the internal circuits and precision parts of the robot arm are not affected by moisture and coal dust. The six-axis degree of freedom allows the robot arm to flexibly adjust the position and angle of the high-pressure nozzle to adapt to the different distribution of residual coal in the car.

[0010] In a preferred implementation, the pressure beam of the car tipping machine is equipped with a plurality of mechanical arms, which are evenly distributed along the length direction of the pressure beam, and each mechanical arm is equipped with a high-pressure nozzle assembly to cover the entire length range of the car body.

[0011] By installing multiple mechanical arms on the pressure beam and evenly distributing them along the length, it is ensured that the high-pressure nozzle assembly can cover the entire length of the carriage. In this way, no matter where the excess coal is in the carriage, it can be effectively washed and crushed. Multiple mechanical arms working at the same time can significantly improve the cleaning efficiency.

[0012] In a preferred implementation, the high-pressure nozzle assembly includes a nozzle and a pipeline, the nozzle is connected to a liquid ultra-high pressure jet generating device and a water tank through the pipeline, and a buffer is wrapped around the outside of the pipeline to cushion the impact when subjected to the impact force of coal blocks.

[0013] In a preferred implementation, the pressure of the nozzle is 60 MPa to 80 MPa.

[0014] This pressure range is suitable for situations where a certain impact force is required but not to cause excessive damage. When cleaning excess coal, this pressure can ensure that the coal blocks are effectively washed away while avoiding any damage to the carriage or equipment. If the pressure is too high, more energy will be required to increase the jet water pressure, and if the pressure is too low, the cleaning effect will be poor.

[0015] In a preferred implementation, the nozzle is a high-pressure rotating nozzle to expand the flushing range.

[0016] The high-pressure rotary nozzle has a rotating function, so it can cover a wider area. During the process of cleaning the residual coal by the dumper, this nozzle can ensure that every corner of the carriage is fully washed, thus avoiding blind areas in cleaning.

[0017] In a preferred implementation, a heat exchanger or an electric heater is also included. The water in the water tank is heated and pressurized by a liquid ultra-high pressure jet generating device and then sprayed out through a nozzle to clean and recover the frozen coal adhering to the carriage.

[0018] The heat exchanger transfers the heat from the external heat source (such as steam, hot water or other high-temperature media) to the water in the water tank through heat exchange, raising its temperature. The warm water flow can accelerate the melting of frozen coal, reduce its adhesion, and facilitate subsequent flushing and recycling.

[0019] In a preferred implementation, the robotic arm is provided with a camera, which uses an AI visual recognition algorithm to collect images inside the carriage and feeds them back to the control system. The control system adjusts the position and posture of the robotic arm and the high-pressure nozzle assembly according to the position of the remaining coal.

[0020] In a preferred implementation, the robotic arm is provided with a laser sensor, and a camera emits a laser beam into the interior of the carriage to receive reflected light, measures the round-trip time, calculates the distance, and feeds back to the control system. The control system determines whether there is residual coal based on the distance compared with the coal-free state, and adjusts the position and posture of the robotic arm and the high-pressure nozzle assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present application and do not constitute an improper limitation on the present invention. In the drawings:

[0022] Figure 1 A schematic diagram of a schematic implementation state of the high-pressure nozzle assembly of the present application not entering the vehicle compartment is depicted;

[0023] Figure 2 A schematic diagram of a schematic implementation state of a high-pressure nozzle assembly of the present application entering a vehicle compartment for cleaning is depicted;

[0024] Figure 3 A schematic diagram of a top view of a schematic implementation of the tipping machine of the present application is depicted;

[0025] Description of labels:

[0026] 1-car tipping machine; 10-pressure beam; 2-carriage; 3-mechanical arm; 4-high-pressure nozzle assembly; 5-laser sensor. DETAILED DESCRIPTION

[0027] In the following, only some exemplary embodiments are briefly described. As those skilled in the art will appreciate, the described embodiments may be modified in various ways without departing from the spirit and scope of the present invention. Therefore, the drawings and descriptions are considered to be exemplary and non-restrictive in nature.

[0028] In the description of the present invention, it is necessary to understand that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention. In the present invention, unless otherwise clearly specified and limited, a first feature being "upper" or "lower" than a second feature may be the first and second features directly contacting, or the first and second features indirectly contacting through an intermediate medium.

[0029] In the present utility model, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral one; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. However, if it is indicated as a direct connection, it means that the two connected bodies are not connected through an intermediate structure, but are connected to form a whole only through a connecting structure. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0030] In the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0031] The utility model is described below in conjunction with the accompanying drawings.

[0032] The specific plans adopted are:

[0033] like Figure 1-3 As shown, the utility model provides an ultra-high pressure jet cleaning device for residual coal in a carriage, comprising a high pressure nozzle assembly 4 and a mechanical arm 3, wherein the high pressure nozzle assembly 4 is arranged at the end of the mechanical arm, and the mechanical arm is arranged on the pressure beam 10 of the tipping machine 1. When the tipping machine flips the carriage, the mechanical arm can drive the high pressure nozzle assembly to a safe position outside the carriage to avoid the fallen coal blocks or allow the high pressure nozzle assembly to enter the carriage to wash and crush the residual coal in the carriage, so that the mixture of residual coal and water is transported to the coal unloading bin through the belt under the tipping machine, thereby realizing the recovery of residual coal.

[0034] The ultra-high pressure jet cleaning device for residual coal in the carriage of the present application adopts ultra-high pressure jet technology to solve the problem of residual coal remaining in the carriage 2 after the tipping machine 1 unloads coal. The high pressure jet assembly can generate a strong impact force, effectively break and wash away the adhered coal layer on the inner wall and bottom of the carriage. This high pressure jet has a stronger cleaning ability than ordinary nozzle water spraying, and can remove the residual coal more thoroughly. The ultra-high pressure jet technology uses concentrated high pressure water flow for cleaning, which is more water-saving than ordinary water spraying methods, controls the water consumption, reduces water resource consumption, and can ensure that the water content of coal meets the standard. The mechanical arm can flexibly adjust the position of the high pressure nozzle assembly to ensure that a large amount of coal blocks are avoided when the tipping machine 1 flips the carriage, and enters the carriage for cleaning at the right time. The installation of the device is relatively simple, does not occupy additional space, and is easy to be modified or added to the existing tipping machine system. The mixture of residual coal and water after cleaning is transported to the coal unloading bin through the belt under the tipping machine, realizing the recovery and reuse of residual coal.

[0035] As a preferred embodiment of the present application, in order to solve the problem that coal blocks, coal powder and water may fall onto the robot arm 3 during the process of flushing the residual coal, the selected robot arm is a six-axis robot arm with a protection level of IP68, which can prevent the intrusion of foreign objects and dust, and can be immersed in water for a long time under a certain pressure without being damaged. This is crucial for the robot arm working in the harsh environment of flushing the residual coal, and can ensure that the internal circuits and precision components of the robot arm are not affected by moisture and coal dust. The six-axis degree of freedom allows the robot arm to flexibly adjust the position and angle of the high-pressure nozzle to adapt to the different distribution of residual coal in the vehicle.

[0036] As a preferred embodiment of the present application, the pressure beam 10 of the tipping machine is equipped with multiple mechanical arms 3, which are evenly distributed along the length direction of the pressure beam, and each mechanical arm is equipped with a high-pressure nozzle assembly to cover the entire length range of the car body.

[0037] By installing multiple mechanical arms on the pressure beam 10 and distributing them evenly along the length direction, it can be ensured that the high-pressure nozzle assembly can cover the entire length range of the carriage. In this way, no matter where the residual coal is in the carriage, it can be effectively washed and crushed. Multiple mechanical arms working at the same time can significantly improve the cleaning efficiency. The high-pressure nozzle assembly on each mechanical arm can perform the flushing operation independently, reducing the total time required for cleaning. Since each mechanical arm has independent control and adjustment capabilities, the position and angle of the high-pressure nozzle can be flexibly adjusted according to the specific distribution of the residual coal in the carriage. This flexibility makes the cleaning operation more accurate and efficient.

[0038] In a preferred implementation, the high-pressure nozzle assembly 4 includes a nozzle and a pipeline, which is not shown in the figure. It is a prior art, such as the pipeline setting of a six-axis spraying manipulator. The nozzle is connected to a liquid ultra-high pressure jet generator and a water tank through a pipeline. The outer side of the pipeline is wrapped with a buffer to buffer the impact when it is subjected to the impact force of a coal block. The pipeline is fixed to the nozzle and the liquid ultra-high pressure jet generator and the water tank through a precise pipeline connection method to ensure the leakage-free transmission of the high-pressure liquid. The working principle is that the liquid ultra-high pressure jet generator generates high-pressure liquid, which is transported to the nozzle through a pipeline. The nozzle converts the high-pressure liquid into a high-speed jet to wash and crush the remaining coal in the carriage. During the cleaning process, if objects such as coal blocks impact the pipeline, the buffer on the outside will provide a buffering effect to protect the pipeline hose from damage. The buffer is usually made of elastic and wear-resistant materials, such as rubber, airbags, etc.

[0039] As a preferred embodiment of the present application, the nozzle pressure is 60MPa to 80MPa. This pressure range is suitable for occasions that require a certain impact force but do not cause excessive damage. When cleaning residual coal, this pressure can ensure that the coal blocks are effectively flushed away while avoiding unnecessary damage to the carriage or equipment. If the pressure is too high, more energy will be required to increase the jet water pressure, and if the pressure is too low, the cleaning effect will be poor.

[0040] Furthermore, the nozzle is a high-pressure rotating nozzle to expand the washing range. Since the high-pressure rotating nozzle has a rotating function, it can cover a wider area. In the process of the dumper cleaning the residual coal, this nozzle can ensure that every corner in the carriage is fully washed, thereby avoiding blind areas in cleaning.

[0041] Considering that the remaining coal may also be frozen coal frozen in the carriage, in this embodiment, a heat exchanger or electric heater is also included. After the water in the water tank is heated up, it is pressurized by a liquid ultra-high pressure jet generator and ejected from a nozzle to clean and recycle the frozen coal adhered to the carriage. The heat exchanger transfers the heat of an external heat source (such as steam, hot water or other high temperature media) to the water in the water tank by heat exchange, so that its temperature is increased. The water flow with temperature can accelerate the melting of the frozen coal, reduce its adhesion, and facilitate subsequent flushing and recycling. The water flow after heating and temperature increase, after being pressurized by a liquid ultra-high pressure liquid jet generator, not only has a higher impact force, but also carries a certain amount of heat energy. This high temperature and high pressure water flow can more effectively penetrate into the tiny gap between the frozen coal and the carriage wall, accelerate the loosening and falling of the frozen coal, and thus significantly improve the cleaning efficiency.

[0042] For further precise flushing, in this embodiment, the robot arm is provided with a camera, which uses an AI visual recognition algorithm to collect images in the carriage and feeds them back to the control system. The control system adjusts the position and posture of the robot arm and the high-pressure nozzle assembly according to the position of the remaining coal. Specifically, after the robot arm with the high-pressure nozzle assembly enters the carriage, it does not flush first, but moves along the designed moving trajectory. At this time, the camera captures the picture in the carriage in real time and can transmit the image to the operation screen in the control room. The staff can intuitively see the distribution of the remaining coal in the carriage, including which positions have more coal blocks or coal powder, and then operate manually. They no longer need to enter the carriage in person for observation and operation, but can complete all the work remotely through the large screen and control system in the operating room. Of course, the control system can automatically identify the specific location of the remaining coal through the existing AI image recognition technology, and this position information is then used to guide the precise movement of the robot arm and the high-pressure nozzle assembly to achieve automatic adjustment and flushing.

[0043] In addition, according to the identified residual coal position, the control system can control the high-pressure nozzle assembly to clean by intermittent spraying. This method not only saves water, but also ensures a more accurate and efficient cleaning effect. During the spraying process, the control system can monitor the cleaning effect in real time and make dynamic adjustments as needed.

[0044] This camera technology has been widely used in practical applications, such as in industrial automation, robot navigation, driverless cars, etc. Specifically, in the scene of the dumper cleaning the residual coal, the camera can be installed at the end of the robot arm or in a specific position to clearly capture the image inside the car.

[0045] In another feasible embodiment, the mechanical arm is provided with a laser sensor 5, the camera emits a laser beam into the interior of the carriage, receives reflected light, measures the round trip time, calculates the distance, and feeds back to the control system. The control system determines whether there is residual coal based on the distance compared with the coal-free state, and adjusts the position and posture of the mechanical arm and the high-pressure nozzle assembly. Specifically, integrating a laser sensor in the mechanical arm system to detect the residual coal in the carriage is an efficient and accurate method. The laser sensor emits a laser beam into the interior of the carriage and receives reflected light, measures the round trip time of the laser beam, and calculates the distance. This technology is widely used in industrial automation, robot navigation, and three-dimensional reconstruction.

[0046] Specific workflow: First, it is necessary to know the standard distance data of the carriage in the coal-free state. This can be achieved by allowing the robotic arm to carry the laser sensor and move along the preset trajectory and record the distance information of each point when the carriage is completely emptied. These data will serve as the basis for subsequent judgment of whether there is residual coal. During cleaning, the robotic arm enters the carriage. The robotic arm enters the carriage according to the preset program or the instructions of the staff, and moves along the designed trajectory in the carriage. During the movement, the laser sensor continues to work, continuously emitting laser beams into the interior of the carriage and receiving reflected light. The control system calculates the round-trip time of the laser beam in real time and converts it into distance information. Subsequently, the control system compares these real-time measured distances with the standard distances in the coal-free state. Once it is found that the distance at a certain position becomes smaller than the standard value, it can be judged that there is residual coal at that position. Once residual coal is detected, the control system will accurately adjust the position and posture of the robotic arm and the high-pressure nozzle assembly according to the specific position and shape of the residual coal. After adjusting the robotic arm and the high-pressure nozzle assembly, the control system will start the gap impact spraying mode. The high-pressure nozzle sprays water towards the residual coal area at a certain frequency and intensity, removing the residual coal from the carriage through impact and flushing.

[0047] At the same time, cameras and laser sensors can also be combined. During the entire cleaning process, the laser sensors and cameras will continue to work to provide the control system with real-time images and distance information of the interior of the car. This information helps the control system to continuously monitor and evaluate the cleaning effect and make further adjustments and optimizations when necessary.

[0048] The parts not described in the present invention can be realized by adopting or drawing on the existing technology.

[0049] The above are only specific implementations of the utility model, but the protection scope of the utility model is not limited thereto. Any technician familiar with the technical field can easily think of various changes or substitutions within the technical scope disclosed by the utility model, which should be included in the protection scope of the utility model. Therefore, the protection scope of the utility model should be based on the protection scope of the claims.

Claims

1. An ultra-high pressure jet cleaning device for residual coal in a carriage, characterized in that: It includes a high-pressure nozzle assembly and a mechanical arm. The high-pressure nozzle assembly is arranged at the end of the mechanical arm. The mechanical arm is arranged on the pressure beam of the tipping machine and is placed in a safe position outside the carriage to avoid falling coal blocks. When the tipping machine flips the carriage, the mechanical arm drives the high-pressure nozzle assembly into the carriage to wash and crush the remaining coal in the carriage, and the remaining coal falls freely into the coal unloading bin.

2. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 1 is characterized in that: The robotic arm is a six-axis robotic arm with a protection grade of IP68, which can adjust the position and angle of the high-pressure nozzle assembly to adapt to the different distribution conditions of the residual coal in the vehicle.

3. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 1 is characterized in that: The pressure beam of the car tipping machine is equipped with multiple mechanical arms, which are evenly distributed along the length of the pressure beam. Each mechanical arm is equipped with a high-pressure nozzle assembly to cover the entire length of the car body.

4. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 1 is characterized in that: The high-pressure nozzle assembly includes a nozzle and a pipeline. The nozzle is connected to a liquid ultra-high-pressure jet generating device and a water tank through the pipeline. The outer side of the pipeline is wrapped with a buffer to buffer the impact when it is impacted by coal blocks.

5. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 4 is characterized in that: The pressure of the nozzle is 60MPa to 80MPa.

6. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 4 is characterized in that: The nozzle is a high-pressure rotating nozzle to expand the flushing area.

7. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 4 is characterized in that: It also includes a heat exchanger or an electric heater. The water in the water tank is heated and pressurized by an ultra-high pressure jet generating device and then sprayed out from a nozzle to clean the frozen coal adhering to the carriage.

8. The ultra-high pressure jet cleaning device for residual coal in a carriage according to claim 1 is characterized in that: The robotic arm is provided with a laser sensor, and a camera emits a laser beam into the interior of the carriage to receive reflected light, measures the round-trip time, calculates the distance, and feeds back to the control system. The control system determines whether there is residual coal based on the distance compared with the coal-free state, and adjusts the position and posture of the robotic arm and the high-pressure nozzle assembly.

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