CN113280897A

CN113280897A - Mobile intelligent material taking, weighing and loading all-in-one machine and method

Info

Publication number: CN113280897A
Application number: CN202110629546.3A
Authority: CN
Inventors: 李旭; 孙国顺
Original assignee: Zhongmei Kegong Intelligent Storage Technology Co ltd; Tiandi Science and Technology Co Ltd; China Coal Technology and Engineering Group Corp
Current assignee: Zhongmei Kegong Intelligent Storage Technology Co ltd; Tiandi Science and Technology Co Ltd; China Coal Technology and Engineering Group Corp
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2021-08-20

Abstract

The invention relates to a mobile intelligent material taking, weighing and loading integrated machine and a method, wherein the method comprises the following steps: the self-propelled chassis is provided with a mechanical arm, one end of the mechanical arm is provided with a material taking device, the other end of the mechanical arm is connected with a weighing device, the weighing device is connected with an output belt conveyor, the weighing device comprises a rough-weighing belt conveyor with a dynamic weighing sensor, and the rough-weighing belt conveyor is connected with a precise-weighing belt conveyor with a static weighing sensor and capable of reciprocating. The invention utilizes the wide rough-weighing belt conveyor to supply materials to the wider precise-weighing belt conveyor, monitors the amount of the materials entering the precise-weighing belt conveyor in the conveying process, and the precise-weighing belt conveyor bears all the bulk materials loaded at one time so as to accurately weigh.

Description

Mobile intelligent material taking, weighing and loading all-in-one machine and method

Technical Field

The invention relates to a mobile intelligent material taking, weighing and loading integrated machine and a method, in particular to a loading machine and a loading method, and particularly relates to equipment and a method for loading a lorry in a bulk material field.

Background

Conventional bulk commodity materials (e.g., coal, sand, etc. processed uniform particle commodities) dumps typically use a conventional loader to load transportation vehicles. The loading process is essentially of the rough type, with essentially no programming of the loading process, and is carried out completely by the loader driver according to the field situation. Some large-scale bulk commodity stockyards can set up the special messenger and command the loading process in the stockyard to carry out scientific scheduling to the loading process according to planning theory. However, due to the lack of professional equipment and the excessive interference of human factors in the scheduling process, the whole loading process is basically in a relatively simple and non-programmable state which cannot be refined, such as: the loading capacity of the commodity materials can only be approximate, weighing is carried out through a wagon balance, and auxiliary loading is carried out for more or less compensation, so that the loading efficiency is reduced. The existing weighing mode of the bulk materials is that the bulk materials are intensively placed in a tank body by a belt conveyor, the tank body is statically weighed, and then the accurate weight required by the materials is achieved by a material supplementing mode. Because the height of the tank body is relatively high, the tank body arranged on the loading vehicle can cause the center of the vehicle to be too high, and potential safety hazards of the vehicle when the vehicle turns over are generated, so that the vehicle is not suitable for weighing in the mode. Therefore, how to arrange accurate bulk material weighing facilities on the vehicle is a problem to be solved.

Disclosure of Invention

In order to overcome the problems in the prior art, the invention provides a mobile intelligent material taking, weighing and loading integrated machine and a method. According to the all-in-one machine and the method, the loading mechanical arm and the weighing belt are arranged on the self-propelled chassis, materials are automatically obtained according to a pre-programmed program and are accurately weighed, and full-automatic weighing and loading of a bulk material yard are achieved.

The purpose of the invention is realized as follows: the utility model provides a material all-in-one is weighed to portable intelligence, includes: the self-propelled chassis is provided with a mechanical arm, one end of the mechanical arm is provided with a material taking device, the other end of the mechanical arm is connected with a weighing device, the weighing device is connected with an output belt conveyor, the weighing device comprises a rough-weighing belt conveyor with a dynamic weighing sensor, and the rough-weighing belt conveyor is connected with a precise-weighing belt conveyor with a static weighing sensor and capable of reciprocating.

Furthermore, the chassis is provided with at least four self-propelled wheels capable of changing the movement direction, and the chassis is also provided with an equipment bin and a battery bin.

Furthermore, the chassis is provided with supporting legs for maintaining the stability of the chassis during working.

Furthermore, the mechanical arm is provided with a support and a support rod capable of lifting and putting down the mechanical arm, the support is connected with the chassis through a hinge, and a mechanical arm conveying belt is further arranged on the support.

Furthermore, the width of a rough-weighing belt conveyor of the weighing device is larger than that of the mechanical arm conveying belt, and the width of a fine-weighing belt conveyor is larger than that of the rough-weighing belt conveyor.

Furthermore, diffusion slide carriages are arranged between the mechanical arm conveying belt and the rough weighing belt conveyor and between the rough weighing belt conveyor and the fine weighing belt conveyor.

Furthermore, a collecting hopper is arranged between the precise weighing belt conveyor and the output belt conveyor.

Furthermore, the dynamic weighing sensor and the static weighing sensor are electrically connected with a controller, the controller is electrically connected with the mechanical arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel, and the controller is wirelessly and electrically connected with the remote controller and the material field upper computer through a wireless network.

A mobile intelligent material taking, weighing and loading method using the all-in-one machine comprises the following steps:

step 1, making a loading plan: all-in-one obtains current material loading information from the stock ground host computer, includes: making a loading plan according to the obtained information according to the current material type, the position in a material field, the quantity and the material characteristics;

step 2, adjusting the position of the material pile: the all-in-one machine is close to the material pile by adjusting the direction of each self-propelled wheel according to the loading plan, and the distance between the all-in-one machine and the material pile is adjusted to a position where a mechanical arm can conveniently obtain materials;

step 3, taking materials: starting the mechanical arm, placing a material taking device at the front end of the mechanical arm on a material pile to obtain a material, and sending the obtained material into a weighing device through a mechanical arm belt conveyor;

step 4, preliminary weighing: the rough weighing belt conveyor continuously receives materials falling from the mechanical arm belt conveyor and is connected with the fine weighing belt conveyor to rapidly convey the materials; when the materials fall from the mechanical arm conveying belt, the first-stage diffusion slide carriage uniformly spreads the materials and flatly spreads the materials on the rough-weighing belt conveyor, and when the materials fall from the rough-weighing belt conveyor, the second-stage diffusion slide carriage further diffuses and flatly spreads the materials on the fine-weighing belt conveyor; the fine weighing belt conveyor reciprocates back and forth, and all materials input by the rough weighing belt conveyor are spread on the surface of the belt; in the conveying process, the rough-weighing belt conveyor measures the material quantity output to the fine-weighing belt conveyor through a dynamic weighing sensor, and monitors whether the material output quantity is close to a planned quantity or not;

step 5, fine weighing: when the dynamic weighing sensor monitors that the material falling into the fine weighing belt conveyor is close to the planned amount, stopping the operation of the mechanical arm and the coarse weighing belt conveyor, metering the material amount on the fine weighing belt by the static weighing sensor, comparing the material amount metered by the static weighing sensor with the planned amount to obtain a difference, starting the coarse weighing belt conveyor, conveying the material to the fine weighing belt conveyor at a slow speed, stopping the coarse weighing belt conveyor again, and accurately weighing until the planned material amount is reached;

and 6, outputting: and starting the fine weighing belt conveyor, continuously outputting the materials to the output belt conveyor, continuously outputting the materials by the output belt conveyor until all the materials on the fine weighing belt conveyor are output, and finishing the weighing and conveying process.

Further, in the step 4, when the dynamic weighing sensor measures the material output by the rough-weighing belt conveyor to the fine-weighing belt conveyor and the material amount reaches 95-99% of the planned material amount, the rough-weighing belt conveyor is stopped for fine weighing.

The invention has the advantages and beneficial effects that: the invention utilizes the wide rough-weighing belt conveyor to supply materials to the wider precise-weighing belt conveyor, monitors the amount of the materials entering the precise-weighing belt conveyor in the conveying process, and the precise-weighing belt conveyor bears all the bulk materials loaded at one time so as to accurately weigh the bulk materials.

Drawings

The invention is further illustrated by the following figures and examples.

FIG. 1 is a schematic structural diagram of the integrated machine according to the first, third, sixth and seventh embodiments of the present invention;

FIG. 2 is a schematic structural diagram of the integrated machine according to the first, fifth, sixth and seventh embodiments of the present invention, which is a view along the direction A in the figure;

FIG. 3 is a schematic view of a robot arm according to a fourth embodiment of the present invention;

fig. 4 is a flow chart of a method according to a ninth embodiment of the present invention.

Detailed Description

The first embodiment is as follows:

the embodiment is a mobile intelligent material taking, weighing and loading all-in-one machine, as shown in fig. 1 and 2. The embodiment comprises the following steps: the self-propelled chassis comprises a self-propelled chassis 1, wherein a mechanical arm 2 is arranged on the chassis, one end of the mechanical arm is provided with a material taking device 201, the other end of the mechanical arm is connected with a weighing device 3, the weighing device is connected with an output belt conveyor 4, the weighing device comprises a rough weighing belt conveyor 302 with a dynamic weighing sensor 301, and the rough weighing belt conveyor is connected with a fine weighing belt conveyor 304 with a static weighing sensor 303 and capable of reciprocating.

The material taking and weighing mode of the embodiment is as follows: digging out the material in the material pile by using a material taking device, placing the dug-up material on a rough-weighing belt conveyor and conveying the dug-up material to a fine-weighing belt conveyor, wherein the fine-weighing belt conveyor discontinuously runs in one direction but runs in a reciprocating manner, so that the material input on the rough-weighing belt conveyor is evenly spread on the fine-weighing belt conveyor, a dynamic weighing sensor on the rough-weighing belt conveyor monitors the material amount conveyed to the fine-weighing belt conveyor by the rough-weighing belt conveyor, when the material on the fine-weighing belt conveyor approaches a required amount (a planned amount, namely the amount reached by the current charging plan), the rough-weighing belt conveyor stops working, the fine-weighing belt conveyor also stops statically weighing, the difference between the current material amount and the planned material amount is calculated, then starting the rough-weighing belt conveyor, outputting the material to the fine-weighing belt conveyor at a slower speed, stopping the rough-weighing belt conveyor again after the difference is reached, and weighing again by the static weighing sensor of the fine-weighing belt conveyor, and confirming that the material on the current precise belt conveyor accurately reaches the planned amount, and if the material on the current precise belt conveyor does not reach the planned amount, repeating the actions until the planned amount is accurately reached.

The manner of weighing with the rough and fine scales of the two belts allows for a significant height of the weighing apparatus to accommodate the height of conventional loading machines. Compare with the mode that the conventional use jar body was weighed, the belt feeder of this embodiment has dual function, regards as conveyor again as weighing the container promptly, changes the vertical material flow of weighing of storage jar into the horizontal runner of material, the difficult problem of the material flow of solution.

The chassis described in this embodiment is a framework of the whole all-in-one machine, and all the equipment of the all-in-one machine is installed on the chassis. The self-propelled device on the chassis can be in a crawler type or a wheel type, and the supporting legs can be arranged on two sides of the all-in-one machine when the wheel type is adopted, so that the working stability of the all-in-one machine is improved. The self-propelled power can be an internal combustion engine or an electric motor, the transmission mode can be traditional mechanical transmission or electric transmission, namely, a power battery is used as an energy source, and the electric motor is used for driving a wheel set or a crawler belt to run. For this purpose, mechanical or battery compartments as well as corresponding electromechanical device compartments are also to be provided on the chassis.

The chassis and the corresponding loading weighing equipment can be operated by people, namely, a driver position is arranged on the all-in-one machine, or the driver position is not arranged, and the mode of unmanned driving or remote control driving is adopted.

The mechanical arm is a facility which can dig up the material from the material stack and convey the material to the weighing device, a material taking device which can rotate horizontally or vertically can be adopted, and a conveying belt is arranged on the mechanical arm and can convey the material obtained by the material taking device to the weighing device. The mechanical arm should be able to telescope and swing to provide flexible scooping of material.

The output belt conveyor is equipment for conveying accurately weighed materials to a proportioning machine or a loading automobile, and the output end of the output belt conveyor is generally higher so as to adapt to the height of a loading automobile carriage.

The rough weighing belt conveyor and the fine weighing belt conveyor are key equipment of the embodiment. The precise belt conveyor is not a conventional belt conveyor, the length and the width of a conveying belt of the precise belt conveyor are small, and the precise belt conveyor is wide and short in width, the purpose of forming the characteristic is to stack materials as much as possible on the length as long as possible, the width of the conveying belt is required to be increased naturally, the width of the belt conveyor cannot be increased infinitely, the precise belt conveyor is suitable for the width of a conventional vehicle, and the capability of spreading and uniformly distributing the materials is considered.

The belt feeder on the arm can not be too wide, and in order to increase the diffusion width, the rough belt also needs to be designed into a special belt with a small length-width ratio, so that the two-pole diffusion is realized, and the diffusion capacity is improved. In order to improve the diffusion efficiency, diffusion slide carriages can be arranged between the mechanical arm conveying belt and the rough-weighing belt conveyor and between the rough-weighing belt conveyor and the fine-weighing belt conveyor. A collecting hopper is arranged between the fine weighing belt conveyor and the output belt conveyor, and the materials which are flattened on the fine weighing belt conveyor are collected together and sent into the output belt conveyor with a narrower belt.

In this embodiment, two kinds of weighing sensors, a dynamic weighing sensor and a static weighing sensor, are provided. The two weighing sensors can adopt sensors with the same type, or the precise weighing sensor adopts a weighing sensor with higher precision.

The purpose of setting up two weighing belts and two kinds of weighing sensor improves the precision of weighing. Although the existing commodity weighing sensor has good precision and good impact resistance, and can continuously monitor the weight when materials are continuously added, the continuous weighing cannot achieve a very precise weighing effect due to the influence of factors in aspects such as inertia of mechanical facilities and the like, so that disputes are generated in commercial activities, and the precise static weighing is very necessary.

The dynamic weighing sensors can be arranged at four supporting points at the front end and the rear end, or only two weighing sensors are arranged at the end points at the two sides of the outlet of the rough weighing belt conveyor. The static weighing sensors are required to be arranged at the supporting positions at the front end and the rear end, and the static weighing sensors are arranged at least four points.

Example two:

the embodiment is an improvement of the first embodiment, and relates to a refinement of the first embodiment, the chassis of the embodiment is provided with at least four self-propelled wheels capable of changing the movement direction, and the chassis is further provided with an equipment bin and a battery bin.

The chassis of this embodiment is provided with four self-propelled wheels capable of changing directions, so that the working position of the all-in-one machine can be controlled flexibly. Each self-propelled wheel can be driven by a self-contained motor, so that enough power batteries are arranged on the chassis to drive the self-propelled all-in-one machine and the operation of the mechanical arm and the weighing device.

The equipment bin arranged on the chassis can be provided with various wireless control equipment, and is continuous with an upper computer of the bulk truck, and the working position of the integrated machine is controlled by the upper computer.

Example three:

the present embodiment is an improvement of the above-mentioned embodiment, and is a refinement of the above-mentioned embodiment regarding to the chassis, and the chassis described in the present embodiment is provided with the supporting legs 101 for maintaining the stability of the chassis during operation, as shown in fig. 1.

When the all-in-one machine works, the position is basically in a relatively fixed state, and supporting legs can be arranged near each self-propelled wheel for enabling the mechanical arm of the all-in-one machine to swing in a large range and keeping the whole stability of the all-in-one machine. The legs should be extendable beyond the chassis to expand the support location of the fulcrum and improve resistance to tipping.

Example four:

the present embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the robot arm, the robot arm in the present embodiment is provided with a support 202 and a support rod 203 capable of lifting and lowering the robot arm, the support is connected with the chassis through a hinge, and the support is further provided with a robot arm conveying belt 204, as shown in fig. 3.

The support can use steel section bar welding to form rectangular shape support, both ends set up the cylinder and install the conveyer belt, one end extends out and connects the glassware, the other end and chassis hinged joint to through branch and swing mechanism, make the arm can the plane swing promptly, also can the luffing motion, make the glassware form three-dimensional motion space.

The dispensers on the robotic arm may be either horizontally rotating disk-shaped dispensers or vertically rotating drum dispensers.

Example five:

the embodiment is an improvement of the above embodiment, and is a refinement of the weighing device of the above embodiment, and the weighing device of the embodiment has a width D of the rough-weighing belt conveyor₁Is greater than the width D of the mechanical arm conveying belt and the width D of the precise belt conveyor₂Width D greater than rough weighing belt conveyer₁As shown in fig. 2.

The width of the fine belt is determined according to the width of the vehicle, and the width of the rough belt is determined according to the width of the fine belt and the width of the conveying belt of the mechanical arm, so that materials on the conveying belt of the mechanical arm can be fully received, and the materials can be uniformly spread on the fine belt as much as possible.

Example six:

the embodiment is an improvement of the above embodiment, and is a refinement of the diffusion slide carriage in the above embodiment, and the

diffusion slide carriages

5 and 6 are arranged between the mechanical arm conveying belt and the rough-weighing belt conveyor and between the rough-weighing belt conveyor and the fine-weighing belt conveyor, as shown in fig. 1 and 2.

The diffusion slide carriage can adopt a plurality of vertical inclined partition plates which are additionally arranged on an inclined flat plate, and the inclined partition plates are used for uniformly distributing materials on two sides of a belt of a diffusion section.

Because the width of the rough weighing belt conveyor is larger than the width of the conveying belt of the mechanical arm, the conveying speed of the rough weighing belt conveyor is smaller than the speed of the conveying belt of the mechanical arm. And the movement speed of the precise belt conveyor when the material is spread is relatively gentle. So that the materials are evenly spread on the belt.

Example seven:

the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment about the collecting hopper, and the collecting hopper 7 is arranged between the precise belt conveyor and the output belt conveyor, as shown in fig. 1 and 2.

The collecting hopper is an inclined hopper with side plates on two sides, and can collect materials spread on the precise belt conveyor together and send the materials to an output belt conveyor with a narrow width.

Because the width of the precise belt is wider, the conveying speed of the precise belt is lower than that of the output belt conveyor.

Example eight:

the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment about each sensor, the dynamic weighing sensor and the static weighing sensor described in the embodiment are electrically connected with the controller, the controller is electrically connected with the mechanical arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel, and the controller is wirelessly and electrically connected with the remote controller and the upper computer of the material field through the wireless network.

The controller is an electronic device with calculation and storage functions, such as an electronic computer like an industrial PC, and is matched with corresponding auxiliary equipment and corresponding software.

Example nine:

the embodiment is a mobile intelligent material taking, weighing and loading method using the all-in-one machine. The core of the weighing and loading method is as follows: the method comprises the steps of firstly spreading materials on a wide belt of a fine weighing belt conveyor, monitoring the conveying capacity in the spreading process, stopping the machine to accurately weigh once the planned quantity is approached, and then supplementing the residual quantity to achieve the purpose of accurate weighing.

The method comprises the following specific steps, and the flow is shown in FIG. 4:

commercial bulk materials are usually configured according to the requirements of users on size grading, and a material yard usually stores materials with several particle sizes. When loading, the materials with different particle sizes are obtained according to the grading requirements of users to carry out mixed loading so as to meet the requirements of the users. Therefore, what materials are to be taken, the positions of the materials in the material yard, how many materials are to be taken, what materials are to be taken first and then those material taking routes, the current position of the all-in-one machine, and the like need to make a detailed plan to find the optimal obtaining process so as to improve the loading efficiency.

the all-in-one machine can move front, back, left and right through the adjustment of the directions of the self-propelled wheels, and the position of the all-in-one machine is adjusted before the all-in-one machine is started to take materials, so that the all-in-one machine reaches the position before a material pile to be loaded is prepared and the materials can be conveniently taken. The adjustment process can be adjusted by using a remote controller manually on site, and can also be adjusted in real time according to the current state of the material yard through an automatic control system of the material yard.

And if the current position of the integrated machine is consistent with the material taking position required by the current plan through monitoring, skipping the step. In other words, in the last material taking process, the position of the integrated machine is completely consistent with the material taking position of the integrated machine required by the current plan, and the integrated machine can obtain the materials required by the current plan without moving.

the material taking device rotates to center the material from the material in the field, and the material is dug up and thrown onto the belt of the mechanical arm. In the material taking process, the support rods are adjusted differently, so that the material taking device is located at the optimal material taking position, and materials can be thrown into a mechanical arm belt as much as possible.

The material falls from the belt of the mechanical arm and enters the diffusion slide carriage. The guide strips on the diffusion slide carriage uniformly diffuse the materials onto the rough weighing belt.

in order to improve the working efficiency, the obtained material is spread on the fine weighing belt at the conveying speed as fast as possible, and the material quantity is continuously measured in the spreading process, so that the material quantity on the fine weighing belt approaches to the planned material quantity as fast as possible. To achieve this, the robot arm and the rough-weighing belt conveyor are operated at high speed, and materials are spread from the robot arm conveyor belt with a narrow width to the rough-weighing belt conveyor with a wide width and further spread to the fine-weighing belt conveyor with a wide width as much as possible. The precise belt conveyor is used for accurately weighing the material quantity required by the current plan, and in order to accurately measure the weight of the material, the material needs to be evenly spread on the plane of the precise belt as much as possible. The fast speed in the step is relative to the slow speed when the coarse weighing belt conveyor slowly outputs less materials to the fine weighing belt conveyor during accurate weighing. The planned amount refers to the amount of material required by the client who is currently loading the vehicle, or the amount of material which is predetermined by the client and needs to be accurately reached.

The rough weighing belt conveyor mainly has the task of monitoring the quantity of materials entering the fine weighing belt conveyor, the width of the rough weighing belt conveyor is wider than that of a mechanical arm conveying belt, and the conveying speed is lower than that of the mechanical arm conveying belt, so that the passing material quantity can be monitored conveniently. The width of the fine weighing belt is wider than that of the rough weighing belt, the movement speed is lower, the reciprocating movement is also made according to the size limit of the weighing plane, and all materials falling into the fine weighing belt are guaranteed not to scatter and are evenly paved on the fine weighing belt.

for the material quantity requiring higher precision, one or two times of repetition can be adopted, such as: when the rough-weighing belt conveyor monitors that the material amount of the fine-weighing belt conveyor reaches 95% of the planned material amount, the rapid feeding of the rough-weighing belt conveyor is stopped, after the rough-weighing belt conveyor is weighed by the static weighing sensor, the rough-weighing belt conveyor feeds slowly, the material amount on the fine-weighing belt conveyor is monitored and measured to reach 99%, the fine-weighing metering is carried out again, then the rough-weighing belt conveyor is started again, more accurate feeding is carried out, and the planned amount is accurately reached.

When the material is output, the precise belt does not reciprocate any more, but continuously rotates towards the direction of an output belt, and all the material on the precise belt is sent to the output belt.

Because the width of the precise weighing belt conveyor is wider, the carried materials are spread out, and a collecting hopper is needed to collect the spread materials onto the output belt conveyor with the narrower width, the output belt conveyor needs to operate at a higher speed, and the precise weighing belt conveyor outputs the materials at a lower speed.

The output belt conveyor can be connected with an automobile for loading materials and can also be connected with a mixing and proportioning machine, and various different materials are mixed together to form commodity materials required by customers.

Example ten:

this embodiment is an improvement of the ninth embodiment, and relates to a refinement of step 4 in the ninth embodiment. In step 4 described in this embodiment, when the amount of the material output from the rough-weighing belt conveyor to the fine-weighing belt conveyor reaches 95 to 99% of the planned amount of the material, the rough-weighing belt conveyor is stopped to perform fine weighing.

Because the inertia of belt feeder transport, the motor of belt feeder is shut down the back, and the belt still can carry a small amount of material, for the measurement material that can be accurate, avoids at the coarse weighing in-process overstroked transport material, must reserve sufficient surplus for the accurate weighing, nevertheless the surplus is too big can directly influence the efficiency that the loading was weighed, consequently will fully consider the balance of efficiency and precision according to actual conditions, selects the best surplus scheme.

Finally, it should be noted that the above is only for illustrating the technical solution of the present invention and not for limiting, although the present invention is described in detail with reference to the preferred arrangement, it should be understood by those skilled in the art that the technical solution of the present invention (such as the form of the chassis, the manner of obtaining the materials, the sequence of steps, etc.) can be modified or equivalently replaced without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. The utility model provides a material all-in-one is weighed to portable intelligence, includes: the self-propelled belt conveyor is characterized in that the weighing device comprises a rough-weighing belt conveyor with a dynamic weighing sensor, and the rough-weighing belt conveyor is connected with a fine-weighing belt conveyor with a static weighing sensor and capable of reciprocating.

2. The all-in-one machine of claim 1, wherein the chassis is provided with at least four self-propelled wheels capable of changing the moving direction, and the chassis is further provided with an equipment bin and a battery bin.

3. The integrated machine of claim 2, wherein the base plate is provided with legs for maintaining the base plate stable during operation.

4. The all-in-one machine as claimed in claim 3, wherein the mechanical arm is provided with a support and a support rod capable of lifting and lowering the mechanical arm, the support is connected with the chassis through a hinge, and a mechanical arm conveying belt is further arranged on the support.

5. The all-in-one machine of claim 4, wherein the width of a rough-weighing belt of the weighing device is larger than that of the mechanical arm conveying belt, and the width of the fine-weighing belt is larger than that of the rough-weighing belt.

6. The all-in-one machine of claim 5, wherein a diffusion slide carriage is arranged between the mechanical arm conveying belt and the rough-weighing belt conveyor and between the rough-weighing belt conveyor and the fine-weighing belt conveyor.

7. The all-in-one machine of claim 6, wherein a collecting hopper is arranged between the fine weighing belt conveyor and the output belt conveyor.

8. The all-in-one machine of claim 7, wherein the dynamic weighing sensor and the static weighing sensor are electrically connected with a controller, the controller is electrically connected with the mechanical arm, the rough weighing belt conveyor, the fine weighing belt conveyor, the output belt conveyor and each self-propelled wheel, and the controller is wirelessly and electrically connected with a remote controller and a material field upper computer through a wireless network.

9. A mobile intelligent material taking, weighing and loading method using the all-in-one machine of claim 8, comprising the following steps:

the method is characterized in that:

10. The method according to claim 9, wherein in the step 4, when the dynamic weighing sensor measures the material output by the rough-weighing belt conveyor to the fine-weighing belt conveyor and the amount of the material reaches 95-99% of the planned material amount, the rough-weighing belt conveyor is stopped for fine weighing.