CN113484129B - Material hardness detection device based on multi-sensor fusion - Google Patents
Material hardness detection device based on multi-sensor fusion Download PDFInfo
- Publication number
- CN113484129B CN113484129B CN202110644542.2A CN202110644542A CN113484129B CN 113484129 B CN113484129 B CN 113484129B CN 202110644542 A CN202110644542 A CN 202110644542A CN 113484129 B CN113484129 B CN 113484129B
- Authority
- CN
- China
- Prior art keywords
- sieve
- materials
- striking
- measuring
- hardness
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/40—Investigating hardness or rebound hardness
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B1/00—Sieving, screening, sifting, or sorting solid materials using networks, gratings, grids, or the like
- B07B1/04—Stationary flat screens
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N3/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N3/02—Details
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N2203/00—Investigating strength properties of solid materials by application of mechanical stress
- G01N2203/0058—Kind of property studied
- G01N2203/0076—Hardness, compressibility or resistance to crushing
Landscapes
- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
Abstract
The invention provides a material hardness detection device based on multi-sensor fusion, and relates to the field of continuous hardness detection for coal mines, and the device comprises a first sieve hopper, a second sieve hopper, a material pushing mechanism and a detection mechanism which are sequentially connected in series through a conveying belt, wherein striking mechanisms are arranged on the conveying belt between the first sieve hopper and the second sieve hopper and between the second sieve hopper and the material pushing mechanism; the first sieve hopper and the second sieve hopper are respectively provided with a measuring mechanism for measuring the shape of the material, the first sieve hopper and the second sieve hopper screen the material according to the data acquired by the measuring mechanism, and the striking mechanism is used for striking the screened material to adjust the shape of the material; the material pushing mechanism is used for pushing the material into the detection mechanism for hardness detection; through shape measurement of flat materials, the shapes of the materials are corrected by combining multi-stage striking, the shapes meeting the requirement of strength measurement are achieved, the continuous sorting, correction and strength measurement processes of the materials are achieved, and the requirement of frequently measuring the hardness of a working face rock mass in the tunneling process is met.
Description
Technical Field
The utility model relates to a continuous hardness detection area for coal mine, in particular to material hardness detection device based on multisensor fuses.
Background
In the process of building tunnels and roadways in coal mining, the characteristics of rock soil or coal beds at the excavation positions of working equipment directly influence the selection of a construction scheme. The hardness parameter of the rock mass is used as one of important indexes of rock-soil characteristics, frequent measurement is needed in the excavation process, and the rock mass hardness data of the excavation position is used as the reference for adjusting the construction scheme, so that the effectiveness and the safety of construction are ensured.
In the process of excavating through large-scale excavating and tunneling equipment, rock mass of an excavation face is often selected to be sampled, and the hardness of a sample is measured and recorded after a certain working time interval or a certain working distance interval; the accommodating range of the working space of the hardness measuring equipment is limited, and the measurement precision can be influenced by too large or too small samples, so that the samples meeting the hardness measuring equipment need to be selected before measurement, the screening process usually needs manual operation of workers, and the efficiency is low; when samples are selected in a mode of matching machine vision with the mechanical arm, the samples are limited in narrow spaces of shield tunneling equipment and the like, the mechanical arm is easy to interfere with the outside, and in the process of moving a large amount of materials, the materials in various postures are mixed and continuously moved, the screening success rate of the machine vision is low, and the requirement for detecting the hardness of the materials is difficult to meet.
Disclosure of Invention
The utility model aims at the defect that prior art exists, provide material hardness detection device based on multisensor fuses, through shape determination and screening to flat material, combine multistage hitting to beat the correction material shape, reach the shape that satisfies the intensity and survey the demand, realize the continuous letter sorting of material, revise and intensity survey process, satisfy the demand that frequently surveys and get working face rock mass hardness in the tunnelling process.
In order to realize the purpose, the following technical scheme is adopted:
the material hardness detection device based on multi-sensor fusion comprises at least two screen hoppers, a material pushing mechanism and a detection mechanism which are sequentially connected in series through a conveying belt, wherein striking mechanisms are arranged on the conveying belt between every two adjacent screen hoppers and between the screen hopper at the tail end of a path and the material pushing mechanism;
the sieve hopper is uniformly provided with measuring mechanisms for measuring the shapes of the materials, the sieve hopper screens the materials according to data acquired by the measuring mechanisms, and the striking mechanisms are used for striking the screened materials to adjust the shapes of the materials; the material pushing mechanism is used for pushing the material to the detection mechanism for hardness detection.
Further, measuring mechanism includes the sieve, is used for acquireing the laser sensor of material projection shape, and every sieve fill all inclines to be equipped with the sieve, and first laser sensor has been arranged at the top on sieve inclined plane, and the measurement of sieve is equipped with just to the second laser sensor who arranges, and the sieve combines laser sensor to form and measures the passageway.
Furthermore, strain gauges are arranged in an array mode at positions, not sieve holes, of the inclined plane of the sieve plate and used for contacting and supporting materials, and the projection shape of the materials in the direction perpendicular to the sieve plate is obtained.
Furthermore, the hitting mechanism is provided with a plurality of linear motion output ends arranged in an array mode, a hitting cone is installed on the output ends, and the hitting mechanism is used for driving the hitting cone to act on the materials to change the shape of the materials.
Furthermore, a bearing plate is arranged below the position, corresponding to the conveying belt, of the striking mechanism, and a striking channel is formed between the bearing plate and the striking mechanism. And a position determining mechanism for determining the position of the conveyed material is arranged on the conveying belt corresponding to the striking mechanism.
Furthermore, the pushing mechanism is arranged at the tail end of a path of the conveying belt between the striking mechanism and the detecting mechanism, and comprises a plurality of pushing rods which are sequentially arranged and used for pushing the materials which are output by the conveying belt and meet the requirements into the detecting mechanism.
Furthermore, the detection mechanism comprises a guide hopper and a measuring mechanism, the measuring mechanism is provided with a measuring channel with variable space and is used for obtaining the hardness of the material by extruding the material in the measuring channel; the guide hopper is provided with a funnel-shaped reducing channel, the open end of the small section of the guide hopper faces the measuring channel, and the open end of the large section faces the pushing mechanism.
Furthermore, a pose sensor is arranged in the diameter-variable channel of the guide hopper, two oppositely arranged pose sensors form a group, and a plurality of groups of sensors are sequentially arranged at intervals along the direction of a bus of the side wall of the guide hopper.
Furthermore, each sieve hopper is matched with a vibrating element, and a discharging conveying belt for receiving unqualified materials is arranged below each sieve hopper.
Furthermore, a discharging conveyer belt for receiving unqualified materials is arranged between the material pushing mechanism and the detection mechanism and below the detection mechanism.
Compared with the prior art, the utility model has the advantages and positive effects that:
(1) when adopting the sieve fill structure to filter the material of flat structure, carry out shape determination many times to the material that tentatively satisfies the demand, combine to hit the mechanism and carry out revising many times with the material shape and acquire the sample that satisfies hardness determination demand and survey, accomplish continuous screening, plastic and hardness determination flow, satisfy the demand of tunnelling in-process to excavating rock mass continuous determination rock mass intensity.
(2) The screening hopper, the pushing mechanism, the detection mechanism and other functional mechanisms are connected in series through the conveying belt to form continuous conveying, detection and processing processes of materials, the whole process of the materials is prolonged, the whole occupied space is reduced, and interference with other structures in a narrow space is avoided.
(3) Screening materials with required size in the process of measurement from the continuously conveyed materials, and beating and correcting the materials which pass through the primary screening but do not meet the measurement requirement to enable the materials to tend to the required shape and size; beat to great material and hit the correction, make it reduce to satisfying the demand, it is less to solve the material that satisfies the demand among the traditional screening process, leads to detecting the not good problem of continuity, has improved the transport density of the material that satisfies the detection demand, improves the ageing and the precision that hardness detected.
(4) The material pushing mechanism is matched with the position determining mechanism to select the selected material again, the material is pushed to the position of the detecting mechanism to be detected, the material which does not meet the requirements after being corrected and gravel falling after being corrected are discharged and recovered, and the qualified rate of the test sample during hardness detection is further improved.
(5) The position and posture of the sample meeting the requirement are adjusted through the guide hopper, the reducing channel can guide the material in the gradual falling process until the opening end of the small section is discharged into the measuring channel, the hardness of the material is measured by the measuring mechanism, and good clamping and measuring actions of the measuring mechanism are guaranteed.
Drawings
The accompanying drawings, which are included to provide a further understanding of the disclosure, illustrate embodiments of the disclosure and together with the description serve to explain the disclosure and are not to limit the disclosure.
Fig. 1 is a schematic overall structure diagram of a material hardness monitoring device in embodiments 1 and 2 of the present disclosure;
fig. 2 is a schematic diagram of arrangement positions of a sieve hopper, a material pushing mechanism and a detection mechanism in embodiments 1 and 2 of the disclosure;
FIG. 3 is a schematic structural diagram of a sieve hopper in embodiments 1 and 2 of the disclosure;
fig. 4 is a schematic diagram of a sieve plate of a sieve hopper in the embodiments 1 and 2 of the disclosure for identifying the material shape;
FIG. 5 is a schematic view showing the cooperation of the guide hopper and the measuring mechanism in the embodiments 1 and 2 of the present disclosure;
fig. 6 is a schematic top view of the guiding hopper in the embodiments 1 and 2 of the disclosure;
FIG. 7 is a schematic diagram of the movement process of materials on a conveyor belt in the embodiments 1 and 2 of the disclosure;
fig. 8 is a schematic diagram of the relative positions of the striking mechanism and the conveying belt in embodiments 1 and 2 of the present disclosure.
In the figure, 1-a first conveyer belt, 2-a second conveyer belt, 3-a third conveyer belt, 4-a fourth conveyer belt, 5-a fifth conveyer belt, 6-a sixth conveyer belt, 7-a first torque element, 8-a second torque element, 9-a vibration element, 10-a first sieve hopper, 11-a hydraulic source, 12-a control valve, 13-a guide hopper, 14-a regulating mechanism, 15-a frame, 16-a first beating mechanism, 17-a second beating mechanism, 18-a seventh conveyer belt, 19-a second sieve hopper, 20-a material pushing mechanism, 21-a bearing plate, 101-a matrix laser sensor, 102-a matrix strain gauge, 104-a sieve mesh, 103-a sieve body, 131-a variable diameter channel, 132-an array laser sensor, 133-point load testing hydraulic cylinder I, 134-point load testing hydraulic cylinder II, 135-fixing plate, 136-positioning hydraulic cylinder I, 137-positioning hydraulic cylinder II and 161-matrix hydraulic cylinder.
Detailed Description
Example 1
In an exemplary embodiment of the present disclosure, as shown in fig. 1 to 8, a material hardness detection device based on multi-sensor fusion is provided.
The device mainly comprises a conveying belt, a driving mechanism, a sieve hopper, a material pushing mechanism 20, a striking mechanism and a detection mechanism, wherein the conveying belt, the driving mechanism, the sieve hopper, the material pushing mechanism 20, the striking mechanism and the detection mechanism are all installed through a frame 15 structure, and the working position of the framework is stabilized. Wherein, along the removal route of material, the conveyer belt is established ties sieve fill, hitting mechanism, pushing equipment 20, detection mechanism in proper order for the material can be in proper order through above-mentioned mechanism screening, detection, correction or survey, screens after the material that tentatively satisfies the demand, detects and revises the shape of material, carries the material that satisfies the demand to detection mechanism survey material hardness.
In this embodiment, input material hardness detection device's material is the platykurtic rock, and under the continuous conveyor effect of conveyer belt, the material is arranged in proper order and is got into the sieve fill gradually and carry out preliminary screening work, because the gesture is stable when removing to the platykurtic rock, can keep keeping to keep keeping flat in the transportation process.
The hardness testing device is limited by the shape limitation of a sample placing space of the hardness testing device, and the hardness testing device can be stably placed at a testing position when the shape, size and outline of a test sample meet the requirements, so that the measuring precision is improved.
Every conveyer belt all cooperates the actuating mechanism who corresponds, and actuating mechanism includes first torque component 7, second torque component 8, vibrating element 9 etc, first torque component 7, second torque component 8 can choose hydraulic motor for use, all actuating mechanism insert hydraulic source 11 respectively, hydraulic power unit can be chooseed for use to the hydraulic source.
The screening hopper, the pushing mechanism 20, the detection mechanism and other functional mechanisms are connected in series through the conveying belt to form a continuous conveying, detecting and processing process of the materials, the whole process of the materials is prolonged, the whole occupied space is reduced, and interference with other structures in a narrow space is avoided.
Specifically, referring to fig. 1 and 2, taking two sets of sieve hoppers and striking mechanisms as an example, the material hardness detection device includes a first sieve hopper 10, a second sieve hopper 19, a material pushing mechanism 20 and a detection mechanism which are sequentially connected in series through a conveyor belt, and striking mechanisms are respectively arranged on the conveyor belt between the first sieve hopper 10 and the second sieve hopper 19 and between the second sieve hopper 19 and the material pushing mechanism 20;
the first sieve hopper 10 and the second sieve hopper 19 are respectively provided with a measuring mechanism for measuring the shape of the material, the first sieve hopper 10 and the second sieve hopper 19 screen the material according to the data acquired by the measuring mechanisms, and the striking mechanism is used for striking the screened material to adjust the shape of the material; the material pushing mechanism 20 is used for pushing the material to the detection mechanism for hardness detection.
The method selects the material with the target shape and the target size from a plurality of unknown irregular materials, and can accurately measure the rigidity value or the hardness value of the selected material.
Specifically, as shown in fig. 1, for the material input into the first sieve hopper 10 through the sixth conveyor belt, the first sieve hopper 10 performs preliminary screening and shape determination on the material. The structure of the first sieve hopper 10 differs from the structure of the second sieve hopper 19 in the size of the sieve holes of the sieve plate, and the rest of the structure is the same.
The measuring mechanism comprises a sieve plate and a laser sensor used for obtaining the projection shape of the material, the sieve plate is obliquely arranged on the first sieve hopper 10 and the second sieve hopper 19, the first laser sensor is arranged at the top of the inclined surface of the sieve plate, the second laser sensor which is arranged just opposite to the sieve plate is arranged for measuring the sieve plate, and the sieve plate and the laser sensor form a measuring channel; the first laser sensor and the second laser sensor are both matrix laser sensors 101, and are respectively installed on the screen body 103.
The laser sensor can be used for judging whether an object exists in the sensing area or not on the one hand, and on the other hand, the distance between the object in the sensing area and the laser sensor can be acquired. And acquiring the overall dimension of the material by combining the arrangement position of the laser sensor.
The sieve plate is provided with sieve holes 104 determined according to the screening size, and the non-sieve hole positions of the inclined surface of the sieve plate are arrayed with matrix strain gauges 102 for contacting and supporting materials to obtain the projection shape of the materials in the direction vertical to the sieve plate; both first sieve hopper 10 and second sieve hopper 19 are fitted with a vibrating element 9.
As shown in figure 3, the weight of the material entering the screening hopper and the position and the outline of the xy plane are measured by the matrix strain gauge, and the position and the outline of the yz plane and the xz plane of the material are measured by the matrix laser sensor. Calculating the approximate outline and the size of the material according to the shape values of three planes including xy, yz and xz planes; and calculating the weight of the object according to the strain value obtained by the strain gauge.
The principle of identifying the material outline by the matrix strain gauge is shown in fig. 4, a dot in fig. 4 is a strain gauge, and a resistance value related in a direct proportion can be generated according to the size of deformation in real time, wherein a to G are the y-direction sequencing of the matrix strain gauge, and 1 to n are the x-direction sequencing of the matrix strain gauge. The irregular multiple deformations enclosed by the solid lines in fig. 4 represent the xy-plane of the material. The material is pressed on the xy plane, the resistance value of the strain gauge in the enclosed polygonal area is increased, and the resistance values of the strain gauges at other positions are unchanged. According to the principle, the shape of the material on the xy plane can be calculated. Further, the weight of the material can be further calculated according to the change of the resistance value of the strain gauge.
For the measurement of the shape of the material by the matrix laser sensors, if the matrix laser sensors in the polygonal area are shielded in a yz plane or an xz plane, the values returned to the controller by the laser sensors in the polygonal area are changed, and the outline of the material on the yz plane and the xz plane can be calculated.
Acquiring the bottom surface projection shape through a laser sensor, determining the position for subsequent striking and shaping, and determining whether the thickness of the material meets the requirement of hardness detection through height measurement; the screening indicates that the materials with the external dimension and the thickness within the range meeting the requirements can improve the accuracy of measuring the hardness value.
Further, according to the values of the contour profiles of the three planes and the three-view principle of engineering drawing, the three-dimensional graph of the contour profile of the material can be reversely calculated.
The hitting mechanism is provided with a plurality of linear motion output ends arranged in an array, hitting cones are mounted on the output ends, and the hitting mechanism is used for driving the hitting cones to act on the materials to change the shapes of the materials; in this embodiment, the linear motion mechanism is a hydraulic cylinder, and the two striking mechanisms are a first striking mechanism 16 and a second striking mechanism 17, which are matrix hydraulic cylinders formed by combining a plurality of hydraulic cylinder arrays.
A bearing plate 21 is arranged below the position, corresponding to the conveyor belt, of the striking mechanism, and a striking channel is formed between the bearing plate 21 and the striking mechanism. And a position determining mechanism for determining the position of the conveyed material is arranged on the conveying belt corresponding to the striking mechanism.
Specifically, with reference to fig. 7 and 8, after being screened by the first screen hopper 10 or the second screen hopper 19, the materials meeting the screening requirements are conveyed by the conveyor belt, and for the materials meeting the shape requirements, the first hitting mechanism 16 and the second hitting mechanism 17 do not work; for the materials which do not meet the shape requirement, the first beating mechanism 16 and the second beating mechanism 17 respectively beat the materials on the corresponding conveying belts, and the shapes of the materials are corrected.
The matrix strain gauges are coated on the fourth conveying belt and the seventh conveying belt which correspondingly bear the materials screened out by the first screening hopper 10 and the second screening hopper 19, the matrix strain gauges are made of soft materials and are bonded with the conveying belts, the matrix strain gauges can rotate along with the conveying belts, the positions of the materials falling on the conveying belts can be sensed in real time, and a position determining mechanism is formed, as shown in fig. 7, when the belts rotate at a constant speed, the positions of the materials are calculated according to the following formula:
wherein p isxIs the coordinate value of material M in the x direction, pyThe coordinate value of the material M in the y-axis direction after falling onto the conveyor belt is stable. And p is a matrix with 2 rows and 1 column, and represents the coordinate value of the material M on the xy plane of the conveyor belt. v is the speed of the uniform rotation of the conveyor belt, t is the time length of the material M after the material M is stabilized on the conveyor belt (the time t of the material M stabilizing on the conveyor belt is 0), and δ (a matrix with 2 rows and 1 columns) is a weight value and is assigned according to the actual condition of the equipment so as to enable the p value to be more accurate.
When the material falling onto the seventh conveyor belt is conveyed to the position below the matrix hydraulic cylinder 161, the hydraulic cylinders at different positions of the fast telescopic matrix hydraulic cylinder are controlled by the control valve 12 according to the outer contour size of the material obtained in the previous working procedures, and the corresponding position of the material is crushed, so that the material is changed into the required contour. The supporting plate 21 is arranged below the conveyor belt, when the matrix hydraulic cylinder breaks a target position, the supporting plate 21 plays a role of a rigid cushion, and the output end of the matrix hydraulic cylinder breaks a target material more easily.
It can be understood that in the process of correcting the material shape, the measured material thickness is moderate, and the hydraulic cylinder extrudes and crushes the material to-be-corrected position by applying extrusion force; to the foil gage structure on the conveyer belt, it is the armor foil gage, has higher strain tolerance, at the broken in-process of extrusion material, can bear the extrusion force of certain degree, consequently can satisfy the load of the broken material in-process of extrusion.
Of course, the strain gauge is a consumable part, and after being used for a certain period, the strain gauge is replaced along with the reduction of the precision of the strain gauge, so that the measurement precision of the strain gauge is maintained.
It should be noted that, in order to correct the shape of the material, the conveyor belt is provided with the strain gauge, so that the position of the material on the conveyor belt can be recorded, when the material is about to fall, the current position of the material can be calculated according to the current position of the material recorded by the strain gauge and the conveying speed of the conveyor belt, and the real-time position of the material in the air can be calculated according to a motion speed equation and a motion equation of the free falling body of the material. Because the movement of the hydraulic cylinder generally has a certain delay of dozens of milliseconds, the hydraulic cylinder is prepared in advance and is beaten in advance, so that the hydraulic cylinder can hit materials just before the materials fall into the front of the hydraulic cylinder.
In addition, the measurement of the hardness of the materials is carried out in sequence, one material or a group of materials is reserved on the conveying belt in each conveying process, and the hardness value of one material or a group of materials is measured at the same time. Therefore, when the current working procedure works, the rest working procedures are in a preparation state, and the accuracy of striking correction is improved.
For the determination of the pose of the material on the conveying belt, the strain gauge is laid on the conveying belt, so that when the material falls onto the conveying belt, the conveying belt can measure the current position of the material according to the strain gauge. And measuring the shape and size of the material pressed on the strain gauge according to the strain gauge, and estimating the pose of the current material on the conveyor belt according to the shape and size obtained by sensing the screen body.
Therefore, when the materials are conveyed to the lower part of the hydraulic cylinder, the pose of the current materials on the conveyor belt can be calculated, the controller calculates the part of the current materials which should be crushed and removed according to a set algorithm, at the moment, when the materials reach the position of the hydraulic cylinder, the hydraulic cylinder at the corresponding position extends out, the extrusion cone output by the hydraulic cylinder just contacts the position to be corrected, and the materials are crushed into the estimated shape.
It is understood that, in the present embodiment, the required shape is only within the required range, for example, the length and the width are both between 30mm and 50mm, and the rough modification of the external shape is completed.
The pushing mechanism 20 is arranged at the tail end of the path of the conveying belt between the striking mechanism and the detection mechanism, and the pushing mechanism 20 comprises a plurality of pushing rods which are sequentially arranged and used for pushing the materials which are output by the conveying belt and meet the requirements into the detection mechanism; the material pushing rod can be a hydraulic rod, the material pushing mechanism 20 is matched with the position determining mechanism to select the selected material again, the material is pushed to the position of the detecting mechanism to be detected, the material which does not meet the requirement after being corrected and the gravel falling after being corrected are discharged and recovered, and the qualified rate of the test sample during hardness detection is improved.
The detection mechanism comprises a guide hopper 13 and a measuring mechanism, and the measuring mechanism is provided with a measuring channel with variable space and is used for obtaining the hardness of the material by extruding the material in the measuring channel; the guide hopper 13 is provided with a funnel-shaped reducing channel, the open end of the small section of the guide hopper 13 faces the measuring channel, and the open end of the large section faces the pushing mechanism 20.
Position and pose sensors are arranged in the diameter-variable channel of the guide hopper 13, two oppositely arranged position and pose sensors form a group, and a plurality of groups of sensors are sequentially arranged at intervals along the direction of a bus on the side wall of the guide hopper 13.
Specifically, with reference to fig. 5 and 6, in the process that the material hit from the conveyor belt to the guide hopper 13 falls in the guide hopper 13, the array laser sensors 132 on the two surfaces of the guide variable diameter channel 131 in the guide hopper 13 sense position signals of the material in the directions of the y axis and the z axis, and the first positioning hydraulic cylinder 136 and the second positioning hydraulic cylinder 137 adjust the position of the fixing plate 135 through the telescopic movement of the hydraulic cylinders, so that the material accurately falls between the first point load testing hydraulic cylinder 133 and the second point load testing hydraulic cylinder 134.
In the process, according to the three-dimensional profile shape of the material estimated by the first sieve hopper 10 and the second sieve hopper 19 and the falling posture of the material fed back by the array laser sensor 132, the controller calculates the posture of the material falling from the reducing channel, at the moment, the point load testing hydraulic cylinder one 133 and the point load testing hydraulic cylinder two 134 work, calculating the extending time and length of the push rod of the hydraulic cylinder according to the previous working procedures, instantly extending the push rod of the hydraulic cylinder to clamp the material, after the material is stably clamped, the first point load testing hydraulic cylinder 133 and the second point load testing hydraulic cylinder 134 continue to slowly extend the push rod of the hydraulic cylinder to clamp the materials, and the pressure sensor connected with the point load testing hydraulic cylinder I133 and the point load testing hydraulic cylinder II 13 records the maximum value in the crushing process and feeds the maximum value back to the controller, and the controller calculates the rigidity value or hardness value of the material according to a corresponding formula.
The position and posture of the sample meeting the requirement are adjusted through the guide hopper 13, the reducing channel can guide the material in the process of falling gradually until the opening end of the small section is discharged into the measuring channel, the hardness of the material is measured by the measuring mechanism, and good clamping and measuring actions of the measuring mechanism are guaranteed.
Example 2
In another embodiment of the present disclosure, as shown in fig. 1 to 8, a working method of the material hardness detecting device based on multi-sensor fusion as described in embodiment 1 is provided.
The method comprises the following steps:
(1) a plurality of materials fall into the position of the sixth conveying belt 6;
(2) the sixth conveyor belt 6 feeds a plurality of materials into the first sieve hopper 10;
(3) the first sieve hopper 10 screens a plurality of falling materials for the first time
(4) Qualified materials after the first screening enter a seventh conveying belt 18, and unqualified materials fall into a fifth conveying belt 5;
(5) the material falling onto the fifth conveyor belt 5 is conveyed to waste;
(6) the materials on the seventh conveying belt 18 pass through the first striking mechanism 16 to perform first appearance change on the target materials; if the material on the seventh conveyor belt 18 meets the shape requirement, the first striking mechanism 16 does not work;
(7) the materials on the seven conveying belts 18 enter a second sieve hopper 19;
(8) the qualified materials enter the fourth conveyer belt 4 and the unqualified materials enter the third conveyer belt 3 after being screened by the second screening hopper 19;
(9) the unqualified materials are conveyed to the waste material through a third conveyer belt 3;
(10) qualified materials pass through a second striking mechanism 17 on the fourth conveying belt 4, and the shape of the target materials is changed for the second time; if the material on the fourth conveyer belt 4 meets the shape requirement, the second striking mechanism 17 does not work;
(11) the materials on the fourth conveying belt 4 are intelligently screened by the material pushing mechanism 20 in the midair where the materials fall off from the belt through the positioning of the matrix strain gauge on the conveying belt; the material pushing mechanism 20 calculates the time for the material to fall to the target space position according to the size and the position of the material fed back by the fourth conveying belt 4 and the gravity acceleration, instantaneously hits the target material, and hits the target material into the guide hopper 13;
(12) when the unqualified material falls from the fourth conveyer belt 4, the material pushing mechanism 20 does not work. Therefore unqualified material directly falls into on the second conveyer belt 2, and the second conveyer belt 2 transports unqualified material to waste material department.
(13) The guide hopper 13 calculates the real-time position of the target material through a multi-sensor, and at the moment of falling to an outlet, the hydraulic cylinder of the adjusting mechanism 14 starts to work to clamp the falling target object;
(14) after the adjusting mechanism 14 clamps a proper target object, slowly clamping the target, recording the highest instantaneous pressure of the operation of the adjusting mechanism 14 at the moment by the processor, and calculating the hardness value of the target object according to a formula;
(15) if the material falling through the guide hopper 13 is not the desired material, the adjusting mechanism 14 is not operated. At the moment, the materials are transferred into the first conveyer belt 1;
(16) the first conveying belt 1 is used for conveying crushed materials and unqualified materials clamped by the adjusting mechanism 14 to a waste material position;
(17) and (4) ending the flow, and starting from the step (1) to enter the next circulation.
When adopting the sieve fill structure to filter the material of flat structure, carry out shape determination many times to the material that tentatively satisfies the demand, combine to hit the mechanism and carry out revising many times with the material shape and acquire the sample that satisfies hardness determination demand and survey, accomplish continuous screening, plastic and hardness determination flow, satisfy the demand of tunnelling in-process to excavating rock mass continuous determination rock mass intensity.
The above description is only a preferred embodiment of the present disclosure and is not intended to limit the present disclosure, and various modifications and changes may be made to the present disclosure by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present disclosure should be included in the protection scope of the present disclosure.
Claims (6)
1. The device for detecting the hardness of the material based on multi-sensor fusion is characterized by comprising at least two sieve hoppers, a material pushing mechanism and a detection mechanism which are sequentially connected in series through a conveying belt, wherein striking mechanisms are arranged on the conveying belt between the adjacent sieve hoppers and between the sieve hopper at the tail end of a path and the material pushing mechanism;
the sieve hopper is uniformly provided with measuring mechanisms for measuring the shapes of the materials, the sieve hopper screens the materials according to data acquired by the measuring mechanisms, and the striking mechanisms are used for striking the screened materials to adjust the shapes of the materials; the material pushing mechanism is used for pushing the material into the detection mechanism for hardness detection;
the detection mechanism comprises a guide hopper and a measuring mechanism, the measuring mechanism is provided with a measuring channel with variable space and is used for obtaining the hardness of the material by extruding the material in the measuring channel; the guide hopper is provided with a funnel-shaped reducing channel, the open end of the small section of the guide hopper faces the measuring channel, and the open end of the large section of the guide hopper faces the pushing mechanism;
the measuring mechanism comprises sieve plates and laser sensors for acquiring the projection shapes of the materials, each sieve hopper is obliquely provided with a sieve plate, the top of the inclined surface of each sieve plate is provided with a first laser sensor, the sieve plates are provided with second laser sensors which are arranged oppositely in a measuring way, and the sieve plates are combined with the laser sensors to form a measuring channel;
the strain gauges are arranged in the non-sieve-hole positions of the inclined plane of the sieve plate in an array mode and used for contacting and supporting materials, and the projection shapes of the materials in the direction perpendicular to the sieve plate are obtained.
2. The material hardness detection device based on multi-sensor fusion as claimed in claim 1, wherein the striking mechanism is provided with a plurality of linear motion output ends arranged in an array, a striking cone is mounted on the output ends, and the striking mechanism is used for driving the striking cone to act on the material to change the shape of the material.
3. The device for detecting the hardness of the material based on the fusion of the multiple sensors as claimed in claim 1, wherein a supporting plate is arranged below the striking mechanism corresponding to the position of the conveying belt, a striking channel is formed between the supporting plate and the striking mechanism, and a position determining mechanism for determining the position of the conveyed material is arranged on the conveying belt corresponding to the striking mechanism.
4. The device for detecting the hardness of the material based on the multi-sensor fusion as claimed in claim 1, wherein the material pushing mechanism is arranged at the end of the path of the conveying belt between the striking mechanism and the detecting mechanism, and the material pushing mechanism comprises a plurality of material pushing rods which are arranged in sequence and used for pushing the material which is output by the conveying belt and meets the requirement into the detecting mechanism.
5. The device for detecting the hardness of the material based on the multi-sensor fusion as claimed in claim 1, wherein each screen bucket is matched with a vibrating element, and a discharging conveyer belt for receiving unqualified materials is arranged below each screen bucket.
6. The device for detecting the hardness of the material based on the fusion of the multiple sensors as claimed in claim 1, wherein a discharging conveyer belt for receiving the unqualified material is arranged between the material pushing mechanism and the detecting mechanism and below the detecting mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110644542.2A CN113484129B (en) | 2021-06-09 | 2021-06-09 | Material hardness detection device based on multi-sensor fusion |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110644542.2A CN113484129B (en) | 2021-06-09 | 2021-06-09 | Material hardness detection device based on multi-sensor fusion |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113484129A CN113484129A (en) | 2021-10-08 |
| CN113484129B true CN113484129B (en) | 2022-06-07 |
Family
ID=77934658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110644542.2A Active CN113484129B (en) | 2021-06-09 | 2021-06-09 | Material hardness detection device based on multi-sensor fusion |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113484129B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009057119A1 (en) * | 2009-12-08 | 2011-06-09 | Titech Gmbh | Apparatus and method for the separation of heavy, with undesirable compositions accumulating chunks |
| CN104089690A (en) * | 2014-07-02 | 2014-10-08 | 江苏大学 | Toll station vehicle dynamic weighing estimation method and device |
| CN104923343A (en) * | 2015-06-24 | 2015-09-23 | 顾马飞 | Deironing pulverizer for producing ceramics |
| CN210679590U (en) * | 2019-07-29 | 2020-06-05 | 江西品和科技有限公司 | Novel transportation for moulding plastics device |
| CN112033838A (en) * | 2020-08-17 | 2020-12-04 | 山东大学 | Automatic testing device for point load of rock and soil mass and working method |
| CN212349047U (en) * | 2020-03-03 | 2021-01-15 | 平罗县荣昌碳化硅有限公司 | Broken plastic processing lines of carborundum |
| CN212468229U (en) * | 2020-05-21 | 2021-02-05 | 世联生物工程无锡有限公司 | Snail shell crushing device |
-
2021
- 2021-06-09 CN CN202110644542.2A patent/CN113484129B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE102009057119A1 (en) * | 2009-12-08 | 2011-06-09 | Titech Gmbh | Apparatus and method for the separation of heavy, with undesirable compositions accumulating chunks |
| CN104089690A (en) * | 2014-07-02 | 2014-10-08 | 江苏大学 | Toll station vehicle dynamic weighing estimation method and device |
| CN104923343A (en) * | 2015-06-24 | 2015-09-23 | 顾马飞 | Deironing pulverizer for producing ceramics |
| CN210679590U (en) * | 2019-07-29 | 2020-06-05 | 江西品和科技有限公司 | Novel transportation for moulding plastics device |
| CN212349047U (en) * | 2020-03-03 | 2021-01-15 | 平罗县荣昌碳化硅有限公司 | Broken plastic processing lines of carborundum |
| CN212468229U (en) * | 2020-05-21 | 2021-02-05 | 世联生物工程无锡有限公司 | Snail shell crushing device |
| CN112033838A (en) * | 2020-08-17 | 2020-12-04 | 山东大学 | Automatic testing device for point load of rock and soil mass and working method |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113484129A (en) | 2021-10-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| KR101523801B1 (en) | Levelling device and method of charging an oven chamber of a coke oven battery | |
| CN105224742B (en) | A kind of blast action of analyzing is got out of a predicament or an embarrassing situation the method for slope stability | |
| CN101379365B (en) | Method and device for acquiring contour deviations | |
| CN105210541B (en) | Calibration of grain quality measurements | |
| US8672414B2 (en) | Method for controlling longwall mining operations | |
| US20130086974A1 (en) | Pile testing system | |
| US10048154B2 (en) | Boom calibration system | |
| CN113390458B (en) | Method for judging damage degree of surrounding rock in blasting area | |
| JP7020561B2 (en) | Particle size distribution monitoring device, particle size distribution monitoring method, computer program, furnace, blast furnace, furnace control method, and blast furnace operation method | |
| CN105257337B (en) | Filling mining overlying strata fracture belt method for determining height based on Plate Theory | |
| CN113484129B (en) | Material hardness detection device based on multi-sensor fusion | |
| CN106556388A (en) | The measurement apparatus of movement locus of object, measuring method and caliberating device | |
| CN102455434A (en) | Monitoring method of working-face coal-body advanced stress | |
| CN113227507A (en) | System and method for measuring and controlling forces in an earth moving machine, and automatic or semi-automatic machine | |
| CN115343448A (en) | Novel movable door model test device and method based on soil arch effect research | |
| CN106596294B (en) | Test method for simulating dynamic reaction of forward slope | |
| CN113688467B (en) | Dynamic modeling and simulation method for tunneling and anchoring all-in-one machine | |
| ITRE20060018A1 (en) | METHOD OF MANUFACTURE OF CERAMIC TILES | |
| WO2017092577A1 (en) | Method for monitoring pre-backfilling roof subsidence for use in fully mechanized solid-backfilling coal mining | |
| CN110823028B (en) | Method for optimally controlling bench blasting width of surface mine | |
| CN114109363A (en) | Drilling while-drilling inclination measuring system | |
| EP2851188B1 (en) | Press assembly and press assembly handling device | |
| EP0956368B1 (en) | Device for directly monitoring the charging process on the inside of a shaft furnace | |
| CN114183202A (en) | Fully mechanized caving mining top coal migration track monitoring device and monitoring method | |
| CN115726835A (en) | Fully mechanized caving mining top coal lumpiness distribution measuring method, system, electronic equipment and medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |