CN113895801A - Intelligent cleaning system for material blockage of storage bin and material blockage cleaning method - Google Patents
Intelligent cleaning system for material blockage of storage bin and material blockage cleaning method Download PDFInfo
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- CN113895801A CN113895801A CN202111097353.4A CN202111097353A CN113895801A CN 113895801 A CN113895801 A CN 113895801A CN 202111097353 A CN202111097353 A CN 202111097353A CN 113895801 A CN113895801 A CN 113895801A
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- point
- blockage
- discharging
- rgv
- industrial robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D88/00—Large containers
- B65D88/54—Large containers characterised by means facilitating filling or emptying
- B65D88/64—Large containers characterised by means facilitating filling or emptying preventing bridge formation
- B65D88/66—Large containers characterised by means facilitating filling or emptying preventing bridge formation using vibrating or knocking devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D88/00—Large containers
- B65D88/54—Large containers characterised by means facilitating filling or emptying
- B65D88/64—Large containers characterised by means facilitating filling or emptying preventing bridge formation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
An intelligent cleaning system for material blockage of a storage bin and a material blockage cleaning method. The invention comprises the following steps: the device comprises a discharge chute, a material blockage sensor and an electric vibrator, wherein the material blockage sensor and the electric vibrator are arranged above a separation net of a chute inlet and a chute outlet of the discharge chute; the rail-guided shuttle RGV is provided with an industrial robot, a blockage clearing gripper, a 3D vision sensor and a control cabinet; the system comprises a coded cable, a rail guided shuttle RGV and an industrial robot, wherein the rail guided shuttle RGV and the industrial robot are positioned through the coded cable, and a towing cable is used for supplying power to the rail guided shuttle RGV and the industrial robot through the towing cable. The intelligent and automatic blockage cleaning process in the unloading process is realized; remote control operation can be realized, no human is left in a working site, and operators are far away from severe operating environment and danger; the blockage is found timely, the blockage cleaning speed is high, and the coal unloading efficiency is improved; original equipment is utilized to the maximum extent, field change is small, and equipment transformation and upgrading cost is low.
Description
The technical field is as follows:
the invention relates to the field of bin cleaning instruments, in particular to an intelligent bin blockage cleaning system and a material blockage cleaning method.
Background art:
the feed bin passes through the dummy car in-process of unloading, and impurity such as ore and straw, cloth, the rod that can appear surpassing and separate the net size leads to the chute or separates the net and appear the putty. At present, the blockage is mostly observed and found on site manually and is treated by tools such as shovels and the like.
The manual blockage removal has the problems of untimely blockage finding, high labor intensity of cleaning, severe environment, high-altitude operation and the like. The putty can take place on chute upper portion or separate the net, has certain danger, and artifical clearance efficiency is lower simultaneously, influences the efficiency of unloading coal.
At present, the material blockage at the material outlet of the trolley is mainly caused by manually removing foreign matters on the separation net and cleaning the materials into a material bin below the separation net. The manual cleaning time is long, the cleaning space is narrow and has certain danger; the trolley has the advantages of more dust on the blanking site, high noise and severe environment; the heavy objects of the blocking materials and the like need to be cleaned by a plurality of people in a synergic manner.
The invention content is as follows:
the invention aims to provide an intelligent cleaning system for material blockage of a material bin and a material blockage cleaning method, which are used for realizing intellectualization and automation of a blockage cleaning process in a discharging process.
The above purpose is realized by the following technical scheme:
the utility model provides an intelligent clearance system of feed bin putty which characterized in that includes:
the device comprises a discharge chute, a material blockage sensor and an electric vibrator, wherein the material blockage sensor and the electric vibrator are arranged above a separation net of a chute inlet and a chute outlet of the discharge chute;
the rail-guided shuttle RGV is provided with an industrial robot, a blockage clearing gripper, a 3D vision sensor and a control cabinet;
a coded cable, wherein the rail shuttle RGV and the industrial robot are positioned by the coded cable,
the rail shuttle RGV and the industrial robot are powered by the towrope.
The intelligent cleaning system for the material blockage of the storage bin comprises a connecting fixing plate, wherein two sides of the connecting fixing plate are fixed with a descending cylinder, the descending cylinder is connected with a shock absorber, the shock absorber is connected with a shock rod, and the shock rod is connected with a vibrator.
The intelligent cleaning system for the material blockage of the storage bin, the connecting fixing plate is connected with the left grabbing tooth and the right grabbing tooth through the fixing shaft, the right grabbing tooth is connected with the opening and closing cylinder through the connecting shaft, the right grabbing tooth is connected with one end of the connecting rod through the rotating shaft, and the other end of the connecting rod is connected with the left grabbing tooth through the rotating shaft.
The intelligent cleaning system for the material blockage of the storage bin is characterized in that the left grabbing teeth and the right grabbing teeth are respectively provided with a tooth-shaped structure which is staggered with each other.
A material blockage removing method by using the intelligent material bin blockage removing system as defined in any one of claims 1 to 4,
the preset discharging bin has A, B, C discharging points;
in the discharging process of the point A, a blocking sensor detects the blocking condition, if the upper part of the chute is blocked, a corresponding vibration motor is driven to work, and blocking removal is finished; if the lower part of the chute is blocked, the discharging car moves to a discharging point B for discharging; the rail shuttle RGV bearing robot is positioned according to a coded cable and moves to a blocking point, an industrial robot carries a 3D vision sensor to scan and model a blocking material pile, a control system automatically identifies a scanning result and automatically generates a cleaning scheme, and the industrial robot carries a blocking cleaning gripper to automatically clean blocking according to a program;
the process from point B to point C is the same as the process from point A to point B;
if the blockage removal is finished at the point A and the blockage does not occur at the point B during the unloading at the point B, the unloading trolley is moved back to the point A to continue the unloading, and the condition that the point C is moved to the point B is the same as the condition that the point B is moved to the point A; in addition, if material blockage occurs at the point C, after the point B is cleaned, the unloading vehicle can move from the point C to the point B or the point A to continue unloading while sending alarm information, so that the working efficiency is ensured;
correspondingly, if according to the above condition, the material jam occurs at the discharging point, and when no other discharging point meets the discharging requirement of the discharging car, the alarm is required to be sent to stop, and the manual processing is carried out.
According to the material blockage removing method of the intelligent material blockage removing system for the storage bin, the connecting and fixing plate of the blockage removing gripper is connected with an industrial robot or a mechanical arm, the descending cylinder pushes the vibration rod downwards, the vibrator drives the vibration rod to vibrate, powder in the blockage is vibrated and falls, and the vibration is absorbed by the vibration absorber, so that the device body is not influenced;
after vibrations are accomplished, the descending cylinder drives the shake pole and rises, and the cylinder piston rod that opens and shuts stretches out, promotes the right side and grabs the tooth rotation, and the tooth is grabbed on the right side simultaneously and drives the connecting rod and grab the tooth rotation on the left side, the left side grab the tooth right grab the tooth closure, press from both sides and get surplus bulk material and debris.
The invention has the beneficial effects that:
the intelligent and automatic blockage cleaning process in the unloading process is realized; remote control operation can be realized, no human is left in a working site, and operators are far away from severe operating environment and danger; the blockage is found timely, the blockage cleaning speed is high, and the coal unloading efficiency is improved; original equipment is utilized to the maximum extent, field change is small, and equipment transformation and upgrading cost is low.
The rail-guided shuttle vehicle RGV and the unloading vehicle are separately controlled, so that the blockage can be cleaned under the condition of not influencing the unloading; the rail guided shuttle RGV shares a rail with the original unloading vehicle equipment, and the field change is small; the rail guided shuttle RGV is positioned through the coding cable, so that the influence of on-site dust can be avoided, and the positioning is accurate; the robot carries a 3D time sensor, can carry out three-dimensional modeling to the stockpile, and the clear stifled scheme of automatic generation.
The composite mechanism of the mechanical vibration and the open-close type grabbing of the blockage removing grab hand has a wide application range and can adapt to various blockage conditions. When cleaning the blockage, the lifting cylinder controls the vibration rod to descend and insert into the material pile, and the pneumatic vibrator starts to vibrate and clean the material pile; the residual blocky putty and sundries are controlled by the air cylinder to close the grabbing teeth to clamp, grab and clean. The grabbing teeth adopt a staggered tooth form, and can be adjusted according to the space between the separation nets, so that interference is avoided.
The blockage clearing gripper is simple in structure, synchronous actions of the gripping teeth can be controlled by a single air cylinder, and the actions are not delayed; the adaptability is wide, the cleaning can be carried out on various blockage conditions, and powder materials and blocky materials and sundries can be cleaned; the mechanical gripper replaces manual cleaning, and the working efficiency is improved; the space between the grabbing teeth can be adjusted according to the space between the blanking separation nets.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a front view of fig. 1.
Figure 3 is a schematic structural view of the rail-guided shuttle RGV of figure 1.
Fig. 4 is a schematic structural view of a first angle of the blockage removing gripper of the invention.
Fig. 5 is a schematic structural view of a second angle of the blockage removing gripper of the invention.
Figure 6 is a cross-sectional view of the clearing grip of the present invention.
The specific implementation mode is as follows:
in order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be obtained by a person skilled in the art without any inventive step based on the embodiments of the present invention, are within the scope of the present invention.
Example 1:
the invention provides an intelligent cleaning system for material bin blockage, which is characterized in that an existing discharging chute is reformed, as shown in attached figures 1-5, a blockage sensor 8 and an electric vibrator are additionally arranged at a chute inlet 10 and a chute outlet 9 (above a separation net), and a rail shuttle RGV1 is used for carrying an industrial robot 2, a blockage cleaning gripper 3, a 3D vision sensor 4, a control cabinet 5 and the like to clean the blockage. The RGV shares the rail with the existing equipment, and the construction amount is small. The rail-guided shuttle RGV is separated from the original equipment, is independently controlled, and can clear the blockage under the condition of not influencing the unloading. The whole system is positioned by a coding cable 6, and a streamer 7 supplies power. All signals and visual scanning information can be transmitted to a central control room, and the central control room is used for manual monitoring and control.
Clear stifled tongs include: the device comprises a connecting fixing plate 11, a left grabbing tooth 12, a right grabbing tooth 13, an opening and closing cylinder 14, a descending cylinder 15, a fixing shaft 16, a connecting shaft 17, a connecting rod 18, a vibration rod 19, an oscillator 20 and a shock absorber 21.
The left grabbing tooth 12 and the right grabbing tooth 13 are connected with the connecting and fixing plate 11 through a fixing shaft 16;
the left grabbing tooth 12 and the right grabbing tooth 13 are connected through a connecting shaft 17 and a connecting rod 18;
the opening and closing air cylinder 14 is connected with the connecting shaft 17 and the right grabbing teeth 13 and can drive the left grabbing teeth 12 and the right grabbing teeth 13 to be opened and closed simultaneously;
the descending cylinder 15 is fixed on both sides of the connecting fixing plate 11;
the vibration rod 19 is connected with the oscillator 20;
the shock rod 19 is connected with the shock absorber 11;
the shock absorber 11 is connected with the descending cylinder 5; a shock absorber is arranged between the shock rod and the descending cylinder, so that the influence on the device body can be avoided; and the opening and closing cylinder selects a hydraulic cylinder to grab heavier materials.
The left grabbing tooth and the right grabbing tooth are connected with each other through a connecting rod and can move synchronously; accumulated powder is cleaned through vibration, and the action is simple;
the left grabbing teeth and the right grabbing teeth are of a staggered tooth-shaped structure and can be matched with the blanking separation net, so that grabbing is facilitated;
the blockage clearing gripper can be connected with power mechanisms such as an industrial robot or a mechanical arm and the like, and is convenient to control.
Example 2:
the invention provides an intelligent cleaning system for material bin blockage, which comprises the following steps:
the preset discharging bin has A, B, C discharging points;
in the discharging process of the point A, a blocking sensor 8 detects the blocking condition, and if the upper part of the chute is blocked, a corresponding vibration motor is driven to work to complete blockage removal; if the lower part of the chute is blocked, the discharging car moves to a discharging point B for discharging; the rail shuttle RGV1 carries a robot 2 to be positioned according to a coded cable 6 and moves to a blocking point, the industrial robot 2 carries a 3D vision sensor 4 to scan and model a blocking pile, a control system automatically identifies a scanning result and automatically generates a cleaning scheme, and the industrial robot 2 carries a blocking cleaning gripper 3 to automatically complete blocking cleaning according to a program;
the process from point B to point C is the same as the process from point A to point B;
if the blockage removal is finished at the point A and the blockage does not occur at the point B during the unloading at the point B, the unloading trolley is moved back to the point A to continue the unloading, and the condition that the point C is moved to the point B is the same as the condition that the point B is moved to the point A; in addition, if material blockage occurs at the point C, after the point B is cleaned, the unloading vehicle can move from the point C to the point B or the point A to continue unloading while sending alarm information, so that the working efficiency is ensured;
correspondingly, if according to the above condition, the material jam occurs at the discharging point, and when no other discharging point meets the discharging requirement of the discharging car, the alarm is required to be sent to stop, and the manual processing is carried out.
Two blockage detection points are arranged, so that the blockage situation can be fully detected, and the detection is not missed.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (6)
1. The utility model provides an intelligent clearance system of feed bin putty which characterized in that includes:
the device comprises a discharge chute, wherein a blocking sensor (8) and an electric vibrator are arranged above a separation net of a chute inlet (10) and a chute outlet (9) of the discharge chute;
the rail-guided shuttle RGV comprises a rail-guided shuttle RGV, wherein an industrial robot (2), a blockage clearing gripper (3), a 3D vision sensor (4) and a control cabinet (5) are mounted on the rail-guided shuttle RGV (1);
a coded cable (6), through which the rail guided shuttle RGV (1) and the industrial robot (2) are positioned,
the rail guided shuttle RGV (1) and the industrial robot (2) are powered by the towrope (7).
2. The intelligent cleaning system for the blockage of the storage bin as claimed in claim 1, wherein the blockage removing hand comprises a connecting fixing plate (11), two sides of the connecting fixing plate (11) are fixed with a descending cylinder (15), the descending cylinder (15) is connected with a shock absorber (21), the shock absorber (21) is connected with a shock rod (19), and the shock rod (19) is connected with an oscillator (20).
3. The intelligent cleaning system for the material blockage of the storage bin, according to claim 2, is characterized in that the connecting and fixing plate (11) is connected with the left grabbing tooth (12) and the right grabbing tooth (13) through a fixing shaft (16), the right grabbing tooth (13) is connected with the opening and closing cylinder (14) through a connecting shaft (17), the right grabbing tooth (13) is connected with one end of a connecting rod (18) through a rotating shaft, and the other end of the connecting rod (18) is connected with the left grabbing tooth (12) through a rotating shaft.
4. The intelligent cleaning system for the blockage of the storage bin as claimed in claim 3, wherein the left grabbing tooth (12) and the right grabbing tooth (13) respectively have a staggered tooth-shaped structure.
5. A material blockage removing method by using the intelligent material bin blockage removing system as defined in any one of claims 1 to 4,
the preset discharging bin has A, B, C discharging points;
in the discharging process of the point A, a blocking sensor (8) detects the blocking condition, if the upper part of the chute is blocked, a corresponding vibration motor is driven to work, and blocking cleaning is finished; if the lower part of the chute is blocked, the discharging car moves to a discharging point B for discharging; the rail shuttle RGV (1) carries a robot (2) to position according to a coded cable (6) and moves to a material blocking point, the industrial robot (2) carries a 3D vision sensor (4) to scan and model a material blocking pile, a control system automatically identifies a scanning result and automatically generates a cleaning scheme, and the industrial robot (2) carries a blockage cleaning gripper (3) to automatically clean blockage according to a program;
the process from point B to point C is the same as the process from point A to point B;
if the blockage removal is finished at the point A and the blockage does not occur at the point B during the unloading at the point B, the unloading trolley is moved back to the point A to continue the unloading, and the condition that the point C is moved to the point B is the same as the condition that the point B is moved to the point A; in addition, if material blockage occurs at the point C, after the point B is cleaned, the unloading vehicle can move from the point C to the point B or the point A to continue unloading while sending alarm information, so that the working efficiency is ensured;
correspondingly, if according to the above condition, the material jam occurs at the discharging point, and when no other discharging point meets the discharging requirement of the discharging car, the alarm is required to be sent to stop, and the manual processing is carried out.
6. The material blockage removing method of the intelligent material blockage removing system for the storage bin according to claim 5, wherein a connecting fixing plate (11) of the blockage removing gripper (3) is connected with an industrial robot or a mechanical arm, a descending cylinder (15) pushes out a vibration rod (19) downwards, a vibrator drives the vibration rod to vibrate and drop powder in the blockage, and a shock absorber (21) absorbs the vibration to enable the vibration rod not to influence the device body;
after the vibration is finished, the descending cylinder (15) drives the vibration rod (19) to rise, the piston rod of the opening and closing cylinder (14) stretches out to push the right grabbing tooth to rotate, meanwhile, the right grabbing tooth (13) drives the connecting rod (18) and the left grabbing tooth (12) to rotate, the left grabbing tooth (12) and the right grabbing tooth (13) are closed, and residual blocky materials and sundries are clamped.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097353.4A CN113895801B (en) | 2021-09-18 | 2021-09-18 | Intelligent cleaning system for bin blockage and material blockage cleaning method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111097353.4A CN113895801B (en) | 2021-09-18 | 2021-09-18 | Intelligent cleaning system for bin blockage and material blockage cleaning method |
Publications (2)
| Publication Number | Publication Date |
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| CN113895801A true CN113895801A (en) | 2022-01-07 |
| CN113895801B CN113895801B (en) | 2023-07-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111097353.4A Active CN113895801B (en) | 2021-09-18 | 2021-09-18 | Intelligent cleaning system for bin blockage and material blockage cleaning method |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100243778A1 (en) * | 2008-03-28 | 2010-09-30 | Shred-Tech Corporation | Vibratory hopper and shredder in combination |
| CN207903187U (en) * | 2018-02-08 | 2018-09-25 | 杭州智兴热电有限公司 | A kind of thermoelectricity coal material bin |
| CN208419620U (en) * | 2018-06-27 | 2019-01-22 | 林州凤宝管业有限公司 | A kind of annular furnace cutting agency |
| CN109747987A (en) * | 2018-12-10 | 2019-05-14 | 山东科技大学 | Cabin cleaning machinery hand and coal bunker block clearing robot |
| CN211769018U (en) * | 2019-12-20 | 2020-10-27 | 百特（福建）智能装备科技有限公司 | Automatic feed bin device of robot |
-
2021
- 2021-09-18 CN CN202111097353.4A patent/CN113895801B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20100243778A1 (en) * | 2008-03-28 | 2010-09-30 | Shred-Tech Corporation | Vibratory hopper and shredder in combination |
| CN207903187U (en) * | 2018-02-08 | 2018-09-25 | 杭州智兴热电有限公司 | A kind of thermoelectricity coal material bin |
| CN208419620U (en) * | 2018-06-27 | 2019-01-22 | 林州凤宝管业有限公司 | A kind of annular furnace cutting agency |
| CN109747987A (en) * | 2018-12-10 | 2019-05-14 | 山东科技大学 | Cabin cleaning machinery hand and coal bunker block clearing robot |
| CN211769018U (en) * | 2019-12-20 | 2020-10-27 | 百特（福建）智能装备科技有限公司 | Automatic feed bin device of robot |
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| CN113895801B (en) | 2023-07-14 |
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Address after: 3 / F, Xindeng incubator office building, Yungang Road, Chenglingji Xingang District, Yueyang City, Hunan Province, 414000 Applicant after: Hunan strict Intelligent Technology Co.,Ltd. Applicant after: SGIS SONGSHAN Co.,Ltd. Address before: 3 / F, Xindeng incubator office building, Yungang Road, Chenglingji Xingang District, Yueyang City, Hunan Province, 414000 Applicant before: HARBIN INSTITUTE OF TECHNOLOGY ROBOTIC MANUFACTURING Co.,Ltd. Applicant before: SGIS SONGSHAN Co.,Ltd. |
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