CN117228275B - Automatic feeding robot - Google Patents
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- CN117228275B CN117228275B CN202311525800.0A CN202311525800A CN117228275B CN 117228275 B CN117228275 B CN 117228275B CN 202311525800 A CN202311525800 A CN 202311525800A CN 117228275 B CN117228275 B CN 117228275B
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 45
- 239000003921 oil Substances 0.000 claims description 41
- 239000010720 hydraulic oil Substances 0.000 claims description 27
- 239000000463 material Substances 0.000 claims description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 18
- 238000004891 communication Methods 0.000 claims description 16
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- 238000013016 damping Methods 0.000 claims description 10
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
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- 238000011065 in-situ storage Methods 0.000 claims description 3
- 238000005192 partition Methods 0.000 claims description 3
- 230000008447 perception Effects 0.000 claims description 3
- 238000003466 welding Methods 0.000 claims description 3
- 230000008901 benefit Effects 0.000 abstract description 6
- 238000009434 installation Methods 0.000 abstract description 4
- 238000004519 manufacturing process Methods 0.000 abstract description 4
- 238000012840 feeding operation Methods 0.000 abstract 1
- 238000010276 construction Methods 0.000 description 11
- 238000000034 method Methods 0.000 description 9
- 239000004567 concrete Substances 0.000 description 7
- 239000000203 mixture Substances 0.000 description 5
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- 239000002689 soil Substances 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 238000003971 tillage Methods 0.000 description 2
- 238000012546 transfer Methods 0.000 description 2
- 239000010426 asphalt Substances 0.000 description 1
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 239000007788 liquid Substances 0.000 description 1
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Abstract
An automatic feeding robot comprises a feeding machine and an automatic control system, wherein the feeding machine comprises a feeding machine with walking and steering functions, a shovel hopper, a spiral rolling cage device, a digital intelligent belt conveyor, a spraying dust fall device, a hydraulic control system, a feeding machine sensing system and a feeding machine positioning system, and an intelligent automatic feeding robot is formed by cooperation; a shovel hopper and a spiral rolling cage device are arranged at the front end of a frame of the feeding machine; a digital intelligent belt conveyor is arranged between the upper end of a frame of the feeding machine and the shovel hopper; the rear end of the frame of the feeding machine is provided with a spraying dust fall device, and the frame of the feeding machine is provided with a feeding machine sensing system and a feeding machine positioning system; the automatic feeding device has the advantages that the automatic feeding device replaces the working flow of feeding by a traditional loader, can provide working benefits, and can reduce the occurrence frequency of safety production accidents, so that the advantages of low investment, quick installation and intelligent automatic feeding operation are realized.
Description
Technical Field
The invention relates to the field of low-carbon environment-friendly equipment, and mainly develops automatic feeding equipment capable of replacing a fuel loader for a mixing station, in particular to an automatic feeding robot.
Background
The invention applies for the new application after improvement and upgrading based on an automatic feeding system applied for 8 months and 8 days in 2022. The CN115045159a document discloses an automatic feeding system for grading materials, which has the biggest defect that the structure design and the configuration of a motor of a cyclic bucket are problematic. The width of the hopper is smaller than the wheel distance of the wheels of the travelling trolley, so that the wheels can continuously climb up the material pile; the common motor is burnt when meeting the obstacle. Therefore, the feeding requirement of the construction site cannot be met. Through continuous improvement of field technicians, the automatic feeding robot for the grading materials, which can meet construction requirements, is creatively designed again.
In the actual feeding and conveying process of the mixing station, the currently used method is to complete feeding by using a loader to feed the mixing hopper from each aggregate bin, and in the process, the feeding is completely performed by evaluating the feeling of the operator of the loader, and the condition of material leakage in each mixing hopper needs to be observed at any time to determine whether the material should be filled. Under the condition that the light is not good at night and the material leakage of the collecting hopper cannot be accurately judged, the phenomenon that a certain grade of aggregate is lacked can occur, and when an operator is tired, the problem that the first aggregate is poured into the second collecting hopper and the second aggregate is poured into the third collecting hopper is wrong can also occur frequently, so that the gradation of the mixture is changed, and the mixing quality of the mixture is affected.
And the cost budget is further that a common 3-4-stage batching mixing field needs to be provided with 1-2 loaders and 2-4 operators, and a 4-7-stage batching mixing field needs to be provided with 3-4 loaders and 6-8 operators. If a assault is encountered, a24 hour overtime operation is required, and more loader operators are required to perform shift operations.
At present, many construction units at home and abroad are explored, and an automatic and unmanned feeding mode is adopted. What has appeared is: CN2018208901137 a concrete mixing station sinking type batching apparatus; also comprises a CN2017204675768 sinking type stabilized soil mixing station, a manufacturing method of the sinking type stabilized soil mixing station, a container type sinking batching device and other new processes. The method is automatic, a large amount of concrete is required to be constructed underground in a collecting bin, a space for sinking conveying equipment is reserved for installing the sinking conveying equipment, high site building cost is required to be input in the early stage, the service period is less than 1-2 years, and the service period is not more than 5 years.
At present, an asphalt concrete mixing station and a cement stabilized soil mixing station for engineering construction in China are built temporary mixture mixing stations. Asphalt stations are fastest for 1-2 years, water stable for 2-3 years, and cement concrete stations for hydropower and tunnel engineering have been in existence for more than 5 years. After the mixing station finishes the mixing task of the mixture, 99% of the mixing stations are required to be completely removed, a large amount of concrete below the bin is crushed after the bin is removed, and the mixing stations are subjected to site re-tillage, so that a large amount of construction wastes are required to be cleared, and more construction cost is caused for a construction unit.
Therefore, the sinking type mixture mixing station is a very wasteful resource, and the least preferable method for realizing automation has no great popularization value and is not suitable for comprehensive popularization and application. How to develop a feeding system with small occupied area, low input cost and quick field installation, without carrying out a large amount of foundation construction and field repeated tillage disposal cost in the later period, various grading materials such as coarse aggregates, fine aggregates, fillers and the like stacked on the ground can be directly conveyed to a collecting hopper according to a proportion, and the feeding system is an optimal automation scheme which is urgently needed by a plurality of construction units.
Disclosure of Invention
In order to solve the problems, the invention provides an automatic feeding robot, which is an intelligent automatic feeding robot formed by developing a feeding machine with functions of directly walking and steering on the ground, arranging a shovel hopper, a spiral rolling cage device and a digital intelligent belt conveyor on the feeding machine, and configuring a hydraulic control system, a feeding machine sensing system and a feeding machine positioning system; realize the automatic running of walking, digging and feeding; the construction of a large amount of underground concrete is avoided, the disassembly and the transfer are convenient, the concrete can be repeatedly used for many times, and the huge investment of a sinking type storage bin is reduced; the method not only can provide working benefit, but also can reduce the occurrence frequency of safety production accidents, thereby achieving the purposes of low input cost, quick field installation and automatic feeding and intelligent operation.
The invention is realized by the following technical scheme:
The utility model provides an automatic feeding robot, includes material loading machine and automatic control system, its characterized in that: the feeding machine and automatic control system comprises a feeding machine with walking and steering functions, a shovel hopper and spiral rolling cage device, a digital intelligent belt conveyor, a spraying dust fall device, a hydraulic control system, a feeding machine sensing system, a feeding machine positioning system and a system control program;
A shovel hopper and a spiral rolling cage device are arranged at the front end of a frame of the feeding machine, a digital intelligent belt conveyor is arranged between the upper end of the frame of the feeding machine and the shovel hopper, a hydraulic control system is arranged on the frame of the feeding machine, a spraying dust fall device is arranged at the rear end of the frame of the feeding machine, and a feeding machine sensing system and a feeding machine positioning system are arranged on the frame of the feeding machine; the intelligent automatic feeding robot is formed by cooperation of a mechanical component, hydraulic drive, automatic sensing, a PLC control system, intelligent conveying and the like;
The feeding machine with the walking and steering functions comprises: comprises a feeding machine frame, a damping device, front/rear wheels, a steering device, a walking and steering motor and a traction hole; the feeding machine frame is formed by welding a profile steel longitudinal beam and a profile steel cross beam, damping devices are respectively arranged at the front/back of the lower end of the feeding machine frame, front/back wheels are arranged on the front/back damping devices, and steering devices are arranged on the front wheels; the rear wheels are provided with a differential mechanism, and a hydraulic driving motor is arranged on the differential mechanism; the hydraulic driving motor controls the whole feeding machine frame to advance and retreat, and the steering device controls the left and right flexible steering of the feeding machine frame; a digital intelligent belt conveyor support frame is arranged between the front end and the middle section of a frame of the feeding machine, a shovel hopper mounting hole is formed in the front end of the frame of the feeding machine, a traction hole for connecting a mobile belt conveyor is formed in the tail of the frame of the feeding machine, and a cable and a plug are further arranged at the tail of the frame of the feeding machine;
The shovel hopper and spiral rolling cage device comprises a shovel hopper and a spiral rolling cage device: the device comprises a shovel hopper supporting plate, a shovel hopper, a reinforcing beam, a shovel hopper mounting hole, a conveyor driven wheel roller mounting hole, a shovel hopper attitude control cylinder, a U-shaped discharge hole, a spiral rolling cage, a rolling cage hydraulic motor and a hydraulic motor supporting ring; a shovel hopper and a reinforcing beam are welded at the left ends of two shovel hopper supporting plates, a shovel hopper mounting hole is formed at the right ends of the shovel hopper supporting plates, a conveyor driven wheel roller mounting hole is formed at the lower ends of the shovel hopper supporting plates, a shovel hopper attitude control oil cylinder is arranged at the upper ends of the shovel hopper supporting plates, a hydraulic motor supporting ring is respectively arranged at the two ends of the shovel hopper supporting plates and the reinforcing beam, a U-shaped discharge hole is formed at the bottom of the middle section of the shovel hopper supporting plates, rolling cage hydraulic motors are respectively arranged on the hydraulic motor supporting rings at the two ends, and a spiral rolling cage is horizontally arranged between the two rolling cage hydraulic motors; the shovel hopper is connected with the front end of the frame of the feeding machine through a bolt; a driven wheel roller of the digital intelligent belt conveyor is arranged on the driven wheel roller mounting hole;
The digital intelligent belt conveyor comprises: the device comprises a conveyor support frame, a conveyor driving wheel, a conveyor driven wheel, a support roller assembly, a conveyor belt, a digital weighing sensor, a cable, a plug, a discharging funnel, a spray header and a high-pressure water pipe; the upper end of the belt conveyor support frame is provided with a conveyor driving wheel, the lower end of the belt conveyor support frame is provided with a conveyor driven wheel, a plurality of groups of support roller assemblies are arranged between the conveyor driving wheel and the conveyor driven wheel, the conveyor driving wheel and the conveyor driven wheel are provided with a conveyor belt, a variable frequency motor is arranged in the conveyor driving wheel, a digital weighing sensor is arranged below a belt at the discharge end of the conveyor belt, the top end of the belt conveyor support frame is provided with a discharge hopper, and one side of the belt conveyor support frame is provided with a cable and a plug;
The spraying dust fall device comprises: comprises a spray header, a high-pressure water pipe, a high-pressure water pump and a water supply tank; a plurality of spray heads are respectively arranged at the upper edges of the shovel hopper and the reinforcing beam, at the two sides of the discharging hopper of the digital intelligent belt conveyor and at the upper edge of the laser scanning radar probe, and are connected with a high-pressure water pump through a high-pressure water pipe, the other end of the high-pressure water pump is connected with a water supply tank, and the starting/stopping of the high-pressure water pump is controlled by a PLC control system; the high-pressure water pump respectively provides a spraying high-pressure water source for the plurality of spray heads;
The hydraulic control system comprises: the hydraulic oil pump comprises a PLC control system, a three-phase motor, a duplex oil pump, a triple oil pump, a three-position four-way electromagnetic valve, a traveling and steering motor, a track driving motor, a digging screw motor, a hydraulic oil cylinder, a hydraulic oil pipe, an overflow valve, an electrohydraulic valve, a radiator, a high-pressure water pump and a variable frequency motor; the PLC control system is connected with a three-phase motor, the three-phase motor drives a duplex oil pump/triple oil pump, a hydraulic oil tank is connected with the input end of the duplex oil pump/triple oil pump through a hydraulic oil pipe, the output end of the duplex oil pump/triple oil pump is respectively connected with a walking driving motor/crawler driving motor, a digging spiral motor and a hydraulic oil cylinder through three-position four-way electromagnetic valves, and power is provided for the walking and steering motor/crawler driving motor, the digging spiral motor and the hydraulic oil cylinder; the three-position four-way electromagnetic valve is used for controlling the forward/reverse rotation force of the walking and steering motor/the crawler driving motor and the digging screw motor and the telescopic travel of the hydraulic cylinder; the PLC control system is also respectively connected with the high-pressure water pump and the roller variable frequency motor on the belt conveyor, and the high-pressure water pump and the roller variable frequency motor are started through sensor signal instructions at the front end of the PLC control system; an overflow valve, an electrohydraulic valve, a radiator and a load switch are arranged on the three-position four-way electromagnetic valve; the variable frequency motor provides driving kinetic energy for a conveyor driving wheel of the digital intelligent belt conveyor;
The feeding machine perception system comprises: the intelligent control system comprises an integrated industrial personal computer, a PLC control system, a laser scanning radar, an ultrasonic obstacle avoidance radar, an angle encoder, an inclination sensor, a CANOPEN remote module, a wireless communication module, a transistor relay, an analog quantity module, an analog quantity input module and a touch screen; an industrial control cabinet is arranged on the feeding machine frame, an integrated industrial control computer is arranged in the industrial control cabinet, and a PLC control system is arranged on the integrated industrial control computer; the front ends of the shovel hopper and the reinforcing beam are provided with laser scanning radars, the periphery of the feeding machine frame is provided with ultrasonic obstacle avoidance radars, the middle part of the feeding machine frame is provided with an inclination sensor, and the hinge position of the mobile belt conveyor is provided with an angle encoder; the PLC control system is also provided with a CANOPEN remote module, a wireless communication module and a transistor relay, so that real-time communication between the machine sensing system and the mixing station overall control system is maintained; the integrated industrial personal computer is also provided with an analog quantity module, an analog quantity input module and a touch screen, so that the in-situ parameters can be timely input for the PLC control system;
The feeding machine positioning system comprises: the wireless communication system comprises a UWB base station, an electronic tag, a DC/DC module, a wireless communication module, a router and a switch; a DC/DC module is arranged on the integrated industrial personal computer, an electronic tag and an electronic compass are arranged on the feeding machine frame, so that the feeding machine can exchange real-time position information with a plurality of pairs of UWB base stations arranged on a mixing station bin partition wall in real time; the PLC control system is also provided with a wireless communication module, a router and a switch, so that the total control system of the feeding machine and the mixing station can transmit data information in time;
The system control program: the intelligent hydraulic control system is characterized in that a software system is developed to collect sensing system information of a feeding machine and positioning information of the feeding machine, and the feeding machine with the walking and steering functions, a shovel hopper and spiral rolling cage device, a digital intelligent belt conveyor, a spraying dust-settling device and a hydraulic control system are controlled in real time to automatically operate according to the required working conditions.
Further, possess walking and turn to the material loading machine of function, still include crawler-type material loading machine, its characterized in that: the crawler-type feeding machine comprises a crawler chassis, a crawler driving motor, a driving gear, a driven gear, crawler rollers, a crawler, a three-phase motor, a duplex oil pump and a three-position four-way electromagnetic valve; the crawler chassis is characterized in that two ends of the crawler chassis are respectively provided with a group of supporting frames for installing driving gears, driven gears and crawler rollers, the front ends of the supporting frames are provided with the driven gears, the rear ends of the supporting frames are provided with the driving gears, and the inner sides of the driving gears are provided with crawler driving motors; multiple groups of crawler rollers are arranged between the driven gear and the driving gear, and crawlers are arranged on the driven gear, the driving gear and the crawler rollers; a shovel hopper mounting hole is formed in the front end of a frame of the crawler-type feeding machine, and a traction hole connected with a mobile belt conveyor is formed in the tail of the frame of the crawler-type feeding machine; the three-phase motor drives the duplex oil pump, and the three-position four-way electromagnetic valve provides kinetic energy for the crawler belt driving motor.
Further, a rolling cage hydraulic motor on the spiral rolling cage device and a variable frequency motor arranged in the driving wheel of the conveyor are arranged to be started in an interlocking mode.
Further, the hydraulic motor support ring of the shovel hopper and the spiral rolling cage device is of a special-shaped annular structure, and load protection is provided for normal operation of the rolling cage hydraulic motor.
Furthermore, a special wear-resisting device is arranged at a gap between the U-shaped discharge port and a conveying belt of the digital intelligent belt conveyor.
Further, the feeding machine frame is further provided with a laser position sensor, and through the angle encoder and the inclination sensor arranged in the feeding machine sensing system, the accurate positioning of the feeding robot is realized by adopting a scheme of comprehensively positioning the laser position sensor, the angle encoder and the inclination sensor.
Further, the electronic compass is further arranged on the feeding machine frame, and through the inclination sensor arranged in the feeding machine sensing system, the accurate positioning of the feeding robot is realized by adopting the scheme of comprehensive positioning of the electronic compass, the inclination sensor and the laser position sensor.
The beneficial effects of the invention are mainly shown in the following aspects:
Firstly), the invention provides an automatic feeding robot, which is an intelligent automatic feeding robot formed by developing a feeding machine which directly has walking and steering functions on the ground, arranging a shovel hopper, a spiral rolling cage device and a digital intelligent belt conveyor on the feeding machine, and configuring a liquid electric control system, a feeding machine sensing system and a feeding machine positioning system; realize the automatic running of walking, digging and feeding; avoiding the construction of a large amount of underground concrete, being convenient to dismantle and transfer, being capable of being repeatedly used for a plurality of times, and reducing the huge investment of the sinking type storage bin.
The invention provides an automatic feeding robot, wherein a conveyor driving wheel is arranged at the upper end of a belt conveyor supporting frame, a conveyor driven wheel is arranged at the lower end of the belt conveyor supporting frame, a plurality of groups of supporting roller assemblies are arranged between the conveyor driving wheel and the conveyor driven wheel, a conveyor belt is arranged on the conveyor driving wheel and the conveyor driven wheel, and a variable frequency motor is arranged in the conveyor driving wheel; the digital intelligent belt conveyor is adopted to directly and uninterruptedly feed materials from the digging hopper to the collecting hopper, so that repeated labor of continuous material-holding/material-pouring between the aggregate pile and the collecting hopper by operators of the loader is replaced, the working benefit can be provided, and the occurrence frequency of safety production accidents can be reduced.
The invention provides an automatic feeding robot, which is connected with a three-phase motor through a PLC control system, wherein the three-phase motor drives a duplex oil pump/a triple oil pump, a hydraulic oil tank is connected with the input end of the duplex oil pump/the triple oil pump through a hydraulic oil pipe, and the output end of the duplex oil pump/the triple oil pump is respectively connected with a walking driving motor/a track driving motor, a digging spiral motor and a hydraulic oil cylinder through three-position four-way electromagnetic valves to provide power for the walking and steering motor/the track driving motor, the digging spiral motor and the hydraulic oil cylinder; and controlling the automatic operation of each electrohydraulic function in real time.
Fourth, the invention provides an automatic feeding robot, which is characterized in that a PLC control system arranged on an integrated industrial personal computer is arranged on a feeding machine frame; the front ends of the shovel hopper and the reinforcing beam are provided with laser scanning radars, the periphery of the feeding machine frame is provided with ultrasonic obstacle avoidance radars, the middle part of the feeding machine frame is provided with an inclination sensor, and the hinge position of the mobile belt conveyor is provided with an angle encoder; the front end and the rear end of the feeding machine frame are respectively provided with a laser ranging sensor, and the feeding machine frame is provided with an electronic tag; the method comprises the steps of collecting sensing system information of a feeding machine and positioning information of the feeding machine by developing a set of software system, and controlling an automatic feeding robot to automatically operate according to a required working condition in real time; therefore, the feeding robot has the advantages of low input cost, quick field installation and intelligent operation of automatic feeding.
Drawings
FIG. 1 is a front view of a loading robot according to the present invention;
FIG. 2 is a top view of the loading robot of the present invention;
Fig. 3 is a perspective view of the loading robot of the present invention.
The marks in the figure: 1 is a feeding machine frame, 2 is a front/rear wheel; 3 is a shovel hopper supporting plate, 4 is a shovel hopper, 5 is a reinforcing beam, 6 is a shovel hopper mounting hole, 7 is a conveyor driven wheel roller mounting hole, 8 is a shovel hopper attitude control oil cylinder, 9 is a U-shaped discharge hole, 10 is a spiral rolling cage, 11 is a rolling cage hydraulic motor, and 12 is a hydraulic motor supporting ring; 13 is a belt conveyor supporting frame, 14 is a driving wheel, 15 is a digital weighing sensor, and 16 is a traction hole; 17 is a water supply tank, 18 is a high-pressure water pump, and 19 is a spray header; 20 is a three-phase motor, 21 is a three-position four-way electromagnetic valve, 22 is a duplex oil pump, and 23 is a triple oil pump; 24 is an industrial control cabinet, 25 is a laser scanning radar, 26 is an ultrasonic obstacle avoidance radar, and 27 is an angle encoder; 28 is an electronic label.
The invention is further described below with reference to the accompanying drawings.
Description of the embodiments
Example 1: automatic feeding robot
Including material loading machine and automatic control system, its characterized in that: the feeding machine and automatic control system comprises a feeding machine with walking and steering functions, a shovel hopper and spiral rolling cage 10 device, a digital intelligent belt conveyor, a spraying dust fall device, a hydraulic control system, a feeding machine sensing system, a feeding machine positioning system and a system control program;
A shovel hopper and a spiral rolling cage 10 device are arranged at the front end of a frame of the feeding machine, a digital intelligent belt conveyor is arranged between the upper end of the frame of the feeding machine and the shovel hopper, a hydraulic control system is arranged on the frame of the feeding machine, a spraying dust fall device is arranged at the rear end of the frame of the feeding machine, and a feeding machine sensing system and a feeding machine positioning system are arranged on the frame of the feeding machine; the intelligent automatic feeding robot is formed by cooperation of a mechanical component, hydraulic drive, automatic sensing, a PLC control system, intelligent conveying and the like;
The feeding machine with the walking and steering functions (shown in fig. 1): comprises a feeding machine frame 1, a damping device, front/rear wheels 2, a steering device, a walking and steering motor and a traction hole 16; the feeding machine frame 1 is formed by welding a profile steel longitudinal beam and a profile steel cross beam, damping devices are respectively arranged at the front/back of the lower end of the feeding machine frame 1, front/back wheels 2 are arranged on the front/back damping devices, and steering devices are arranged on the front wheels; the rear wheels are provided with a differential mechanism, and a hydraulic driving motor is arranged on the differential mechanism; the hydraulic driving motor controls the whole feeding machine frame 1 to advance and retreat, and the steering device controls the left and right flexible steering of the feeding machine frame 1; a digital intelligent belt conveyor supporting frame 13 is arranged between the front end and the middle section of the frame of the feeding machine, a shovel hopper mounting hole 6 is arranged at the front end of the frame of the feeding machine, a traction hole 16 for connecting a mobile belt conveyor is arranged at the tail of the frame of the feeding machine, and a cable and a plug are also arranged at the tail of the frame of the feeding machine;
Feeding machine frame 1 of material loading machine, length: the required size, width of the front/rear wheels 2 and the digital intelligent belt conveyor support frame 13 can be satisfied: the width of the device for installing the shovel hopper and the spiral roller 10 and the digital intelligent belt conveyor can be met, and the width is high: the space for installing the damping device, the three-phase motor 20, the triple oil pump 23, the three-position four-way electromagnetic valve 21, the walking and steering motor and the crawler driving motor is required to be satisfied; the feeding machine frame 1 of the feeding machine, the section steel longitudinal beam and the section steel cross beam are selected and welded, and the highest strength of the working states of the shovel hopper, the spiral rolling cage 10 device and the digital intelligent belt conveyor is required to be met.
The shovel hopper and spiral roller cage 10 device (shown in figure 2): the device comprises a shovel hopper supporting plate 3, a shovel hopper 4, a reinforcing beam 5, a shovel hopper mounting hole 6, a conveyor driven wheel roller mounting hole 7, a shovel hopper attitude control cylinder 8, a U-shaped discharge hole 9, a spiral rolling cage 10, a rolling cage hydraulic motor 11 and a hydraulic motor supporting ring 12; the left ends of the two shovel hopper support plates 3 are welded with shovel hoppers 4 and reinforcing beams 5, the right ends are provided with shovel hopper mounting holes 6, the lower ends are provided with conveyor driven wheel roller mounting holes 7, the upper ends are provided with shovel hopper attitude control cylinders 8, the two ends of the shovel hoppers 4 and the reinforcing beams 5 are respectively provided with a hydraulic motor support ring 12, the bottom of the middle section is provided with a U-shaped discharge port 9, the hydraulic motor support rings 12 at the two ends are respectively provided with a rolling cage hydraulic motor 11, and a spiral rolling cage 10 is horizontally arranged between the two rolling cage hydraulic motors 11; the shovel hopper and the screw rolling cage 10 are provided with shovel hopper mounting holes 6 which are connected with the front end of the frame of the feeding machine through bolts; a driven wheel roller of the digital intelligent belt conveyor is arranged on the driven wheel roller mounting hole;
The shovel hopper supporting plate 3 is made of a steel plate with the thickness of more than or equal to 10mm, the shovel hopper 4 and the spiral rolling cage 10 are made of wear-resistant materials, a special-shaped bucket groove is formed by processing, the length of the special-shaped bucket groove is larger than the width of the wheel tread of the front wheel of the feeding machine, the special-shaped shape of the special-shaped bucket groove is matched with the shape of the spiral rolling cage 10, the reinforcing beam 5 is required to be firmly welded with the upper edge of the shovel hopper 4, and the opening of the U-shaped discharge hole 9 is kept at the same horizontal plane with the outer edge of the driven wheel of the digital intelligent belt conveyor; the outer edge of the driven wheel of the digital intelligent belt conveyor must ensure proper height from the ground plane, so that friction with the ground is prevented when the belt rotates.
The digital intelligent belt conveyor (shown in fig. 3): the device comprises a conveyor support frame, a conveyor driving wheel 14, a conveyor driven wheel, a support roller assembly, a conveyor belt, a digital weighing sensor 15, a discharge hopper, a spray header 19 and a high-pressure water pipe; a conveyor driving wheel 14 is arranged at the upper end of the belt conveyor supporting frame 13, a conveyor driven wheel is arranged at the lower end of the belt conveyor supporting frame, a plurality of groups of supporting roller assemblies are arranged between the conveyor driving wheel 14 and the conveyor driven wheel, a conveyor belt is arranged on the conveyor driving wheel 14 and the conveyor driven wheel, a variable frequency motor is arranged in the conveyor driving wheel 14, a digital weighing sensor 15 is arranged below the belt at the discharge end of the conveyor belt, a discharge hopper is arranged at the top end of the belt conveyor supporting frame 13, and a cable and a plug are arranged on one side of the belt conveyor supporting frame 13;
the cable and the plug are connected with the cable which is arranged up and down on the movable conveyor supporting frame;
The discharge hopper arranged at the top end of the belt conveyor supporting frame 13 is of a special-shaped structure, and the special-shaped shape of the discharge hopper needs to meet the requirement that the output grading materials can smoothly fall onto a mobile belt conveyor which is additionally arranged.
The spraying dust fall device comprises: comprises a spray header 19, a high-pressure water pipe, a high-pressure water pump 18 and a water supply tank 17; a plurality of spray heads 19 are respectively arranged at the upper edges of the shovel hopper 4 and the reinforcing beam 5, at the two sides of the discharging hopper of the digital intelligent belt conveyor and at the upper edge of the laser scanning radar 25 probe, and are connected with a high-pressure water pump 18 through a high-pressure water pipe, the other end of the high-pressure water pump 18 is connected with a water supply tank 17, and the starting/stopping of the high-pressure water pump 18 is controlled by a PLC control system; the high-pressure water pump 18 respectively provides a high-pressure water source for spraying for the plurality of spray heads 19;
The spray header 19 needs to be provided with a sensing probe such as a laser scanning radar 25, an ultrasonic obstacle avoidance radar 26 and an electronic tag 28, and two sides of the spiral rolling cage 10 and the discharging hopper respectively, so that timely cleaning of the sensing probe and dust spraying and dust falling of dust raised in the process of conveying the grading materials are ensured.
The hydraulic control system comprises: the hydraulic oil pump comprises a PLC control system, a three-phase motor 20, a duplex oil pump 22, a triplex oil pump 23, a three-position four-way electromagnetic valve 21, a traveling and steering motor, a track driving motor, a digging screw motor, a hydraulic oil cylinder, a hydraulic oil tank, a hydraulic oil pipe, an overflow valve, an electrohydraulic valve, a radiator, a high-pressure water pump 18 and a variable-frequency motor; the PLC control system is connected with a three-phase motor 20, the three-phase motor 20 drives a duplex oil pump 22 or a triple oil pump 23, a hydraulic oil tank is connected with the input end of the duplex oil pump 22 or the triple oil pump 23 through a hydraulic oil pipe, and the output end of the duplex oil pump 22 or the triple oil pump 23 is respectively connected with a walking driving motor/track driving motor, a digging spiral motor and a hydraulic oil cylinder through a three-position four-way electromagnetic valve 21 to provide power for the walking and steering motor/track driving motor, the digging spiral motor and the hydraulic oil cylinder; the three-position four-way electromagnetic valve 21 is used for controlling the forward/reverse rotation force of the walking and steering motor/caterpillar driving motor and the digging screw motor and the telescopic travel of the hydraulic cylinder; the PLC control system is also respectively connected with the high-pressure water pump 18 and the roller variable frequency motor on the belt conveyor, and the high-pressure water pump 18 and the roller variable frequency motor are started through sensor signal instructions at the front end of the PLC control system; an overflow valve, an electrohydraulic valve and a radiator are arranged on the three-position four-way electromagnetic valve 21; a load switch; the variable frequency motor provides driving kinetic energy for a conveyor driving wheel 14 of the digital intelligent belt conveyor;
The feeding machine perception system comprises: the intelligent electronic control system comprises an integrated industrial personal computer, a PLC control system, a laser scanning radar 25, an ultrasonic obstacle avoidance radar 26, an angle encoder 27, an inclination sensor, a CANOPEN remote module, a wireless communication module, a transistor relay, an analog quantity module, an analog quantity input module and a touch screen; an industrial control cabinet 24 is arranged on the feeding machine frame 1, an integrated industrial control computer is arranged in the industrial control cabinet 24, and a PLC control system is arranged on the integrated industrial control computer; the front ends of the shovel hopper 4 and the reinforcing beam 5 are provided with laser scanning radars 25, the periphery of the feeding machine frame 1 is provided with ultrasonic obstacle avoidance radars 26, the middle part of the feeding machine frame 1 is provided with an inclination sensor, and the hinge position of the movable belt conveyor support frame 13 is provided with an angle encoder 27; the PLC control system is also provided with a CANOPEN remote module, a wireless communication module and a transistor relay, so that real-time communication between the machine sensing system and the mixing station overall control system is maintained; the integrated industrial personal computer is also provided with an analog quantity module, an analog quantity input module and a touch screen, so that the in-situ parameters can be timely input for the PLC control system;
The feeding machine positioning system comprises: the system comprises an electronic tag 28, a DC/DC module, a wireless communication module, a router and a switch; a DC/DC module is arranged on the integrated industrial personal computer, an electronic tag 28 and an electronic compass are arranged on the feeding machine frame 1, and the feeding machine is ensured to exchange real-time position information with a plurality of pairs of UWB base stations arranged on a mixing station bin partition wall in real time; the PLC control system is also provided with a wireless communication module, a router and a switch, so that the total control system of the feeding machine and the mixing station can transmit data information in time;
The system control program: the intelligent automatic feeding machine comprises a feeding machine sensing system information and a feeding machine positioning information, wherein the feeding machine sensing system information and the feeding machine positioning information are collected through a software system, the feeding machine with the walking and steering functions, a shovel hopper and spiral rolling cage 10 device, a digital intelligent belt conveyor, a spraying dust fall device and a hydraulic control system are controlled in real time, and the automatic feeding machine is operated automatically according to the required working conditions.
Example 2: automatic feeding robot
Further, possess walking and turn to the material loading machine of function, still include crawler-type material loading machine, its characterized in that: the crawler-type feeding machine comprises a crawler chassis, a crawler driving motor, a driving gear, a driven gear, crawler rollers and a crawler, a three-phase motor 20, a duplex oil pump 22 and a three-position four-way electromagnetic valve 21; the crawler chassis is characterized in that two ends of the crawler chassis are respectively provided with a group of supporting frames for installing driving gears, driven gears and crawler rollers, the front ends of the supporting frames are provided with the driven gears, the rear ends of the supporting frames are provided with the driving gears, and the inner sides of the driving gears are provided with crawler driving motors; multiple groups of crawler rollers are arranged between the driven gear and the driving gear, and crawlers are arranged on the driven gear, the driving gear and the crawler rollers; a shovel hopper mounting hole 6 is formed in the front end of a frame of the crawler-type feeding machine, and a traction hole 16 connected with a mobile belt conveyor is formed in the tail of the frame of the crawler-type feeding machine; the three-phase motor 20 drives the duplex oil pump 22, and the three-position four-way electromagnetic valve 21 provides kinetic energy for the crawler belt driving motor.
Example 3: automatic feeding robot
Further, a rolling cage hydraulic motor on the spiral rolling cage 10 device and a variable frequency motor arranged in the conveyor driving wheel 14 are set to be started in an interlocking way.
Example 4: automatic feeding robot
Further, the hydraulic motor support ring 12 of the shovel hopper and spiral rolling cage 10 device is of a special-shaped annular structure, and provides load protection for the normal operation of the rolling cage hydraulic motor 11.
Example 5: automatic feeding robot
Further, a special wear-resisting device is arranged at a gap between the U-shaped discharge port 9 and a conveying belt of the digital intelligent belt conveyor.
Example 6: automatic feeding robot
Further, a laser position sensor is further arranged on the feeding machine frame 1, and through the angle encoder 27 and the inclination sensor arranged in the feeding machine sensing system, the accurate positioning of the feeding robot is realized by adopting a scheme of comprehensively positioning the laser position sensor, the angle encoder 27 and the inclination sensor.
Example 7: automatic feeding robot
Further, the feeding machine frame 1 is further provided with an electronic compass, and the accurate positioning of the feeding robot is realized by adopting a scheme of comprehensively positioning the electronic compass, the inclination sensor and the laser position sensor through the inclination sensor arranged in the feeding machine sensing system.
Claims (7)
1. The utility model provides an automatic feeding robot, includes material loading machine and automatic control system, its characterized in that: the feeding machine and automatic control system comprises a feeding machine with walking and steering functions, a shovel hopper and spiral rolling cage (10) device, a digital intelligent belt conveyor, a spraying dust fall device, a hydraulic control system, a feeding machine sensing system, a feeding machine positioning system and a system control program;
A shovel hopper and a spiral rolling cage (10) device are arranged at the front end of a frame of the feeding machine, a digital intelligent belt conveyor is arranged between the upper end of the frame of the feeding machine and the shovel hopper, a hydraulic control system is arranged on the frame of the feeding machine, a spraying dust fall device is arranged at the rear end of the frame of the feeding machine, and a feeding machine sensing system and a feeding machine positioning system are arranged on the frame of the feeding machine; an intelligent automatic feeding robot is formed by cooperation of mechanical components, hydraulic drive, automatic sensing, a PLC control system and intelligent conveying;
The feeding machine with the walking and steering functions comprises: comprises a feeding machine frame (1), a damping device, front/rear wheels (2), a steering device, a walking and steering motor and a traction hole (16); the feeding machine frame (1) is formed by welding a profile steel longitudinal beam and a profile steel cross beam, damping devices are respectively arranged at the front/back of the lower end of the feeding machine frame (1), front/back wheels (2) are arranged on the front/back damping devices, and steering devices are arranged on the front wheels; the rear wheels are provided with a differential mechanism, and a hydraulic driving motor is arranged on the differential mechanism; the hydraulic driving motor controls the whole feeding machine frame (1) to advance and retreat, and the steering device controls the left and right flexible steering of the feeding machine frame (1); a digital intelligent belt conveyor supporting frame (13) is arranged between the front end and the middle section of a frame of the feeding machine, a shovel hopper mounting hole (6) is formed in the front end of the frame of the feeding machine, a traction hole (16) for connecting a mobile belt conveyor is formed in the tail of the frame of the feeding machine, and a cable and a plug are further arranged at the tail of the frame of the feeding machine;
The shovel hopper and spiral rolling cage (10) device comprises: the device comprises a shovel hopper supporting plate (3), a shovel hopper (4), a reinforcing beam (5), a shovel hopper mounting hole (6), a conveyor driven wheel roller mounting hole (7), a shovel hopper attitude control cylinder (8), a U-shaped discharge hole (9), a spiral rolling cage (10), a rolling cage hydraulic motor (11) and a hydraulic motor supporting ring (12); a shovel hopper (4) and a reinforcing beam (5) are welded at the left ends of two shovel hopper supporting plates (3), a shovel hopper mounting hole (6) is formed at the right ends of the two shovel hopper supporting plates, a conveyor driven wheel roller mounting hole (7) is formed at the lower ends of the two shovel hopper supporting plates, a shovel hopper attitude control cylinder (8) is arranged at the upper ends of the two shovel hopper supporting plates, a hydraulic motor supporting ring (12) is respectively arranged at the two ends of the shovel hopper (4) and the reinforcing beam (5), a U-shaped discharge hole (9) is formed at the bottom of the middle section of the shovel hopper supporting plates, rolling cage hydraulic motors (11) are respectively arranged on the hydraulic motor supporting rings (12) at the two ends, and a spiral rolling cage (10) is horizontally arranged between the two rolling cage hydraulic motors (11); a shovel hopper mounting hole (6) arranged on the shovel hopper and spiral rolling cage (10) device is connected with the front end of the frame of the feeding machine through a bolt; a driven wheel roller of the digital intelligent belt conveyor is arranged on the driven wheel roller mounting hole;
The digital intelligent belt conveyor comprises: the automatic weighing device comprises a conveyor support frame, a conveyor driving wheel (14), a conveyor driven wheel, a support roller assembly, a conveyor belt, a digital weighing sensor (15), a discharge hopper, a spray header (19) and a high-pressure water pipe; a conveyor driving wheel (14) is arranged at the upper end of the belt conveyor supporting frame (13), a conveyor driven wheel is arranged at the lower end of the belt conveyor supporting frame, a plurality of groups of supporting roller assemblies are arranged between the conveyor driving wheel (14) and the conveyor driven wheel, a conveying belt is arranged on the conveyor driving wheel (14) and the conveyor driven wheel, a variable frequency motor is arranged in the conveyor driving wheel (14), a digital weighing sensor (15) is arranged below a belt at the discharge end of the conveying belt, a discharge hopper is arranged at the top end of the belt conveyor supporting frame (13), and a cable and a plug are arranged on one side of the belt conveyor supporting frame (13);
The spraying dust fall device comprises: comprises a spray header (19), a high-pressure water pipe, a high-pressure water pump (18) and a water supply tank (17); a plurality of spray heads (19) are respectively arranged at the upper edges of the shovel hopper (4) and the reinforcing beam (5), at the two sides of the discharging hopper of the digital intelligent belt conveyor and at the upper edge of the laser scanning radar (25) probe, and are connected with a high-pressure water pump (18) through a high-pressure water pipe, the other end of the high-pressure water pump (18) is connected with a water supply tank (17), and the starting/stopping of the high-pressure water pump (18) is controlled by a PLC control system; the high-pressure water pump (18) respectively provides a spray high-pressure water source for the plurality of spray heads (19);
The hydraulic control system comprises: the hydraulic oil pump comprises a PLC control system, a three-phase motor (20), a duplex oil pump (22), a triple oil pump (23), a three-position four-way electromagnetic valve (21), a traveling and steering motor, a track driving motor, a digging screw motor, a hydraulic oil cylinder, a hydraulic oil tank, a hydraulic oil pipe, an overflow valve, an electro-hydraulic valve, a radiator, a high-pressure water pump (18) and a variable-frequency motor; the PLC control system is connected with the three-phase motor (20), the three-phase motor (20) drives the duplex oil pump (22) or the triple oil pump (23), the hydraulic oil tank is connected with the input end of the duplex oil pump (22) or the triple oil pump (23) through a hydraulic oil pipe, the output end of the duplex oil pump (22) or the triple oil pump (23) is respectively connected with the walking driving motor/caterpillar driving motor, the digging spiral motor and the hydraulic oil cylinder through the three-position four-way electromagnetic valve (21), and power is provided for the walking and steering motor/caterpillar driving motor, the digging spiral motor and the hydraulic oil cylinder; the three-position four-way electromagnetic valve (21) is used for controlling the forward/reverse rotation force of the walking and steering motor/the crawler driving motor and the digging spiral motor and the telescopic travel of the hydraulic cylinder; the PLC control system is also respectively connected with the high-pressure water pump (18) and the roller variable frequency motor on the belt conveyor, and the high-pressure water pump (18) and the roller variable frequency motor are started through sensor signal instructions at the front end of the PLC control system; an overflow valve, an electrohydraulic valve and a radiator are arranged on the three-position four-way electromagnetic valve (21); a load switch; the variable frequency motor provides driving kinetic energy for a conveyor driving wheel (14) of the digital intelligent belt conveyor;
the feeding machine perception system comprises: the intelligent electronic control system comprises an integrated industrial personal computer, a PLC control system, a laser scanning radar (25), an ultrasonic obstacle avoidance radar (26), an angle encoder (27), an inclination sensor, a CANOPEN remote module, a wireless communication module, a transistor relay, an analog quantity module, an analog quantity input module and a touch screen; an industrial control cabinet (24) is arranged on the feeding machine frame (1), an integrated industrial control computer is arranged in the industrial control cabinet (24), and a PLC control system is arranged on the integrated industrial control computer; the front ends of the shovel hopper (4) and the reinforcing beam (5) are provided with laser scanning radars (25), the periphery of the feeding machine frame (1) is provided with ultrasonic obstacle avoidance radars (26), the middle part of the feeding machine frame (1) is provided with an inclination sensor, and the hinge position of the movable belt conveyor support frame (13) is provided with an angle encoder (27); the PLC control system is also provided with a CANOPEN remote module, a wireless communication module and a transistor relay, so that real-time communication between the machine sensing system and the mixing station overall control system is maintained; the integrated industrial personal computer is also provided with an analog quantity module, an analog quantity input module and a touch screen, so that the in-situ parameters can be timely input for the PLC control system;
The feeding machine positioning system comprises: the system comprises an electronic tag (28), a DC/DC module, a wireless communication module, a router and a switch; a DC/DC module is arranged on the integrated industrial personal computer, and an electronic tag (28) and an electronic compass are arranged on the feeding machine frame (1), so that the feeding machine can exchange real-time position information with a plurality of pairs of UWB base stations arranged on a mixing station bin partition wall in real time; the PLC control system is also provided with a wireless communication module, a router and a switch, so that the total control system of the feeding machine and the mixing station can transmit data information in time;
The system control program: the intelligent automatic feeding machine comprises a feeding machine sensing system information and a feeding machine positioning information, wherein the feeding machine, a shovel hopper, a spiral rolling cage (10) device, a digital intelligent belt conveyor, a spraying dust fall device and a hydraulic control system which are controlled in real time and have the functions of walking and steering are developed, and the automatic feeding machine is automatically operated according to the required working conditions.
2. The automatic feeding robot of claim 1, wherein the feeding machine with the traveling and steering functions further comprises a crawler-type feeding machine, and the automatic feeding robot is characterized in that: the crawler-type feeding machine comprises a crawler chassis, a crawler driving motor, a driving gear, a driven gear, crawler rollers, a crawler, a three-phase motor (20), a duplex oil pump (22) and a three-position four-way electromagnetic valve (21); the crawler chassis is characterized in that two ends of the crawler chassis are respectively provided with a group of supporting frames for installing driving gears, driven gears and crawler rollers, the front ends of the supporting frames are provided with the driven gears, the rear ends of the supporting frames are provided with the driving gears, and the inner sides of the driving gears are provided with crawler driving motors; multiple groups of crawler rollers are arranged between the driven gear and the driving gear, and crawlers are arranged on the driven gear, the driving gear and the crawler rollers; a shovel hopper mounting hole (6) is formed in the front end of a frame of the crawler-type feeding machine, and a traction hole (16) connected with a mobile belt conveyor is formed in the tail of the frame of the crawler-type feeding machine; a three-phase motor (20) drives a duplex oil pump (22) to provide kinetic energy for a crawler belt driving motor through a three-position four-way electromagnetic valve (21).
3. An automatic feeding robot according to claim 1, wherein: the rolling cage hydraulic motor on the spiral rolling cage (10) device and the variable frequency motor arranged in the conveyor driving wheel (14) are set to be started in an interlocking way.
4. An automatic feeding robot according to claim 1, wherein: the hydraulic motor support ring (12) of the shovel hopper and spiral rolling cage (10) device is of a special-shaped annular structure, and provides load protection for normal operation of the rolling cage hydraulic motor (11).
5. An automatic feeding robot according to claim 1, wherein: and a special wear-resisting device is arranged at a gap between the U-shaped discharge hole (9) and a conveying belt of the digital intelligent belt conveyor.
6. An automatic feeding robot according to claim 1, wherein: the feeding robot is characterized in that a laser position sensor is further arranged on the feeding machine frame (1), and through an angle encoder (27) and an inclination sensor which are arranged in the feeding machine sensing system, the accurate positioning of the feeding robot is realized by adopting a scheme of comprehensively positioning the laser position sensor, the angle encoder (27) and the inclination sensor.
7. An automatic feeding robot according to claim 1, wherein: the feeding robot is characterized in that an electronic compass is further arranged on the feeding machine frame (1), and through an inclination sensor arranged in the feeding machine sensing system, the accurate positioning of the feeding robot is realized by adopting a scheme of comprehensively positioning the electronic compass, the inclination sensor and the laser position sensor.
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| CN202311525800.0A CN117228275B (en) | 2023-11-16 | 2023-11-16 | Automatic feeding robot |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102530571A (en) * | 2011-12-28 | 2012-07-04 | 兰风秋 | All-hydraulic tracked reclaimer and charger |
| CN115045159A (en) * | 2022-08-08 | 2022-09-13 | 四川川交路桥有限责任公司 | Automatic feeding system for graded ingredients |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB731546A (en) * | 1952-09-11 | 1955-06-08 | Distington Engineering Co | Improvements in loading machines |
| US7963387B2 (en) * | 2006-06-06 | 2011-06-21 | Keith Leslie Carmody | Transportable pick-up conveyor |
| CN201793253U (en) * | 2010-06-30 | 2011-04-13 | 徐州天科机械制造有限公司 | Impact-free gangue continuous loading machine used for mine |
| CN219108152U (en) * | 2022-08-25 | 2023-06-02 | 寿光市忠达农业机械有限公司 | Feeding and sprinkling rotary tillage all-in-one machine |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102530571A (en) * | 2011-12-28 | 2012-07-04 | 兰风秋 | All-hydraulic tracked reclaimer and charger |
| CN115045159A (en) * | 2022-08-08 | 2022-09-13 | 四川川交路桥有限责任公司 | Automatic feeding system for graded ingredients |
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