阅读说明：本技术 一种用于环保智能化料场堆料的伸缩溜筒系统及控制方法 (Telescopic chute system for environment-friendly intelligent stock yard stockpiling and control method ) 是由 王哲 黎帅 李霞辉 张超 王泽湘 龙浩南 李泉 杨庆 于 2020-12-11 设计创作，主要内容包括：本发明公开一种用于环保智能化料场堆料的伸缩溜筒系统及其控制方法,包括堆料机臂架、堆料机臂架支座、处理器总成、卷扬机、牵引绳、滑轮组、清扫器、销轴组件、挡料板、伸缩料筒、螺旋扣、卸扣、堵料检测开关、防撞开关和低频超声波雷达,通过环形排布的4个低频超声波雷达以及堆料设备的位置编码器、防撞开关、堆料检测开关等实时监测设备运行及故障,由处理器对堆料设备实时状况进行调整,并通过堆料机运动控制系统对设备走行动作、回转动作、俯仰动作及料筒伸缩动作进行动态调整。工作人员通过对中控远程PLC反馈的设备工况远程监控,由HMI操作界面发布合适的中控指令,并通过中控远程PLC实现堆料机运动控制,实现系统的智能化和无人值守功能。(The invention discloses a telescopic chute system for environment-friendly intelligent stock yard stockpiling and a control method thereof. The staff issues a proper central control instruction through the HMI operation interface through the remote monitoring of the equipment working condition fed back by the central control remote PLC, and realizes the movement control of the stacker through the central control remote PLC, thereby realizing the intelligentization and unattended function of the system.)

1. The utility model provides a flexible swift current section of thick bamboo system for intelligent stock ground windrow of environmental protection, includes stocker cantilever crane, stocker cantilever crane support, round pin axle components (6) and flexible feed cylinder (8), its characterized in that: the telescopic charging barrel (8) is rotatably installed on a stacker arm support through a pin shaft assembly (6), a processor assembly (1) is fixedly installed on the outer wall of the stacker arm support, a sweeper (5) is fixedly installed at the front end of the stacker arm support, a pulley block (4) is fixedly installed inside the sweeper (5), a winch (2) is fixedly installed on the stacker arm support at the rear side of the sweeper (5), a traction rope (3) is fixedly wound on the winch (2), the other end of the traction rope (3) penetrates through the pulley block (4), the sweeper (5) and a turnbuckle (9) to be fixedly connected, lifting lugs are arranged on the upper portion and the lower portion of the telescopic charging barrel (8), a shackle (10) is buckled on the lower end of the turnbuckle (9), the lower end of the shackle (10) is fixedly buckled with the lifting lug on the lower portion of the telescopic charging barrel (8), and the upper portion of the telescopic charging barrel (8) is a feeding port, the lower part of flexible feed cylinder (8) is the discharge opening, feed opening department fixedly connected with striker plate (7), flexible feed cylinder (8) upper portion lug is rotated with stacker cantilever crane support through round pin axle subassembly (6) and is connected, putty detection switch (11) have been fixed to have been installed on the inner wall of flexible feed cylinder (8) discharge opening, crashproof switch (12) have been installed to the bottom of flexible feed cylinder (8), low frequency ultrasonic radar (13) have been installed to the flexible feed cylinder (8) bottom of crashproof switch (12) one side.

2. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 1, wherein: the utility model discloses a flexible feed cylinder (8) is including by interior feeding section of thick bamboo (81), first middle section of thick bamboo (82), second middle section of thick bamboo (83) and the stripper (84) of suit outside to in proper order, the upper portion in the feeding section of thick bamboo (81) outside and lower part are equipped with spacing ring and lower spacing ring respectively, the inside and outside two sides in first middle section of thick bamboo (82) and second middle section of thick bamboo (83) all are equipped with spacing ring and lower spacing ring, the department is equipped with the spacing ring respectively about stripper (84) inboard, the upper portion in stripper (84) outside is equipped with the spacing ring, the bottom of stripper (84) is equipped with outer retaining ring, the spacing ring mutual butt of adjacent node inside and outside on flexible feed cylinder (8) to install the rubber ring in the butt position.

3. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 2, wherein: the sweeper is characterized in that the traction rope (3) penetrates through the sweeper (5) and the pulley block (4), a compression spring (52) and a roller brush (53) which are tightly pressed are arranged in the sweeper (5), one end of the traction rope (3) is connected with the winch (2), and the other end of the traction rope is connected with the discharging barrel (84) through the shackle (10) and the turnbuckle (9).

4. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 1, wherein: the upper part of the telescopic charging barrel (8) is movably connected with the arm support of the stacker through a pin shaft assembly (6).

5. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 1, wherein: the wear-resistant lining plate is installed on the inner side of the telescopic charging barrel (8), and the barrel wall of the telescopic charging barrel (8) is formed by welding steel plates with different thicknesses.

6. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 1, wherein: putty detects switch (11) and installs on the inner wall of flexible feed cylinder (8), the output and the treater assembly (1) input electricity of putty detection switch (11) are connected, work as when taking place to block up in flexible swift current section of thick bamboo (8), putty detection switch (11) can be with putty signal of telecommunication transmission to treater assembly (1), and then orders about stacker PLC control system and send stop signal for defeated material system scram, protective apparatus.

7. The telescopic chute system for the environmentally-friendly intelligent stockyard stockpiling of claim 2, wherein: anticollision switch (12) are annular evenly to be installed on flexible feed cylinder (8) bottom outer retainer ring with low frequency ultrasonic radar (13), low frequency ultrasonic radar (13) are through ultrasonic signal collection and emission module transmission ultrasonic wave and receive the ultrasonic wave that reflects back through the barrier, according to the time difference and other echo characteristics that the ultrasonic wave reflection received, by processor assembly (1) calculates distance, pile shape information.

8. A control method of a telescopic chute system for environmentally friendly intelligent stockyard stockpiling, which uses any one of the telescopic chute systems in claims 1 to 7, and is characterized by comprising the following steps:

s1: the position encoder, the anti-collision switch (12) and the blocking detection switch (11) monitor the position and feeding information of the equipment in real time, and send monitoring data to the PLC control system of the stacker so as to assist the PLC control system of the stacker to finely adjust the action of the equipment;

s2: if driving jamming, collision between the charging barrel and the material pile and danger of material blockage occur, an emergency stop signal is sent to a PLC control system of the stacker to stop the material conveying system and protect equipment;

s3: the central control remote PLC is communicated with the stacker PLC control system in real time, a central control instruction is sent to the stock yard stacking equipment through the acquired state information of the stacker equipment and central control monitoring, the instruction is transmitted to the central control remote PLC through an HMI interface, and a signal is further transmitted to the stacker PLC control system, so that manual remote control of the system is realized;

s4: if the equipment moves to the designated position of the stock yard, the conveying belt and the ground limit switch are linked, and the electric signal can be transmitted to a central control room or a PLC control system of the stacker so as to realize the start and stop of the stacker and the whole conveying system and perfect the automatic unattended function of the whole stock yard conveying equipment.

Technical Field

The invention belongs to the technical field related to conveying systems of environment-friendly intelligent stockyard, and particularly relates to a telescopic chute system for environment-friendly intelligent stockyard stockpiling and a control method thereof.

Background

At present, bulk materials such as coal, pyrite cinder, clay, sandstone and the like are all stockpiled or belt conveyors in domestic yard operation, and the bulk materials can be efficiently and continuously transported, so that the bulk materials are widely applied to multiple fields such as thermal power plants, coal, chemical industry, cement plants and the like at present. Meanwhile, with the continuous progress of global intellectualization and automation technology, equipment is continuously updated in domestic industries such as electric power, metallurgy and the like. The automation and the intelligent degree of the production process are improved, and the intelligent unattended stock ground with advanced construction technology, first-class equipment, high production efficiency, green and environmental protection is already the development trend.

However, the conveying and stacking equipment still comprises a traditional fixed belt conveyor, and the operation dust is difficult to inhibit and pollutes the environment due to the influence of factors such as gravity, wind, impact and the like in the conveying and discharging process, so that the environmental protection standard of China cannot be met. Most of equipment is manually operated, the operation efficiency and the operation safety are closely related to the skill level, the responsibility and the mental condition of a driver, various problems of overlarge stacking wave crest, unfilled corner, stacking and the like of a stock ground are easily caused, the stock capacity cannot be fully utilized directly, and great potential safety hazards also exist. In the operation of partial automatic mode, do not carry out effectual monitoring to the windrow height, it is single to produce the coal piling process easily, and the windrow machine action gesture is measured inaccurately for the heap type superelevation or jam swift current feed cylinder cause the equipment to damage, influence the personal safety even.

Aiming at the dustproof control of the stockpiling equipment, a method of additionally arranging a striker plate or a dustproof windproof net at a discharge opening is mainly adopted in China; for materials insensitive to humidity, a spraying dust settling system is additionally arranged near the blanking position, and the quality of mine dust is increased by wetting the mine dust, so that the settling speed of the dust is improved, the floating time of the dust in the air is reduced, and the amount of the floating dust in the air is reduced.

For example, patent documents of publication No. CN209038645U, publication No. 2019, 6 and 28 disclose a device for dust suppression of material stacking, which is characterized in that a stacking chute and a sealing rubber plate are additionally arranged to seal the falling process of the material to prevent dust from overflowing;

patent documents with the grant publication number of CN210964415U and the grant publication number of 2020, 07, 10 disclose a stacker sprinkling dust suppression device, wherein a connecting ring is connected around an unloading roller at the bottom of the tail end of a stacker head through a support rod, the outer side of the connecting ring is connected with a rotating ring through a bearing, and a stepping motor is arranged in the connecting ring to realize the adjustment of the position of an atomizing nozzle on the rotating ring, so that the device can realize a large-area atomizing function only through four atomizing nozzles, and the dust suppression cost is effectively reduced.

However, the device only realizes dust suppression by adding the plug at the discharge port in a targeted manner, and the automation of a stacking system and the universality of equipment are difficult to realize; the method for reducing the raised dust by additionally arranging the spraying equipment at the head of the belt conveyor is only suitable for partial materials with low requirements on humidity, the surface of a material layer can only be humidified in the atomization process, the interior of the material layer is not humidified, and the materials with poor wind resistance still can generate the raised dust in the blanking process. Meanwhile, the method is difficult to ensure the automation of the stockpiling system, and is not beneficial to the construction of an intelligent unattended stock yard.

Patent documents with an authorization publication number of CN109319518A and an authorization publication date of 2019, 2.12 disclose a full-automatic stacker-reclaimer cooperative control system, and a main station system and a plurality of slave station systems are arranged, so that the cooperative control and the intelligent control of the stacker-reclaimer are realized by utilizing technologies such as position monitoring, double wireless communication, various sensors, image processing and the like;

patent documents with an authorization publication number of CN110047140A and an authorization publication number of 2019, 7 and 23 disclose an unattended system and an intelligent stock ground monitoring system of a stock ground, wherein the system acquires real-time point cloud data of a stock pile through a three-dimensional laser scanner and intelligently controls a stacker-reclaimer through an automatic stacker-reclaimer system, so that unattended operation is realized.

However, the method is complex in treatment and high in input cost, the stockpile identification method and the material pile communication method are greatly influenced by the environment, the position and the weather of a stock yard, and a series of problems such as inaccurate equipment control, low operation efficiency, control system failure and the like are easily caused by the change of external conditions. Therefore, there are still many problems to be solved in carrying out dust emission control and realizing an intelligent unattended system.

Disclosure of Invention

The invention aims to provide a telescopic chute system for environment-friendly intelligent stock yard stockpiling and a control method thereof, and aims to solve the problems of poor dust suppression effect, low non-automatic stockpiling efficiency, high automation cost, external environment interference resistance and inconvenience for realizing automation in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: a telescopic chute system for environment-friendly intelligent stock yard stacking comprises a stacker arm support, a pin shaft assembly and a telescopic material barrel, wherein the telescopic material barrel is rotatably installed on the stacker arm support through the pin shaft assembly, a processor assembly is fixedly installed on the outer wall of the stacker arm support, a sweeper is fixedly installed at the front end of the stacker arm support, a pulley block is fixedly installed inside the sweeper, a winch is fixedly installed on the stacker arm support at the rear side of the sweeper, a traction rope is fixedly wound on the winch, the other end of the traction rope penetrates through the pulley block, the sweeper and a turnbuckle and is fixedly connected with the turnbuckle, lifting lugs are arranged on the upper and lower portions of the telescopic material barrel, a shackle is buckled at the lower end of the turnbuckle, the lower end of the shackle is fixedly buckled with the lifting lugs on the lower portion of the telescopic material barrel, and the upper portion of the telescopic material barrel is a, the lower part of flexible feed cylinder is the discharge opening, feed inlet department fixedly connected with striker plate, flexible feed cylinder upper portion lug rotates through round pin axle subassembly and stacker cantilever crane support to be connected, the fixed putty detection switch that has installed on the inner wall of flexible feed cylinder discharge opening, crashproof switch has been installed to the bottom of flexible feed cylinder, low frequency ultrasonic radar has been installed to the flexible feed cylinder bottom of crashproof switch one side.

Preferably, flexible feed cylinder includes by interior feeding section of thick bamboo, first middle section of thick bamboo, the middle section of thick bamboo of suit outside to and stripper, the upper portion in the feeding section of thick bamboo outside and lower part are equipped with spacing ring and lower spacing ring respectively, the inside and outside two sides of a section of thick bamboo all are equipped with spacing ring and lower spacing ring in the middle of first middle section of thick bamboo and the second, department is equipped with the spacing ring respectively about the stripper inboard, the upper portion in the stripper outside is equipped with the spacing ring, the bottom of stripper is equipped with outer retaining ring, the mutual butt of spacing ring of adjacent node inside and outside on the flexible feed cylinder to install the rubber circle in the butt position, impact when slowing down the contact between the feed cylinder, also can reduce the contact inequality of butt face simultaneously, eliminate the clearance.

The haulage rope passes sweeper and assembly pulley, changes the direction of traction of haulage rope through the assembly pulley, be equipped with the compression spring and the cylinder brush that compress tightly in the sweeper, make the cylinder brush hug closely the haulage rope through the spring packing force, can guarantee that the rope face is clean basically at the in-process that the haulage rope removed, the one end and the hoist engine of haulage rope are connected, and the other end is connected with the stripper through shackle, turnbuckle, are convenient for the haulage rope is dismantled and is changed and position adjustment.

Preferably, the upper part of the telescopic charging barrel is movably connected with a support of an arm support of the stacker through a pin shaft assembly, and the telescopic charging barrel can be guaranteed to be perpendicular to the ground in a posture when the stacker pitches up and down.

Preferably, wear-resisting welt is installed to flexible feed cylinder inboard, slows down the impact of material to the feed cylinder inner wall, effectively resists the wearing and tearing and the corruption of article such as material, improves feed cylinder life, the section of thick bamboo wall of flexible feed cylinder forms through the welding of the not steel sheet of uniform thickness, alleviates the whole quality of feed cylinder.

Preferably, the putty detection switch is installed on the inner wall of flexible feed cylinder, putty detection switch's output and treater assembly input electricity are connected. When the blockage occurs in the telescopic chute, the blockage electric signal can be transmitted to the processor assembly, and then the PLC control system of the stacker is driven to send a stop signal, so that the material conveying system is suddenly stopped, and the equipment is protected.

Preferably, the anti-collision switch and the low-frequency ultrasonic radar are uniformly arranged on the outer baffle ring at the bottom of the telescopic charging barrel in an annular mode, the low-frequency ultrasonic radar transmits ultrasonic waves through the ultrasonic signal acquisition/transmission module and receives the ultrasonic waves reflected back by the barrier, and the information such as the distance, the pile shape and the like is calculated by the processor assembly according to the time difference and other echo characteristics received by ultrasonic reflection. The low-frequency ultrasonic wave also has the advantages of strong penetrating power, long detection distance and the like, and can reduce probe misdetection caused by small splashed materials and dust particles. The multiple probes arranged in an annular mode greatly improve the detection range and the detection precision. When the low-frequency ultrasonic radar detection function is invalid or other foreign matters are contacted to enter, the anti-collision switch pressure lever moves in a deviating mode to send out a warning or stop signal. After the fault is eliminated, the movable pressure lever automatically resets under the action of the pressure spring.

A control method of a telescopic chute barrel system for environment-friendly intelligent stock yard stockpiling comprises the following steps:

s1: the position encoder, the anti-collision switch, the blocking detection switch and the like are used for monitoring information such as the position, feeding and the like of equipment in real time, and sending monitoring data to the PLC control system of the stacker so as to assist the PLC control system of the stacker to finely adjust the action of the equipment;

s2: if dangers such as driving blocking, collision of the charging barrel and the material pile, material blockage and the like occur, an emergency stop signal is sent to a PLC control system of the stacker, so that the material conveying system stops running, and equipment is protected;

s3: the central control remote PLC is communicated with the stacker PLC control system in real time, a central control instruction is sent to the stock yard stacking equipment through the acquired state information of the stacker equipment and central control monitoring, the instruction is transmitted to the central control remote PLC through an HMI interface, and a signal is further transmitted to the stacker PLC control system, so that manual remote control of the system is realized;

s4: if the equipment moves to the designated position of the stock yard, the conveying belt and the ground limit switch are linked, and the electric signal can be transmitted to a central control room or a PLC control system of the stacker so as to realize the start and stop of the stacker and the whole conveying system and perfect the automatic unattended function of the whole stock yard conveying equipment.

Compared with the prior art, the invention provides a telescopic chute tube system for environment-friendly intelligent stock yard stockpiling, which has the following beneficial effects:

the invention continuously sends sound wave signals to the stockpile through the ultrasonic signal acquisition/transmission module by 4 low-frequency ultrasonic radars which are annularly arranged, pours the acquired ultrasonic signals into the ultrasonic signal processing module in the processor assembly for carrying out the real-time calculation and monitoring of the height of the stockpile, and transmits the calculation and monitoring signals to the PLC control system of the stocker in the processor assembly, meanwhile, the position encoder, the anti-collision switch, the stacking detection switch and the like of the stacking equipment transmit the operation and fault information of the equipment to the PLC control system of the stacking machine in real time, the processor assembly comprehensively analyzes the height change of the material pile, the operation and fault information of the equipment to adjust the real-time condition of the stacking equipment, and the movement control system of the stacker dynamically adjusts the walking action, the rotation action, the pitching action and the telescopic action of the charging barrel of the equipment so as to ensure that the equipment runs under the optimal working condition. Meanwhile, the PLC control system of the stacker is connected with a central control remote PLC located in a central control room, a worker remotely monitors the equipment working condition parameters fed back by the central control remote PLC, an HMI operation interface issues a proper central control instruction, and the movement control of the stacker is realized through the central control remote PLC. The intelligent and unattended functions of the system are realized through the automatic control of the processor assembly and the central control instruction of the central control room.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

FIG. 1 is a front view of the overall retracted configuration of the present invention;

FIG. 2 is a schematic view of a sweeper structure according to the present invention;

FIG. 3 is a schematic view of the structure A-A of FIG. 1;

FIG. 4 is an enlarged view of a portion B of FIG. 3;

FIG. 5 is a schematic left-view structural diagram of the overall extended state according to the present invention;

FIG. 6 is an enlarged cross-sectional view taken at C in FIG. 5;

FIG. 7 is an architecture diagram of an intelligent and unattended functional system according to the invention;

in the figure: 1. a processor assembly; 2. a winch; 3. a hauling rope; 4. a pulley block; 5. a sweeper; 6. a pin assembly; 7. a striker plate; 8. a telescopic charging barrel; 9. a turnbuckle; 10. shackle dismounting; 11. a blocking detection switch; 12. an anti-collision switch; 13. a low frequency ultrasonic radar; 51. a frame; 52. a compression spring; 53. a roller brush; 81. a feeding cylinder; 82. a first intermediate barrel; 83. a second intermediate barrel; 84. a discharge cylinder; 811. countersunk head screws; 812. a wear-resistant lining plate; 813. an upper outer limiting ring of the feeding cylinder; 814. a first rubber ring; 815. a lower outer limiting ring of the feeding cylinder; 816. a feed cylinder reinforcement ring; 821. an inner limiting ring is arranged on the first middle cylinder; 822. an outer limiting ring is arranged on the first middle cylinder; 823. a lower outer limiting ring of the first middle cylinder; 824. a first intermediate barrel reinforcement ring; 825. a second rubber ring; 826. a third rubber ring; 831. an inner limiting ring is arranged on the second middle cylinder; 832. an outer limiting ring is arranged on the second middle cylinder; 833. a lower outer limiting ring of the second middle cylinder; 834. a second intermediate tube stiffening ring; 835. a fourth rubber ring; 836. a fifth rubber ring; 841. an inner limiting ring is arranged on the discharging cylinder; 842. an upper limiting ring and an outer limiting ring of the discharging cylinder are arranged; 843. an outer retainer ring; 844. and a sixth rubber ring.

Detailed Description

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 only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a telescopic chute system for environment-friendly intelligent stock yard stockpiling comprises a stacker arm support, a pin shaft assembly 6 and a telescopic material barrel 8, wherein the telescopic material barrel 8 is rotatably arranged on the stacker arm support through the pin shaft assembly 6, a processor assembly 1 is fixedly arranged on the outer wall of the stacker arm support, a sweeper 5 is fixedly arranged at the front end of the stacker arm support, a pulley block 4 is fixedly arranged inside the sweeper 5, a winch 2 is fixedly arranged on the stacker arm support at the rear side of the sweeper 5, a traction rope 3 is fixedly wound on the winch 2, the other end of the traction rope 3 penetrates through the pulley block 4, the sweeper 5 is fixedly connected with a turnbuckle 9, lifting lugs are arranged on the upper part and the lower part of the telescopic material barrel 8, a shackle 10 is buckled at the lower end of the turnbuckle 9, the lower end of the shackle 10 is fixedly buckled with the lifting lug at the lower part of the telescopic material barrel 8, and the, the lower part of the telescopic charging barrel 8 is a discharge opening, a striker plate 7 is fixedly connected to the position of the feed opening, a lifting lug at the upper part of the telescopic charging barrel 8 is rotatably connected with a stacker arm support through a pin shaft assembly 6, a blocking detection switch 11 is fixedly arranged on the inner wall of the discharge opening of the telescopic charging barrel 8, an anti-collision switch 12 is arranged at the bottom of the telescopic charging barrel 8, and a low-frequency ultrasonic radar 13 is arranged at the bottom of the telescopic charging barrel 8 on one side of the anti-collision switch 12.

Further, as shown in fig. 2, the cleaner 5 comprises a frame 51, a compression spring 52 and a roller brush 53, wherein guide rail grooves are symmetrically formed at the left and right ends of the frame 51, bosses are respectively arranged at the top of the guide rail grooves and the shaft side of the roller brush 53, one end of the compression spring 52 is tightly fitted with the boss at the top of the guide rail groove, the other end of the compression spring 52 is tightly fitted with the boss at the shaft side of the roller brush 53, the upper and lower roller brushes 53 are kept in close contact by the pressing force of the compression spring 52, the end surfaces of the roller brushes 53 opposite to the side frame 51 are provided with round holes, and the other side is provided with a discharge hole, the traction rope 3 passes through a round hole on the frame 51 and the roller brush 53, can guarantee that the rope face is clean basically at the in-process that haulage rope 3 removed, outside the material after the cleanness passes through discharge opening discharge frame 51 simultaneously, prevent that the frame 51 that the material backlog arouses from blockking up and the off tracking of haulage rope 3 on assembly pulley 4 derails.

Further, as shown in fig. 3 and 4, the telescopic cylinder 8 comprises a feeding cylinder 81, a first intermediate cylinder 82, a second intermediate cylinder 83 and a discharging cylinder 84 which are nested from inside to outside;

the feeding cylinder 81 comprises a countersunk head screw 811, a wear-resistant lining plate 812, an upper outer limiting ring 813 of the feeding cylinder, a first rubber ring 814, a lower outer limiting ring 815 of the feeding cylinder and a feeding cylinder reinforcing ring 816, wherein the wear-resistant lining plate 812 is sequentially fixed on the inner wall of the feeding cylinder 81 through the countersunk head screw 811, the impact of materials on the inner wall of the feeding cylinder can be relieved by additionally installing the wear-resistant lining plate 812, the wear and corrosion of the materials and other objects can be effectively resisted, the service life of the feeding cylinder is prolonged, the upper outer limiting ring 813 of the feeding cylinder is welded and installed on the upper part of the outer wall of the feeding cylinder 81, the lower outer limiting ring 815 of the feeding cylinder is welded and installed on the lower part of the outer wall of the feeding cylinder 81, the feeding cylinder reinforcing ring 816 is welded and installed at the tail end of the outer wall of the feeding cylinder 81 and used for reinforcing the integral structure;

in addition, the first middle cylinder 82 comprises a sunk screw 811, a first middle cylinder upper inner limiting ring 821, a first middle cylinder upper outer limiting ring 822, a first middle cylinder lower outer limiting ring 823, a first middle cylinder reinforcing ring 824, a second rubber ring 825 and a third rubber ring 826, the first middle cylinder upper inner limiting ring 821 is welded and installed on the upper portion of the inner side of the cylinder wall of the first middle cylinder 82, the first middle cylinder upper outer limiting ring 822, the first middle cylinder lower outer limiting ring 823 and the first middle cylinder reinforcing ring 824 are respectively welded and installed on the upper portion, the lower portion and the tail end of the outer side of the cylinder wall of the first middle cylinder 82, and the second rubber ring 825 and the third rubber ring 826 are respectively fixed at the bottoms of the first middle cylinder upper inner limiting ring 821 and the first middle cylinder upper outer limiting ring 822 by sunk screws 811;

in addition, the second middle cylinder 83 comprises a countersunk head screw 811, a second middle cylinder upper inner limiting ring 831, a second middle cylinder upper outer limiting ring 832, a second middle cylinder lower outer limiting ring 833, a second middle cylinder reinforcing ring 834, a fourth rubber ring 835 and a fifth rubber ring 836, the second middle cylinder upper inner limiting ring 831 is welded and installed on the upper part of the inner side of the cylinder wall of the second middle cylinder 83, and the second middle cylinder upper outer limiting ring 832, the second middle cylinder lower outer limiting ring 833 and the second middle cylinder reinforcing ring 834 are respectively welded and installed on the upper part, the lower part and the tail end of the outer side of the cylinder wall of the second middle cylinder 83; the fourth rubber ring 835 and the fifth rubber ring 836 are respectively fixed at the bottoms of the inner limiting ring 831 on the second middle cylinder and the outer limiting ring 832 on the second middle cylinder by using countersunk screws 811;

in addition, the discharging cylinder 84 comprises a countersunk head screw 811, an upper inner limiting ring 841 of the discharging cylinder, an upper outer limiting ring 842 of the discharging cylinder, an outer retaining ring 843 and a sixth rubber ring 844, the upper inner limiting ring 841 of the discharging cylinder and the upper outer limiting ring 842 of the discharging cylinder are respectively welded and fixed on the upper parts of the inner wall and the outer wall of the discharging cylinder 84, the outer retaining ring 843 is installed on the lower part of the outer wall of the discharging cylinder 84, and the sixth rubber ring 844 is fixed on the bottom of the upper inner limiting ring 841 of the discharging cylinder through the countersunk head screw 811. When the telescopic chute barrel starts to retract, the discharge barrel 84 acts firstly; when the upper plane of the upper inner limiting ring 841 of the discharging cylinder in the discharging cylinder 84 abuts against the fifth rubber ring 836, the second middle cylinder 83 retracts in linkage with the discharging cylinder 84; then, when the second middle cylinder upper inner limiting ring 831 in the second middle cylinder 83 abuts against the third rubber ring 826, the first middle cylinder 82 retracts in linkage with the second middle cylinder 83 and the discharging cylinder 84; finally, when the upper inner limiting ring 821 of the first intermediate cylinder in the first intermediate cylinder 82 abuts against the first rubber ring 814, the feeding cylinder 81 retracts in linkage with the first intermediate cylinder 82, the second intermediate cylinder 83 and the discharging cylinder 84, and the telescopic cylinder 8 retracts integrally. The rubber ring is arranged at the abutting position, so that the impact generated when the charging barrels are in contact is relieved, the contact unevenness of the abutting surfaces can be reduced, and the gap is eliminated.

It should be noted that, as shown in fig. 5 and 6, one end of the hauling cable 3 is connected with the winch 2, the other end of the hauling cable is connected with the shackle 10 through the turnbuckle 9 and the lifting lug at the lower part of the telescopic charging barrel 8, and the connection mode of matching the turnbuckle 9 and the shackle 10 is adopted, so that the assembly and disassembly are convenient, the lifting posture is adjusted, and the hauling cable 3 is prevented from being twisted. When receiving the extension signal of the charging barrel, the windlass 2 extends the traction rope 3 through the rotation of the rotating shaft, the telescopic cylinder 8 starts to extend under the action of gravity, and when the second rubber ring 825 at the bottom of the upper first middle cylinder limiting ring 821 in the first middle cylinder 82 abuts against the lower feeding cylinder limiting ring 815 in the feeding cylinder 81, the first intermediate cylinder 82 and the feed cylinder 81 are fixed in position and do not extend any further, at which point the second intermediate cylinder 83 begins to extend, when the fourth rubber ring 835 at the bottom of the upper inner retainer 831 of the second middle cylinder abuts against the lower outer retainer 823 of the first middle cylinder 82, the position of the second middle cylinder 83 is fixed, the discharging cylinder 84 starts to extend, the sixth rubber ring 844 in the inner limiting ring 841 on the discharging cylinder abuts against the lower outer limiting ring 833 of the second middle cylinder in the second middle cylinder 83, the position of the discharging cylinder 84 is fixed, and the extension process of the telescopic cylinder 8 is completed. The whole telescopic charging barrel keeps connected and is not separated, so that the leakage of materials during material conveying is avoided, the operation efficiency is improved, and the field dust is greatly reduced.

It should be noted that, as shown in fig. 7, all modules and control systems are integrated in the processor assembly 1, the ultrasonic signal acquisition/transmission module in the processor assembly 1 is used to transmit an excitation signal to drive the four annularly distributed low-frequency ultrasonic radars 13 to transmit low-frequency ultrasonic waves as required, and simultaneously receive echoes in real time, and the ultrasonic signal processing module is used to analyze and process information such as time, amplitude, and waveform of the echoes, and the components such as the position encoder, the anti-collision switch 12, and the blockage detection switch 11 are used to monitor the operation state and fault information of the whole equipment, and provide multi-directional protection for the equipment. The stacker PLC control system is used for tracking and feeding back the equipment state, transmitting signals to the stacker motion control system according to the field operation requirement and the equipment state, and accurately controlling the equipment to walk, rotate, pitch and stretch and retract the material barrel. The central control room comprises four large plates of central control monitoring, central control instructions, HMI operation interfaces and central control remote PLC, and is used for carrying out communication and joint control on the PLC control system of the stacker in two directions.

The invention realizes the intelligent unattended process: the ultrasonic signal is transmitted by the four annularly distributed low-frequency ultrasonic radar 13 ultrasonic signal acquisition/transmission modules, the reflected echo is received, the ultrasonic signal processing module extracts and processes echo information, the distance between a material pile and the radar, the real-time height of the material pile, the shape of the material pile and other data information are acquired, and the data information is transmitted to the PLC control system of the stacker. In order to keep the distance between the material pile and the radar probe and the material pile height in a proper range continuously, the system dynamically adjusts through analyzing data information, transmits an electric signal to a movement control system of the material pile machine, the movement control system of the material pile machine sends out a control signal to each driving part, the walking, the rotation, the pitching and the material cylinder stretching of the equipment are adjusted, and finally the material pile height can reach a set range. The position encoder, the anti-collision switch 12, the blocking material detection switch 11 and the like monitor the position, feeding and other information of the equipment in real time, and send monitoring data to the PLC control system of the stacker so as to assist the PLC control system of the stacker to finely adjust the action of the equipment. If danger such as drive jamming, collision of the charging barrel and the material pile, material blockage and the like occurs, the protection switch acts to send an emergency stop signal to the PLC control system of the stacker, so that the material conveying system stops running and equipment is protected. The central control remote PLC and the stacker PLC control system keep communication in real time, central control instructions are sent to stock yard stacking equipment through acquired state information of the stacker equipment and central control monitoring, the instructions are transmitted to the central control remote PLC through the HMI interface, signals are further transmitted to the stacker PLC control system, and manual remote control of the system is achieved. Furthermore, if the equipment runs to the designated position of the stock ground, the conveying belt and the ground limit switch are linked, and the electric signal can be transmitted to a central control room or a PLC control system of the stacker so as to realize the start and stop of the stacker and the whole conveying system and perfect the automatic unattended function of the whole stock ground conveying equipment.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.