CN113335882B

CN113335882B - Site bulk material loading system and method

Info

Publication number: CN113335882B
Application number: CN202110629575.XA
Authority: CN
Inventors: 孙国顺; 李旭
Original assignee: Zhongmei Kegong Intelligent Storage Technology Co ltd; Tiandi Science and Technology Co Ltd; China Coal Technology and Engineering Group Corp
Current assignee: Zhongmei Kegong Intelligent Storage Technology Co ltd; Tiandi Science and Technology Co Ltd; China Coal Technology and Engineering Group Corp
Priority date: 2021-06-07
Filing date: 2021-06-07
Publication date: 2022-12-20
Anticipated expiration: 2041-06-07
Also published as: CN113335882A

Abstract

The invention relates to a field bulk material loading system and a method, comprising the following steps: the self-moving type at least one material taking weighing loader, a material preparing machine and a flat car sweeper can be connected or dispersedly operated in a bulk material stacking field; the material taking and weighing loader is provided with a material taking arm, the material taking arm is connected with a weighing device, and the weighing device is connected with an output device; the batching machine be equipped with input device, input device be connected with the compounding cylinder, the compounding cylinder be connected with the belt feeder, the flatcar scavenging machine be equipped with and strickle device and angle scraping device to and cleaning device. The invention can complete various operations of loading bulk materials at one time by utilizing field equipment such as a material taking, weighing and loading machine, a batching machine, a flat car sweeper and the like, and can complete an automatic loading process under the coordination of an automatic control system, thereby greatly improving the working efficiency, reducing the operation risk and obviously reducing the overall loading cost.

Description

Site bulk material loading system and method

Technical Field

The invention relates to a loading system and a loading method for bulk materials in a site, in particular to a transport machinery system and a transport machinery method, and particularly relates to a system and a method for loading automobiles in a material accumulation site.

Background

Conventional bulk commodity material (e.g., coal, sand, etc. processed uniform particle commodities) dumps typically use a universal loader to load transport vehicles. The loading process is essentially of the rough type, with essentially no programming of the loading process, and is carried out completely by the loader driver, depending on the field situation. Some large-scale bulk commodity stock yards can set a specially-assigned person to command the loading process of the stock yard and scientifically schedule the loading process according to a planning theory. However, due to the lack of professional equipment and the excessive interference of human factors in the scheduling process, the whole loading process is basically in a relatively simple and non-programmable state which cannot be refined, such as: the loading capacity of the commodity materials can only be approximate, weighing is carried out through a wagon balance, and auxiliary loading is carried out for more or less compensation, so that the loading efficiency is reduced. The current loading mode is a difficult problem for the uniform mixing loading of various materials. Some materials, such as coal powder, have various finished goods with different particles, and users do not necessarily need a goods with one particle size, but need a mixture of several coal powders with different particle sizes. This mixing is often difficult to achieve at the yard, requiring specialized mixing machinery and yard to mix and then to be stacked at the finished yard for loading, with the mixing process completely separate from the loading process. Another problem that exists in current loading stock ground is that, after the vehicle loading was accomplished, the material that loads in the carriage was in the state of piling up at random, often also scattered the material on the ledge of carriage, at this moment need carry out flattening and clearance to the material in the carriage to in the transportation because the material loading is unbalanced forms the unbalance loading, form transportation safety hidden danger, probably pollute the sanitation of transport route simultaneously. The existing leveling and cleaning are basically completed manually, the automation degree is low, the labor intensity is high, and the efficiency is low. In a word, the fine, programmed and automatic loading process of the existing bulk commodity material yard is a problem to be solved.

Disclosure of Invention

To overcome the problems of the prior art, the present invention provides a field bulk material loading system and method. The system and the method realize automation of the whole loading process by arranging a whole set of loading machinery and manually or automatically scheduling, and solve the problem of automation of weighing, mixing and cleaning.

The purpose of the invention is realized as follows: a yard bulk material loading system comprising: the self-moving type material taking weighing loader, the batching machine and the flat car sweeper can be connected or dispersedly operated in a bulk material accumulation field; the material taking and weighing loader is provided with a material taking arm, the material taking arm is connected with a weighing device, and the weighing device is connected with an output device; the batching machine be equipped with input device, input device be connected with the compounding cylinder, the compounding cylinder be connected with the belt feeder, the flatcar scavenging machine be equipped with and strickle device and angle scraping device to and cleaning device.

Further, a plurality of stacking field state sensors are arranged around the bulk material stacking field in a grid shape, each stacking field state sensor is connected with a stacking field scheduling analysis subsystem, and the stacking field scheduling analysis subsystem comprises: a material pile state analysis device, a loading mechanical state analysis device and a loading vehicle state analysis device; the dispatching analysis subsystem is connected with a dispatching command device, and the dispatching command device is in wireless communication connection with the material taking weighing loader, the batching machine and the flatcar sweeper.

Furthermore, the material taking arm of the material taking, weighing and loading machine comprises a foldable material taking frame, a support rod for opening or closing the material taking frame is arranged on the material taking frame, a rotary material taking device is arranged at one end of the material taking frame, and a conveying belt is arranged on the material taking frame; the weighing device includes: a rough weighing belt and a fine weighing belt capable of reciprocating; the output device is a conveying belt with one end lifted.

Furthermore, the batching loader is provided with a mixing roller with a helical blade inside, one end of the mixing roller is provided with a feeding port, the other end of the mixing roller is provided with a discharging port, and the discharging port is connected with a loading belt.

Furthermore, the scraping device of the flat car sweeper comprises a scraping plate driven by a scraping lifting rod to move up and down; the angle wiping device comprises an angle wiping disc which is driven by an angle wiping lifting rod to move up and down; the cleaning device comprises a cleaner which is driven by a cleaning lifting rod to move up and down.

A method for loading bulk materials on site by using the loading system comprises the following steps:

step 1, obtaining loading information: the dispatching command device obtains the quantity and variety of goods of the loading from an upper computer, and the tonnage and carriage size of each loading vehicle;

step 2, analyzing the state of the material pile: analyzing the stacking positions and the number of various current goods in the stacking field according to the state of the stacking field material stack obtained by the stacking field state sensor;

step 3, analyzing the state of the loading machine: obtaining the accurate position of each loading machine at the initial loading according to the accumulation field state sensor and the running track of each loading machine;

and 4, analyzing the state of the loaded vehicle: obtaining the accurate position of each loading vehicle at the initial loading according to the accumulation field state sensor and the running track of each loading vehicle;

step 5, planning a loading process: the command scheduling device plans the quantity and the type of the loading machines required by the current loading according to the loading information, the material pile state, the loading machine state and the loading vehicle state, and formulates a loading plan according to the running routes and the working positions of each loading machine and each loading vehicle;

and step 6, executing loading operation: the command scheduling device commands the loading machine and the loading vehicle to execute loading operation according to the loading plan until the loading is finished; the loading process comprises the following steps: get material weighing loader and go to required material heap and acquire the material and weigh the back output to following the complex proportioning machine, during the material output to the loading vehicle of following of proportioning machine after mixing, the loading vehicle is gone to the position of setting for and is carried out the flatcar by the flatcar scavenging machine, wipe the angle and clean.

Further, the loading action of step 6 includes the following sub-steps:

substep 1, obtaining and weighing a material: the material taking and weighing loader automatically moves to a corresponding material stack, the material taking device is rotated to obtain materials from the material stack and convey the materials to the rough-weighing belt, the rough-weighing belt conveys the materials to the fine-weighing belt, the rough-weighing belt records the approximate weight of the conveyed materials in the material conveying process, the fine-weighing belt moves back and forth when receiving the materials conveyed by the rough-weighing belt, the materials are flattened on the fine-weighing belt, the feeding is stopped when the materials conveyed by the rough-weighing belt reach the quantity to be loaded at this time, the fine-weighing belt also stops rotating to carry out static weighing, the rough-weighing belt is started to supplement the component when the fine-weighing belt finds that the component of the materials is insufficient, the materials are output to a following material proportioning machine by the fine-weighing belt, the material taking and weighing loader is switched to another material stack after one type of the materials is matched, or the material proportioning machine is switched to another material taking and weighing loader which takes the materials in another material stack until the corresponding materials are obtained;

substep 2, mixing materials: the batching machine uniformly mixes various materials in the barrel together by rotating the mixing roller, and the materials are conveyed into a carriage of a loading vehicle by a loading belt after being uniformly mixed;

substep 3, cleaning the flatcar: the loaded loading vehicle runs to a designated place and stops, and a flat car sweeper cleans and flatcars; the flat car sweeper walks forwards and backwards along the length direction of the carriage, the scraping plates are sequentially put down according to needs to carry out flat car leveling, the corner troweling device is put down to trowel four corners, the sweeper is put down to sweep the edge of the carriage, and then a loading vehicle drives away to finish the loading process.

The invention has the advantages and beneficial effects that: the invention can complete various operations of loading bulk materials at one time by utilizing field equipment such as a material taking, weighing and loading machine, a batching machine, a flat car sweeper and the like, and can complete an automatic loading process under the coordination of an automatic control system, thereby greatly improving the working efficiency, reducing the operation risk and obviously reducing the overall loading cost.

Drawings

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

FIG. 1 is a schematic diagram of a system according to an embodiment of the present invention;

FIG. 2 is a schematic block diagram of a command and dispatch subsystem according to a second embodiment of the present invention;

fig. 3 is a schematic structural diagram of a material taking, weighing and loading machine according to a third embodiment of the invention;

FIG. 4 is a schematic structural diagram of a dispensing machine according to a fourth embodiment of the present invention;

FIG. 5 is a schematic structural diagram of a sweeper of a fifth embodiment of the invention;

fig. 6 is a flow chart of a method according to a sixth embodiment of the present invention.

Detailed Description

The first embodiment is as follows:

this embodiment is a field bulk loading system as shown in fig. 1. The embodiment comprises the following steps: the self-moving type at least one material taking weighing loader 3, the batching machine 4 and the flat car sweeper 5 can be connected or dispersedly operated in a stacking field 2 of the bulk materials 1 in an arrangement manner; the material taking and weighing loader is provided with a material taking arm 301, the material taking arm is connected with a weighing device 302, and the weighing device is connected with an output device 303; the batching machine be equipped with input device 401, input device be connected with compounding cylinder 402, the compounding cylinder be connected with belt feeder 403, the motor sweeper of flatcar be equipped with and scrape flat device 501 and wipe angle device 502 to and cleaning device 503.

The embodiment comprises three types of mechanical equipment which operate on a goods yard to realize the loading of the automobile. The three vehicles can run independently or in cooperation with each other to form a complete system capable of acquiring, weighing, mixing and cleaning.

Each mechanical device can operate manually or remotely to realize self-operation. Each machine is provided with a power device capable of independently operating, and the power device can be an internal combustion engine or an electric motor.

In order to allow the individual machines which are operated in the field to be planned in general and to operate efficiently in cooperation with one another, a command system can be provided. In order to strictly monitor the state of the whole bulk material accumulation field, various sensors, such as video monitors or radar monitors and other devices can be arranged around the field, so that a scheduling command basis is provided for a command system, and the conflict of each device is avoided.

The material taking and weighing loader is different from a common loader in that the material taking and weighing loader not only can acquire materials from a material pile, but also can accurately weigh the acquired materials so as to obtain commodity materials in accurate proportion. There are various ways of obtaining the material, for example by means of a rotating dispenser or a bucket. The weighing can adopt a belt weighing mode and also can adopt a special weighing hopper setting mode.

The batching machine is a device for uniformly mixing a plurality of materials, and the material mixing mode can be a material mixing roller or other modes. The embodiment adopts the mixing roller, the mode is simple and easy to implement, the mixing is uniform, and the mixing roller is suitable for being realized in the equipment of the vehicle.

The flat car sweeper is equipment for assisting in carrying out auxiliary work after loading a truck and mainly completes the work of flat car sweeping and corner wiping. The flat wagon pushes and flattens bulk materials naturally accumulated in a carriage in the loading process. The corner trimming is also a flat car and only aims at the material filling of the corners of the carriage.

Example two:

the present embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment regarding the command and dispatch subsystem, in the present embodiment, a plurality of stacking yard state sensors 6 (see fig. 1) are arranged in a grid shape around the bulk material stacking yard, each stacking yard state sensor is connected to the stacking yard scheduling and analysis subsystem, and the stacking yard scheduling and analysis subsystem includes: a material pile state analysis device, a loading mechanical state analysis device and a loading vehicle state analysis device; the dispatching analysis subsystem is connected with a dispatching command device, the dispatching command device is in wireless communication connection with the material taking weighing loader, the material preparing machine and the flatcar sweeper, and a schematic block diagram is shown in figure 2.

The yard state sensors are arranged in a grid, only 10 sensors are schematically shown in fig. 1 and 2, and more or fewer sensors may be arranged in practice. The sensor can be arranged on a high pole to be combined with the illuminating lamp, and can also be arranged on a surrounding building. The dump field status sensor may be a 3D camera, radar, infrared, etc. sensor.

The material pile state analysis device is used for monitoring and analyzing the position and the shape of the material, the position of the material pile is used as the operation purpose of the loading equipment and must be very accurate, and the shape of the material pile can display the material quantity for the loading equipment to exchange.

The loading machine state analysis device is used for determining the position and the working state of each loading machine, the position of each loading machine is very important because the loading process in the field can be different from one loading process, and the condition of each loading machine and the future running route must be analyzed and calculated because the collision and the accident of each running loading machine must be avoided.

The loading vehicle state analyzing device is used for determining the position and the working state of the loading vehicle so as to cooperate with the loading machine to carry out loading work.

The dispatching command device is the core of the whole dispatching field command and is used for calculating the working condition of each device to formulate the optimal driving and loading operation process. The other function of the dispatching command device is to send command instructions to each device in a wireless communication mode, so that the installation instructions of the devices run to complete loading operation. Wherein the command of the loading vehicle is mainly completed through voice and a display screen. And for the loading machine, the Internet of things mode is adopted for contact, and wireless data communication is realized.

Each device described in this embodiment may be software provided in an electronic digital computing system, or may be specially designed hardware.

Example three:

the embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment, the material taking arm of the material taking, weighing and loading machine in this embodiment includes a foldable material taking frame 3011, a support rod 3012 for opening or closing the material taking frame is arranged on the material taking frame, a rotary material taking device 3013 is arranged at one end of the material taking frame, and a conveying belt is arranged on the material taking frame; the weighing device comprises: a rough weighing belt 3021 and a fine weighing belt 3022 capable of reciprocating; the output device is a conveyor belt with one end raised, as shown in fig. 3.

The material taking mode of this embodiment is that the material of utilizing rotatory hopper's tripper to material centering is dug out, utilizes the belt to convey on the weighing belt. The weighing leather is provided with a weighing sensor. The rough weighing belt mainly has the function of conveying materials to the fine weighing belt, the quantity of the materials is roughly calculated in the conveying process, and the weighing process is dynamic. Weighing of precision belts requires static weighing for accuracy. When the rough-weighing belt conveys materials, the fine-weighing belt performs proportional reciprocating motion to enable the materials to be evenly spread on the belt, when the materials conveyed by the rough-weighing belt approach the amount required by a plan, the materials are stopped from being conveyed, the fine-weighing belt also stops moving, and at the moment, the material number on the fine-weighing belt can be accurately measured. The overall height can be reduced by using the weighing method, and the weighing method is suitable for the general height of a loading machine.

Example four:

the present embodiment is an improvement of the above embodiment, and is a refinement of the above embodiment about a blending machine, in which the blending machine described in the present embodiment is provided with a mixing roller with a helical blade inside, one end of the mixing roller is provided with a feeding port 4021, and the other end is provided with a discharging port 4022, and the discharging port is connected with a loading belt, as shown in fig. 4.

The input device of the dispensing machine is a facility similar to a hopper and mainly used for receiving materials output by a conveying belt of a material taking and weighing loader.

The compounding cylinder is similar to the cluster bucket that the manufacturing used, and inside has spiral blade, can be mixed with other materials after rolling up the material and utilizing gravity to fall, and the mixing effect is fine.

Example five:

the embodiment is a modification of the above embodiment, and is a refinement of the above embodiment regarding the flat car sweeper, and the leveling device of the flat car sweeper described in the embodiment includes a leveling plate 5012 which is driven by a leveling lift rod 5011 to move up and down; the angle wiping device comprises an angle wiping disc 5022 driven by an angle wiping lifting rod 5021 to move up and down; the cleaning device comprises a cleaner 5032 driven by a cleaning lifting rod 5031 to move up and down, as shown in fig. 5.

The main body of the flat car sweeper is a frame which can move under the driving of self-propelled wheels, the height of the frame is higher than that of a loading vehicle, the loading vehicle can move under the frame during operation, and devices such as a scraping plate, a corner plastering plate and a sweeper are lowered through a lifting rod to operate a carriage of the loading vehicle.

Example six:

the present embodiment is a method for loading bulk materials into a site by using the loading system of the above embodiment, and the method includes the following steps (see fig. 6 in the flowchart):

step 1, obtaining loading information: the dispatching command device obtains the quantity and variety of goods of the loading, the tonnage and the carriage size of each loading vehicle from an upper computer;

the upper computer is a general management device such as a sales server of a goods yard and the like which is specially used for production sales management, and is usually a sales server or a workstation of the goods yard. The sales management servers acquire the quantity or variety information of the loaded materials through communication with users, and send the information to the dispatching command device. The variety of the goods refers to the properties of the materials, such as sand with different sizes of particles, stones with various grades, coal with different sizes of particles and the like. A general goods yard can stack a plurality of kinds of materials in different areas, and in the process of selling, the goods of a plurality of kinds of different particles need to be mixed together and sold as a kind of goods designated by a user, so that the processes of accurately weighing and mixing the materials of the plurality of kinds need to be carried out. For example: coal with three kinds of particles, namely large, medium and small, is stored in a goods yard, and is required to be mixed according to the proportion of 1: 2: 3, and a loading plan is formulated according to the requirement of a client and the quantity and tonnage of loaded vehicles, so that the loading process is optimized. Therefore, it is important to acquire the number and variety of loaded goods.

the method comprises the steps that firstly, the stacking field state sensors scan the existing material pairs in the field, due to the fact that the stacking field state sensors are arranged, scanning can be conducted from different positions, the accurate positions and the shapes of all material piles in the stacking field (goods field) can be obtained, the quantity of materials can be accurately calculated according to the shapes of the material piles, meanwhile, the calculated quantity of all the material piles is verified according to the records of goods arrival and goods delivery of the material field, meanwhile, the goods of which particles are in all the material piles are obtained, and the goods serve as the basis for starting a new round of material loading process. If there is a loading operation in the current cargo yard, it is also necessary to predict the loading operation being performed, and subtract a predetermined amount.

In this embodiment, the "new round of loading process" may be that there is no loading operation in the goods yard at the beginning, or may be that other loading operations are being performed in the goods yard, where the "new round of loading process" refers to a loading operation performed on an item requested by a certain user among a plurality of loading processes.

And 3, analyzing the state of the loading machine: obtaining the accurate position of each loading machine at the initial loading according to the accumulation field state sensor and the running track of each loading machine;

the individual loading machines are moved during the loading process, so that when starting a new loading process again, the current position of the individual loading machine should be known. There are many ways to obtain the current position of these loading machines, such as satellite positioning, historical recording, or on-site monitoring and analysis, i.e. analysis by means of the records of the yard status sensors located on site. Since there may be a plurality of loading machines and loading vehicles operating at the loading site, the operating and stopping positions of various vehicles and machines in the cross-over work may affect other equipment operating simultaneously, and thus traffic safety is very important. In order to ensure the driving safety of the goods yard, the combination of satellite positioning, historical recording, field monitoring and other modes can be adopted to monitor the position change of various devices in the goods yard in real time, so as to ensure that various vehicles do not conflict.

since the loading vehicles are foreign vehicles, the routes of the vehicles must be strictly defined in the cargo area, and even so, the positions and the routes of the loading vehicles must be closely monitored, so that when a new round of loading process is started, the positions and the routes of the loading vehicles in the current cargo area must be checked to avoid collision.

since there may be multiple loading tasks in progress in the yard, there are multiple loading machines and loading vehicles running in the yard, and how to avoid collisions of individual vehicles and to complete each loading job in order requires precise scheduling. For example, if only one material is needed for one loading function, only one material taking weighing loader and one platform wagon sweeper can be dispatched, but if the material of various particles is needed, several material taking weighing loaders and one material preparing machine, one platform wagon sweeper and the like which are matched with each other can be needed.

In the process of loading, the dispatching and commanding device sends operation instructions to corresponding loading machines through a wireless communication network, each loading machine is commanded to operate in place, and meanwhile, a loading vehicle is commanded to operate in a matching manner through a communication or text or image display system, and the process needs careful planning and accurate execution to avoid errors or accidents.

7. The method according to claim 6, wherein said loading of step 6 comprises the sub-steps of:

this substep is main obtains the material of appropriate quantity, the material that will pass through the accurate weighing, for this embodiment has adopted the mode of two steps to walk, and first step is carried while weighing through thick title material, and the accurate belt then back-and-forth movement, and the material is even to be spread out on the belt as far as, this is because, under the condition that highly receives the restriction, it is unrealistic to set up higher surge bin, consequently uses the even material of spreading out of belt feeder then can obtain accurate weighing effect through a plurality of weighing sensor that set up under the belt.

the mixing process starts when the first material enters the roller, and the materials are uniformly mixed in the rolling process because the helical blades in the roller can roll the materials continuously.

Substep 3, cleaning the flatcar: the loaded loading vehicle runs to a designated place and stops, and a flat car sweeper cleans and flatcars; the flat car sweeper travels back and forth along the length direction of the carriage, the scraping plates are sequentially put down according to needs to level the car, the corner troweling device is put down to trowel four corners, the sweeper is put down to sweep the edge of the carriage, and then the loading vehicle drives away to finish the loading process.

The scraper plate reciprocates for several times to scrape materials, the roller with the soft hair rotates, and the scattered materials on the four edges of the carriage are swept into the carriage. The floating process is as follows: the materials at the four corners of the carriage are stirred by utilizing the rotary trowelling device, so that the materials reach the top ends of the four corners, and the function of corner plastering is achieved.

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

Claims

1. A method for loading bulk materials on a site, the method using a system comprising: the self-moving type at least one material taking weighing loader, a material preparing machine and a flat car sweeper can be connected or dispersedly operated in a bulk material stacking field; the material taking and weighing loader is provided with a material taking arm, the material taking arm is connected with a weighing device, and the weighing device is connected with an output device; the batch machine is provided with an input device, the input device is connected with a mixing roller, the mixing roller is connected with a belt conveyor, and the flatcar sweeper is provided with a scraping device, a corner plastering device and a sweeping device; the bulk material piling site is provided with a plurality of piling site state sensors in a grid shape around, each piling site state sensor is connected with a piling site scheduling analysis subsystem, and the piling site scheduling analysis subsystem comprises: a material pile state analysis device, a loading mechanical state analysis device and a loading vehicle state analysis device; the dispatching analysis subsystem is connected with a dispatching command device, and the dispatching command device is in wireless communication connection with the material taking weighing loader, the batching machine and the flatcar sweeper; the material taking arm of the material taking and weighing loader comprises a foldable material taking frame, a support rod for opening or closing the material taking frame is arranged on the material taking frame, a rotary material taking device is arranged at one end of the material taking frame, and a conveying belt is arranged on the material taking frame; the weighing device includes: a rough weighing belt and a fine weighing belt capable of reciprocating; the output device is a conveying belt with one end lifted; the batching loader is provided with a mixing roller with helical blades inside, one end of the mixing roller is provided with a feeding port, the other end of the mixing roller is provided with a discharging port, and the discharging port is connected with a loading belt; the strickle device of the flat car sweeper comprises a strickle plate which is driven by a strickle lifting rod to move up and down; the angle wiping device comprises an angle wiping disc which is driven by an angle wiping lifting rod to move up and down; the cleaning device comprises a cleaner which is driven by a cleaning lifting rod to move up and down;

the method is characterized by comprising the following steps:

2. The method according to claim 1, wherein said loading of step 6 comprises the sub-steps of:

substep 3, cleaning the flatcar: the loaded loading vehicle runs to a designated place and stops, and a flat car sweeper cleans and flattens the vehicle; the flat car sweeper travels back and forth along the length direction of the carriage, the scraping plates are sequentially put down according to needs to level the car, the corner troweling device is put down to trowel four corners, the sweeper is put down to sweep the edge of the carriage, and then the loading vehicle drives away to finish the loading process.