CN105775451B - Unattended intelligent silo turns over storehouse system - Google Patents
Unattended intelligent silo turns over storehouse system Download PDFInfo
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- CN105775451B CN105775451B CN201610135638.5A CN201610135638A CN105775451B CN 105775451 B CN105775451 B CN 105775451B CN 201610135638 A CN201610135638 A CN 201610135638A CN 105775451 B CN105775451 B CN 105775451B
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- auger
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65D—CONTAINERS FOR STORAGE OR TRANSPORT OF ARTICLES OR MATERIALS, e.g. BAGS, BARRELS, BOTTLES, BOXES, CANS, CARTONS, CRATES, DRUMS, JARS, TANKS, HOPPERS, FORWARDING CONTAINERS; ACCESSORIES, CLOSURES, OR FITTINGS THEREFOR; PACKAGING ELEMENTS; PACKAGES
- B65D88/00—Large containers
- B65D88/54—Large containers characterised by means facilitating filling or emptying
- B65D88/64—Large containers characterised by means facilitating filling or emptying preventing bridge formation
- B65D88/68—Large containers characterised by means facilitating filling or emptying preventing bridge formation using rotating devices
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- Threshing Machine Elements (AREA)
Abstract
The invention discloses a kind of unattended intelligent silo to turn over storehouse system, the system is used for silo automatic turning storehouse, realize without silo automatic turning storehouse in the case of manual intervention, and energy real time remote checks that storehouse state and video are turned in scene, storehouse can not intelligently be turned over, can not survey grain depth automatically, can not automatically adjust auger depth, can not plan the shortcomings of turning over storehouse track automatically by solving the existing storehouse machine that turns over, the present invention is simple in construction, and cost is cheap, and using effect is good.
Description
Technical field
The present invention relates to grain field of agricultural machinery, and storehouse is turned over for silo unattended intelligent.
Background technology
The storehouse of turning over of silo grain is the vital work for influenceing food storage, and existing storehouse of turning over uses manpower or half people
Force mode carries out turning over storehouse, wastes a large amount of manpowers, and need it is artificial carry out intervention turn over storehouse cause to turn over storehouse efficiency it is low.
Such as it is more ripe currently on the market turn over storehouse machine, storehouse is turned over using mechanical manual control.Such method is no doubt
Can realize and turn over storehouse, according to patent 201220535313.3,201520473445.1,201220535518.1,
201220535147.7,201220534667.6 etc. analysis, there is also the problem of following several respects：
One, it stirs the auger mechanism of lift grain and use regular length, elongated and shorten and be required for progress manual intervention
Adjustment, and can not accomplish that exact depth turns over storehouse.Second, it is impossible to which automatic measurement grain depth is, it is necessary to which manual intervention estimation grain is deep
Degree so that auger mechanism length estimate malfunctions.3rd, it is impossible to which storehouse rail is turned in automatically measuring distance silo wall distance, automatic planning
Mark.3rd, the course changing control mechanism that Cereals turns over storehouse machine stops steering using deflecting plate, it is impossible to which accurate angle is turned to, and this is resulted in
Need in advance human intervention prevent wall side and corner from turning over storehouse.4th, the balance organism bottom that Cereals turns over storehouse machine uses plane
Structure, when causing to meet the acclive grain heap of tool, Cereals turns over storehouse machine and runs difficulty forward.5th, auger mechanism blade is using straight
Line style, Cereals slides when causing to lift Cereals so that it is low to turn over storehouse efficiency.It is described above cause existing Cereals to turn over storehouse machine must be in people
To be operated under tight intervene, and turn over storehouse scene and be unable to Centralized Monitoring.
Unattended intelligent silo turn over storehouse system can accomplish automatic measurement grain bulk height, automatic and accurate regulation auger length,
It is automatic to obtain distance from the wall, plan that turning over the functions such as storehouse track realizes that real unattended intelligent turns over storehouse, and auger mechanism automatically
Blade uses arcuate structure, and its Cereals lifting capacity greatly promotes.
The content of the invention
To solve technical problem present in above-mentioned prior art, the present invention proposes a kind of unattended intelligent silo and turned over
Storehouse system can accomplish automatic measurement grain bulk height, automatic and accurate regulation auger length, obtain distance from the wall automatically, plan and turn over automatically
The functions such as storehouse track realize that real unattended intelligent turns over storehouse.
Specifically, the invention provides a kind of unattended intelligent silo to turn over storehouse system, and the system includes：
Unattended intelligent turns over storehouse machine, realize automatic turning storehouse trajectory planning, silo depth automatically determine, auger depth it is automatic
Control, automatic turning storehouse, automatic controllable steering, turn over storehouse abnormality alarming and the data interaction with control platform is carried out by network；
Fan Cang control centres platform, which is realized, turns over the control of storehouse machine and long-range operation planning to unattended intelligent, receives nobody
Intelligence on duty turns over storehouse machine real time information and processing.
Unattended intelligent turns over storehouse machine and comprises at least auger controllable motor, rotating link chain, auger ball slider, and main control is put down
Platform, controllable rudder, the camera with ranging, shell, dentation auger, sensor module composition, realize that automatic turning storehouse track is advised
Draw, silo depth automatically determines, auger depth automatically controls, automatic turning storehouse, automatic controllable steering, turns over storehouse abnormality alarming and logical
Cross network and carry out the functions such as the data interaction with control platform；
Outer casing bottom constructs into hull bottom type, solve it is existing turn over storehouse machine plane construction and grain heap occur move ahead difficult situation, ship
Die bed construction is relatively easy to when grain heap is climbed；
Shell surrounding installs the camera with ranging, and the camera with ranging is used for distance and the collection of measurement distance wall
Ambient video, and by data connecting line, by acquired information transfer to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, receives to refer to
Order is run, and auger controllable motor is connected to auger ball slider by rotating link chain, drives auger ball slider to rotate；
Auger ball slider is arranged on shell, is connected to auger controllable motor by rotating link chain, is connected by data wire
Main control platform is connected to, receives the controllable electromagnetic plug control of main control platform, controllable electromagnetic plug reclaims under normal operation, tooth
Shape auger is freely moved up and down in auger ball slider, it is necessary to when turning over storehouse, and main control platform sends plug and inserted to controllable electromagnetic
Bolt, the centripetal carry out plug of controllable electromagnetic plug, and dentation auger and auger ball slider are fixed as one, slided with auger ball
Block rotates together；
Dentation auger is hollow through auger ball slider, drives during auger ball slider positive and negative rotation and is moved down on dentation auger
It is dynamic, when auger ball slider drives dentation auger to move down when rotating forward, the band when auger ball slider rotates backward
Moving teeth shape auger moves up, to adjust dentation auger length；
Controllable rudder passes through shell, is fixed on shell, is connected to main control platform by control line, receives finger of coming about
Order；
Sensor module is fixed on dentation auger end, the pressure on sensing contact ground, senses ground clearance, senses in storehouse
Temperature and imaged, and main control platform be connected to through dentation auger by sensor module output line, will acquired in
Information transfer to main control platform；
Main control stage+module receives the information of each part, and each part is sent into instruction and passes through net on shell
Network transfer function and the platform progress data interaction of Fan Cang control centres.
Auger controllable motor comprises at least motor, and motor transmission composition, it is connected to main control platform by connecting line,
It is powered and controls；
Controllable rudder comprises at least rudder controllable motor, rudder motor transmission, rudder, rudder corner sense
Device is answered to form, it is connected to main control platform by connecting line, is powered and controls, according to receiving instruction, rotation direction rudder,
Rudder corner inductor senses rotational angle, and by rotational angle information transfer to main control platform.
Auger ball slider comprises at least power gear, and controllable electromagnetic plug, ball composition, it is connected to by data wire
Main control platform, receive the plug instruction of main control platform；
Auger ball slider obtains rotational power by rotating link chain, when carrying out the adjustment of dentation auger, main control platform
The dentation auger length according to needed for sensor module surveys ground clearance control, control auger controllable motor are rotated and closed controllable
Electromagnetism plug, auger ball slider is driven to rotate, ball slides auger arc shaped blade and drives dentation auger to move up and down；
When turn over storehouse action, main control platform according to shell obtains apart from wall apart from planning operation track, drive
Dynamic control auger controllable motor rotates and opened controllable electromagnetic plug, and controllable electromagnetic plug is by the centripetal insertion auger bar external tooth of plug
Interior fixed dentation auger, dentation auger rotate with auger ball slider.
Dentation auger is at least by auger bar, and auger arc shaped blade, auger bar external tooth composition, auger bar is hollow, its outer layer
With auger bar external tooth, auger arc shaped blade is intertwined and connected outside auger bar, auger arc shaped blade compared with common blade more can twist,
Lift more objects.
Sensor module is at least by the pressure inductor with ranging, temperature inductor, camera, sensor module control
Device, sensor module output line, hold-doun nut composition, pressure inductor, temperature inductor, camera are connected to by data wire
Sensor module controller, sensor module controller are connected to main control through auger bar by sensor module output line and put down
Sensor module is fixed on dentation auger end by platform, hold-doun nut；
Pressure inductor sensing terminal pressure with ranging, when end touches ground, its pressure increases, and carries out liftoff
Range determination, ranging is carried out using ultrasonic sensing device according to technical Analysis and more effectively penetrates grain；
Temperature inductor senses grain temperature；
Camera will effectively obtain image below grain heap using infrared depending on camera.
Fan Cang control centres platform, which is realized, turns over the control of storehouse machine and long-range operation planning to unattended intelligent, receives nobody
Intelligence on duty turns over storehouse machine real time information and processing.
The above-mentioned technical proposal of the present invention has the beneficial effect that：By adopting the above-described technical solution, and prior art
Compare, realize that real unattended intelligent turns over storehouse, and structure is simple, cost is cheap, and using effect is good.
Brief description of the drawings
Fig. 1 is the structural representation that unattended intelligent of the present invention turns over storehouse machine；
Fig. 2 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger controllable motor；
Fig. 3 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger ball slider；
Fig. 4 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-controllable rudder；
Fig. 5 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 6 is the top view structural representation that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 7 is the cross section structure diagram that unattended intelligent of the present invention turns over storehouse machine-dentation auger；
Fig. 8 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-auger bar；
Fig. 9 is the structural representation that unattended intelligent of the present invention turns over storehouse machine-sensor module.
Mark in accompanying drawing for：1- auger controllable motors, 2- rotating link chains, 3- auger ball sliders, 4- main control platforms,
5- controllable rudders, cameras of the 6- with ranging, 7- shells, 8- dentation augers, 9- sensor modules, 1-1 motors, 1-2 motors
Speed changer, 3-1 power gears, 3-2 controllable electromagnetic plugs, 3-3 balls, 5-1 rudder controllable motors, 5-2 rudders motor become
Fast device, 8-1 auger bars, 8-2 auger arc shaped blades, 8-3 auger bar external tooths, pressure inductors of the 9-1 with ranging, 9-2 temperature senses
Device, 9-3 cameras are answered, 9-4 sensor modules control it, 9-5 sensor module output lines, 9-6 hold-doun nuts.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.Those skilled in the art are these it is to be understood that following specific embodiments or embodiment
Invent for the set-up mode for the series of optimum that the specific content of the invention is enumerated is explained further, and between those set-up modes
Can be combined with each other or it is interrelated use, unless clearly proposing some of which or a certain specific real in the present invention
Setting can not be associated or be used in conjunction with other embodiments or embodiment by applying example or embodiment.It is meanwhile following
The set-up mode of specific embodiment or embodiment only as optimization, and not as the reason for limiting protection scope of the present invention
Solution.
Additionally need, it is noted that proposed by the invention turn over each of storehouse system effect for unattended intelligent silo
Embodiment or method, any combination can be carried out or be applied in combination, for example, can will wherein it is any two or more
Kind of adjustment mode is used in combination with, to improve Detection results and system accuracy, can also only with single mode therein, on
State these combinations or split, be regarded as falling under the scope of the present invention.
Below by way of each specific embodiment, it is available for preferred embodiment to be described in detail the present invention.With
Under each design parameter numerical value involved in each specific embodiment, only illustratively uses, to facilitate to present invention implementation
The explanation of mode, it is not intended as the restriction of the scope of the present invention.
Embodiment 1
The purpose of the present invention is：There is provided and turn over storehouse system using a kind of unattended intelligent silo, automatic measurement grain can be accomplished
Stack height, automatic and accurate adjust auger length, obtain distance from the wall automatically, plan that turning over the functions such as storehouse track realizes really automatically
Unattended intelligent turns over storehouse.
Unattended intelligent turns over storehouse machine, realize automatic turning storehouse trajectory planning, silo depth automatically determine, auger depth it is automatic
Control, automatic turning storehouse, automatic controllable steering, turn over storehouse abnormality alarming and the data interaction with control platform is carried out by network；
Fan Cang control centres platform, which is realized, turns over the control of storehouse machine and long-range operation planning to unattended intelligent, receives nobody
Intelligence on duty turns over storehouse machine real time information and processing.
Unattended intelligent turns over storehouse machine and comprises at least auger controllable motor, rotating link chain, auger ball slider, and main control is put down
Platform, controllable rudder, the camera with ranging, shell, dentation auger, sensor module composition, realize that automatic turning storehouse track is advised
Draw, silo depth automatically determines, auger depth automatically controls, automatic turning storehouse, automatic controllable steering, turns over storehouse abnormality alarming and logical
Cross network and carry out the functions such as the data interaction with control platform；
Outer casing bottom constructs into hull bottom type, solve it is existing turn over storehouse machine plane construction and grain heap occur move ahead difficult situation, ship
Die bed construction is relatively easy to when grain heap is climbed；
Shell surrounding installs the camera with ranging, and the camera with ranging is used for distance and the collection of measurement distance wall
Ambient video, and by data connecting line, by acquired information transfer to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, receives to refer to
Order is run, and auger controllable motor is connected to auger ball slider by rotating link chain, drives auger ball slider to rotate；
Auger ball slider is arranged on shell, is connected to auger controllable motor by rotating link chain, is connected by data wire
Main control platform is connected to, receives the controllable electromagnetic plug control of main control platform, controllable electromagnetic plug reclaims under normal operation, tooth
Shape auger is freely moved up and down in auger ball slider, it is necessary to when turning over storehouse, and main control platform sends plug and inserted to controllable electromagnetic
Bolt, the centripetal carry out plug of controllable electromagnetic plug, and dentation auger and auger ball slider are fixed as one, slided with auger ball
Block rotates together；
The fixation of auger, controllable electromagnetic plug, spring plug etc. can be used, this patent is computed and uses controllable electromagnetic plug
It is more stable；
Controllable electromagnetic plug inserts the dentation outer layer of auger, can also use poroid outer layer, to ensure the structure of auger
Integrality, this patent use dentation outer layer；
Accurate adjustment auger length, prior art mainly drive including ball slip, steel wire pulling, electromagnetism adjustment, gear
Deng through field test, this patent realizes that auger length accurately adjusts from ball sliding technology；
Dentation auger is hollow through auger ball slider, drives during auger ball slider positive and negative rotation and is moved down on dentation auger
It is dynamic, when auger ball slider drives dentation auger to move down when rotating forward, the band when auger ball slider rotates backward
Moving teeth shape auger moves up, to adjust dentation auger length；
Controllable rudder passes through shell, is fixed on shell, is connected to main control platform by control line, receives finger of coming about
Order, it uses steering angle sensor to carry out perceiving the accurate steering of steering angle realization；
Sensor module is fixed on dentation auger end, the pressure on sensing contact ground, senses ground clearance, senses in storehouse
Temperature and imaged, and main control platform be connected to through dentation auger by sensor module output line, will acquired in
Information transfer to main control platform；
Analyze after tested, the inductor that the measure of distance uses, mainly using technologies such as infrared, ultrasonic waves, but for up to
To accessible ranging, image of the Cereals to ranging is avoided, this patent uses ultrasonic ranging inductor；
Main control stage+module receives the information of each part, and each part is sent into instruction and passes through net on shell
Network transfer function and Fan Cang control centres platforms carry out data interaction, and by voluntarily calculate realize accurate auger length adjustment,
Accurate direction is come about, and angle is come about automatically, accurate voluntarily planned trajectory turns over storehouse etc..
Claims (6)
1. a kind of unattended intelligent silo turns over storehouse system, the system is used for the unmanned intervention automatic turning storehouse of silo, and remotely carries out
Storehouse state is turned in override and in real time monitoring, it is characterised in that the system includes：Auger controllable motor, rotating link chain, auger ball
Sliding block, main control platform, controllable rudder, the camera with ranging, shell, dentation auger, sensor module；Wherein auger can
Control motor is connected with dentation auger, dentation auger is freely lifted, dentation auger profile is easy to dentation to twist using gear-like profile
Dragon is freely lifted, while blade uses the more effective lifting object of interior bent blades；Wherein controllable rudder uses motor control, can
Control direction by a larger margin；Wherein shell uses ship shell body, can reduce conduct resistance；The wherein camera with ranging and sense
Answer the installation of device module in systems, can effectively realize the intelligent operation of system.
2. system according to claim 1, it is characterised in that described including following：
Outer casing bottom is constructed into hull bottom type, and hull bottom type construction is relatively easy to when grain heap is climbed；
Shell surrounding installs the camera with ranging, and the camera with ranging is used for the distance and collection environment of measurement distance wall
Video, and by data connecting line, by acquired information transfer to main control platform；
Auger controllable motor is arranged on shell, and auger controllable motor is connected to main control platform by cable, receiving instruct into
Row operation, auger controllable motor are connected to auger ball slider by rotating link chain, drive auger ball slider to rotate；
Auger ball slider is arranged on shell, is connected to auger controllable motor by rotating link chain, is connected to by data wire
Main control platform, receive the controllable electromagnetic plug control of main control platform, controllable electromagnetic plug reclaims under normal operation, and dentation twists
Dragon is freely moved up and down in auger ball slider, it is necessary to when turning over storehouse, and main control platform sends plug and gives controllable electromagnetic plug, can
The centripetal carry out plug of electromagnetism plug is controlled, and dentation auger and auger ball slider are fixed as one, with auger ball slider one
Rise and rotate；
Dentation auger is hollow through auger ball slider, drives dentation auger to move up and down during auger ball slider positive and negative rotation,
When auger ball slider drives dentation auger to move down when rotating forward, the band moving teeth when auger ball slider rotates backward
Shape auger moves up, to adjust dentation auger length；
Controllable rudder passes through shell, is fixed on shell, is connected to main control platform by control line, receives instruction of coming about；
Sensor module is fixed on dentation auger end, the pressure on sensing contact ground, senses ground clearance, senses temperature in storehouse
And imaged, and main control platform is connected to through dentation auger by sensor module output line, by acquired letter
Breath is transmitted to main control platform；
Main control stage+module receives the information of each part on shell, and each part is sent into instruction and passed by network
Transmission function and the platform progress data interaction of Fan Cang control centres.
3. system according to claim 2, it is characterised in that described including following：
Auger controllable motor is by motor, and motor transmission composition, it is connected to main control platform by connecting line, be powered and
Control；
Controllable rudder is made up of rudder controllable motor, rudder motor transmission, rudder, rudder corner inductor,
It is connected to main control platform by connecting line, is powered and controls, and according to instruction, rotation direction rudder is received, rudder turns
Angle inductor sensing rotational angle, and by rotational angle information transfer to main control platform.
4. system according to claim 2, it is characterised in that described including following：
Auger ball slider is by power gear, and controllable electromagnetic plug, ball composition, it is connected to main control by data wire and put down
Platform, receive the plug instruction of main control platform；
Auger ball slider by rotating link chain obtain rotational power, when carry out dentation auger adjustment when, main control platform according to
Sensor module surveys dentation auger length needed for ground clearance control, and control auger controllable motor rotates and closed controllable electromagnetic
Plug, auger ball slider is driven to rotate, ball slides auger arc shaped blade and drives dentation auger to move up and down；
When turn over storehouse action, main control platform is controlled according to what shell obtained apart from wall apart from planning operation track, driving
Auger controllable motor processed rotates and opened controllable electromagnetic plug, and controllable electromagnetic plug will be solid in the centripetal insertion auger bar external tooth of plug
Fixed tooth shape auger, dentation auger rotate with auger ball slider.
5. system according to claim 2, it is characterised in that described including following：
Dentation auger is by auger bar, and auger arc shaped blade, auger bar external tooth composition, auger bar is hollow composition, and its outer layer carries
Auger bar external tooth, auger arc shaped blade are intertwined and connected outside auger bar, and auger arc shaped blade more can twist, lifting compared with common blade
More objects.
6. system according to claim 2, it is characterised in that described including following：
Sensor module is by the pressure inductor with ranging, temperature inductor, camera, sensor module controller, inductor
Module output line, hold-doun nut composition, wherein pressure inductor, temperature inductor, camera are connected to sensing by data wire
Device module controller, sensor module controller are connected to main control platform by sensor module output line through auger bar,
Sensor module is fixed on dentation auger end by hold-doun nut；
Pressure inductor sensing terminal pressure with ranging, when end touches ground, its pressure increases, and carries out ground clearance
Measure, ranging is carried out using ultrasonic sensing device according to technical Analysis and more effectively penetrates grain；
Temperature inductor senses grain temperature；
Camera will effectively obtain image below grain heap using infrared depending on camera.
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| CN201610135638.5A CN105775451B (en) | 2016-03-11 | 2016-03-11 | Unattended intelligent silo turns over storehouse system |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109814645B (en) * | 2018-12-10 | 2020-10-16 | 江苏科技大学 | Granary temperature and humidity measurement monitoring unit and implementation method thereof |
| CN109696935B (en) * | 2018-12-10 | 2020-09-29 | 江苏科技大学 | Management system with turnover quality evaluation function and implementation method thereof |
| CN110495308B (en) * | 2019-09-12 | 2023-07-18 | 张新侠 | Movable grain turning machine |
| CN110523127A (en) * | 2019-09-20 | 2019-12-03 | 湖北龙泉机械有限公司 | A kind of agricultural solid-liquid separating machine and its application method |
| CN111994647A (en) * | 2020-09-02 | 2020-11-27 | 界首市金龙机械设备有限公司 | Intelligent robot turns over storehouse machine |
| CN114906496B (en) * | 2022-05-07 | 2023-09-12 | 安徽省凯杰机械制造有限公司 | Full-automatic self-propelled excavating and turning mechanism |
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