CN108421582A

CN108421582A - The hulling machine system of self feed back automation compensation

Info

Publication number: CN108421582A
Application number: CN201810343619.0A
Authority: CN
Inventors: 范吉军; 王立宗; 李春贵; 龚俊杰; 叶焕; 赵斌; 严欢; 余南辉
Original assignee: Wuhan Polytechnic University
Current assignee: Wuhan Polytechnic University
Priority date: 2018-04-17
Filing date: 2018-04-17
Publication date: 2018-08-21
Anticipated expiration: 2038-04-17
Also published as: CN108421582B

Abstract

The invention discloses a kind of hulling machine systems of self feed back automation compensation, including：First movement compensation rubber rollers are arranged in parallel at the top of the second motion compensation rubber rollers, fixed rubber rollers are set to first movement compensation rubber rollers and the second motion compensation rubber rollers side, and compensating rubber rollers and the second motion compensation rubber rollers with first movement, there are cereal processing spaces；Measurement module is set to fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers side；The non-equal sub-module of particle stream compensates the top of the cereal processing space between rubber rollers and fixed rubber rollers by fixed mount setting in first movement；Processing module is communicatively coupled to mobile bearing pedestal and measurement module.Realization to particle stream continuity, anisotropically shunts, and wears nonsynchronous phenomenon to correct rubber roller, the spacing of roll surfaces linear velocity and rubber roller is adjusted in the automatic abrasion condition for detecting rubber roller.

Description

The hulling machine system of self feed back automation compensation

Technical field

The present invention relates to agricultural hulling machine technical fields, more particularly, to a kind of husking of self feed back automation compensation Machine system.

Background technology

Existing hulling machine drives a rubber rollers to be leaned on to another rubber rollers by two synchronous hydraulic cylinder movements Nearly movement, but the disadvantage is that can not ensure that two rubber roll shafts are parallel, and displacement distance error is big, because when synchronous hydraulic cylinder moves Error is big；Fast roller may be acted on by paddy makes slow rollers speed become faster, and fast roller speed is slack-off, and two roller instantaneous velocitys have fluctuation, This, which also has husking yield and yield, seriously affects；Due to having abrasion, and the two roller radius degrees of wear when two rollers are run Can be different, cause two rollers linear resonance surface velocity in the case where rotating speed is constant that can change.

Meanwhile produce or process granular product in, it is sometimes desirable to its product particle with flowing into Line Continuity, it is non- It equably shunts, i.e., the flow in same exit is different everywhere；For example, in the production process of rice, hulling machine to rice into Row shelling, usually can be since the blanking of rice at feed shedding plate is uneven, contains miscellaneous too many and two rubber roller roll axis in rice stream The reasons such as not parallel cause to wear everywhere on rubber roller busbar it is asynchronous and phenomena such as cause Guide Top Roller Abrasion, concentric reducer；It is investigated that card, glue The abrasion non-uniform phenomenon such as roller grooving, concentric reducer can largely influence husking yield and production efficiency；So just needing at this time A kind of device that can carry out uneven continuous partial flow to export rice stream is wanted, wears nonsynchronous phenomenon to correct rubber roller, it is real Rubber roller abrasion synchronizes in existing certain period of time.

Therefore, it is necessary to develop a kind of hulling machine system of self feed back automation compensation, two rubber rollers mill can be detected automatically Situation, and automatic uncompensation distance are damaged, and reduces the automation hulling machine of rubber roller abrasion.

Invention content

The present invention proposes a kind of hulling machine system of self feed back automation compensation, by the abrasion feelings for detecting rubber roller automatically The spacing of two rubber rollers is adjusted in condition, and the working efficiency of hulling machine is improved by the non-equal sub-module of particle stream.

A kind of hulling machine system of self feed back automation compensation according to the present invention, the hulling machine system include：

Fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers, the first movement compensate rubber Rubber roller is arranged in parallel at the top of the second motion compensation rubber rollers, and the fixed rubber rollers are set to the first movement compensation Rubber rollers and the second motion compensation rubber rollers side compensate rubber rollers and the second motion compensation rubber with the first movement There are cereal processing spaces for roller；

Mobile bearing pedestal, the mobile bearing pedestal are set at the top of first movement compensation rubber rollers and described the Two motion compensation rubber rollers bottoms；

Measurement module, the measurement module are set to the fixed rubber rollers, first movement compensation rubber rollers and the second shifting Dynamic compensation rubber rollers side；

The non-equal sub-module of particle stream, the non-equal sub-module of particle stream are compensated by fixed mount setting in the first movement The top of cereal processing space between rubber rollers and the fixed rubber rollers；

Wherein, the non-equal sub-module of particle stream includes：Feed shedding plate, the feed shedding plate are dustpan-shaped, and both sides are equipped with gear Plate, one end are equipped with feed inlet, and the other end is equipped with discharge port；

Multiple rows of support gantry is mutually parallel between described multiple rows of support gantry, is set up in above the feed shedding plate, described It includes two the first pillars and the second pillar being vertically arranged to support gantry, and is horizontally placed on first pillar and second Crossbeam on pillar；

Multiple first driving mechanisms, each first driving mechanism is connect with the support gantry, for driving It is moved along the length direction of baffle at described support gantry；

Multiple shunting stick mechanisms, the multiple shunting stick mechanism are arranged according to pascal's triangle, are set to multiple rows of support On gantry；

Wherein, the shunting stick mechanism includes link, babinet and shunting stick, and the link is set to the support dragon Men Shang, and can be set on the link along the cross beam movement at described support gantry, the babinet, and can be along the link Vertical direction movement, the shunting stick is set to the lower part of the babinet；

Processing module, the processing module are communicatively coupled to the mobile bearing pedestal and the measurement module.

Preferably, the mobile bearing pedestal includes：First movement bearing bracket stand, the second movement bearing bracket stand, connecting rod, shifting Moving frame thread slider, mobile threaded screw rod and shift servo motor, the first movement compensation rubber rollers and second movement The both ends of compensation rubber rollers are connected to the first movement bearing bracket stand and the second movement bearing bracket stand, the connecting rod connect It connects the first movement bearing bracket stand and the second movement bearing bracket stand, the movable stand thread slider is arranged in the first movement Bearing bracket stand bottom, the mobile threaded screw rod are arranged in the movable stand thread slider, the output of the shift servo motor Axis connection is connected to the processing module in the mobile threaded screw rod, the shift servo communications.

Preferably, the mobile bearing pedestal further includes：Mobile sliding block, mobile slide bar, postive stop baffle and limit switch, The mobile sliding block setting is in second movement bearing bracket stand bottom, and the mobile slide bar is arranged in the mobile sliding block, institute It states postive stop baffle and is set to the mobile slide bar both ends, the limit switch is arranged on the mobile sliding block.

Preferably, the measurement module respectively includes horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, cunning Bar sliding block approaches servo motor, lateral servo motor and measurement sensor, and longitudinal screw bar one end is across screw thread cunning Block, the other end, which is connected to, approaches servo motor, and described longitudinal direction slide bar one end passes through the slide bar sliding block, the horizontal thread bar one End is connected to the thread slider, and the other end is connected to the lateral servo motor across the slide bar sliding block, and the measurement passes Sensor is arranged on the horizontal thread bar；

Wherein, longitudinal screw bar one end of the measurement module is connected to the fixed rubber across the thread slider One end of one end of rubber roller, one end of first movement compensation rubber rollers and the second motion compensation rubber rollers, the survey Longitudinal slide bar one end of amount module is connected to the other end of the fixed rubber rollers, described first across the slide bar sliding block The other end of the other end of motion compensation rubber rollers and the second motion compensation rubber rollers.

Preferably, the measurement sensor includes：

Master reference and obstacle avoidance sensor, the master reference and obstacle avoidance sensor are set up in parallel；

Wherein, the obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc Shape permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the anticollision arm support setting At the top of the anticollision mounting plate, the anticollision suspension is arranged on the anticollision arm support, and the insulation fixing sleeve is set in institute It states on anticollision suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel of the collision avoiding caster Hub, the anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet are sequentially sleeved on the anticollision wheel shaft, the anticollision Induction electrode is set to anticollision induction mouse cage winding both sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.

Preferably, the master reference include sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage around Resistance, screw shell, quill, insulation shell, the roller housing are set to one end of the quill, and the squirrel-cage winding is arranged One end is connected to the wheel hub of idler wheel in quill, and the sensor housing is set in squirrel-cage winding outside, the survey Amount electrode is connected to squirrel-cage winding both ends, and the sensor housing, the arcuate permanent magnetic iron is passed through to be arranged in the mouse Cage is wound between the sensor housing, and the screw shell is fixed on the sensor housing bottom, the insulation shell Body is set in outside the sensor housing, and the measuring electrode passes through the sensor housing and the insulation shell set.

Preferably, the non-equal sub-module of the particle stream further includes：

The link of multiple second driving mechanisms, each second driving mechanism and a shunting stick mechanism connects It connects, for driving the shunting stick mechanism along the cross beam movement at described support gantry；

Multiple third driving mechanisms, each third driving mechanism are connect with the babinet of a shunting stick mechanism, For driving the shunting stick to be moved along the vertical direction of the link；

Multiple rotary drive mechanisms, each rotary drive mechanism are set to the babinet of a shunting stick mechanism It is interior, it is connect with the top of the shunting stick, for driving the shunting stick to rotate about the axis thereof.

Preferably, the non-equal sub-module of the particle stream further includes：Controller, the controller control described first and drive respectively Motivation structure, the second driving mechanism, third driving mechanism and rotary drive mechanism.

Preferably, according to the pascal's triangle, one is provided on support gantry described in the first row close to the feed inlet A shunting stick mechanism arranges close to the N of the discharge port and is provided with N number of shunting stick mechanism on described support gantry, Form positive pascal's triangle；Or it is provided with N number of shunting stick mechanism on support gantry described in the first row close to the feed inlet, Arranging setting on described support gantry close to the N of the discharge port, there are one the shunting stick mechanisms, form positive pascal's triangle.

Preferably, the lower circumference surface of the shunting stick is equipped with the shunting tooth being distributed along its axis direction, the shunting Tooth is uniformly distributed along the lower circumference surface of the shunting stick.

A kind of hulling machine system of self feed back automation compensation according to the present invention, the advantage is that：Particle stream is non-to divide equally Module adjusts the position of the three-dimensional space direction of each of which shunting stick mechanism, and particle stream is flowed into from the feed inlet of feed shedding plate, Position of the adjustment shunting stick mechanism above feed baffle, and shunting stick are inserted into the depth of particle stream, pass through rotary driving machine The rotating speed and steering, the particle to flowing to discharge port by feed inlet of structure driving shunting stick rotation are hit, and change the stream of particle To and speed, realization to particle stream continuity, anisotropically shunt, i.e., the flow in same exit is different everywhere, with correction Rubber roller wears nonsynchronous phenomenon, prevents rubber roller in certain period of time from synchronizing abrasion.It crosses measurement module and measures fixed rubber rollers, the The wear extent and linear resonance surface velocity of one motion compensation rubber rollers and the second motion compensation rubber rollers are passed through removable based on wear extent Bearing base adjusts the spacing of fixed rubber rollers and two motion compensation rubber rollers, and fixed rubber rollers are adjusted based on linear resonance surface velocity And the driving rotating speed of two motion compensation rubber rollers, so that production rice rate and husking yield is protected.

The hulling machine system of the present invention has other characteristics and advantages will be in the attached drawing and subsequent tool being incorporated herein It is stated in detail in body embodiment, these the drawings and specific embodiments are used together to explain the specific principle of the present invention.

Description of the drawings

Exemplary embodiment of the present is described in more detail in conjunction with the accompanying drawings, of the invention is above-mentioned and other Purpose, feature and advantage will be apparent, wherein in exemplary embodiments of the present invention, identical reference numeral is usual Represent same parts.

Fig. 1 shows the signal of the self feed back automation compensation hulling machine of property embodiment according to an example of the present invention Figure.

Fig. 2 shows the schematic diagrames of the measurement module of property embodiment according to an example of the present invention.

Fig. 3 shows the schematic diagram of the master reference of property embodiment according to an example of the present invention.

Fig. 4 shows the schematic diagram of the obstacle avoidance sensor of property embodiment according to an example of the present invention.

Fig. 5 shows the schematic diagram of the mobile bearing pedestal of property embodiment according to an example of the present invention.

Fig. 6 shows the structural schematic diagram of the non-equal sub-module of the particle stream of property embodiment according to an example of the present invention.

Fig. 7 shows the partial structurtes signal of the non-equal sub-module of the particle stream of property embodiment according to an example of the present invention Figure.

Fig. 8 a show the partial enlarged view of the single diversion mechanism in one embodiment of the invention.

Fig. 8 b show the partial enlarged view at single support gantry in one embodiment of the invention.

Fig. 9 a show the axis side structure schematic diagram of the single shunting stick mechanism in one embodiment of the invention.

Fig. 9 b show the partial enlarged view of the single shunting stick mechanism in one embodiment of the invention.

Figure 10 shows the overlooking structure diagram of the single shunting stick mechanism in one embodiment of the invention.

Figure 11 a show the structural schematic diagram of the first driving mechanism in one embodiment of the invention.

Figure 11 b show the structural schematic diagram of the second gear in one embodiment of the invention.

Reference sign：

1, measurement module；2, the second motion compensation rubber rollers；3, fixed rubber rollers；4, first movement compensates rubber rollers；5、 Fixed rubber rollers stepper motor；6, motion compensation rubber rollers stepper motor；7, mobile bearing pedestal；8, particle stream is non-divides equally mould Block；101, servo motor is approached；102, shaft coupling；103, longitudinal screw bar；104, thread slider；105, obstacle avoidance sensor； 106, thin pedestal；107, master reference；108, lateral servo motor；109, longitudinal slide bar；110, slide bar sliding block；111, lateral spiral shell Rasp bar；1071, idler wheel；1072, measuring electrode；1073, arcuate permanent magnetic iron；1074, squirrel-cage is wound；1075, sensor shell； 10751, axle sleeve end cap；10752, quill；10753, insulation shell；10754, screw shell；1051, anticollision arm support； 10511, anticollision wheel shaft；10512, insulate fixing sleeve；10513, anticollision suspension；1052, anticollision induction electrode；1053, anticollision sense Mouse cage is answered to wind；1054, collision avoiding caster；1055, anticollision arc-shaped permanent magnet；1056, torsionspring is buffered；1057, anticollision is installed Plate；10571, spring follow block；10572, small mounting hole；10573, big mounting hole；10574, axial restraint threaded hole；10575, solid Dead axle pin；10576, follow block is limited；10577, swing arm pivot pin；71, the second movement bearing bracket stand；72, connecting rod；73, first movement Bearing bracket stand；74, mobile threaded screw rod；75, shift servo motor；76, mobile slide bar；761, postive stop baffle；77, limit switch； 81, baffle；82, feed shedding plate；811, gantry is supported；8111, sliding block；812, shunting stick mechanism；1201, the second driving motor； 12011, the second driving motor holder；1202, first bevel gear；1203, second bevel gear；1204, the second leading screw；1205, Two leading screw holders；1206, link；12061, the second motion thread hole；12062, tongue-and-groove；12063, tenon item；1207, third is driven Dynamic motor；1208, third leading screw；1209, babinet；12091, third motion thread hole sliding block；12092, output shaft hole；12093、 Mounting groove；1210, shaft coupling；1211, arrangements of diverter rods；12111, tooth is shunted；1212, stepper motor is rotated；813, the first screw rod bracket； 814, the first lead screw；815, the first driving mechanism；151, the first driving motor；152, first gear；153, gear mounting plate； 154, second gear；1541, the first motion thread hole；816, guide rod.

Specific implementation mode

The present invention is more fully described below with reference to accompanying drawings.Although showing the preferred embodiment of the present invention in attached drawing, However, it is to be appreciated that may be realized in various forms the present invention without should be limited by embodiments set forth here.On the contrary, providing These embodiments are of the invention more thorough and complete in order to make, and can will fully convey the scope of the invention to ability The technical staff in domain.

The present invention proposes a kind of hulling machine system of self feed back automation compensation, which includes：Fixed rubber Rubber roller, first movement compensation rubber rollers and the second motion compensation rubber rollers, first movement compensation rubber rollers are arranged in parallel in second At the top of motion compensation rubber rollers, fixed rubber rollers are set to first movement compensation rubber rollers and the second motion compensation rubber rollers one Side, compensating rubber rollers and the second motion compensation rubber rollers with first movement, there are cereal processing spaces；Mobile bearing pedestal, can Mobile bearing base is set at the top of first movement compensation rubber rollers and the second motion compensation rubber rollers bottom；Measurement module is surveyed Amount module is set to fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers side；Particle stream is non- Sub-module, the non-equal sub-module of particle stream compensate the paddy between rubber rollers and fixed rubber rollers by fixed mount setting in first movement The top of object processing space；Wherein, the non-equal sub-module of particle stream includes：Feed shedding plate, feed shedding plate are dustpan-shaped, and both sides are set There are baffle, one end to be equipped with feed inlet, the other end is equipped with discharge port；Multiple rows of support gantry is mutually parallel between multiple rows of support gantry, It is set up in above feed shedding plate, support gantry includes two the first pillars and the second pillar being vertically arranged, and horizontally disposed Crossbeam on the first pillar and the second pillar；Multiple first driving mechanisms, each first driving mechanism and a support gantry Connection, for driving support gantry to be moved along the length direction of baffle；Multiple shunting stick mechanisms, multiple shunting stick mechanisms are according to poplar Brightness triangle arrangement is set on multiple rows of support gantry；Wherein, shunting stick mechanism includes link, babinet and shunting stick, link It is set on support gantry, and can be set on link along the cross beam movement at support gantry, babinet, and can be along the perpendicular of link Histogram is set to the lower part of babinet to movement, shunting stick；Processing module, processing module be communicatively coupled to mobile bearing pedestal and Measurement module.

Specifically, by the setting of measurement module, fixed rubber rollers, first movement compensation rubber rollers and the second movement are measured The wear extent and linear resonance surface velocity for compensating rubber rollers adjust fixed rubber based on abrasion amount measuring result by mobile bearing pedestal Rubber roller is with first movement compensation rubber rollers and the spacing of the second motion compensation rubber rollers, the measurement result tune based on linear resonance surface velocity The driving rotating speed of the fixed rubber rollers of section and motion compensation rubber rollers, makes production rice rate and husking yield be protected.

Preferably, mobile bearing pedestal includes：First movement bearing bracket stand, second movement bearing bracket stand, connecting rod, Movable stand thread slider, mobile threaded screw rod and shift servo motor, first movement compensate rubber rollers and the second motion compensation rubber The both ends of rubber roller be connected to first movement bearing bracket stand and second movement bearing bracket stand, connecting rod connect first movement bearing bracket stand and Second movement bearing bracket stand, the setting of movable stand thread slider are arranged in first movement bearing bracket stand bottom, mobile threaded screw rod in movement In frame thread slider, the output shaft of shift servo motor is connected to mobile threaded screw rod, and shift servo communications are connected to place Manage module.

Preferably, mobile bearing pedestal further includes：Mobile sliding block, mobile slide bar, postive stop baffle and limit are opened It closes, mobile sliding block setting is in the second movement bearing bracket stand bottom, and in mobile sliding block, postive stop baffle is set to shifting for mobile slide bar setting Moving slide-bar both ends, limit switch setting is on mobile sliding block.

Specifically, mobile bearing pedestal is based on the mill for measuring the fixation rubber rollers obtained, first movement compensation rubber rollers The wear extent of damage amount and the second motion compensation rubber rollers drives mobile threaded screw rod rotation, then band by shift servo motor Dynamic first movement bearing bracket stand and the second movement bearing bracket stand movement, adjust wear extent and the second movement of first movement compensation rubber rollers Compensate the position of the wear extent of rubber rollers.Make the best spacing of holding of fixed rubber rollers and motion compensation rubber rollers.

Mobile threaded screw rod and shift servo motor positioned at first movement bearing bracket stand bottom play driving effect, are located at the Movable stand thread slider, mobile slide bar, postive stop baffle and the limit switch of two movement bearing bracket stand bottoms play position-limiting action, prevent Mobile bearing pedestal moves out controllable range, causes danger.

Preferably, measurement module respectively include horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, Slide bar sliding block approaches servo motor, lateral servo motor and measurement sensor, and longitudinal screw bar one end is across thread slider, separately One end, which is connected to, approaches servo motor, and longitudinal slide bar one end passes through slide bar sliding block, horizontal thread bar one end to be connected to thread slider, The other end is connected to lateral servo motor across slide bar sliding block, and measurement sensor is arranged on horizontal thread bar；Wherein, mould is measured Longitudinal screw bar one end of block is connected to one end of fixed rubber rollers across thread slider, first movement compensates rubber rollers Longitudinal slide bar one end of one end and one end of the second motion compensation rubber rollers, measurement module is connected to admittedly across slide bar sliding block Determine the other end, the other end of first movement compensation rubber rollers and the other end of the second motion compensation rubber rollers of rubber rollers.

Preferably, measurement sensor includes：

Master reference and obstacle avoidance sensor, master reference and obstacle avoidance sensor are set up in parallel；

Wherein, obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc are forever Magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the setting of anticollision arm support are pacified in anticollision At the top of loading board, anticollision suspension is arranged on anticollision arm support, and insulation fixing sleeve is set on anticollision suspension, the connection of anticollision wheel shaft one end In anticollision suspension, the other end is connected to the wheel hub of collision avoiding caster, and anticollision induction mouse cage winding and anticollision arc-shaped permanent magnet cover successively It is located on anticollision wheel shaft, anticollision induction electrode is set to anticollision induction mouse cage winding both sides, and one end passes through anticollision suspension and insulation Fixing sleeve.

Wherein, master reference includes sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding, screw thread Sleeve, quill, insulation shell, roller housing are set to one end of quill, and squirrel-cage winding is set in one end in quill and connects In the wheel hub of idler wheel, sensor housing is set in squirrel-cage winding outside, and measuring electrode is connected to squirrel-cage winding both ends, passes through Sensor housing, for the setting of arcuate permanent magnetic iron between squirrel-cage winding and sensor housing, screw shell is fixed on sensor shell Body bottom, insulation shell are set in outside sensor housing, and measuring electrode passes through sensor housing and insulation shell set.

It is highly preferred that obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc Shape permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, anticollision mounting plate bottom set It is located on horizontal thread bar, anticollision arm support is arranged at the top of anticollision mounting plate, and anticollision suspension is arranged on anticollision arm support, and insulation is solid It is set on anticollision suspension calmly, anticollision wheel shaft one end is connected to anticollision suspension, and the other end is connected to the wheel hub of collision avoiding caster, prevents It hits induction mouse cage winding and anticollision arc-shaped permanent magnet is sequentially sleeved on anticollision wheel shaft, anticollision induction electrode is set to anticollision induction Mouse cage winds both sides, and one end passes through anticollision suspension and insulation fixing sleeve.

It is highly preferred that obstacle avoidance sensor further includes anticollision fixed pivot pin, anticollision limit follow block, anticollision swing arm pivot pin, buffering Torsionspring and spring follow block, anticollision arm support are articulated with by anticollision swing arm pivot pin at the top of anticollision mounting plate, and anticollision limits follow block It is set to anticollision arm support side, anticollision fixed pivot pin is set to the anticollision arm support other side, is connected to anticollision mounting plate, passes through buffering Torsionspring is connected to anticollision fixed pivot pin.

Specifically, which is used to detect the linear resonance surface velocity of rolling body, when use collision avoiding caster preferentially with Rolling body is in contact, collision avoiding caster drive anticollision wheel shaft and anticollision induction mouse cage winding rotation, anticollision incude mouse cage winding with Relative displacement occurs for anticollision arc-shaped permanent magnet, and then generates electric current, and then determines that obstacle avoidance sensor connects with rolling body It touches, then controls master reference, close to rolling body, to measure rolling body linear resonance surface velocity compared with low velocity.It is sensed by anticollision The setting of device can drive master reference to be moved to object under test at mobile initial stage with fast speed, obstacle avoidance sensor with wait for After surveying object contact, actuating speed is reduced, prevents master reference from sending high velocity impact with rolling body to be measured, reduces master reference The probability of damage.

Specifically, anticollision arm support is hinged with anticollision mounting plate, can be played when collision avoiding caster is in contact with rolling body Cushioning effect, applies lateral pull by buffering torsionspring to anticollision arm support bottom, and anticollision is arranged in the anticollision arm support other side Follow block is limited, and then limits the swing space of anticollision arm support, so that measurement sensor is used safer.

Specifically, anticollision mounting plate is for fixing obstacle avoidance sensor.

It is highly preferred that further including thin pedestal, thin pedestal is set at the top of horizontal thread bar, and one end is connected to thread slider, The other end is connected to slide bar sliding block, and thin pedestal passes through quill, measurement sensor to be slidably installed on thin pedestal and horizontal thread bar.

Specifically, it tests on the anticollision mounting plate and screw shell of sensor and two mounting holes is respectively set, be arranged respectively It is connected to thin pedestal and horizontal thread bar, keeps master reference and obstacle avoidance sensor more firm.

It is highly preferred that further include shaft coupling, shaft coupling setting is approaching between servo motor and longitudinal screw bar and laterally Between threaded rod and lateral servo motor.

It is highly preferred that fixed rubber rollers drive stepper motor and motion compensation rubber rollers stepper motor, fixed rubber rollers drive step Stepper motor can drive fixed rubber rollers to rotate, and motion compensation rubber rollers stepper motor can drive motion compensation rubber rollers to turn Dynamic, fixed rubber rollers drive stepper motor and motion compensation rubber rollers stepper motor is communicatively coupled to processing module.

Specifically, processing module is communicatively coupled to fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor, Turn of fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor can be adjusted based on the detection information of measurement module Speed.

Preferably, longitudinal screw bar is arranged in parallel with longitudinal slide bar, and horizontal thread bar is transversely to the machine direction threaded rod And longitudinal slide bar, the busbar of fixed rubber rollers, the busbar of motion compensation rubber rollers and horizontal thread bar are mutually parallel.

Preferably, further include rack, fixed rubber rollers are fixedly connected on rack, mobile bearing bottom by connecting rod Seat is two tops and bottom for being respectively arranged at rack.

Preferably, first movement compensation rubber rollers and the second motion compensation rubber rollers form and dimension are identical.

Preferably, the busbar of fixed rubber rollers, the busbar of first movement compensation rubber rollers, the second motion compensation rubber The busbar and horizontal thread bar of rubber roller are mutually parallel.

Preferably, longitudinal screw bar is arranged in parallel with longitudinal slide bar, and horizontal thread bar is transversely to the machine direction threaded rod And longitudinal slide bar.

In use, detection time interval is arranged by processing module, the initial distance for obtaining cereal processing space is measured, if Surely the initial linear velocity in surface of fixed rubber rollers, the initial linear velocity in surface and the second motion compensation of first movement compensation rubber rollers The initial linear velocity in surface of rubber rollers；

Every time interval, processing module control linear resonance surface velocity and the fixation that measurement module measures fixed rubber rollers The radius attrition amount of rubber rollers, first movement compensates the linear resonance surface velocity of rubber rollers and first movement compensates the half of rubber rollers The radius attrition of diameter attrition amount, the linear resonance surface velocity of the second motion compensation rubber rollers and the second motion compensation rubber rollers Amount；

Linear resonance surface velocity of the processing module based on fixed rubber rollers adjusts the rotating speed of fixed rubber rollers, makes the fixation after adjustment The linear resonance surface velocity of rubber rollers is equal to the initial linear velocity in surface of fixed rubber rollers；Processing module is based on first movement and compensates rubber The linear resonance surface velocity of roller adjusts the rotating speed of first movement compensation rubber rollers, the linear resonance surface velocity based on people's motion compensation rubber rollers The rotating speed for adjusting the second motion compensation rubber rollers makes the linear resonance surface velocity of the motion compensation rubber rollers after adjustment be equal to motion compensation The initial linear velocity in surface of rubber rollers；

The radius abrasion that radius attrition amount, first movement of the processing module based on fixed rubber rollers compensate rubber rollers disappears The radius attrition amount of consumption and the second motion compensation rubber rollers, control mobile bearing pedestal movement, adjusts first movement The position for compensating rubber rollers and the second motion compensation rubber rollers makes the distance of cereal processing space be equal to initial distance.

Preferably, the radius attrition amount of the fixed rubber rollers of processing module control measurement module measurement includes：

It measures acquisition sensor and fixes initial distance before the abrasion between rubber rollers；

Every a detection time interval, processing module control approaches servo motor driving horizontal thread bar and measurement is driven to pass Sensor is moved to fixed rubber rollers；

Obstacle avoidance sensor is contacted with fixed rubber rollers, then reduce approach servo motor rotating speed driving measurement sensor with it is solid Determine rubber rollers contact, record obtains the distance that measurement sensor moves horizontally；

Initial distance before abrasion is subtracted into the distance that measurement sensor moves horizontally, the radius abrasion as fixed rubber rollers Consumption.

Preferably, processing module control measurement module measures the radius attrition amount packet of motion compensation rubber rollers It includes：

By the busbar of motion compensation rubber rollers by being equidistantly partitioned into multiple measurement points；

Master reference is driven with multiple measurement point contacts, to obtain more successively by approaching servo motor and lateral servo motor Radius value after a abrasion；

Based on radius value after multiple abrasions, radius average value after abrasion is obtained；

The radius attrition amount of motion compensation rubber rollers is obtained based on radius average value after abrasion.

Preferably, processing module control measurement module measures the linear resonance surface velocity packet of first movement compensation rubber rollers It includes：

Obstacle avoidance sensor is contacted with fixed rubber rollers, then reduce approach servo motor rotating speed driving measurement sensor with it is solid Determine rubber rollers contact, the rotating speed based on idler wheel obtains the linear resonance surface velocity of motion compensation rubber rollers.

Preferably, the non-equal sub-module of particle stream further includes multiple second driving mechanisms, each second driving mechanism It is connect with the link of a shunting stick mechanism, for driving shunting stick mechanism along the cross beam movement at support gantry；Multiple thirds Driving mechanism, each third driving mechanism are connect with the babinet of a shunting stick mechanism, for driving shunting stick along link Vertical direction moves；Multiple rotary drive mechanisms, each rotary drive mechanism are set in the babinet of a shunting stick mechanism, with The top connection for shunting stick, for driving shunting stick to rotate about the axis thereof；Controller, controller control the first driving machine respectively Structure, the second driving mechanism, third driving mechanism and rotary drive mechanism.

Multiple rows of support gantry parallel shelf is set to above feed shedding plate, and by controller, often row support gantry is by one the One driving mechanisms control its moved along the length direction of baffle；Multiple shunting stick mechanisms are arranged according to pascal's triangle in multiple rows of It supports on gantry, each second driving mechanism is connect with the link of a shunting stick mechanism, and driving shunting stick mechanism is along support The cross beam movement at gantry, each third driving mechanism are connect with the babinet of a shunting stick mechanism, the case of driving shunting stick mechanism Body is moved along the vertical direction of link, is as moved along its axis direction；Each rotary drive mechanism is set to a shunting It in the babinet of stick mechanism, and is connect with the top of shunting stick, driving shunting stick rotates about the axis thereof, and realizes to each shunting stick machine The movement of the three-dimensional space direction of structure, particle stream are flowed into from the feed inlet of feed shedding plate, and adjustment shunting stick mechanism is in feed baffle The position of top, and shunting stick be inserted into particle stream depth, by rotary drive mechanism drive shunting stick rotation rotating speed and It turns to, the particle to flowing to discharge port by feed inlet is hit, and changes the flow direction and speed of particle, is realized continuous to particle stream Property, anisotropically shunt, i.e., the flow in same exit is different everywhere, wears nonsynchronous phenomenon to correct rubber roller, prevents Rubber roller synchronizes abrasion in certain period of time.

Preferably, according to pascal's triangle, shunting there are one settings on gantry is supported close to the first row of feed inlet Stick mechanism is provided with N number of shunting stick mechanism on N row's supports gantry of discharge port, forms positive pascal's triangle；Or close into The first row of material mouth, which supports, is provided with N number of shunting stick mechanism on gantry, one is provided on N row's supports gantry of discharge port A shunting stick mechanism forms positive pascal's triangle, realizes a variety of shunting modes.

Specifically, the one side of baffle be equipped with along baffle length direction be arranged the first leading screw, another side be equipped with Leading screw is symmetrical and guide rod disposed in parallel；The side of first pillar is equipped with sliding block, and the first driving mechanism is set to the second pillar Side, sliding block are connect with guide rail, and the first driving mechanism is connect with the first leading screw.

Specifically, the first driving mechanism includes the first driving motor being set on the first pillar, the first driving motor Output end is equipped with first gear, sets second gear on the first leading screw, first gear is engaged with second gear, the wheel hub of second gear Inner wall is equipped with the first motion thread hole, and the first motion thread hole is connected with the first leading screw.

First driving motor is fixed on the second pillar side at support gantry, and output shaft is equipped with first gear, to the Corresponding first leading screw of one gear position is equipped with second gear, and the wheel hub of second gear is equipped with the first motion thread hole and the One leading screw cooperatively forms screw thread pair, two the first teeth of clamping plate pair in the gear mounting plate being fixedly connected by the second supporting rack side To it and fixed, the first driving motor driving first gear and second gear engaged transmission so that support is clamped in wheel and second gear Gantry can move linearly along the axis direction of the first leading screw, be dropped down relative to feeding to adjust shunting stick mechanism on support gantry Linear position on the first leading screw of plate upper edge.

Specifically, the second driving mechanism is set on crossbeam, is equipped with the second leading screw of multistage along crossbeam, link is equipped with Second motion thread hole, link are set to by the second motion thread hole on the second leading screw, the second motion thread hole and second Leading screw is connected.

Specifically, the second driving mechanism includes the second driving motor being set on crossbeam, the output of the second driving motor End is equipped with first bevel gear, and the one end of the second leading screw is equipped with second bevel gear, the axis and second bevel gear of first bevel gear Axis it is vertical, and be intermeshed.

It supports and is provided with multiple second driving motor holders and the second leading screw holder on the crossbeam at gantry, each second drives Dynamic motor is fixed on by fixed electric machine support on crossbeam, and the second leading screw passes through the support of the second leading screw and the second driving motor holder Upper coaxial two shaft hole matchings installation, realizes the radially fixed of the second leading screw.The output end of second driving motor is equipped with first The one end of bevel gear, the second leading screw is equipped with second bevel gear, and the axis of first bevel gear is vertical with the axis of second bevel gear And be intermeshed, by setting the second motion thread hole on link, the second motion thread hole is set on the second leading screw, and second Motion thread hole is connected with the second leading screw, realizes that the rotation of the second driving motor drives link along the water in the second leading screw direction Translation is dynamic.

Specifically, the top of link is equipped with third driving mechanism, and the side of link is equipped with the tenon item being vertically arranged, case The side of body is equipped with the tongue-and-groove being vertically arranged, and tenon item is connect with tongue and groove fit, and babinet is equipped with third motion thread hole, and third passes The axis vertical setting of dynamic threaded hole.

Third driving motor is set to the top of link, and output shaft is vertically arranged, the output end of third driving motor It is connect with third leading screw by shaft coupling, third motion thread is set to body side fixed third motion thread hole sliding block On, third leading screw is connected with third motion thread hole, and third driving motor drives the rotation of third leading screw, third motion thread Sliding block drives babinet to be slided along tenon item, realizes the lifting moving of the vertical direction on shunting stick edge.

Specifically, rotary drive mechanism includes rotary drive motor arranged in the box body, and the lower end of babinet is equipped with output The output shaft of axis hole, rotary drive motor passes through output shaft hole to be connect with the top for shunting stick.

Specifically, the lower circumference surface for shunting stick is equipped with the shunting tooth being distributed along its axis direction, and shunting tooth is along shunting The lower circumference surface of stick is uniformly distributed.

The shunting tooth for shunting the setting of stick side, the cross sectional shape for shunting tooth is similar to gear, to stir particle stream so that Shunting stick is similar to the impact effects of elastic collision with particle stream, and the tangential direction to particle along its rotation moves, and increases Large shunt effect.

By the spatial distribution position of change shunting stick and steering and rotating speed, particle shunting is realized.Particle stream is dropped down from feeding The feed inlet of plate flows into, and position of the adjustment shunting stick mechanism above feed baffle, and shunting stick are inserted into the depth of particle stream, The rotating speed of shunting stick rotation and steering, the particle to flowing to discharge port by feed inlet is driven to hit by rotary drive mechanism It hits, changes the flow direction and speed of particle, realization to particle stream continuity, anisotropically shunts, i.e., the flow in same exit It is different everywhere, nonsynchronous phenomenon is worn to correct rubber roller, prevents rubber roller in certain period of time from synchronizing abrasion.

Embodiment 1

As shown in Figure 1, a kind of hulling machine system of self feed back automation compensation of the present embodiment, including：

Fixed rubber rollers 3, first movement compensation rubber rollers 4 and the second motion compensation rubber rollers 2, first movement compensate rubber Roller 4 is arranged in parallel in the top of the second motion compensation rubber rollers 2, and fixed rubber rollers 3 are set to first movement compensation rubber rollers 4 and the Two motion compensation rubber rollers, 2 side, compensating rubber rollers 4 and the second motion compensation rubber rollers 2 with first movement, there are cereal processing Space；

Mobile bearing pedestal 7, mobile bearing pedestal set 7 and are placed in 4 top of first movement compensation rubber rollers and the second shifting 2 bottom of dynamic compensation rubber rollers；

Measurement module 1, measurement module 1 is set to fixed rubber rollers 3, the first movement compensation movement of rubber rollers 4 and second is mended Repay 2 side of rubber rollers；

The non-equal sub-module (not shown in figure 1) of particle stream, the non-equal sub-module of particle stream are moved by fixed mount setting in first The top of cereal processing space between dynamic compensation rubber rollers and fixed rubber rollers；The non-equal sub-module of particle stream, particle stream are non- Sub-module is set to the cereal between first movement compensation rubber rollers 4 and fixed rubber rollers 3 by fixed frame (not shown in figure 1) The top of processing space；

Processing module, processing module are communicatively coupled to mobile bearing pedestal 7 and measurement module 1.

Processing module is communicatively coupled to fixed rubber rollers stepper motor 5 and motion compensation rubber rollers stepper motor, Neng Gouji The rotating speed of fixed rubber rollers stepper motor 5 and motion compensation rubber rollers stepper motor 6 is adjusted in the detection information of measurement module 1.

Fig. 2 shows the schematic diagram of the measurement module of property embodiment according to an example of the present invention, Fig. 3 shows basis The schematic diagram of the master reference of one exemplary embodiment of the present invention, Fig. 4 show that property is real according to an example of the present invention The schematic diagram of the obstacle avoidance sensor of example is applied, Fig. 5 shows the mobile bearing bottom of property embodiment according to an example of the present invention The schematic diagram of seat.

As Figure 2-Figure 5,1 fixed placement of measurement module on entire rack (not shown), integrally place by preferred its Direction should be at force balance state with horizontal direction parallel, avoid by partical gravity for a long time to its accurate thread face Extruding causes conquassation to damage；Fixed rubber rollers 3 answer fixed placement in the static pedestal (not shown) in rack, it is preferred that it is put Setting direction should be parallel with horizontal plane, and rubber rollers generatrix direction should be parallel with 111 direction of horizontal thread bar, and is done to its depth of parallelism Go out requirement；Second motion compensation rubber rollers 4 and first movement compensation rubber rollers 2 are positioned over the sliding on movable axle frame module 7 Bearing fit, it is preferred that its placement direction should be parallel with horizontal plane, while the busbar of rubber rollers should be with 111 side of horizontal thread bar To parallel, and requirement is made to its depth of parallelism；Servo motor 101 is approached to be fixedly installed in rack；Longitudinal screw bar 103 passes through Shaft coupling 102 is connect with servo motor 101 is approached, it is preferred that reply approaches the shaft and longitudinal screw bar of servo motor 101 103 concentricities make requirement；Thread slider 104 coordinates with longitudinal screw bar 103, it is preferred that the essence on reply thread slider 104 The close axis of thread makes requirement with its end face squareness；For the setting of anticollision arm support 1051 at 1057 top of anticollision mounting plate, anticollision is outstanding Frame 10513 is arranged on anticollision arm support 1051, and insulation fixing sleeve 10512 is set on anticollision suspension 10513, anticollision wheel shaft 10511 one end are connected to anticollision suspension 10513, and the other end is connected to the wheel hub of collision avoiding caster 1054, and anticollision incudes mouse cage winding 1053 and anticollision arc-shaped permanent magnet 1055 be sequentially sleeved on anticollision wheel shaft 10511, anticollision induction electrode 1052 is set to anticollision Incude mouse cage and wind 1053 both sides, one end passes through anticollision suspension 1051 and insulation fixing sleeve 10512.It is big on obstacle avoidance sensor 105 Mounting hole 10573 is matched with 111 non-threaded section of horizontal thread bar, and small mounting hole 10572 coordinates with thin pedestal 106, clamp screw It follows closely to match to merge with axial restraint threaded hole 10574 and be inserted into the fixing groove on lateral accurate thread bar 111 to obstacle avoidance sensor 105 Play axial restraint；Thin pedestal 106 is fixedly connected with thread slider 104, slide bar sliding block 110, preferred reply correlation morpheme Tolerance makes requirement, and the axis for specially requiring thin pedestal 106 should be parallel with the axis of surveyed rubber rollers, while the sky that axis determines Between plane should be parallel with horizontal plane；Screw shell 10754 and horizontal thread bar 111 in the sensor shell 1075 of master reference 107 Cooperation, quill 10752 coordinate with thin pedestal 106, and the geometric tolerance for preferably coping with its correlation cooperation makes requirement；It is longitudinal sliding Bar 109 is set in rack, it is preferred that its setting direction should be parallel with horizontal plane, and hangs down with the rubber rollers axial space of measurement Directly；Lateral servo motor 108 should be set in rack and can be relative to rack transversely 111 axis direction level of threaded rod shifting It is dynamic；Lateral servo motor 108 is connect by shaft coupling 102 with horizontal thread bar 111, it is preferred that the concentricity for coping with the two is done Go out requirement；The non-threaded section at 111 both ends of horizontal thread bar and mounting hole cooperation and axial direction on slide bar sliding block 110, thread slider 104 It fixes and can be freely rotated relative to two sliding blocks, it is preferred that the related geometric tolerance of reply makes requirement；The wheel hub of idler wheel 1071 with Quill 10752 coordinates, and axle sleeve end cap 10751 plays the role of axial restraint to it, it is preferred that the central point of idler wheel 1071 is distinguished With fixed rubber rollers 3, first movement compensation rubber rollers 4 and 2 center of the second motion compensation rubber rollers on a horizontal line, To ensure the accuracy measured；Measuring electrode 1072 should pass through insulation shell 10753 and be fixed on sensor shell 1075, want simultaneously Ensure that measuring electrode 1072 winds 1074 liang of end in contact with squirrel-cage, arcuate permanent magnetic iron 1073 is fixed in sensor shell 1075 Portion so that squirrel-cage winding 1074 is in its magnetic field；Squirrel-cage winding 1074 and the wheel hub of idler wheel 1071 are fixed, and squirrel-cage is made Winding 1074 can be freely rotated with idler wheel 1071；Insulation shell 10753 is set in sensor shell 1075；Anticollision arm support 1051 by The fixation of swing arm pivot pin 10577 is simultaneously rotatable；Anticollision induction electrode 1052 passes through insulation fixing sleeve 10512 to be fixed on anticollision suspension On 10513；Anticollision induction mouse cage winding 1053 and the wheel hub of collision avoiding caster 1054 are fixed；The wheel hub of collision avoiding caster 1054 and anticollision Wheel shaft 10511 coordinates；Anticollision arc-shaped permanent magnet 1055 is set to 10513 inner wall of anticollision suspension；Torsionspring 1056 is buffered by solid Dead axle pin 10575 is fixed, and buffering torsionspring 1056 pushes down 1051 edge of anticollision arm support on one side, and another side resists spring follow block 10571, it is preferred that ensure that anticollision swing arm frame forward extends out certain angle, make the collision avoiding caster when sensor approaches rubber rollers 1054 prior to master reference idler wheel 1071, with ensure realize collision prevention function；It is another that limit follow block 10576 resists anticollision arm support 1051 Angle limit is played the role of in one end；Connecting rod 72 is fixed with fixed mobile bearing bracket stand 71 and first movement bearing bracket stand 73, is played solid It is set for using；Postive stop baffle 761 is set to 76 both ends of mobile slide bar, and the setting of limit switch 77 is on mobile sliding block, movable stand screw thread Sliding block is set to 73 lower end of first movement bearing bracket stand, and movable stand thread slider coordinates with mobile threaded screw rod 74；Shift servo electricity Machine 75 is coupled by shaft coupling with mobile threaded screw rod 74, it is preferred that both replies concentricity claims, shift servo motor 75 are set in rack；Mobile slide bar 76 and second moves the accurate sliding block cooperation of bearing bracket stand one end, and mobile slide bar 76 is set to In rack, it is preferred that its axis installation direction is parallel with horizontal plane, and perpendicular to rubber roll axis；Mobile threaded screw rod 74 is another One end is set in rack, it is preferred that its axis installation direction is parallel with mobile 76 axis of slide bar；Limit switch 77 is fixed on On the mobile sliding block of two 71 one end of movement bearing bracket stand, and ensure that limit switch 77 can be contacted with limit switch 77.

Fig. 6 shows the structural schematic diagram of the non-equal sub-module of the particle stream of property embodiment according to an example of the present invention, Fig. 7 shows the partial structural diagram of the non-equal sub-module of the particle stream of property embodiment according to an example of the present invention, Fig. 8 a Show that the partial enlarged view of the single diversion mechanism in one embodiment of the invention, Fig. 8 b show one embodiment of the invention In single support gantry partial enlarged view, Fig. 9 a show the axis of the single shunting stick mechanism in one embodiment of the invention Side structure schematic diagram.Fig. 9 b show that the partial enlarged view of the single shunting stick mechanism in one embodiment of the invention, Figure 10 show The overlooking structure diagram of the single shunting stick mechanism in one embodiment of the invention is gone out, Figure 11 a show the present invention one The structural schematic diagram of the first driving mechanism in embodiment, Figure 11 b show the second gear in one embodiment of the invention Structural schematic diagram.

As shown in Fig. 6-Figure 11 b, a kind of non-equal sub-module 8 of particle stream of the present embodiment, including：Feed shedding plate 82, feeding It is dustpan-shaped to drop down plate 82, and both sides are equipped with baffle 81, and one end is equipped with feed inlet, and the other end is equipped with discharge port；Four rows support gantry 811, four rows are mutually parallel between supporting gantry 811, are set up in 82 top of feed shedding plate, and support gantry 811 includes two vertical The first pillar and the second pillar being arranged, and the crossbeam that is horizontally placed on the first pillar and the second pillar；Four first drives Motivation structure 815, each first driving mechanism 815 is connect with a support gantry 811, for driving support gantry 811 along baffle 81 length horizontal direction movement；Ten shunting stick mechanisms 812, ten shunting stick mechanisms 812 arrange according to pascal's triangle, are arranged It is supported on gantry in four rows；Wherein, shunting stick mechanism 812 includes link 1206, babinet 1209 and shunting stick 1211, link 1206 are set on support gantry 811, and can be set to link 1206 along the cross beam movement at support gantry 811, babinet 1209 On, and can be slided along the vertical direction of link 1206, shunting stick 1211 is set to 1209 lower part of babinet；Ten the second driving machines Structure, each second driving mechanism are connect with the link 1206 of a shunting stick mechanism 812, for driving shunting stick mechanism 812 It moves in crossbeam direction along support gantry 811；Ten third driving mechanisms, each third driving mechanism and a shunting stick mechanism Babinet 1209 connect, for drive shunting stick 1211 moved along its axis direction；Ten rotary drive mechanisms, each rotation are driven Motivation structure is set in the babinet 1209 of a shunting stick mechanism 812, is connect with the top of shunting stick 1211, for driving shunting Stick 1211 rotates about the axis thereof；Controller, controller control the first driving mechanism 815, the second driving mechanism, third driving respectively Mechanism and rotary drive mechanism.

According to pascal's triangle, is supported close to the first row of feed inlet and shunt stick mechanism 812 on gantry 811 there are one settings； It is supported close to the 4th row of discharge port and shunts stick mechanism 812 on gantry 811 there are four settings.

Second row, which supports, to be arranged on gantry 811 there are two Liu Bang mechanisms 812, and third row's support is provided with three on gantry 811 Ge Liu sticks mechanism 812.

The one side of baffle 81 is equipped with horizontally disposed first leading screw 813 of length direction along baffle 801, and another side is set There is the guide rod 816 with the 813 symmetrical parallel setting of the first leading screw；The side of first pillar is equipped with sliding block 8111, the first driving mechanism 815 are set to the side of the second pillar, and sliding block 8111 is connect with guide rail, and the first driving mechanism 815 is connect with the first leading screw 813, Guide rod 816 schedules the left outside side of baffle 81 by guide bar support solid 813, and the first leading screw 813 is solid by lead screw guide rails holder 813 Due to the right lateral surface of baffle 81.

First driving mechanism 815 includes the first driving motor 151 being set on support gantry 811, the first driving motor 151 output end is equipped with first gear 152, to setting second gear 154 on corresponding first leading screw in 152 position of first gear 812, First gear 152 is engaged with second gear 154, and the wheel hub of second gear 154 is equipped with the first motion thread hole 1541, and first passes 1541 and first leading screw 813 of dynamic threaded hole is connected.

Two clamping plates in gear mounting plate 153 being fixedly connected by the second supporting rack side are to first gear 152 and Two gears 154, which are aligned and are clamped, to be determined, and the first driving motor 151 drives 154 engaged transmission of first gear 152 and second gear, makes It must support gantry 811 that can move linearly along the axis direction of the first leading screw 813, stick is shunted on support gantry 811 to adjust Position of the mechanism 812 relative to 802 the first leading screw of upper edge 813 of feed shedding plate.

Second driving mechanism is set on crossbeam, is equipped with the second leading screw of multistage 1204 along crossbeam, is set on link 1206 There are the second motion thread hole 12061, link 1206 to be set on the second leading screw 1204 by the second motion thread hole 12061, Second motion thread hole 12061 and the second leading screw 1204 are connected.

Second driving mechanism includes the second driving motor 1201 being set on crossbeam, the output of the second driving motor 1201 End is equipped with first bevel gear 1202, and the one end of the second leading screw 1204 is equipped with second bevel gear 1203, first bevel gear 1202 Axis is vertical with the axis of second bevel gear 1203 and is intermeshed.It supports and is provided with multiple second drives on the crossbeam at gantry 811 12011 and second leading screw holder 1205 of dynamic electric machine support, each second driving motor 1201 pass through the second driving motor holder 12011 are fixed on crossbeam, and the second leading screw 1204 passes through same on the second leading screw holder 1205 and the second driving motor holder 12011 Two shaft hole matchings of axis are installed, and realize the radially fixed of the second leading screw 1204.By setting the second transmission on link 1206 Threaded hole 12061, the second motion thread hole 12061 are set on the second leading screw 1204, the second motion thread hole 12061 and second Leading screw 1204 is connected, and realizes the rotation of the second driving motor 1201, drives connection 1206 along the water in 1204 direction of the second leading screw Translation is dynamic.The top of link 1206 is equipped with third driving mechanism, and the side of link 1206 is equipped with the tenon item being vertically arranged 12063, the side of babinet 1209 is equipped with the tongue-and-groove 12062 being vertically arranged, and tenon item 12063 is connected with tongue-and-groove 12062, babinet 1209 are equipped with third motion thread hole, and the axis vertical in third motion thread hole is arranged.Third driving mechanism includes being set to The output end of the third driving motor 1207 on the top of link 1206, third driving motor 1207 is equipped with third leading screw 1208, Third leading screw 1208 is connected with third motion thread hole.The output end of third driving motor 1207 by shaft coupling 1210 with Third leading screw 1208 connects, third motion thread is set on the third motion thread hole sliding block 12091 of body side, third Leading screw 1208 is connected with third motion thread hole, and third driving motor drives third leading screw 1208 to rotate, and third is driven spiral shell Line sliding block 12091 drives babinet 1209 to be slided along tenon item 12091, realizes the lifting moving of the vertical direction on 1211 edge of shunting stick. Rotary drive mechanism includes the rotary drive motor 1212 being set in babinet 1209, and the lower end of babinet 1209 is equipped with output shaft hole 12092, the output shaft of rotary drive motor 1212 passes through output shaft hole 12092 to be connect with the top for shunting stick 1211.Rotation is driven Dynamic motor 1212 is fixed on by the mounting groove 12093 in babinet 1209 in babinet, and there are rotations on the top of mounting groove 12094 The output shaft of the cabling space of driving motor 1212, rotary drive motor 1212 is stretched out by the output shaft hole of babinet lower end, and It is connect with the top of shunting stick 1211, drives shunting stick rotatable around its axis.The lower circumference surface for shunting stick 1211 is equipped with edge The shunting tooth 12111 of its axis direction distribution, shunting tooth 12111 are uniformly distributed along the lower circumference surface of shunting stick 1211.Point The shunting tooth 12111 of 1211 side of stick setting is flowed, the cross sectional shape of shunting tooth 12111 is similar to gear, to stir particle stream, So that shunting stick 1211 is similar to the impact effects of elastic collision with particle stream, to which particle is along the tangential direction of its rotation Movement increases shunting effect.

The embodiment of the present invention is described above, above description is exemplary, and non-exclusive, and also not It is limited to disclosed embodiment.Without departing from the scope and spirit of embodiment described, for the art Those of ordinary skill for many modifications and changes will be apparent from.The selection of term used herein, it is intended to best Principle, practical application or the improvement to the technology in market of embodiment are explained in ground, or make the other common of the art Technical staff can understand embodiments disclosed herein.

Claims

1. a kind of hulling machine system of self feed back automation compensation, which is characterized in that the hulling machine system includes：

Fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers, the first movement compensate rubber rollers It is arranged in parallel at the top of the second motion compensation rubber rollers, the fixed rubber rollers are set to the first movement compensation rubber Roller and the second motion compensation rubber rollers side compensate rubber rollers with the first movement and the second motion compensation rubber rollers are stayed There is cereal processing space；

Mobile bearing pedestal, the mobile bearing pedestal is set at the top of first movement compensation rubber rollers and described second moves Dynamic compensation rubber rollers bottom；

Measurement module, the measurement module are set to the fixed rubber rollers, first movement compensation rubber rollers and the second movement and mend Repay rubber rollers side；

The non-equal sub-module of particle stream, the non-equal sub-module of particle stream compensate rubber by fixed mount setting in the first movement The top of cereal processing space between roller and the fixed rubber rollers；

Wherein, the non-equal sub-module of particle stream includes：Feed shedding plate, the feed shedding plate be it is dustpan-shaped, both sides be equipped with baffle, one End is equipped with feed inlet, and the other end is equipped with discharge port；

Multiple rows of support gantry is mutually parallel between described multiple rows of support gantry, is set up in above the feed shedding plate, the support Gantry includes two the first pillars and the second pillar being vertically arranged, and is horizontally placed on first pillar and the second pillar On crossbeam；

Multiple first driving mechanisms, each first driving mechanism is connect with the support gantry, described for driving It is moved along the length direction of baffle at support gantry；

Multiple shunting stick mechanisms, the multiple shunting stick mechanism are arranged according to pascal's triangle, are set to described multiple rows of support gantry On；

Wherein, the shunting stick mechanism includes that link, babinet and shunting stick, the link are set to described support gantry On, and can be set on the link along the cross beam movement at described support gantry, the babinet, and can be along the link Vertical direction moves, and the shunting stick is set to the lower part of the babinet；

2. the hulling machine system of self feed back automation compensation according to claim 1, wherein the mobile bearing pedestal Including：First movement bearing bracket stand, the second movement bearing bracket stand, connecting rod, movable stand thread slider, mobile threaded screw rod and movement are watched Motor is taken, the first movement compensates rubber rollers and the both ends of the second motion compensation rubber rollers are connected to described first Mobile bearing bracket stand and the second movement bearing bracket stand, the connecting rod connect the first movement bearing bracket stand and second movement Bearing bracket stand, the movable stand thread slider setting exist in first movement bearing bracket stand bottom, the mobile threaded screw rod setting In the movable stand thread slider, the output shaft of the shift servo motor is connected to the mobile threaded screw rod, the movement Servo motor is communicatively coupled to the processing module.

3. the hulling machine system of self feed back automation compensation according to claim 2, wherein the mobile bearing pedestal Further include：Mobile sliding block, mobile slide bar, postive stop baffle and limit switch, the mobile sliding block are arranged in second shifting axle Bolster bottom, the mobile slide bar are arranged in the mobile sliding block, and the postive stop baffle is set to the mobile slide bar both ends, The limit switch is arranged on the mobile sliding block.

4. the hulling machine system of self feed back automation compensation according to claim 1, wherein the measurement module wraps respectively It includes horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, slide bar sliding block, approach servo motor, lateral servo motor And measurement sensor, longitudinal screw bar one end pass through the thread slider, the other end, which is connected to, approaches servo motor, described Longitudinal slide bar one end passes through the slide bar sliding block, horizontal thread bar one end to be connected to the thread slider, and the other end passes through The slide bar sliding block is connected to the lateral servo motor, and the measurement sensor is arranged on the horizontal thread bar；

Wherein, longitudinal screw bar one end of the measurement module is connected to the fixed rubber rollers across the thread slider One end, the first movement compensation rubber rollers one end and the second motion compensation rubber rollers one end, the measurement mould Longitudinal slide bar one end of block is connected to the other end of the fixed rubber rollers, the first movement across the slide bar sliding block Compensate the other end of rubber rollers and the other end of the second motion compensation rubber rollers.

5. the hulling machine system of self feed back automation compensation according to claim 4, wherein the measurement sensor packet It includes：

Wherein, the obstacle avoidance sensor includes：Anticollision mounting plate, anticollision arm support, anticollision wheel shaft, anticollision suspension, anticollision arc are forever Magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the anticollision arm support are arranged in institute It states at the top of anticollision mounting plate, the anticollision suspension is arranged on the anticollision arm support, and the insulation fixing sleeve is set in described anti- It hits on suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel hub of the collision avoiding caster, institute It states anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet is sequentially sleeved on the anticollision wheel shaft, the anticollision induced electricity Pole is set to anticollision induction mouse cage winding both sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.

6. the hulling machine system of self feed back automation compensation according to claim 5, wherein the master reference includes passing Sensor shell, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding, screw shell, quill, insulation shell, the rolling Wheel is sheathed on one end of the quill, and the squirrel-cage winding is set in the wheel hub that one end in quill is connected to idler wheel, institute It states sensor housing and is set in squirrel-cage winding outside, the measuring electrode is connected to squirrel-cage winding both ends, wears The sensor housing is crossed, the arcuate permanent magnetic iron setting is described between squirrel-cage winding and the sensor housing Screw shell is fixed on the sensor housing bottom, and the insulation shell is set in outside the sensor housing, the survey It measures electrode and passes through the sensor housing and the insulation shell set.

7. the hulling machine system of self feed back automation compensation according to claim 1, wherein the particle stream is non-to divide equally mould Block further includes：

Multiple second driving mechanisms, each second driving mechanism connect with the link of a shunting stick mechanism, use In the driving shunting stick mechanism along the cross beam movement at described support gantry；

Multiple third driving mechanisms, each third driving mechanism connect with the babinet of a shunting stick mechanism, are used for The shunting stick is driven to be moved along the vertical direction of the link；

Multiple rotary drive mechanisms, each rotary drive mechanism are set in the babinet of a shunting stick mechanism, with The top connection of the shunting stick, for driving the shunting stick to rotate about the axis thereof.

8. the hulling machine system of self feed back automation compensation according to claim 7, wherein the particle stream is non-to divide equally mould Block further includes：Controller, the controller control first driving mechanism, the second driving mechanism, third driving mechanism respectively And rotary drive mechanism.

9. the hulling machine system of self feed back according to claim 8 automation compensation, wherein according to the pascal's triangle, There are one the shunting stick mechanisms for setting on support gantry described in first row close to the feed inlet, close to the discharge port N is arranged and is provided with N number of shunting stick mechanism on described support gantry, forms positive pascal's triangle；Or close to the feed inlet It is supported described in first row on gantry and is provided with N number of shunting stick mechanism, the N close to the discharge port arranges described support gantry There are one the shunting stick mechanisms for upper setting, form positive pascal's triangle.

10. the hulling machine system of self feed back automation compensation according to claim 8, wherein the lower part of the shunting stick Circumferential surface is equipped with the shunting tooth being distributed along its axis direction, and the shunting tooth is uniform along the lower circumference surface of the shunting stick Distribution.