CN109795898A - A kind of Jing Ping robot with collapsible impurity removal mechanism - Google Patents
A kind of Jing Ping robot with collapsible impurity removal mechanism Download PDFInfo
- Publication number
- CN109795898A CN109795898A CN201910087265.2A CN201910087265A CN109795898A CN 109795898 A CN109795898 A CN 109795898A CN 201910087265 A CN201910087265 A CN 201910087265A CN 109795898 A CN109795898 A CN 109795898A
- Authority
- CN
- China
- Prior art keywords
- scraper plate
- pin shaft
- telescopic
- linking arm
- frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 title claims abstract description 39
- 239000012535 impurity Substances 0.000 title claims abstract description 25
- 238000005516 engineering process Methods 0.000 abstract description 4
- 239000002344 surface layer Substances 0.000 abstract description 2
- 238000000465 moulding Methods 0.000 description 18
- 230000008602 contraction Effects 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000004321 preservation Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000007790 scraping Methods 0.000 description 1
- 239000003381 stabilizer Substances 0.000 description 1
- 238000010408 sweeping Methods 0.000 description 1
Landscapes
- Manipulator (AREA)
Abstract
The present invention discloses a kind of Jing Ping robot with collapsible impurity removal mechanism, including scraper plate telescopic frame, foldable assembly and grain face scraper plate, foldable assembly connects two neighboring scraper plate telescopic frame, two neighboring scraper plate telescopic frame can be overlapped or be unfolded by foldable assembly, multiple scraper plate telescopic frames are in the multilayer shape mutually folded when overlapping, angle when expansion between adjacent scraper plate telescopic frame is 0~180 °, when being fully deployed, multiple scraper plate telescopic frames are concordant and are generally aligned in the same plane, grain face scraper plate is connected to scraper plate telescopic frame, grain face scraper plate synchronizes with scraper plate telescopic frame and mutually folds or be unfolded；The structure with larger flat grain face product can be assembled into after entering silo, the grain-levelling machine device people that trails is used for flat grain, effectively increase the area coverage of the flat grain of Jing Ping robot, it manually closes a position existing to clean and is directly promoted to automation, intelligent level, it can be obviously improved speed and ability that grain is closed a position with surface layer removal of impurities, China's grain storage new technology, new equipment is made to attain a new height again.
Description
Technical field
The present invention relates to grain storage technical fields, flat in particular to a kind of essence with collapsible impurity removal mechanism
Robot.
Background technique
Currently, large storehouse and silo are the leading storehouse types in China's grain reserves.During foodstuff preservation, put down
Storehouse operation is the basic demand of grain storage management, followed by lay cable for measuring temperature, both operations are all made of manual operation completion.
Grain " four dissipate " circulation technology (i.e. in bulk, load in bulk, dissipate and unload, dissipate and deposit) is the development trend of current Grain Logistics technology, " in bulk "
It is wherein one of key link.In recent years, government investment has built large quantities of central grain depots, these warehouses are mostly with tall and big
Based on horizontal warehouse and silo, food storage, means of transportation are mostly form that is in bulk and loading in bulk.China intelligently closes a position impurity removing equipment
Serious loss, directly constrain the demand for development for promoting the equipment of parent company's storage technique, therefore removal of impurities of closing a position should be accelerated
The development work of key technology and relevant equipment.
It is important link in foodstuff preservation that grain face is smooth, directly influences the integral level of grain storage work.It is domestic at present
Silo is mostly artificial flat grain, there are heavy workload, the problems such as working efficiency is low, large labor intensity, operating environment is severe；It is existing
Silo surfacing cannot be the smooth surface for reaching requirement by Chu Ping robot, moreover can leave trace after the flat grain of Chu Ping robot
Mark is unsatisfactory for the requirement that grain is finely closed a position, while existing Chu Ping robot volume cannot be too big, when causing unit in this way
Between flat grain limited area, the efficiency of flat grain is lower；In addition grain-levelling machine device people is sent into from silo mouth, and volume cannot be too big,
In the case where volumetric constraint, a structure that can be folded and unfolded is needed, expands flat grain face product.
Summary of the invention
The purpose of the present invention is to provide a kind of Jing Ping robots with collapsible impurity removal mechanism, can pass through disassembly
Geometries shrink volume enter silo mouth, and be assembled into the structure with larger flat grain face product after entering silo, trail flat
Grain robot is used for flat grain, effectively increases the area coverage of the flat grain of Jing Ping robot, by the existing direct promotion that cleans of manually closing a position
To automation, intelligent level, it can be obviously improved speed and ability that grain is closed a position with surface layer removal of impurities, make the new skill of China's grain storage
Art, new equipment attain a new height again.
The embodiment of the present invention is achieved in that
A kind of Jing Ping robot with collapsible impurity removal mechanism comprising: scraper plate telescopic frame, foldable assembly and grain face are scraped
Plate, foldable assembly connect two neighboring scraper plate telescopic frame, and two neighboring scraper plate telescopic frame can be overlapped or be unfolded by foldable assembly,
Multiple scraper plate telescopic frames are in the multilayer shape that mutually folds when overlapping, and the angle between when expansion adjacent scraper plate telescopic frame is 0~
180 °, when being fully deployed, multiple scraper plate telescopic frames are concordant and are generally aligned in the same plane, and grain face scraper plate is connected to scraper plate telescopic frame, grain
Face scraper plate synchronizes with scraper plate telescopic frame and mutually folds or be unfolded.
In preferred embodiments of the present invention, above-mentioned foldable assembly includes telescopic block, sliding block, linking arm and screw motor,
The two sides for being respectively connected to telescopic block of adjacent scraper plate telescopic frame, screw motor are installed to telescopic block or sliding block, linking arm connection
Scraper plate telescopic frame and sliding block, screw motor drive sliding block to slide relative to telescopic block, and telescopic frame can be rotated relative to telescopic block, even
Connect arm can be rotated relative to sliding block.
In preferred embodiments of the present invention, above-mentioned sliding block, which slides relative to telescopic block and passes through linking arm, drives telescopic frame
It mutually draws close or is unfolded.
In preferred embodiments of the present invention, above-mentioned adjacent expansion frame is 0~90 ° relative to the rotational angle of telescopic block.
In preferred embodiments of the present invention, above-mentioned linking arm includes the first linking arm and the second linking arm, the first connection
The both ends of arm are respectively connected to telescopic block and scraper plate telescopic frame, and the both ends of the second linking arm are respectively connected to scraper plate telescopic frame and cunning
Motion block.
In preferred embodiments of the present invention, pass through pin shaft between above-mentioned first linking arm and telescopic block, scraper plate telescopic frame
Connection is connected between the second linking arm and scraper plate telescopic frame, sliding block by pin shaft.
In preferred embodiments of the present invention, above-mentioned pin shaft includes the first pin shaft, the second pin shaft, third pin shaft and the 4th pin
Axis, the first pin shaft, the second pin shaft and third pin shaft are generally aligned in the same plane, and the first pin shaft and the second pin shaft connect telescopic block and first
The connection of arm is connect, third pin shaft connects the first linking arm, the second linking arm with scraper plate telescopic frame, and the 4th pin shaft is connected second
Arm is connected with sliding block.
In preferred embodiments of the present invention, above-mentioned second pin shaft between the first pin shaft and third pin shaft, stretch by scraper plate
Contracting frame is rotated centered on the second pin shaft relative to telescopic block, and the both ends of telescopic block are provided with perforative through slot, and through slot is in circular arc
Shape, third pin shaft are always positioned in through slot and are rotated centered on the second pin shaft, and rotational angle is 0~90 °.
In preferred embodiments of the present invention, above-mentioned first linking arm and the second linking arm are respectively arranged with 2 pairs, Mei Dui
One linking arm or the second linking arm are located on the outside of the both ends of telescopic block.
In preferred embodiments of the present invention, above-mentioned Jing Ping robot further includes chassis and expansion bracket, and chassis, which is connected to, stretches
In formula structure is carried on the shoulder, scraper plate telescopic frame is connected to the bottom of expansion bracket at contracting frame both ends.
The beneficial effects of the present invention are:
The present invention by the way that scraper plate telescopic frame is mutually folded into multilayer by foldable assembly, by scraper plate telescopic frame relative to
Telescopic block rotation carries out the adjusting of the angle between scraper plate telescopic frame, is driven by screw motor and is generated between telescopic block and sliding block
Displacement drives the rotation of scraper plate telescopic frame by the second linking arm, by the rotational angle of the first linking arm limiting scraper telescopic frame,
To realize the contraction and stretching, extension of the flexible executing agency of scraper plate；The robot can be entered by the geometries shrink volume of disassembly
Silo mouth, and the structure with larger flat grain face product is assembled into after entering silo, the grain-levelling machine device people that trails is used for flat grain, has
Effect increases the area coverage of the flat grain of Jing Ping robot.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range.
Fig. 1 is the stereoscopic schematic diagram of detachable Jing Ping of the present invention robot；
Fig. 2 is the schematic elevation view of detachable Jing Ping of the present invention robot；
Fig. 3 is the schematic elevation view of part expansion bracket of the present invention；
Fig. 4 is the schematic top plan view of the flexible supporting device of the present invention；
Fig. 5 is the stereoscopic schematic diagram of the flexible supporting device of the present invention；
Fig. 6 is the Longitudinal cross section schematic of pivoting support of the present invention；
Fig. 7 is the schematic top plan view of the flexible executing agency of scraper plate of the present invention；
Fig. 8 is the stereoscopic schematic diagram of scraper plate flexible adjustment of the present invention mechanism；
Fig. 9 is the schematic top plan view of deflection adjusting mechanism of the present invention and chassis；
Icon: the chassis 101-；102- deflection adjusting mechanism；103- expansion bracket；104- stretches supporting device；105- revolution branch
It holds；106- scraper plate stretches executing agency；107- scraper plate flexible adjustment mechanism；108- grain face scraper plate；109- rotating electric machine；110-
Scraper plate terminal pad；111- first unit bar；112- second unit bar；113- pin shaft；114- intermediate frame；115- outer frame body；
116- internal frame body；The flexible bearing electric cylinders of 117-；118- scraper plate up and down adjustment electric cylinders；119- top plate body；120- chassis body；121-
Scraper plate telescopic frame；122- telescopic block；123- sliding block；The first linking arm of 124-；The second linking arm of 125-；126- spring cylinder；127-
Elastic rod；128- link block；129- connecting plate；130- fixed frame；131- scraper plate.
Specific embodiment
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiment of the present invention provided in the accompanying drawings is not intended to limit below claimed
The scope of the present invention, but be merely representative of selected embodiment of the invention.Based on the embodiments of the present invention, this field is common
Technical staff's every other embodiment obtained without creative efforts belongs to the model that the present invention protects
It encloses.
First embodiment
Fig. 1 is please referred to, the present embodiment provides a kind of Jing Ping robot with collapsible impurity removal mechanism, including chassis 101,
Deflection adjusting mechanism 102, expansion bracket 103, scraper plate flexible executing agency 106, flexible supporting device 104, are returned at grain face scraper plate 108
Turn bearing 105 and rotating electric machine 109, Jing Ping robot carries formula structure on the shoulder using double drive chassis 101, and connecting rod is that this carries formula on the shoulder
Intermediate structure, connecting rod includes expansion bracket 103 and flexible supporting device 104, and middle brace rod carries the removal of impurities for being used for flat grain
Component, removal of impurities component include pivoting support 105, scraper plate terminal pad 110, the flexible executing agency 106 of scraper plate and grain face scraper plate 108；
The both ends of expansion bracket 103 are respectively connected to two deflection adjusting mechanisms 102 in left and right, and expansion bracket 103 includes two sections, and stretch bearing machine
For structure 104 by the interconnection of two sections of expansion brackets 103, deflection adjusting mechanism 102 is connected to chassis 101, and scraper plate stretches executing agency
106 are located at the lower section of expansion bracket 103, and grain face scraper plate 108 is connected to the bottom of the flexible executing agency 106 of scraper plate, and scraper plate is flexible to be held
The top of row mechanism 106 connects pivoting support 105, and pivoting support 105 is connected to flexible supporting device by scraper plate terminal pad 110
104, rotating electric machine 109 is fixedly attached to pivoting support 105；Scraper plate stretches between executing agency 106 and expansion bracket 103 for disassembly
Formula connection, the both ends of expansion bracket 103 are to be detachably connected between deflection adjusting mechanism 102 respectively；With collapsible de-burring machine
The Jing Ping robot of structure is moved forward or back by the driving of chassis 101, so that it is flat to drive grain face scraper plate 108 to carry out on silo surface
Grain；Jing Ping robot with collapsible impurity removal mechanism is detachably connected with, and facilitates grain-levelling machine device people being sent into silo mouth, is sent into
Mouth is assembled in silo, meets requirement of the silo mouth to robot volume size, while the Jing Ping robot after assembling
It is long-pending to have biggish grain face of sweeping, fine finishing operations rapidly can be carried out to silo surface.
Referring to figure 2. and Fig. 3, expansion bracket 103 have two sections, and every section of expansion bracket 103 includes 6 telescopic unit framves, is stretched
Unit frame is to intersect and the combination connection of hinged unit bar is formed, and telescopic unit frame is self by the mode pressure hingedly rotated
Contracting and expansion, 6 telescopic unit frame head and the tail are in turn connected to form entirety, connect, stretch for hinge between adjacent expansion unit frame
Frame 103 is mutually shunk and is unfolded by articulated structure of the telescopic unit frame itself between adjacent expansion unit；Expansion bracket 103
It further include pin shaft 113, telescopic unit frame includes the second list that 111, two, two first unit bars being parallel to each other are parallel to each other
The middle part of first bar 112, first unit bar 111 and second unit bar 112 is respectively arranged with hinge hole, and hinged hole location is by the two sides of bar
The circular hole of face connection, the hinge hole will be parallel to each other for being inserted into the connection of pin shaft 113, the second unit bar 112 that is parallel to each other
First unit bar 111 is stuck between second unit bar 112, the hinge hole and second that pin shaft 113 passes through 111 middle part of first unit bar
The hinge hole at 112 middle part of unit bar concatenates two first unit bars 111 and two second unit bars 112, is formed and is stretched after concatenation
Contracting unit frame；The both ends of first unit bar 111 are respectively arranged with hinge hole, and the both ends of second unit bar 112 are respectively set hinged
Hole is connect, the hinge hole of 111 one end of first unit bar of telescopic unit frame and the second unit bar 112 of adjacent expansion unit frame are belonged to
The hinge hole of one end is opposite, and pin shaft 113 is concatenated adjacent telescopic unit frame by the hinge hole, and adjacent expansion unit frame passes through
The concatenation of pin shaft 113 forms the entirety of 6 telescopic unit framves composition；Pin shaft 113 passes through hinge hole for first unit bar 111 and second
Unit bar 112 is fixed to each other, and after fixing by the fixed form, the both ends installation nut of pin shaft 113 is locked, and 6 flexible
Unit frame forms one section of whole 103 structure of expansion bracket after being connected with each other, which is 111 He of first unit bar
The frame-like that second unit bar 112 forms, wherein first unit bar 111 and second unit bar 112 in same telescopic unit frame
Opposed rotatable, the first unit bar 111 of telescopic unit frame and the second unit bar 112 of adjacent expansion unit frame can turn relatively
Dynamic, expansion bracket 103 entire in this way passes through the rotation of first unit bar 111 and second unit bar 112, by 6 telescopic unit framves into
Row is shunk and stretching, extension；Expansion bracket 103, which carries out drawing close by way of shrinking and stretching, reduces occupied space or expansion increase occupancy
The contraction of the flexible executing agency 106 of space, expansion bracket 103 and scraper plate and extension style are mutually indepedent；By the structure of the setting,
It is carried out in silo after assembling robot, by the contraction or expansion of expansion bracket 103, the occupancy that robot is decreased or increased is empty
Between, to adapt to the movement inside silo, while the area that the flat grain of robot is related to is expanded by the expansion of expansion bracket 103,
The efficiency of flat grain is improved indirectly.
Referring to figure 4. and Fig. 5, the supporting device 104 that stretches include intermediate frame 114, internal frame body 116 and outer frame body 115, outside
Framework 115 is located at outside intermediate frame 114, and internal frame body 116 is located in intermediate frame 114, the square seamed edge group of outer frame body 115
At frame-like, intermediate frame 114 and internal frame body 116 are respectively the frame-like of each seamed edge composition of cuboid, the cuboid
Wherein two sides is square, and is had respectively between outer frame body 115 and intermediate frame 114, between internal frame body 116 and intermediate frame 114
There is gap, outer frame body 115 can be slided relative to intermediate frame 114 along the frame outer rim of intermediate frame 114, and internal frame body 116 is opposite
It can be slided along the frame inner edge of intermediate frame 114 in intermediate frame 114；Outer frame body 115 is arranged along the vertical direction, the setting so that
The rectangle face of outer frame body 115 is provided with first to be parallel to each other in the side of outer frame body 115, the opposite flank of outer frame body 115
The adjacent ribs long side of outer frame body 115 is connected with each other by moulding, two the first mouldings respectively, another opposite flank of outer frame body 115
It is provided with the second moulding being parallel to each other, which is respectively connected with each other the adjacent ribs long side of outer frame body 115,
Flexible bearing electric cylinders 117 are set between the first moulding and the top moulding of outer frame body 115, the first moulding, intermediate frame 114
The inside of top moulding and outer frame body 115 is respectively arranged with the threaded hole of the flexible bearing electric cylinders 117 of connection, the frame of outer frame body 115
It is bolted to connection on the inside of item to flexible bearing electric cylinders 117, the both ends for bearing electric cylinders 117 of stretching are solid by bolt respectively
Due to the top moulding of the first moulding and intermediate frame 114, electric cylinders have slide unit, the sliding of the flexible bearing electric cylinders 117
Component stretches out connection sheet with holes by outer, is locked connection sheet to the inside thread hole of outer frame body 115 using bolt, branch of stretching
The slide unit and outer frame body 115 for holding electric cylinders 117 are fixed to each other, and scraper plate up and down adjustment electric cylinders 118 are set to the second moulding and outer
Between the bottom moulding of framework 115, the outside of the second moulding, the bottom moulding of intermediate frame 114 and internal frame body 116 is respectively set
There is the threaded hole of the flexible bearing electric cylinders 117 of connection, is bolted to connection on the outside of the top moulding of internal frame body 116 to scraper plate
Economize on electricity cylinder 118 is lowered, the both ends of scraper plate up and down adjustment electric cylinders 118 are fixed by bolts in the second moulding and intermediate frame respectively
114 bottom moulding, electric cylinders have slide unit, and the slide unit of the scraper plate up and down adjustment electric cylinders 118 is with holes by outer stretching
Connection sheet, connection sheet is locked to the outside screw hole of internal frame body 116, the cunning of scraper plate up and down adjustment electric cylinders 118 using bolt
Dynamic component and internal frame body 116 are fixed to each other；The first unit bar 111 and second unit bar 112 of expansion bracket 103 are separately connected outline border
Body 115 and intermediate frame 114 adjust the distance between 103 two pin shafts 113 of expansion bracket by flexible bearing electric cylinders 117, thus
Realize extending and retracting for entire expansion bracket 103, after telescopic location in place after electric cylinders by itself self-locking setting function, protect
Having demonstrate,proved will not retract between outer frame body 115 and intermediate frame 114 automatically；It is solid by bolt on the outside of the top moulding of internal frame body 116
Surely scraper plate up and down adjustment electric cylinders 118 are connected to, drive internal frame body 116 along middle boxes by the way that scraper plate up and down adjustment electric cylinders 118 are flexible
It is moved up and down inside body 114, the bottom of intermediate frame 114 connects pivoting support 105, and 105 bottom of pivoting support connection scraper plate is stretched
Contracting executing agency 106 adjusts grain face scraper plate 108 away from grain surface by the moving up and down along the vertical direction of intermediate frame 114
Contact height scrapes grain depth and effect to adjust.
Referring to figure 5., the structure that the supporting device 104 that stretches connects expansion bracket 103 realizes the contraction of expansion bracket 103 and stretches
Exhibition, expansion bracket 103 include two sections, and every section of expansion bracket 103 is made of 6 telescopic unit frame connections, first segment expansion bracket 103 1
The first unit bar 111 and second unit bar 112 at end are respectively connected to outer frame body 115 and intermediate frame 114, second segment expansion bracket
The first unit bar 111 and second unit bar 112 of 103 one end are respectively connected to outer frame body 115 and intermediate frame 114, and two sections are stretched
Contracting frame 103 is connected to the relative position of outer frame body 115 and internal frame body 116, and two sections of expansion brackets 103 are located along the same line；
The square frame structure that four seamed edges that outer frame body 115 is square are formed, the two sides of outer frame body 115 are respectively arranged with 2 mutually
The hinged block at interval, hinged block and outer frame body 115 weld, the hinged groove that there is hinged block 111 one end of first unit bar to be caught in,
Hinged block is provided with hinge hole, which is that hinged groove inner wall sets to the concave to be formed, and hinge strip is through first unit bar 111
Hinge hole is simultaneously respectively clamped into two opposite hinge holes, and after hinge strip is caught in hinged block, first unit bar 111 is relative to outline border
Body 115 can be rotated, and two first unit bars 111 of every section of 103 one end of expansion bracket are respectively clamped into two hinges of 115 side of outer frame body
Block is connect, and remains and is parallel to each other when two rotations of first unit bars 111；Intermediate frame 114 is each prism shape of cuboid
At frame structure, similar to the of different sizes of outer frame body 115, structure, the two sides of intermediate frame 114 are respectively arranged with 2
The hinged block being spaced apart from each other, the setting of the hinged block are located at, difference identical as the position of hinged block that outer frame body 115 is arranged
Positioned at outer frame body 115 or the identical two sides of intermediate frame 114, hinged block and intermediate frame 114 are welded, and hinged block has second
The hinged groove that 112 one end of unit bar is caught in, hinged block are provided with hinge hole, which is that hinged groove inner wall sets to the concave shape
At hinge strip runs through the hinge hole of second unit bar 112 and is respectively clamped into two opposite hinge holes, and hinge strip is caught in hingedly
After block, second unit bar 112 can be rotated relative to intermediate frame 114, two second unit bars of every section of 103 one end of expansion bracket
112 are respectively clamped into two hinged blocks of 114 side of intermediate frame, and remain mutual when two rotations of second unit bars 112
In parallel；Outer frame body 115 is slided up and down along the seamed edge of the vertical direction of intermediate frame 114 relative to intermediate frame 114, when sliding,
Outer frame body 115 drives the first unit bar 111 connecting with outer frame body 115 of two sections of expansion brackets 103 to move, 4 first lists at this
First bar 111 is rotated relative to the second unit bar 112 of two sections of expansion brackets 103, opposite, and the drive of intermediate frame 114 is connected thereto
The second unit bars 112 of two sections of expansion brackets 103 move, 4 second unit bars 112 are relative to two sections of expansion brackets 103 at this
First unit bar 111 rotates, and the first unit bar 111 and second unit bar 112 at this mutually rotate the folder so that between the two
Angle increases or reduces, thus the first unit bar 111 at other positions of two sections of expansion brackets 103 of drive and 112 turns of second unit bar
Dynamic, the effect reached at this time is mutually shunk or is unfolded between two sections of 6 telescopic unit framves, and expansion bracket 103 realizes occupancy
The diminution or extension in space.
Fig. 6 is please referred to, is fixedly connected between pivoting support 105 and rotating electric machine 109, pivoting support 105 includes mutually blocking
Embedding and opposed rotatable top plate body 119 and chassis body 120, top plate body 119 are the bearing block of pivoting support 105, chassis body 120
For bearing disk, the bottom welding top plate body 119 of internal frame body 116 is bearing block, and the bearing block is in the form of annular discs, the bottom of bearing block to
It is inside recessed with the dish groove of installation axle tray, bearing disk is caught in dish groove and bearing disk can be rotated relative to dish groove, the bottom of bearing block
Portion edge is arranged to center curvature so that bearing disk is always in dish groove, and the edge of bearing disk is provided with threaded hole, and scraper plate connects
The middle part for connecing disk 110 is provided with the connecting hole opposite with the screw thread hole site, and screw is caught in simultaneously by the connecting hole and threaded hole
Scraper plate terminal pad 110 and bearing disk are mutually permanently connected, drive scraper plate terminal pad 110 to rotate when bearing disk rotates, scraper plate connects
Connect disk 110 has to overhanging both ends, which is provided with the threaded hole on connection top bottom two sides, and scraper plate stretches executing agency
106 middle part is provided with the threaded hole opposite with the threaded hole, and bolt passes through two pairs of threaded holes for scraper plate terminal pad 110 and scraper plate
The top of flexible executing agency 106 is fixedly connected；Bearing block is fixedly welded to the bottom of internal frame body 116, is set in the middle part of bearing block
It is equipped with the axis hole passed through for rotating electric machine 109, the bottom moulding of internal frame body 116 is soldered at the top edge of bearing block, rotation
Motor 109 includes the driving motor and decelerating motor for driving, and decelerating motor is installed on the bottom of driving motor, decelerating motor
Bearing disk is stretched out and is connected to by the axis hole of bearing disk with the arbor of the welding that is fixed to each other at the top of bearing block, decelerating motor,
Bearing disk drives rotation, bearing disk and the flexible execution machine of scraper plate terminal pad 110, scraper plate by driving motor and decelerating motor
Structure 106 is rotated synchronously simultaneously by fixed bolt connecting mode, to realize grain face scraper plate 108 to the rotary flat of grain face
Grain.
Please refer to Fig. 7, scraper plate stretches executing agency 106, mainly execution scraper plate telescopic frame 121 and grain face scraper plate 108
It shrinks and expansion movement, the flexible executing agency 106 of scraper plate includes multiple scraper plate telescopic frames 121 and multiple foldable assemblies, this implementation
Example uses 7 scraper plate telescopic frame 121 and 6 foldable assemblies, the frame-like that scraper plate telescopic frame 121 is rectangle, and 7 scraper plates stretch
Frame 121 connects to form entirety by foldable assembly, and multiple scraper plate telescopic frames 121 are overlapped by foldable assembly and are unfolded, weight
Adjacent scraper plate telescopic frame 121 is overlapped when folded, and when expansion, the adjacent stretching, extension of scraper plate telescopic frame 121 was in 180 °, and foldable assembly includes
Telescopic block 122, sliding block 123, linking arm and screw motor, foldable assembly are connected and fixed using pin shaft 113, and pin shaft 113 includes the
One pin shaft 113, the second pin shaft 113, third pin shaft 113 and the 4th pin shaft 113, linking arm include the first linking arm 124 and second
Linking arm 125, telescopic block 122 and the first linking arm 124 are connected by the first pin shaft 113 and the second pin shaft 113, scraper plate telescopic frame
121, the first linking arm 124 and the second linking arm 125 are connected by third pin shaft 113, sliding block 123 and the second linking arm 125 it
Between by the 4th pin shaft 113 connect；Telescopic block 122 is set between adjacent scraper plate telescopic frame 121, in the middle part of telescopic block 122
Sky setting, screw motor are installed in the space of the hollow setting, and the both ends of telescopic block 122 are respectively arranged with a pair of symmetrical
Arc-shaped slot, arc-shaped slot bends towards another side edge by 122 both ends of telescopic block by the side edge at the both ends of telescopic block 122
Place, when the setting of arc-shaped slot is so that scraper plate telescopic frame 121 mutually folds and unfolds, the first pin shaft 113 is with the second pin shaft 113
The movement of quarter circular arc is made at center, and the first pin shaft 113 is stuck in always in telescopic block 122, and the first linking arm 124 is provided with
4,4 the first linking arms 124 divide the outside that telescopic block 122 is respectively connected to for 2 pairs, one end of each pair of first linking arm 124
It is provided with axis hole, and the first pin shaft 113 is connected a pair of first linking arm 124 and telescopic block 122 by the axis hole, telescopic block
122 both ends and the first linking arm 124 are respectively arranged with axis hole, and the second pin shaft 113 passes through axis hole for 124 He of the first linking arm
Telescopic block 122 connect, the other end of the first linking arm 124, one end of scraper plate telescopic frame 121 and the second linking arm 125 one end
It is provided with axis hole, third pin shaft 113 is successively connected the first linking arm 124 and scraper plate telescopic frame 121 and second by the axis hole
Arm 125 connects, wherein the first linking arm 124 is located at the outside of scraper plate telescopic frame 121, the second linking arm 125 is flexible positioned at scraper plate
The inside of frame 121, the first pin shaft 113, the second pin shaft 113 and third pin shaft 113 are generally aligned in the same plane, and the first linking arm 124 is logical
It crosses the first pin shaft 113, the second pin shaft 113 and third pin shaft 113 to connect scraper plate telescopic frame 121 and telescopic block 122, the first connection
It is fixed to each other between arm 124 and scraper plate telescopic frame 121 positioned at same straight line, which makes scraper plate telescopic frame 121 with
It is rotated centered on two pin shafts 113, third pin shaft 113 is stuck in turning for limiting scraper telescopic frame 121 in arc-shaped slot always when rotation
Dynamic angle, rotational angle are 0 to 90 °；Second linking arm 125 is provided with 4, and 2 the second linking arms 125 are a pair of position respectively
In the outside at 123 both ends of sliding block, one end of the second linking arm 125 is connected to the inside of scraper plate telescopic frame 121, the second linking arm
125 other end is connected to the outside at 123 both ends of sliding block, and one end of the second linking arm 125 is provided with axis hole, third pin shaft 113
It being connect by the axis hole with the second linking arm 125, the second linking arm 125 can be rotated relative to third pin shaft 113 after connection, and 2 pairs
The end of second linking arm 125 is provided with axis hole, and 123 both ends of sliding block are provided with axis hole by edge, and the 4th linking arm passes through
Axis hole connects the second linking arm 125 and sliding block 123, and 2 pair of second linking arm 125 is located at the two sides of sliding block 123 after connection,
Second linking arm 125 can be rotated by the 4th pin shaft 113 relative to sliding block 123, and the middle part of sliding block 123 is provided with for use by spiral shell
The screw hole of bar, screw motor are fixedly installed in the space of hollow setting of telescopic block 122, and the screw rod of screw motor passes through spiral shell
Rod aperture is connect with sliding block 123；Telescopic block 122 is pushed to move relative to sliding block 123 along the direction of screw rod when screw motor works,
Sliding block 123 is opened or is withdrawn by the scraper plate telescopic frame 121 that the second linking arm 125 pushes or pull on both sides, is mainly executed and is scraped
The contraction and expansion of plate telescopic frame 121 act, and the phase of entire scraper plate telescopic frame 121 is realized in pushing or pull on this configuration
Mutually overlapping or expansion, when moving, retraction volume is conducive to transfer, and volume is unfolded in flat grain and is conducive to expand flat grain face product.
Fig. 8 is please referred to, the top of scraper plate flexible adjustment mechanism 107 is fixedly attached to scraper plate telescopic frame 121, scraper plate elasticity tune
The bottom end of section mechanism 107 is fixedly attached to grain face scraper plate 108, and scraper plate flexible adjustment mechanism 107 is provided with 14 telescopic components altogether,
Each telescopic component connects a grain face scraper plate 108, and telescopic component includes spring cylinder 126, elastic rod 127 and link block 128, bullet
Property cylinder 126 in be provided with spring, elasticity is inserted into from the opening in the top of the bottom opening setting of spring cylinder 126, elastic rod 127
In cylinder 126 and one end of connecting spring, the bottom end of elastic rod 127 is connected to link block 128, and elastic rod 127 is relative to spring cylinder
126 can be compressed or be stretched to spring when sliding along 126 internal slide of spring cylinder, elastic rod 127, and spring cylinder 126 is arranged altogether
There are 14 pairs, each pair of spring cylinder 126 is respectively welded in the two sides of scraper plate telescopic frame 121, and each scraper plate telescopic frame 121 is connected with 1 pair
Spring cylinder 126；The side of the bottom end of elastic rod 127 is recessed with dashpot, and link block 128 is stuck in dashpot relative to elastic rod
127 slidably, and elastic rod 127 is additionally provided with annular groove, and annular groove is the circumferential recessed formation of elastic rod 127 at dashpot, even
It connects block 128 and is internally provided with the spring groove opposite with annular groove, link block 128 is provided with the connection that connection elastic rod 127 is inserted into
Hole, spring groove are communicated with connecting hole, and link block 128 is by installing spring and generating between grain face scraper plate 108 in spring groove
Buffering, link block 128 are provided with the bolt hole for being connected to its two sides, and the opening of bolt hole is respectively facing two elastic rods 127
Two sides, elastic rod 127 are inserted into link block 128 and are fixed to each other by bolt with grain face scraper plate 108, and grain face scraper plate 108 is with elasticity
Bar 127 applies pressure to elastic rod 127 and makes elastic rod relative to the adjustable height of scraper plate telescopic frame 121, grain face scraper plate 108
127 are collapsible into spring cylinder 126 to adjust height, while when grain face scraper plate 108 is excessive to the application of elastic rod 127 pressure,
Spring-compressed in link block 128, grain face scraper plate 108 move up the short essay of dashpot distance relative to elastic rod 127,
The effect of elastic rod 127 is, when grain face scraper plate 108 meets obstructions larger, spring can be compressed automatically, grain face scraper plate 108
It is at relatively raised under pressure, to prevent excessive resistance from preventing the advance or rotation of entire robot.
Fig. 1 and Fig. 8 are please referred to, grain face scraper plate 108 includes 7 sections, and every section of grain face scraper plate 108 is connected to two elastic rods 127,
Scraper plate 131 is mutually indepedent and is respectively connected to scraper plate and stretches executing agency 106, and multistage scraper plate 131 stretches executing agency with scraper plate
106 contraction or stretching, extension is overlapped or is unfolded, and grain face scraper plate 108 includes scraper plate 131, fixed frame 130 and L shape connecting plate 129,
The top and bottom ends of L shape connecting plate 129 are respectively arranged with threaded hole, and the top of L shape connecting plate 129 is bolted to connection to even
Block 128 is connect, the bottom end of L shape connecting plate 129 is bolted to connection to fixed frame 130, and fixed frame 130 is provided with for connecting L
The bolt hole of shape connecting plate 129 shares 2 L shape connecting plates 129 and is located at the two sides of connecting plate 129, fixed frame 130
Top and L shape connecting plate 129 are fixed, and the bottom end of fixed frame 130 is bent outwardly to form the end face concordant with 131 top of scraper plate, Gu
The bottom both ends of the surface for determining frame 130 are soldered to the top of scraper plate 131, and scraper plate 131 is arc panel, the setting direction of scraper plate 131 with scrape
The direction of plate telescopic frame 121 is consistent, and the two sides of scraper plate 131 are bent upwards to form arc, has interval between adjacent scraper plate 131；
Scraper plate 131 adjusts height with elastic rod 127 in the vertical direction, and scraper plate 131 carries out flat grain simultaneously with the drive of scraper plate telescopic frame 121
It is overlapped or is unfolded with the folding or expansion of scraper plate telescopic frame 121.
Fig. 9 is please referred to, deflection adjusting mechanism 102 can be rotated relative to chassis 101, and chassis 101 passes through two amounts of deflection in left and right
Regulating mechanism 102 adjusts the angle between 101 direction of advance of chassis and 103 direction of extension of expansion bracket；Deflection adjusting mechanism 102
Including adjustment disk and disk body bearing block, bearing block is provided with 3 stabilizer blades, which is fixedly welded respectively to chassis 101, disk
It is provided with the bearing groove that rotation is caught in for adjustment disk in the middle part of body bearing block, the bottom of adjustment disk is caught in bearing groove, adjustment disk
It can be rotated in bearing groove, adjustment disk rotates so that the adjustable angle relative to direction of advance of expansion bracket 103, adjustment disk setting
There is the pin hole for being connected to its two sides, the first unit bar 111 positioned at the both ends of expansion bracket 103 is provided with pin hole, and pin shaft 113 passes through
The pin hole of the pin hole of adjustment disk and the first unit bar 111, the both ends of the pin shaft 113 are connected separately with first unit bar 111,
Two first unit bars 111 are parallel to each other and fix with the pin shaft 113；The effect of deflection adjusting mechanism 102 mainly avoids a left side
When right two chassis 101 are run, speed and direction it is asynchronous, cause the whole component for smooth removal of impurities and chassis 101 it
Between binding generation, influence whether the walking and control on chassis 101 in this way, deflection adjusting mechanism 102 is with bidirectional rotary
113 structure of pin shaft turned, expansion bracket 103 is rotated with horizontal direction along the vertical direction around deflection adjusting mechanism 102, to adapt to bottom
The asynchronism of disk 101.
Chassis 101 is the robotically-driven chassis 101 of the prior art, which, which has, is evenly distributed in 101 bottom of chassis
Three universal wheels in portion, three universal rotations of wheel drive chassis 101 move forward and backward, and two chassis 101 adjust machine by amount of deflection
102 adjusting position of structure and angle realize synchronism and consistency to adapt to the flat way to move grains of difference of walking；Pin in the present embodiment
The connection of axis 113 and pin hole, in pin shaft 113 by after pin hole, the both ends of pin shaft 113 are fixed by two nuts and by pin shafts
113 block fixation.
The operation principle of the present invention is that:
Detachable Jing Ping robot by between flexible supporting device 104 and expansion bracket 103, expansion bracket 103 and amount of deflection tune
It saves between mechanism 102, flexible supporting device 104 and scraper plate stretch bolt between executing agency 106, screw or pin shaft 113
It is detachably connected with mode, when Jing Ping robot is shifted, reduces volume by dismantling into 4 sections of independent components, it is flat in essence
When robot is assembled, it is connected with each other by the structure of 4 sections of independent component compositions, when Jing Ping robot needs flat grain,
It folds or trails using expansion bracket 103 and flexible supporting device 104 and increase flat grain face product, executed using scraper plate is flexible
The drive grain face scraper plate 108 of mechanism 106, which mutually folds or trails, increases flat grain face product, passes through scraper plate flexible adjustment mechanism
107 adjust the height of grain face scraper plate 108, and using 105 rotating blade of pivoting support, flexible executing agency 106 carries out rotary flat grain；
Two chassis 101 in left and right carry the weight of entire Jing Ping robot, the flexible executing agency 106 of scraper plate that will be located at intermediate lower section
The flat grain position of grain face is dropped to, grain face scraper plate 108 is located at grain face hereinafter, grain face scraper plate 108 is with two chassis in left and right at this time
101 synchronizing moving and realize that the horizontal of grain face is scraped, may be implemented in the range between chassis 101 along the grain face in walkway board direction
It is smooth, at the same can also by rotating electric machine 109 drive scraper plate stretch executing agency 106 rotate so that grain face scraper plate 108 around
Flexible supporting device 104 be rotated, realize grain face grain face of different directions between walkway board it is smooth, pass through machine
The fine finishing operations of entire grain face are realized in the transverse direction of people and rotary motion.
In conclusion scraper plate telescopic frame is mutually folded into multilayer by passing through foldable assembly by present example, by scraping
Plate telescopic frame rotates the adjusting for carrying out the angle between scraper plate telescopic frame relative to telescopic block, drives telescopic block by screw motor
Displacement is generated between sliding block, and the rotation of scraper plate telescopic frame is driven by the second linking arm, is stretched by the first linking arm limiting scraper
The rotational angle of contracting frame, to realize the contraction and stretching, extension of the flexible executing agency of scraper plate；The robot can pass through disassembly
Geometries shrink volume enters silo mouth, and the structure with larger flat grain face product is assembled into after entering silo, and trail flat grain
Robot is used for flat grain, effectively increases the area coverage of the flat grain of Jing Ping robot.
Present specification describes the example of the embodiment of the present invention, it is not meant to that these embodiments illustrate and describe this
All possible forms of invention.Those of ordinary skill in the art will understand that the embodiments described herein is to help
Reader understands the principle of the present invention, it should be understood that protection scope of the present invention is not limited to such special statement and implementation
Example.Those skilled in the art can according to the present invention disclosed the technical disclosures make it is various do not depart from it is of the invention real
Various other specific variations and combinations of matter, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. a kind of Jing Ping robot with collapsible impurity removal mechanism characterized by comprising scraper plate telescopic frame, foldable assembly
With grain face scraper plate, the foldable assembly connects two neighboring scraper plate telescopic frame, and two neighboring scraper plate telescopic frame passes through foldable assembly
It can be overlapped or be unfolded, when overlapping, multiple scraper plate telescopic frames were in the multilayer shape mutually folded, and when expansion, the adjacent scraper plate was stretched
Angle between contracting frame is 0~180 °, when being fully deployed, and multiple scraper plate telescopic frames are concordant and are generally aligned in the same plane, described
Grain face scraper plate is connected to scraper plate telescopic frame, and the grain face scraper plate synchronizes with scraper plate telescopic frame and mutually folds or be unfolded.
2. the Jing Ping robot according to claim 1 with collapsible impurity removal mechanism, which is characterized in that the folding group
Part includes telescopic block, sliding block, linking arm and screw motor, be respectively connected to telescopic block two of the adjacent scraper plate telescopic frame
Side, the screw motor are installed to telescopic block or the sliding block, the linking arm connection scraper plate telescopic frame and sliding block, the screw rod
Motor driven sliding block is slided relative to telescopic block, and the telescopic frame can be rotated relative to the telescopic block, and the linking arm is opposite
It can be rotated in the sliding block.
3. the Jing Ping robot according to claim 2 with collapsible impurity removal mechanism, which is characterized in that the sliding block phase
The telescopic block is slided and drives telescopic frame mutually to draw close or be unfolded by linking arm.
4. the Jing Ping robot according to claim 3 with collapsible impurity removal mechanism, which is characterized in that stretched described in adjacent
Contracting frame is 0~90 ° relative to the rotational angle of telescopic block.
5. the Jing Ping robot according to claim 2 with collapsible impurity removal mechanism, which is characterized in that the linking arm
Including the first linking arm and the second linking arm, the both ends of first linking arm are respectively connected to telescopic block and scraper plate telescopic frame,
The both ends of second linking arm are respectively connected to scraper plate telescopic frame and sliding shoe.
6. the Jing Ping robot according to claim 5 with collapsible impurity removal mechanism, which is characterized in that described first connects
It connects and is connected between arm and telescopic block, scraper plate telescopic frame by pin shaft, led between second linking arm and scraper plate telescopic frame, sliding block
Cross pin shaft connection.
7. the Jing Ping robot according to claim 6 with collapsible impurity removal mechanism, which is characterized in that the pin shaft packet
The first pin shaft, the second pin shaft, third pin shaft and the 4th pin shaft are included, first pin shaft, the second pin shaft and third pin shaft are located at same
One plane, first pin shaft and the second pin shaft connect first the connection of telescopic block and the first linking arm, the third pin shaft
Connect arm, the second linking arm is connected with scraper plate telescopic frame, the 4th pin shaft connects the second linking arm with sliding block.
8. the Jing Ping robot according to claim 7 with collapsible impurity removal mechanism, which is characterized in that second pin
Between the first pin shaft and third pin shaft, the scraper plate telescopic frame is rotated centered on the second pin shaft relative to telescopic block axle position,
The both ends of the telescopic block are provided with perforative through slot, and the through slot is arc-shaped, and the third pin shaft is always positioned in through slot
And rotated centered on the second pin shaft, rotational angle is 0~90 °.
9. the Jing Ping robot according to claim 8 with collapsible impurity removal mechanism, which is characterized in that described first connects
It connects arm and the second linking arm is respectively arranged with 2 pairs, each pair of first linking arm or the second linking arm are located at telescopic block
On the outside of both ends.
10. the Jing Ping robot according to claim 2 with collapsible impurity removal mechanism, which is characterized in that the essence is flat
Robot further includes chassis and expansion bracket, and it is in carry formula structure, the scraper plate telescopic frame on the shoulder that the chassis, which is connected to expansion bracket both ends,
It is connected to the bottom of expansion bracket.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910087265.2A CN109795898B (en) | 2019-01-29 | 2019-01-29 | Fine leveling robot with folding type impurity removing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910087265.2A CN109795898B (en) | 2019-01-29 | 2019-01-29 | Fine leveling robot with folding type impurity removing mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109795898A true CN109795898A (en) | 2019-05-24 |
| CN109795898B CN109795898B (en) | 2024-05-14 |
Family
ID=66559276
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910087265.2A Active CN109795898B (en) | 2019-01-29 | 2019-01-29 | Fine leveling robot with folding type impurity removing mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109795898B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422653A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of adaptive running gear and its robot that closes a position |
| CN110421576A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of multi-stage expansion arm configuration and its robot that closes a position |
| CN110422652A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of vertically folded arm and its robot that closes a position |
| CN110422654A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of Jing Ping robot that flat grain span is adjusted |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4019011A1 (en) * | 1990-06-13 | 1991-12-19 | Jungfalk Ancra Gmbh | Arranging goods in storage areas - involves support rod on vertical rail with slide rollers |
| CN201424296Y (en) * | 2009-05-12 | 2010-03-17 | 付云滨 | Grain surface flattening device for grain depot |
| CN104058268A (en) * | 2014-05-30 | 2014-09-24 | 镇江市丹徒区粮机厂有限公司 | Blending and flattening method and device for vertical cylinder granary |
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN106348040A (en) * | 2016-09-21 | 2017-01-25 | 湖北叶威（集团）粮油机械有限公司 | Binning machine |
| CN206203498U (en) * | 2016-11-29 | 2017-05-31 | 中央储备粮威海直属库 | A kind of new flat grain bar |
| CN108781787A (en) * | 2018-08-03 | 2018-11-13 | 武汉轻工大学 | A kind of mobile grain-levelling machine device people smooth for silo |
| CN208150557U (en) * | 2018-05-15 | 2018-11-27 | 华夏易通国际物流有限公司 | A kind of scraper-type is closed a position machine |
| CN209522322U (en) * | 2019-01-29 | 2019-10-22 | 电子科大科园股份有限公司 | A kind of Jing Ping robot with collapsible impurity removal mechanism |
-
2019
- 2019-01-29 CN CN201910087265.2A patent/CN109795898B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4019011A1 (en) * | 1990-06-13 | 1991-12-19 | Jungfalk Ancra Gmbh | Arranging goods in storage areas - involves support rod on vertical rail with slide rollers |
| CN201424296Y (en) * | 2009-05-12 | 2010-03-17 | 付云滨 | Grain surface flattening device for grain depot |
| CN104058268A (en) * | 2014-05-30 | 2014-09-24 | 镇江市丹徒区粮机厂有限公司 | Blending and flattening method and device for vertical cylinder granary |
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN106348040A (en) * | 2016-09-21 | 2017-01-25 | 湖北叶威（集团）粮油机械有限公司 | Binning machine |
| CN206203498U (en) * | 2016-11-29 | 2017-05-31 | 中央储备粮威海直属库 | A kind of new flat grain bar |
| CN208150557U (en) * | 2018-05-15 | 2018-11-27 | 华夏易通国际物流有限公司 | A kind of scraper-type is closed a position machine |
| CN108781787A (en) * | 2018-08-03 | 2018-11-13 | 武汉轻工大学 | A kind of mobile grain-levelling machine device people smooth for silo |
| CN209522322U (en) * | 2019-01-29 | 2019-10-22 | 电子科大科园股份有限公司 | A kind of Jing Ping robot with collapsible impurity removal mechanism |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110422653A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of adaptive running gear and its robot that closes a position |
| CN110421576A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of multi-stage expansion arm configuration and its robot that closes a position |
| CN110422652A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of vertically folded arm and its robot that closes a position |
| CN110422654A (en) * | 2019-08-08 | 2019-11-08 | 四川阿泰因机器人智能装备有限公司 | A kind of Jing Ping robot that flat grain span is adjusted |
| CN110422654B (en) * | 2019-08-08 | 2024-05-07 | 四川阿泰因机器人智能装备有限公司 | Fine leveling robot capable of adjusting grain leveling span |
| CN110422652B (en) * | 2019-08-08 | 2024-05-07 | 四川阿泰因机器人智能装备有限公司 | Vertical folding arm and flat cabin robot thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109795898B (en) | 2024-05-14 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109795898A (en) | A kind of Jing Ping robot with collapsible impurity removal mechanism | |
| CN209522322U (en) | A kind of Jing Ping robot with collapsible impurity removal mechanism | |
| CN109809213A (en) | A kind of Jing Ping robot with Collapsible connecting rod | |
| CN208935673U (en) | A kind of geological radar monitoring support frame | |
| US5857733A (en) | Synchronization device for a slide out room | |
| CN209601700U (en) | A kind of Jing Ping robot with Collapsible connecting rod | |
| CN209668344U (en) | A kind of detachable Jing Ping robot | |
| US9215843B2 (en) | Conversion kit for automating foldable and unfoldable grain tank extensions of an agricultural combine | |
| CN109795899A (en) | A kind of detachable Jing Ping robot | |
| BR112016027557B1 (en) | FOLDING HOPPER SET FOR BULK MATERIAL PROCESSING APPARATUS AND MOBILE BULK MATERIAL PROCESSING APPARATUS | |
| CN209212037U (en) | A kind of Collapsible mobile tent | |
| CN209522323U (en) | A kind of telescopic removal of impurities structure suitable for flat grain | |
| CN207045721U (en) | A kind of multi-rotor unmanned aerial vehicle horizontal folding mechanism | |
| CN209701857U (en) | A kind of telescopic structure of the connecting rod and impurity removal mechanism flat for essence | |
| CN207222029U (en) | A kind of stone mill device for being used to produce stone mill flour | |
| CN209642078U (en) | A kind of JP cabinet | |
| CN220435914U (en) | Hydraulic support for spliced screen | |
| CN113864152B (en) | Air compressor machine that conveniently removes | |
| CN210456701U (en) | Vertical folding arm and leveling robot thereof | |
| CN115628091A (en) | Supporting device, supporting system and supporting method for tunnel construction | |
| CN209313712U (en) | A kind of high-efficient heat-dissipating frequency converter | |
| CN208142608U (en) | A kind of fabricated construction equipment based on BIM | |
| CN110422652B (en) | Vertical folding arm and flat cabin robot thereof | |
| CN109217199A (en) | A kind of cable testing bridge convenient for safeguarding | |
| CN220744375U (en) | Belt conveyor supporting leg with adjustable height and angle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |