CN109795899B - Detachable fine leveling robot - Google Patents
Detachable fine leveling robot Download PDFInfo
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- CN109795899B CN109795899B CN201910087267.1A CN201910087267A CN109795899B CN 109795899 B CN109795899 B CN 109795899B CN 201910087267 A CN201910087267 A CN 201910087267A CN 109795899 B CN109795899 B CN 109795899B
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Abstract
The invention discloses a detachable fine leveling robot which comprises a chassis, a deflection adjusting mechanism, a telescopic frame, a scraper blade telescopic actuating mechanism, a grain surface scraper blade, a telescopic supporting mechanism, a slewing bearing and a rotating motor, wherein the fine leveling robot adopts a double-drive chassis shoulder type structure, and the detachable fine leveling robot drives to advance or retreat through the chassis so as to drive the grain surface scraper blade to level grains on the surface of a granary; the fine leveling robot can directly promote the impurity removal of the existing manual leveling bin to an automatic and intelligent level, can obviously promote the speed and the capability of impurity removal of the grain leveling bin and the surface layer, leads the technical progress of industry and reduces the labor intensity and the labor cost; meeting the requirements of automation and intelligence; the grain storage equipment technology in China is facilitated to be improved, the grain storage equipment technology in China is of great significance in guaranteeing the safety and environmental protection of grain operation, reducing labor intensity and promoting the sustainable, rapid and healthy development of national economy, and the new grain storage technology and new equipment in China can be provided with a new step.
Description
Technical Field
The invention relates to the technical field of grain storage, in particular to a detachable fine leveling robot.
Background
At present, a tall and big bungalow bin and a shallow round bin are dominant bins in grain reserves in China. In the grain storage process, the leveling operation is a basic requirement for grain storage management, and secondly, a temperature measuring cable is laid, and the two operations are completed by adopting manual operation. Grain "bulk" circulation technology (i.e., bulk transport, bulk dumping, bulk storage) is a current trend in grain logistics technology, and "bulk" is one of the key links. In recent years, a large number of central grain reserves are established by national investment, the reserves mainly comprise high and large flat houses and shallow round houses, and the grain storage and transportation modes are mainly bulk and bulk transportation modes. The serious defect of intelligent flat-bin impurity removal equipment in China directly restricts the development requirement for improving the level of the warehouse technical equipment of a main company, so that the development work of the flat-bin impurity removal key technology and matched equipment is accelerated.
Grain surface leveling is an important link in grain storage, and directly affects the whole level of grain storage work. At present, most domestic granaries are manually leveled grains, and the problems of large workload, low working efficiency, large labor intensity, bad working environment and the like exist; the existing primary leveling robot cannot level the surface of the granary to a surface which is smooth and meets the requirement, moreover, the primary leveling robot can leave marks after leveling grains, the requirement of fine grain leveling is not met, meanwhile, the volume of the existing primary leveling robot cannot be too large, the leveling grain area in unit time is limited, and the leveling grain efficiency is low; in addition, the grain leveling robot is fed from the grain bin port, the volume cannot be too large, otherwise, the grain bin cannot be fed, and the robot can only enter from the grain bin port and then be assembled.
Disclosure of Invention
The invention aims to provide a detachable fine leveling robot, which can perform walkways on the surface of a grain bin which is roughly leveled to realize fine leveling of grain, can reduce the volume of the detachable structure to enter the grain bin opening, is assembled into a structure with a larger grain leveling area after entering the grain bin, stretches out the occupied area of parts of the leveling robot for leveling the grain, increases the grain leveling efficiency in unit time, and achieves the effect of fine leveling of the grain surface.
Embodiments of the present invention are implemented as follows:
a detachable precision leveling robot, comprising: the grain surface scraper is connected to the bottom of the scraper telescopic actuating mechanism; the scraper expansion actuating mechanism is detachably connected with the expansion bracket, and two ends of the expansion bracket are detachably connected with the deflection adjusting mechanism respectively; the detachable fine leveling robot drives the grain surface scraping plate to level grains on the surface of the granary through the chassis driving to advance or retreat.
In a preferred embodiment of the present invention, the expansion bracket and the scraper expansion actuator are respectively drawn together to reduce the occupied space or expanded to increase the occupied space in a manner of contraction and expansion, and the contraction and expansion manners of the expansion bracket and the scraper expansion actuator are independent or synchronous.
In a preferred embodiment of the present invention, the grain surface scraping plate includes a plurality of sections of scraping plates, each of which is independent of the other and is connected to the scraping plate telescopic actuating mechanism, and the sections of scraping plates overlap or expand with the contraction or expansion of the scraping plate telescopic actuating mechanism.
In a preferred embodiment of the present invention, the detachable fine leveling robot further includes a telescopic support mechanism, wherein the telescopic frame is divided into at least 2 sections, adjacent sections of telescopic frames are detachably connected through the telescopic support mechanism, the telescopic support mechanism is detachably connected with the scraper telescopic actuator, and the telescopic support mechanism and the scraper telescopic actuator are fixed to each other or rotatable relative to each other.
In a preferred embodiment of the present invention, the telescopic supporting mechanism includes an intermediate frame, an outer frame and an inner frame, the intermediate frame and the outer frame are respectively connected to two connection ends of the telescopic frame, and the outer frame and the inner frame are respectively slidable relative to the intermediate frame.
In a preferred embodiment of the present invention, the detachable fine leveling robot further includes a pivoting support and a rotating motor, wherein the top and bottom of the pivoting support are respectively connected to the inner frame and the blade extension and retraction actuator, and a shaft of the rotating motor is connected to the pivoting support.
In a preferred embodiment of the present invention, the slewing bearing includes a top tray body and a bottom tray body, which are mutually clamped and rotatable relative to each other, the two tray bodies are respectively connected to the inner frame body and the scraper extension executing mechanism, a shaft of the rotating motor is connected to the bottom tray body through a supporting hole of the top tray body, the bottom tray body is detachably connected to the scraper extension executing mechanism, and the slewing bearing drives the scraper extension executing mechanism and the grain surface scraper to rotate through rotation.
In a preferred embodiment of the present invention, the telescopic supporting mechanism further includes a telescopic supporting cylinder and a scraper up-down adjusting cylinder, two ends of the telescopic supporting cylinder are respectively connected to the outer frame and the middle frame, and two ends of the scraper up-down adjusting cylinder are respectively connected to the inner frame and the middle frame.
In a preferred embodiment of the invention, the detachable fine leveling robot further comprises a scraper elastic adjusting mechanism, wherein the top end and the bottom end of the scraper elastic adjusting mechanism are respectively connected with the bottom of the scraper telescopic actuating mechanism and the top of the grain surface scraper, and the scraper elastic adjusting mechanism is provided with a spring for buffering the force of the grain surface scraper.
In a preferred embodiment of the present invention, the deflection adjusting mechanism is rotatable relative to the chassis, and the chassis adjusts an included angle between a forward direction of the chassis and an extending direction of the expansion bracket through the left and right deflection adjusting mechanisms.
The beneficial effects of the invention are as follows:
according to the invention, the angle offset and synchronization consistency between the chassis and the telescopic frame are adjusted through the deflection adjusting mechanism, the occupied volume and the area of the telescopic frame are adjusted through the telescopic frame and the telescopic supporting mechanism, the area of the flat grain is contracted and stretched through the scraper telescopic actuating mechanism, the flat grain is rotated through the slewing bearing, the flat grain is carried out by utilizing the grain surface scraper, and the robot performs the transverse sweeping and the rotary sweeping of the grain surface in the area between the cross walkways under the operation action of the chassis; the robot can walk on the surface of the grain bin which is roughly leveled to realize fine grain leveling, the volume of the robot can be reduced through the disassembled structure to enter the grain bin opening, the robot is assembled into a structure with a larger grain leveling area after entering the grain bin, the area occupied by the parts of the grain leveling robot for leveling grain is stretched, the grain leveling efficiency in unit time is increased, and the grain surface fine leveling effect is achieved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments will be briefly described below, it being understood that the following drawings only illustrate certain embodiments of the present invention and therefore should not be considered as limiting the scope.
FIG. 1 is a schematic perspective view of a detachable fine leveling robot of the present invention;
FIG. 2 is a schematic front view of a detachable fine flat robot of the present invention;
FIG. 3 is a schematic front view of a portion of the telescoping rack of the present invention;
FIG. 4 is a schematic top view of the telescopic support mechanism of the present invention;
FIG. 5 is a schematic perspective view of the telescopic support mechanism of the present invention;
FIG. 6 is a schematic longitudinal cross-sectional view of a slewing bearing in accordance with the present invention;
FIG. 7 is a schematic top view of the screed telescoping actuator of the present invention;
FIG. 8 is a schematic perspective view of a squeegee elasticity adjustment mechanism of the present invention;
FIG. 9 is a schematic top view of the deflection-adjustment mechanism and chassis of the present invention;
icon: 101-chassis; 102-a deflection adjusting mechanism; 103-a telescopic frame; 104-a telescopic support mechanism; 105-slewing bearing; 106-a scraper telescopic actuating mechanism; 107-scraper elastic adjusting mechanism; 108-a grain surface scraping plate; 109-a rotating electric machine; 110-a scraper plate connection pad; 111-a first cell bar; 112-a second cell bar; 113-pin shafts; 114-an intermediate frame; 115-an outer frame; 116-an inner frame; 117-telescoping support cylinder; 118-adjusting the electric cylinder up and down by the scraper; 119-top tray; 120-chassis body; 121-a scraper telescopic frame; 122-a telescopic block; 123-sliding blocks; 124-a first connecting arm; 125-a second connecting arm; 126-an elastic tube; 127-spring bar; 128-connecting blocks; 129-connecting plates; 130-fixing the frame; 131-scraper.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
First embodiment
Referring to fig. 1, the present embodiment provides a detachable leveling robot, which includes a chassis 101, a deflection adjusting mechanism 102, a telescopic frame 103, a scraper telescopic actuator 106, a grain scraper 108, a telescopic support mechanism 104, a slewing bearing 105 and a rotating motor 109, wherein the leveling robot adopts a shoulder structure of a dual-drive chassis 101, a connecting rod is an intermediate structure of the shoulder structure, the connecting rod includes a telescopic frame 103 and a telescopic support mechanism 104, the intermediate connecting rod carries an impurity removing component for leveling grains, and the impurity removing component includes a slewing bearing 105, a scraper connecting disc 110, a scraper telescopic actuator 106 and a grain scraper 108; the two ends of the expansion bracket 103 are respectively connected to a left deflection adjusting mechanism 102 and a right deflection adjusting mechanism 102, the expansion bracket 103 comprises two sections, the expansion supporting mechanism 104 is used for connecting the two sections of expansion brackets 103 with each other, the deflection adjusting mechanism 102 is connected to the chassis 101, the scraper expansion executing mechanism 106 is positioned below the expansion bracket 103, the grain surface scraper 108 is connected to the bottom of the scraper expansion executing mechanism 106, the top of the scraper expansion executing mechanism 106 is connected with the slewing bearing 105, the slewing bearing 105 is connected to the expansion supporting mechanism 104 through the scraper connecting disc 110, and the rotating motor 109 is fixedly connected to the slewing bearing 105; the scraper extension executing mechanism 106 is detachably connected with the extension frame 103, and two ends of the extension frame 103 are detachably connected with the deflection adjusting mechanism 102 respectively; the detachable fine leveling robot drives the grain surface scraper 108 to level grains on the surface of the granary by driving the chassis 101 to advance or retreat; the detachable connection of the detachable fine leveling robot facilitates the feeding of the leveling robot into the granary opening, the feeding opening is assembled in the granary, the requirement of the granary opening on the size of the robot is met, and meanwhile, the assembled fine leveling robot has a larger grain sweeping area and can rapidly carry out fine leveling work on the surface of the granary.
Referring to fig. 2 and 3, the expansion bracket 103 has two sections, each section of expansion bracket 103 includes 6 expansion unit frames, each expansion unit frame is formed by mutually crossing and hinged unit rods in a combined connection manner, the expansion unit frames are compressed and expanded by hinging rotation, the 6 expansion unit frames are connected end to end in sequence to form a whole, the adjacent expansion unit frames are hinged, and the expansion brackets 103 are mutually contracted and expanded by hinging structures between the expansion unit frames and the adjacent expansion units; the telescopic frame 103 further comprises a pin shaft 113, the telescopic unit frame comprises two first unit rods 111 which are parallel to each other and two second unit rods 112 which are parallel to each other, hinge holes are respectively formed in the middle parts of the first unit rods 111 and the second unit rods 112, two side surfaces of the rods are communicated by the hinge holes, the hinge holes are used for being connected by inserting the pin shaft 113, the first unit rods 111 which are parallel to each other are clamped between the second unit rods 112 by the second unit rods 112 which are parallel to each other, and the two first unit rods 111 and the two second unit rods 112 are connected in series by the pin shaft 113 through the hinge holes in the middle parts of the first unit rods 111 and the hinge holes in the middle parts of the second unit rods 112, so that the telescopic unit frame is formed after the two first unit rods 111 and the two second unit rods 112 are connected in series; the two ends of the first unit rod 111 are respectively provided with a hinge hole, the two ends of the second unit rod 112 are respectively provided with a hinge hole, the hinge hole at one end of the first unit rod 111 belonging to the telescopic unit frame is opposite to the hinge hole at one end of the second unit rod 112 of the adjacent telescopic unit frame, the adjacent telescopic unit frames are connected in series through the hinge holes by the pin shafts 113, and the adjacent telescopic unit frames are connected in series through the pin shafts 113 to form a whole body consisting of 6 telescopic unit frames; the pin 113 passes through the hinge hole to fix the first unit rod 111 and the second unit rod 112 to each other, after the fixing is finished in the fixing way, nuts are arranged at two ends of the pin 113 to lock, 6 telescopic unit frames are connected to each other to form an integral section of telescopic frame 103 structure, the telescopic frame 103 structure is in a frame shape formed by the first unit rod 111 and the second unit rod 112, wherein the first unit rod 111 and the second unit rod 112 in the same telescopic unit frame can rotate relatively, the first unit rod 111 of the telescopic unit frame and the second unit rod 112 of the adjacent telescopic unit frame can rotate relatively, and thus the whole telescopic frame 103 contracts and extends 6 telescopic unit frames through the rotation of the first unit rod 111 and the second unit rod 112; the expansion frame 103 is closed to reduce the occupied space or expanded to increase the occupied space in a contraction and expansion mode, and the contraction and expansion modes of the expansion frame 103 and the scraper expansion executing mechanism 106 are mutually independent; through the structure of this setting, after assembling the robot in the granary, through the shrink or the expansion of expansion bracket 103, reduce or increase the occupation space of robot to the removal of adaptation granary inside has enlarged the area that the flat grain of robot relates to through the expansion of expansion bracket 103 simultaneously, has indirectly improved the efficiency of flat grain.
Referring to fig. 4 and 5, the telescopic supporting mechanism 104 includes a middle frame 114, an inner frame 116 and an outer frame 115, the outer frame 115 is located outside the middle frame 114, the inner frame 116 is located in the middle frame 114, the outer frame 115 is in a frame shape formed by square edges, the middle frame 114 and the inner frame 116 are respectively in a frame shape formed by rectangular edges, two sides of the rectangular parallelepiped are respectively in a square shape, gaps are respectively arranged between the outer frame 115 and the middle frame 114 and between the inner frame 116 and the middle frame 114, the outer frame 115 can slide along the outer edge of the frame of the middle frame 114 relative to the middle frame 114, and the inner frame 116 can slide along the inner edge of the frame of the middle frame 114 relative to the middle frame 114; the outer frame 115 is arranged along the vertical direction, the rectangular surface of the outer frame 115 is arranged on the side surface of the outer frame 115, the opposite side surfaces of the outer frame 115 are provided with first frame strips which are mutually parallel, two first frame strips are respectively used for connecting the adjacent long edges of the outer frame 115 with each other, the other opposite side surface of the outer frame 115 is provided with second frame strips which are mutually parallel, the two second frame strips are respectively used for connecting the adjacent long edges of the outer frame 115 with each other, the telescopic supporting cylinder 117 is arranged between the first frame strips and the top frame strips of the outer frame 115, the first frame strips, the top frame strips of the middle frame 114 and the inner sides of the outer frame 115 are respectively provided with screw holes for connecting the telescopic supporting cylinder 117, the inner sides of the frame strips of the outer frame 115 are fixedly connected to the telescopic supporting cylinder 117 through bolts, two ends of the telescopic supporting cylinder 117 are respectively fixed on the first frame strips and the top frame strips of the middle frame 114 through bolts, the electric cylinder has a sliding member which is fastened to an inner side screw hole of the outer frame body 115 by a connecting piece having a hole extending outside, the sliding member of the telescopic supporting electric cylinder 117 and the outer frame body 115 are fixed to each other by a bolt, the scraper up-down adjusting electric cylinder 118 is provided between the second frame bar and the bottom frame bar of the outer frame body 115, screw holes connecting the telescopic supporting electric cylinder 117 are provided respectively on the outer sides of the bottom frame bar of the second frame bar, the middle frame body 114 and the inner frame body 116, the outer side of the top frame bar of the inner frame body 116 is fixedly connected to the scraper up-down adjusting electric cylinder 118 by a bolt, both ends of the scraper up-down adjusting electric cylinder 118 are fixed to the bottom frame bars of the second frame bar and the middle frame body 114 by bolts respectively, the sliding member of the scraper up-down adjusting electric cylinder 118 is provided with a sliding member, the connecting piece is locked to the outer threaded hole of the inner frame body 116 by using bolts, and the sliding part of the scraper up-down adjusting cylinder 118 and the inner frame body 116 are fixed to each other; the first unit rod 111 and the second unit rod 112 of the telescopic frame 103 are respectively connected with the outer frame 115 and the middle frame 114, and the distance between the two pin shafts 113 of the telescopic frame 103 is adjusted through the telescopic supporting electric cylinder 117, so that the whole telescopic frame 103 is extended and retracted, and the electric cylinder can be set through self-locking after the telescopic position is in place, so that the outer frame 115 and the middle frame 114 can not retract automatically; the top frame strip outside of the inner frame 116 is fixedly connected to a scraper up-down adjusting electric cylinder 118 through bolts, the inner frame 116 is driven to move up and down along the inside of the middle frame 114 by the telescopic action of the scraper up-down adjusting electric cylinder 118, the bottom of the middle frame 114 is connected with a slewing bearing 105, the bottom of the slewing bearing 105 is connected with a scraper telescopic actuating mechanism 106, the contact height of the grain surface scraper 108 from the grain surface is adjusted by the vertical upward and downward movement of the middle frame 114, and therefore the grain scraping depth and effect are adjusted.
Referring to fig. 5, the structure of the telescopic support mechanism 104 connected to the telescopic frame 103 achieves contraction and expansion of the telescopic frame 103, the telescopic frame 103 includes two sections, each section of telescopic frame 103 is formed by connecting 6 telescopic unit frames, a first unit rod 111 and a second unit rod 112 at one end of the first section of telescopic frame 103 are respectively connected to an outer frame 115 and an intermediate frame 114, a first unit rod 111 and a second unit rod 112 at one end of the second section of telescopic frame 103 are respectively connected to the outer frame 115 and the intermediate frame 114, the two sections of telescopic frames 103 are respectively connected to relative positions of the outer frame 115 and the inner frame 116, and the two sections of telescopic frames 103 are positioned on the same straight line; the outer frame 115 is a square frame structure formed by four edges of a square shape, two sides of the outer frame 115 are respectively provided with 2 mutually-spaced hinge blocks, the hinge blocks are welded with the outer frame 115, each hinge block is provided with a hinge groove into which one end of a first unit rod 111 is clamped, each hinge block is provided with a hinge hole, the inner wall of each hinge groove is concavely arranged inwards to form a hinge hole, a hinge strip penetrates through the hinge holes of the first unit rod 111 and is respectively clamped into two opposite hinge holes, after the hinge strip is clamped into the hinge block, the first unit rod 111 can rotate relative to the outer frame 115, two first unit rods 111 at one end of each section of telescopic frame 103 are respectively clamped into two hinge blocks at one side of the outer frame 115, and the two first unit rods 111 always keep parallel to each other when rotating; the middle frame 114 is a frame structure formed by edges of a cuboid, the frame structure is different from the outer frame 115 in size and similar in structure, two sides of the middle frame 114 are respectively provided with 2 mutually-spaced hinge blocks, the hinge blocks are arranged at the same positions as the hinge blocks arranged on the outer frame 115 and are respectively positioned at the same two sides of the outer frame 115 or the middle frame 114, the hinge blocks are welded with the middle frame 114, the hinge blocks are provided with hinge grooves clamped at one end of each second unit rod 112, the hinge blocks are provided with hinge holes, the inner walls of the hinge grooves are concavely arranged, the hinge strips penetrate through the hinge holes of the second unit rods 112 and are respectively clamped into the two opposite hinge holes, after the hinge strips are clamped into the hinge blocks, the second unit rods 112 can rotate relative to the middle frame 114, the two second unit rods 112 at one end of each section of the telescopic frame 103 are respectively clamped into the two hinge blocks at one side of the middle frame 114, and the two second unit rods 112 always keep parallel to each other when rotating; the outer frame 115 slides up and down relative to the middle frame 114 along the edge of the middle frame 114 in the vertical direction, when sliding, the outer frame 115 drives the first unit rods 111 connected with the outer frame 115 of the two sections of expansion brackets 103 to move, the 4 first unit rods 111 rotate relative to the second unit rods 112 of the two sections of expansion brackets 103, the middle frame 114 drives the second unit rods 112 of the two sections of expansion brackets 103 connected with the middle frame to move relatively, the 4 second unit rods 112 rotate relative to the first unit rods 111 of the two sections of expansion brackets 103, the included angle between the first unit rods 111 and the second unit rods 112 is increased or reduced due to mutual rotation of the first unit rods 111 and the second unit rods 112, and accordingly the first unit rods 111 and the second unit rods 112 at other parts of the two sections of expansion brackets 103 are driven to mutually shrink or expand, and the expansion brackets 103 achieve the effect that occupied space is reduced or expanded.
Referring to fig. 6, the slewing bearing 105 is fixedly connected with the rotating motor 109, the slewing bearing 105 includes a top disc 119 and a bottom disc 120 which are clamped and embedded with each other and are rotatable relatively, the top disc 119 is a bearing seat of the slewing bearing 105, the bottom disc 120 is a bearing disc, the bottom of the inner frame 116 is welded with the top disc 119, which is a bearing seat, the bearing seat is disc-shaped, the bottom of the bearing seat is concavely provided with a disc groove for installing the bearing disc, the bearing disc is clamped in the disc groove and rotatable relative to the disc groove, the bottom edge of the bearing seat is bent towards the center to enable the bearing disc to be always in the disc groove, a threaded hole is arranged at the edge of the bearing disc, a connecting hole opposite to the threaded hole is arranged in the middle of the scraper disc 110, a screw is clamped in through the connecting hole and the threaded hole and fixedly connects the scraper disc 110 with the bearing disc, the scraper disc 110 is driven to rotate when the bearing disc rotates, two ends of the scraper 110 are provided with threaded holes communicated with the top and bottom surfaces, the middle of the telescopic actuator 106 is provided with threaded holes opposite to the threaded holes, and the bolts fixedly connect the scraper disc 110 with the top telescopic actuator 106 through the threaded holes; the bearing frame is fixed and welded to the bottom of the inner frame body 116, the shaft hole for the rotating motor 109 to pass through is formed in the middle of the bearing frame, the bottom frame strip of the inner frame body 116 is welded to the edge of the top surface of the bearing frame, the rotating motor 109 comprises a driving motor and a gear motor which are used for driving, the gear motor is arranged at the bottom of the driving motor, the gear motor is mutually fixed and welded with the top of the bearing frame, a shaft of the gear motor extends out of the shaft hole of a bearing disc and is connected to the bearing disc, the bearing disc is driven to rotate by the driving motor and the gear motor, and the bearing disc and the scraper connecting disc 110 and the scraper telescopic actuating mechanism 106 synchronously rotate simultaneously in a fixed bolt connection mode, so that the grain surface scraper 108 can be used for leveling grains in rotation of grain surfaces.
Referring to fig. 7, the scraper extension executing mechanism 106 mainly executes the contraction and expansion actions of the scraper extension frame 121 and the grain scraper 108, the scraper extension executing mechanism 106 includes a plurality of scraper extension frames 121 and a plurality of folding assemblies, the embodiment adopts 7 scraper extension frames 121 and 6 folding assemblies, the scraper extension frames 121 are rectangular frame-shaped, the 7 scraper extension frames 121 are connected to form a whole through the folding assemblies, the plurality of scraper extension frames 121 are mutually overlapped and expanded through the folding assemblies, adjacent scraper extension frames 121 are mutually overlapped when being expanded, the adjacent scraper extension frames 121 are expanded to form 180 degrees, the folding assemblies include extension blocks 122, sliding blocks 123, connecting arms and screw motors, the folding assemblies are fixedly connected through pin shafts 113, the pin shafts 113 include a first pin shaft 113, a second pin shaft 113, a third pin shaft 113 and a fourth pin shaft 113, the connecting arms include a first connecting arm 124 and a second connecting arm 125, the extension blocks 122 and the first connecting arm 124 are connected through the first pin shaft 113 and the second pin shaft 113, the first connecting arm 124 and the second connecting arm 125 are connected through the third pin shaft 113 and the fourth pin shaft 113; the telescopic blocks 122 are arranged between the adjacent scraper telescopic frames 121, the middle parts of the telescopic blocks 122 are hollow, screw motors are arranged in the hollow space, two ends of the telescopic blocks 122 are respectively provided with a pair of mutually symmetrical arc-shaped through grooves, the arc-shaped through grooves are bent from side edges of two ends of the telescopic blocks 122 to the edges of the other sides close to the two ends of the telescopic blocks 122, when the scraper telescopic frames 121 are mutually folded and unfolded, the first pin shafts 113 move in a quarter arc mode by taking the second pin shafts 113 as the center, the first pin shafts 113 are always clamped in the telescopic blocks 122, the first connecting arms 124 are provided with 4 first connecting arms 124, the 4 first connecting arms 124 are respectively connected to the outer sides of the telescopic blocks 122 in a dividing mode, one end of each pair of first connecting arms 124 is provided with a shaft hole, the first pin shafts 113 are respectively connected with the first connecting arms 124 and the telescopic blocks 122 through the shaft holes, the second pin 113 connects the first connecting arm 124 and the expansion block 122 through a shaft hole, the other end of the first connecting arm 124, one end of the scraper expansion frame 121 and one end of the second connecting arm 125 are provided with shaft holes, the third pin 113 connects the first connecting arm 124, the scraper expansion frame 121 and the second connecting arm 125 in sequence through the shaft holes, wherein the first connecting arm 124 is positioned at the outer side of the scraper expansion frame 121, the second connecting arm 125 is positioned at the inner side of the scraper expansion frame 121, the first pin 113, the second pin 113 and the third pin 113 are positioned at the same plane, the first connecting arm 124 connects the scraper expansion frame 121 and the expansion block 122 through the first pin 113, the second pin 113 and the third pin 113, the first connecting arm 124 and the scraper expansion frame 121 are mutually fixed in the same straight line, the structure is arranged to enable the scraper expansion frame 121 to rotate by taking the second pin 113 as the center, the third pin 113 is always clamped in the arc through groove during rotation to limit the rotation angle of the scraper telescopic frame 121, and the rotation angle is 0-90 degrees; the number of the second connecting arms 125 is 4, the number of the 2 second connecting arms 125 is a pair, the two second connecting arms 125 are respectively positioned at the outer sides of two ends of the sliding block 123, one end of each second connecting arm 125 is connected to the inner side of each scraper telescopic frame 121, the other end of each second connecting arm 125 is connected to the outer sides of two ends of the sliding block 123, one end of each second connecting arm 125 is provided with a shaft hole, the third pin shaft 113 is connected with the second connecting arms 125 through the shaft holes, the second connecting arms 125 can rotate relative to the third pin shaft 113 after connection, the ends of the 2 pairs of second connecting arms 125 are provided with shaft holes, the edges of two ends of the sliding block 123 are provided with shaft holes, the fourth connecting arms connect the second connecting arms 125 with the sliding block 123 through the shaft holes, the 2 pairs of second connecting arms 125 are respectively positioned at two sides of the sliding block 123 after connection, the second connecting arms 125 can rotate relative to the sliding block 123 through the fourth pin shaft 113, the middle part of the sliding block 123 is provided with screw holes for being connected with the sliding block 123 through the screw motor, and the screw motor is fixedly arranged in a hollow space of the telescopic block 122; the screw motor pushes the telescopic blocks 122 to move along the direction of the screw relative to the sliding blocks 123 when working, the sliding blocks 123 push or pull the scraper telescopic frames 121 on two sides to be opened or retracted by the second connecting arms 125, the telescopic blocks mainly execute the contraction and expansion actions of the scraper telescopic frames 121, the whole scraper telescopic frames 121 are overlapped or expanded mutually by pushing or pulling the structure, the contraction volume is favorable for transferring when moving, and the expansion volume is favorable for expanding the grain leveling area when leveling grains.
Referring to fig. 8, the top end of the scraper elastic adjusting mechanism 107 is fixedly connected to the scraper telescopic frame 121, the bottom end of the scraper elastic adjusting mechanism 107 is fixedly connected to the grain scraper 108, the scraper elastic adjusting mechanism 107 is provided with 14 telescopic components in total, each telescopic component is connected with one grain scraper 108, the telescopic components comprise an elastic cylinder 126, an elastic rod 127 and a connecting block 128, a spring is arranged in the elastic cylinder 126, the bottom opening of the elastic cylinder 126 is arranged, the top end of the elastic rod 127 is inserted into the elastic cylinder 126 from the opening and is connected with one end of the spring, the bottom end of the elastic rod 127 is connected to the connecting block 128, the elastic rod 127 can slide along the inside of the elastic cylinder 126 relative to the elastic cylinder 126, the spring is compressed or stretched when the elastic rod 127 slides, 14 pairs of elastic cylinders 126 are respectively welded on two sides of the scraper telescopic frames 121, and 1 pair of elastic cylinders 126 are connected with each scraper telescopic frame 121; the side of the bottom of elastic rod 127 is concave to be equipped with the buffer tank, the connecting block 128 card is relative elastic rod 127 slidable in the buffer tank, elastic rod 127 of buffer tank department still is provided with the ring channel, the ring channel is for elastic rod 127 annular concave formation of establishing, connecting block 128 inside is provided with the spring tank relative with the ring channel, connecting block 128 is provided with the connecting hole that connects elastic rod 127 male, the spring tank communicates with each other with the connecting hole, connecting block 128 is through producing the buffering in the spring tank between installation spring and facing grain scraper 108, connecting block 128 is provided with the bolt hole of intercommunication its both sides, the opening part of bolt hole is towards the both sides of two elastic rod 127 respectively, elastic rod 127 inserts connecting block 128 and is fixed with grain scraper 108 each other through the bolt, grain scraper 108 is adjustable height for scraper 121 along with elastic rod 127, thereby grain scraper 108 is exerted pressure and is made elastic rod 127 shrink into in the elastic cylinder 126, simultaneously when grain scraper 108 exerts the pressure to elastic rod 127 and is too big, the spring compression in the connecting block 128, grain scraper 108 is through the short displacement of elastic rod 127 upward movement buffer tank distance, the effect of elastic rod 127 is in the effect that the whole people can be prevented from encountering the compression resistance under the big machine and can be prevented from running forward against the compression resistance.
Referring to fig. 1 and 8, the grain surface scraping plate 108 includes 7 sections, each section of grain surface scraping plate 108 is connected to two elastic rods 127, scraping plates 131 are mutually independent and are respectively connected to the scraping plate telescopic actuating mechanism 106, a plurality of sections of scraping plates 131 are overlapped or unfolded along with the shrinkage or expansion of the scraping plate telescopic actuating mechanism 106, the grain surface scraping plate 108 includes a scraping plate 131, a fixed frame 130 and an L-shaped connecting plate 129, screw holes are respectively arranged at the top and bottom ends of the L-shaped connecting plate 129, the top end of the L-shaped connecting plate 129 is fixedly connected to a connecting block 128 through bolts, the bottom end of the L-shaped connecting plate 129 is fixedly connected to the fixed frame 130 through bolts, the fixed frame 130 is provided with screw holes for connecting the L-shaped connecting plate 129, 2L-shaped connecting plates 129 are respectively arranged at two sides of the connecting plate 129, the top end of the fixed frame 130 is fixed with the L-shaped connecting plate 129, the bottom end face of the fixed frame 130 is outwards bent to form an end face flush with the top of the scraping plate 131, the bottom end face of the fixed frame 130 is welded to the top of the scraping plate 131, the setting direction of the scraping plate 131 is consistent with the direction of the telescopic frame 121, two sides of the scraping plate 131 are upwards bent to form an arc, and a space is arranged between adjacent scraping plates 131; the height of the scraping plate 131 is adjusted along with the elastic rod 127 in the vertical direction, and the scraping plate 131 is driven by the scraping plate telescopic frame 121 to level grains and is overlapped or unfolded along with the folding or unfolding of the scraping plate telescopic frame 121.
Referring to fig. 9, the deflection adjusting mechanism 102 is rotatable relative to the chassis 101, and the chassis 101 adjusts an included angle between a forward direction of the chassis 101 and an extending direction of the expansion bracket 103 through the left and right deflection adjusting mechanisms 102; the deflection adjusting mechanism 102 comprises an adjusting disc and a disc body bearing seat, wherein the bearing seat is provided with 3 supporting feet, the 3 supporting feet are respectively fixedly welded to the chassis 101, a bearing groove for clamping the adjusting disc into rotation is formed in the middle of the disc body bearing seat, the bottom of the adjusting disc is clamped into the bearing groove, the adjusting disc is rotatable in the bearing groove, the adjusting disc rotates to enable the telescopic frame 103 to be adjustable relative to the angle of the advancing direction, the adjusting disc is provided with pin holes communicated with two sides of the adjusting disc, first unit rods 111 positioned at two ends of the telescopic frame 103 are provided with pin holes, a pin shaft 113 passes through the pin holes of the adjusting disc and the pin holes of the first unit rods 111, two ends of the pin shaft 113 are respectively connected with the first unit rods 111, and the two first unit rods 111 are parallel to each other and fixed with the pin shaft 113; the deflection adjusting mechanism 102 mainly aims to avoid the generation of constraint force between an assembly for flattening and removing impurities and the chassis 101 caused by the asynchronous speed and direction of the left chassis 101 and the right chassis 101 when the chassis 101 runs, so that the walking and control of the chassis 101 can be influenced, the deflection adjusting mechanism 102 is of a pin shaft 113 structure with bidirectional rotation, and the telescopic frame 103 rotates around the deflection adjusting mechanism 102 along the vertical direction and the horizontal direction so as to adapt to the asynchronous property of the chassis 101.
The chassis 101 is a robot driving chassis 101 in the prior art, the chassis 101 is provided with three universal wheels which are evenly distributed at the bottom of the chassis 101, the three universal wheels drive the chassis 101 to rotate, advance and retreat, and the two chassis 101 adjust positions and angles through a deflection adjusting mechanism 102 so as to adapt to different walking flat grain channels, thereby realizing synchronism and consistency; in the connection between the pin 113 and the pin hole in this embodiment, after the pin 113 passes through the pin hole, two ends of the pin 113 are fixed by two nuts and the pin 113 is clamped and fixed.
The working principle of the invention is as follows:
the detachable fine leveling robot is connected with the telescopic support mechanism 104 and the telescopic frame 103, the telescopic frame 103 and the deflection adjusting mechanism 102 and the telescopic support mechanism 104 and the scraper blade telescopic actuating mechanism 106 through a detachable connection mode of bolts, screws or pin shafts 113, when the fine leveling robot is transferred, the volume is reduced by disassembling the detachable fine leveling robot into 4 sections of independent components, when the fine leveling robot is assembled, the detachable fine leveling robot is connected with each other through a structure formed by the 4 sections of independent components, when the fine leveling robot needs to level grains, the telescopic frame 103 and the telescopic support mechanism 104 are utilized to fold together or spread out to increase the area of the grains, the scraper blade telescopic actuating mechanism 106 is utilized to drive the grain surface scraper 108 to fold together or spread out to increase the area of the grains, the height of the grain surface scraper 108 is adjusted through the scraper blade elastic adjusting mechanism 107, and the slewing bearing 105 is utilized to rotate the scraper blade telescopic actuating mechanism 106 to rotate the grains; the left chassis 101 and the right chassis 101 bear the weight of the whole fine leveling robot, the scraper telescopic actuating mechanism 106 positioned below the middle is lowered to the grain leveling position of the grain surface, at the moment, the grain surface scraper 108 is positioned below the grain surface, the grain surface scraper 108 moves synchronously along with the left chassis 101 and the right chassis 101 to realize the transverse scraping leveling of the grain surface, the grain surface leveling along the pavement plate direction in the range between the chassis 101 can be realized, and meanwhile, the rotating motor 109 can drive the scraper telescopic actuating mechanism 106 to rotate, so that the grain surface scraper 108 rotates around the telescopic supporting mechanism 104, the grain surface leveling of the grain surface in different directions between the pavement plates is realized, and the fine leveling work of the whole grain surface is realized through the transverse and rotating movement of the robot.
In summary, the angle offset and synchronization between the chassis and the telescopic frame are adjusted by the deflection adjusting mechanism, the occupied area and the area of the telescopic frame are adjusted by the telescopic frame and the telescopic supporting mechanism, the flat grain area is contracted and stretched by the scraper telescopic executing mechanism, the flat grain is rotated by the slewing bearing, the flat grain is carried out by the grain surface scraper, and the robot sweeps the grain surface in the area between the cross walkways under the operation action of the chassis; the robot can walk on the surface of the grain bin which is roughly leveled to realize fine grain leveling, the volume of the robot can be reduced through the disassembled structure to enter the grain bin opening, the robot is assembled into a structure with a larger grain leveling area after entering the grain bin, the area occupied by the parts of the grain leveling robot for leveling grain is stretched, the grain leveling efficiency in unit time is increased, and the grain surface fine leveling effect is achieved.
This description describes examples of embodiments of the invention and is not intended to illustrate and describe all possible forms of the invention. Those of ordinary skill in the art will recognize that the embodiments described herein are for the purpose of aiding the reader in understanding the principles of the present invention and should be understood that the scope of the invention is not limited to such specific statements and embodiments. Those of ordinary skill in the art can make various other specific modifications and combinations from the teachings of the present disclosure without departing from the spirit thereof, and such modifications and combinations remain within the scope of the present disclosure.
Claims (10)
1. A detachable precision leveling robot, comprising: the grain surface scraper comprises a chassis, deflection adjusting mechanisms, a telescopic frame, a scraper blade telescopic actuating mechanism and a grain surface scraper, wherein two ends of the telescopic frame are respectively connected to a left deflection adjusting mechanism and a right deflection adjusting mechanism, the deflection adjusting mechanisms are connected to the chassis, the scraper blade telescopic actuating mechanism is positioned below the telescopic frame, the top of the scraper blade telescopic actuating mechanism is connected to the telescopic frame or two ends of the scraper blade telescopic actuating mechanism are respectively connected to the left deflection adjusting mechanism and the right deflection adjusting mechanism, and the grain surface scraper is connected to the bottom of the scraper blade telescopic actuating mechanism; the scraper telescopic actuating mechanism is detachably connected with the telescopic frame, and two ends of the telescopic frame are detachably connected with the deflection adjusting mechanism respectively; the detachable fine leveling robot drives the grain surface scraping plate to level grains on the surface of the granary through the chassis driving to advance or retreat.
2. The detachable fine leveling robot according to claim 1, wherein the telescopic frame and the scraper telescopic actuating mechanism are respectively drawn close to reduce the occupied space or expanded to increase the occupied space in a contraction and expansion mode, and the telescopic frame and the scraper telescopic actuating mechanism are mutually independent or synchronous in the contraction and expansion mode.
3. The detachable fine leveling robot of claim 2, wherein the grain surface scrapers comprise a plurality of segments of scrapers which are independent of each other and are respectively connected to the scraper telescopic actuator, and the segments of scrapers overlap or expand with the contraction or expansion of the scraper telescopic actuator.
4. The detachable fine leveling robot of claim 2, further comprising a telescopic support mechanism, wherein the telescopic frame is divided into at least 2 sections, adjacent sections of the telescopic frame are detachably connected through the telescopic support mechanism, the telescopic support mechanism is detachably connected with the scraper telescopic actuator, and the telescopic support mechanism and the scraper telescopic actuator are fixed with each other or rotatable relative to each other.
5. The detachable precision flat robot according to claim 4, wherein the telescopic supporting mechanism comprises a middle frame body, an outer frame body and an inner frame body, the middle frame body and the outer frame body are respectively connected to two connecting ends of the telescopic frame, and the outer frame body and the inner frame body are respectively slidable relative to the middle frame body.
6. The detachable fine leveling robot of claim 5, further comprising a slewing bearing and a rotating motor, wherein a top and a bottom of the slewing bearing are connected to the inner frame and the squeegee telescoping actuator, respectively, and a crankshaft of the rotating motor is connected to the slewing bearing.
7. The detachable fine leveling robot of claim 6, wherein the slewing bearing comprises a top plate body and a bottom plate body which are mutually clamped and rotatable relative to each other, the two plate bodies are respectively connected with the inner frame body and the scraper extension executing mechanism, a shaft of the rotating motor is connected to the bottom plate body through a supporting hole of the top plate body, the bottom plate body is detachably connected with the scraper extension executing mechanism, and the slewing bearing drives the scraper extension executing mechanism and the grain scraper to rotate through rotation.
8. The detachable fine leveling robot of claim 5, wherein the telescopic supporting mechanism further comprises a telescopic supporting electric cylinder and a scraper up-down adjusting electric cylinder, two ends of the telescopic supporting electric cylinder are respectively connected with the outer frame body and the middle frame body, and two ends of the scraper up-down adjusting electric cylinder are respectively connected with the inner frame body and the middle frame body.
9. The detachable fine leveling robot of claim 1, further comprising a blade elastic adjustment mechanism, wherein the top and bottom ends of the blade elastic adjustment mechanism are respectively connected to the bottom of the blade telescopic actuator and the top of the grain surface blade, and the blade elastic adjustment mechanism has a spring for buffering the force of the grain surface blade.
10. The detachable fine leveling robot of claim 1, wherein the deflection adjusting mechanism is rotatable relative to the chassis, and the chassis adjusts an included angle between a chassis advancing direction and a telescopic frame extending direction by the left and right deflection adjusting mechanisms.
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| CN201910087267.1A CN109795899B (en) | 2019-01-29 | 2019-01-29 | Detachable fine leveling robot |
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| 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 |
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