CN110733910A

CN110733910A - steering type leveling robot for drawing, throwing and separating

Info

Publication number: CN110733910A
Application number: CN201911197271.XA
Authority: CN
Inventors: 傅慧; 邵辉; 张超
Original assignee: Shandong Inspur Genersoft Information Technology Co Ltd
Current assignee: Shandong Inspur Genersoft Information Technology Co Ltd
Priority date: 2019-11-29
Filing date: 2019-11-29
Publication date: 2020-01-31

Abstract

The invention discloses an steering type leveling robot for pumping, throwing and separating, belongs to the field of leveling robots and aims to solve the technical problem of how to realize separation of an auger mechanism and a grain throwing mechanism and to separate from dependence on workers.

Description

steering type leveling robot for drawing, throwing and separating

Technical Field

The invention relates to the field of leveling robots, in particular to an steering type leveling robot with pumping, throwing and separating functions.

Background

The existing leveling robot has the defects that in , an auger mechanism and a grain throwing mechanism are fixed on a same frame, a steering mechanism is arranged at the bottom of the frame, the two mechanisms can be jointly steered but cannot independently adjust the grain direction or the auger direction independently, the use requirement of a complex work scene in the granary cannot be met, for example, grain throwing and grain sucking from a certain stack can only throw grains to the opposite direction, if the grain stack in the opposite direction is also independently adjusted, the grain throwing direction or the auger direction cannot meet the use requirement of a grain throwing and grain throwing direction, the grain throwing speed of the structure can only throw grains to the opposite direction, the grain stack in the opposite direction is adjusted to be higher, the grain throwing distance is adjusted to be higher, the grain throwing speed of the grain throwing and grain throwing distance is increased, and the grain throwing distance is adjusted to be higher, and the grain throwing distance is increased, and the like, and the grain throwing distance is increased, and the operation efficiency is increased, and the efficiency is increased.

How to realize the separation of the auger mechanism and the grain throwing mechanism and separate the dependence on workers is a technical problem to be solved.

Disclosure of Invention

The technical task of the invention is to provide kinds of steering type leveling robots for pumping, throwing and separating aiming at the defects, so as to solve the problem of how to realize the separation of an auger mechanism and a grain throwing mechanism.

The invention provides an kinds of steering type leveling robots for drawing and throwing separation, which comprises:

the bottom support comprises a head mounting frame and a tail mounting frame which are connected end to end, steering devices are arranged on the head mounting frame and the tail mounting frame, and the steering devices are used for driving the head mounting frame and the tail mounting frame to rotate along the horizontal direction;

the grain suction auger device is arranged on the tail mounting frame through a corresponding steering device and is used for sucking grains through a grain inlet and outputting the grains through a grain outlet;

the grain throwing conveying belt device is arranged on the head mounting frame through a corresponding steering device, is communicated with a grain discharging port of the grain sucking auger device through the input end of the grain throwing conveying belt device, and is used for throwing grains through the output end of the grain throwing conveying belt device;

the grain leveling device is arranged on the head side of the head mounting frame, is positioned below the grain throwing conveyor belt device and is used for leveling grains;

the two walking devices are arranged on two sides of the bottom bracket at intervals in parallel and are used for driving the bottom bracket to walk;

and the control device is connected with the steering device, the grain sucking auger device, the grain throwing conveying belt device, the grain leveling device and the traveling device and is used for controlling the steering device, the grain sucking auger device, the grain throwing conveying belt device, the grain leveling device and the traveling device to work.

In the above embodiment, the steering device on the head mounting rack serves as an overall steering device to drive the grain throwing conveyor belt device to rotate in the horizontal direction, and the steering device on the tail mounting rack serves as an auger steering device to drive the grain sucking auger device to rotate in the horizontal direction, so that the grain sucking auger device and the grain throwing conveyor belt device are separated.

Preferably, still include dust collector, dust collector includes:

the dust collecting cover is provided with a feeding hole, a discharging hole and a dust removing hole, the dust collecting cover is arranged above the grain throwing conveying belt device, the input end of the grain throwing conveying belt device is communicated with the feeding hole and is communicated with a discharging hole of a grain sucking auger device positioned above the grain throwing conveying belt device, and the output end of the grain throwing conveying belt device is communicated with the discharging hole and is used for throwing grains through the discharging hole;

the dust collection fan is arranged at the dust collection opening of the dust collection cover and is connected with the control device;

and the dust storage bag is communicated with the dust removal port through a dust removal fan.

In above-mentioned preferred embodiment, the dust collecting cover is established in throwing grain conveyer's the outside, can avoid grain transportation and the dust and the impurity influence external environment of shedding the in-process to alleviate operation environment dust, reduce the personal harm simultaneously, blow in the dust storage bag with the dust and the debris that raise through dust exhausting fan, realized the timely recovery of dust and impurity, can empty the processing after the dust storage bag is full of storage.

More preferably, still include and throw grain distance adjusting device, throw grain distance adjustment includes:

the air guide sleeve is hinged with a discharge hole of the dust collecting cover, and a buffer liner is arranged on the inner side of the air guide sleeve;

and the flow guide driving device is a flow guide motor push rod, is vertically arranged between the flow guide cover and the head mounting frame and is positioned at the side of the discharge hole of the dust collection cover, and is connected with the control device and used for adjusting the angle between the flow guide cover and the discharge hole of the dust collection cover.

In the preferred real-time mode, the guide motor push rod stretches up and down, so that the guide cover is driven to open and close at the vertical direction, grain throwing tracks are controlled, and grain throwing distance is adjusted. Simultaneously, the buffering inside lining can effectively the noise abatement to avoid the grain collision breakage.

Preferably, the steering device comprises a steering motor, a gear transmission mechanism and a rotary support, the gear transmission mechanism is in transmission connection with the rotary support in a gear meshing manner, and the steering motor drives the rotary support to rotate along the horizontal direction through the gear transmission mechanism;

the grain sucking auger device and the grain throwing conveying belt device are both arranged on the corresponding rotary support.

Preferably, inhale grain auger device includes:

the auger mounting frame is arranged on the tail mounting frame through a corresponding steering device;

the auger mechanism is obliquely arranged on the auger mounting frame and is in running fit with the auger mounting frame, and a feeding port of the auger mechanism is positioned above a discharging port of the auger mechanism;

the auger height adjusting device is an auger motor push rod, is in transmission connection with the auger mechanism and is used for adjusting the inclination angle of the auger mechanism in cooperation with the auger mounting frame;

the packing auger driving device comprises a packing auger driving motor and a belt transmission mechanism consisting of a belt pulley and a belt, wherein the packing auger driving motor is in transmission connection with the packing auger mechanism through the belt transmission mechanism and is used for driving the packing auger mechanism to transmit grains.

In the above embodiment, the auger mechanism is arranged on the corresponding steering device through the auger mounting frame, and the steering device is matched with the control device, so that the rotation of the auger mechanism in the horizontal direction can be realized; meanwhile, the auger height adjusting device is matched with the auger mounting frame, so that the vertical inclination angle of the auger mechanism can be realized, the height of the auger mechanism is adjusted, the adjustment of the auger mechanism in the horizontal direction and the vertical direction is realized, and the grain conveying belt device can convey grains independently.

Preferably, the auger mounting bracket includes:

the packing auger mechanism comprises two packing auger upright columns, two packing auger upright columns which are arranged side by side at intervals are vertically arranged on corresponding rotary supports, and a packing auger mechanism is obliquely arranged between the two packing auger upright columns;

the rotary assemblies are two in number and correspond to the packing auger upright , each rotary assembly comprises a rotary short shaft and a rotary bearing, the rotary bearings are arranged at the top ends of the corresponding packing auger upright, the end of each rotary short shaft penetrates through the corresponding rotary bearing and is in rotary fit with the rotary bearing, and the other end of each rotary short shaft is connected with the upper section of the packing auger mechanism;

the rotary bearing includes:

the th fixed seat, the th fixed seat is a U-shaped seat, and is fixed at the top end of the corresponding auger upright post in a mode that the opening of the U-shaped seat is upward;

the second fixing seat is a U-shaped seat and is detachably fixed above the th fixing seat in a mode that an opening of the second fixing seat faces downwards, and the opening of the th fixing seat and the opening of the second fixing seat are in butt joint to form a shaft hole used for accommodating the rotation of the rotation short shaft.

More preferably, still include auger stop device, auger stop device includes electron limit switch and/or mechanical stopper:

the electronic limit switches are connected with the control device and used for limiting the steering angle of the grain sucking auger device within a preset range;

and the mechanical limiting blocks are two in number and are all arranged on the tail mounting frame and used for limiting the steering angle of the grain sucking auger device within a preset range.

In the preferred embodiment, the steering limitation of the auger mechanism is realized, the steering range of the auger mechanism is prevented from being too large, the auger mechanism is prevented from interfering and colliding with other mechanisms, meanwhile, the electronic limit switch and the mechanical limit block are assembled, the electronic limit switch is taken as the main part, the mechanical limit block is taken as the auxiliary part, and when of the electronic limit switch and the mechanical limit block are in failure, of the electronic limit switch and the mechanical limit block can continue to work, so that the safety of equipment is ensured.

Preferably, throw grain conveyer belt device includes:

the grain throwing mounting rack is arranged on the head mounting rack through a corresponding steering device, and a bearing surface for bearing the conveyor belt mechanism is arranged horizontally or obliquely on the grain throwing mounting rack;

the conveying belt mechanism comprises a conveying belt and a plurality of rollers, the conveying belt is paved above the grain throwing mounting frame in an up-and-down crossed manner through the rollers, a funnel is arranged at the output end of the conveying belt mechanism, and the conveying belt mechanism is communicated with a grain discharging opening of the grain sucking auger device through the funnel;

throw grain drive arrangement, throw grain drive arrangement including throwing grain driving motor and throw grain drive mechanism, throw grain drive mechanism and be mainly by the belt pulley drive mechanism that V-belt and belt pulley constitute, throw grain driving motor and wherein roller transmission are connected through the aforesaid throw grain drive mechanism for drive the conveyer belt operation through above-mentioned a plurality of rollers.

In the above preferred embodiment, the conveyor belt mechanism is arranged on the corresponding steering device through the grain throwing mounting frame, and the steering of the conveyor belt mechanism in the horizontal direction can be controlled through the steering device under the control of the control device. The conveying belt in the conveying belt mechanism is a grain conveying belt, and under the control of the control device, the grain throwing driving device drives the conveying belt to rotate at a high speed through the roller, so that grains laid on the conveying belt are thrown out at a high speed from the output end; meanwhile, the bearing surface of the grain throwing mounting frame is obliquely arranged, and grain is conveniently thrown when the head end is higher than the raising angle of the tail end.

Preferably, the grain leveling device comprises:

the push shovel is arc-shaped;

the shovel mounting frame is arranged between the shovel and the header mounting frame, and the shovel mounting frame and the shovel and the header mounting frame can be in up-and-down rotating fit;

the shovel pushing adjusting device is a shovel pushing motor push rod, is arranged on the head side of the head mounting frame and is in transmission connection with the shovel, and is used for driving the shovel to lift up and down;

the bottom end of the push shovel is in no-load or is connected with a flexible mechanism;

the flexible mechanism comprises two push rods and at least two springs, the two push rods are arranged at an upper interval and a lower interval and are connected through the at least two springs, and the flexible mechanism is detachably arranged at the bottom end of the push shovel.

In the preferred embodiment, the push shovel is arc-shaped, so that the leakage of grains in the dragging process is prevented, the instantaneous resistance when the bottom of the push shovel is inserted into a grain pile to push is reduced, and the height difference of pushing grains is increased.

The bottom of the push shovel is provided with a flexible mechanism, and when the grain is pushed flat through the flexible mechanism, the acting force is relatively soft.

Preferably, the control device includes:

the control box body is arranged on the bottom support, a heat dissipation air window is formed in the wall of the control box body, a protection accessory and a plurality of wiring terminals are arranged outside the control box body, the protection accessory is a fire extinguisher and/or a support rod, and the support rod is used for supporting a cable to prevent the cable from being wound by equipment;

the control unit comprises but is not limited to a controller, a wireless communication module and a protection circuit module, wherein the wireless communication module, the protection circuit module and each wiring terminal are connected with the controller, and the wiring terminals are used for externally connecting the robot equipment;

the remote controller is provided with a control unit, a wireless communication unit and a plurality of adjusting switches, and the adjusting switches are used for controlling the opening or closing of the remote controller body and remotely controlling the external robot equipment through the control unit;

the external robot equipment comprises but is not limited to a steering device, a grain sucking auger device, a grain throwing conveying belt device, a grain leveling device and a walking device.

In the above embodiment, the device is remotely controlled by a remote controller, so that remote control is realized; the control box body is provided with the heat dissipation holes, and the fire extinguisher is arranged outside the control box body, so that the safety of the equipment is ensured; the support rod protects the cable from being rolled into the equipment, so that the operation safety is ensured; the control unit is provided with a protection circuit module, such as an overload protection circuit, a phase loss protection circuit, a phase line transfer switch device and the like, so that the circuit safety is ensured.

The kinds of steering type leveling robots for drawing, throwing and separating have the following advantages:

1. the grain sucking auger device is arranged on the tail mounting frame through the corresponding steering device, and the grain throwing conveyor belt device is arranged on the head mounting frame through the corresponding steering device, so that the auger mechanism and the grain throwing mechanism can independently operate in the horizontal direction;

2. the dust collecting cover is covered above the grain throwing conveyor belt device, so that dust and impurities raised in the grain conveying process are prevented from falling into the surrounding environment, the dust and impurities in the operation environment are reduced, the environmental safety is ensured, meanwhile, the dust and the impurities are adsorbed into the dust storage bag through the dust removal fan, the dust and the impurities are collected in time, and the work of equipment is not influenced;

3. the guide cover is hinged on the discharge port and connected with the guide driving device, the guide driving device drives the opening and closing angle of the guide cover relative to the discharge port, grain throwing tracks can be controlled, grain throwing distance can be adjusted, and the buffering liner on the inner side of the guide cover can effectively reduce noise and grain crushing;

4. the height of the auger mechanism can be adjusted by matching the auger height adjusting device with the auger mounting frame, and the steering of the auger mechanism in the horizontal direction can be adjusted by matching the corresponding steering device, so that the position adjustment of the auger mechanism in the horizontal and vertical directions is realized;

5. the auger limiting device can control the rotation range of the auger mechanism in the horizontal direction, and avoid interference collision with other mechanisms when the auger mechanism turns;

6. the grain throwing mounting frame is obliquely arranged, the head end of the grain throwing mounting frame is higher than the tail end of the grain throwing mounting frame, namely the output end of the conveyor belt device is higher than the input end of the conveyor belt device, so that grains are thrown conveniently;

7. the auger mechanism and the grain throwing device can be independently steered, the feed inlet is communicated with a funnel, a discharge port of the auger mechanism is communicated with a feed inlet of the cover body through the funnel, and grains can be guided into the conveyor belt device through the funnel at various steering angles to be conveyed;

8. the push shovel mounting frame is matched with the push shovel adjusting device, so that the uniform movement of the up-and-down freedom degree of the push shovel and the adjustment of any height are realized, the push shovel is arc-shaped, the leakage of grains in the dragging process is prevented, the instant resistance when the bottom of the push shovel is inserted into a grain stack to push is reduced, and the height difference of pushing the grain stack is increased;

9. the flexible mechanism is arranged at the bottom end of the push shovel and can provide flexible work when grain is finely leveled;

10. the louvre has been seted up on the automatically controlled box, avoids overheated influence circuit, and the outside look of automatically controlled box is provided with the fire extinguisher, in time puts out a fire when the circuit breaks down, avoids causing bigger loss, and simultaneously, the bracing piece on the automatically controlled box can support the cable, and the protection cable is not drawn into equipment, guarantee operation safety.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

The invention is further described with reference to the drawings.

FIG. 1 is a schematic structural diagram of an kinds of drawing and throwing separated steering type leveling robots;

FIG. 2 is a general machine assembly schematic diagram of kinds of drawing, throwing and separating steering type leveling robots;

FIG. 3 is a schematic structural diagram of a walking device in an kind of drawing and throwing separated steering type leveling robot;

FIG. 4 is a schematic structural diagram of a general steering device and a grain throwing conveyor belt device in an drawing, throwing and separating steering type leveling robot;

FIG. 5 is a schematic structural diagram of an auger rotating device in an pumping, throwing and separating steering type leveling robot;

FIG. 6 is a schematic structural diagram of a rotary support in an extraction-throwing separated steering type leveling robot;

FIG. 7 is a schematic structural diagram of a grain sucking auger device in an kinds of pumping, throwing and separating steering type leveling robot;

FIG. 8 is a schematic structural diagram of a control device in an kind of drawing and throwing separated steering type leveling robot;

the device comprises a walking device 1, a tail mounting frame 2, a tail mounting frame 3, an auger steering device 4, an auger height adjusting device 5, a grain sucking auger device 6, an auger driving device 7, a control device 8, a grain throwing conveyor belt device 9, a dust removing device 10, a support rod 11, a grain throwing distance adjusting device 12, a V belt 13, a grain throwing mounting frame 14, a grain throwing driving motor 15, a push shovel 16, a push shovel adjusting device 17, a general steering device 18, a general steering motor 19, a dust storage bag 20, a crawler belt 21, a support wheel 22, a guide wheel 23, a crawler belt driving motor 24, a bottom frame 25, a crawler belt side sealing plate 26, a steel pipe support 27, a driving wheel 28, a riding wheel 29, a flow guide driving device 30, a flow guide cover 31, a conveyor belt 32, a dust removing fan 33, a dust collecting cover 34, a funnel 35, a dust collecting fan 33, The device comprises a general rotary support 36, a roller 37, an auger rotary support 38, an auger upright post 39, a rotary bearing 40, an auger steering motor 41, an auger mechanism 42, a rotary short shaft 43, a motor support 44, a belt pulley protective cover 45, a rotary screw 46, a main power plug 47, a connecting terminal 48, a wireless communication module 50, a fixing groove 51, a push rod 52 and a spring.

Detailed Description

The present invention is further illustrated in conjunction with the accompanying drawings and the specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention and the embodiments and the technical features of the embodiments can be combined with each other without conflict.

It should be understood that the terms "", "second", and the like in the description of the embodiments of the invention are used for distinguishing between descriptions and not necessarily for describing a sequential or chronological order.

The "and/or" in the embodiment of the present invention is only types describing the association relationship of the association objects, which means that there may be three types of relationships, for example, a and/or B, which may mean that there are three types of a, B, and a and B at the same time.

In the embodiments of the present invention, terms such as "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "side", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in fig. 1, and are only terms of relationships determined for convenience of describing structural relationships of the components or elements of the present invention, and are not intended to refer to any components or elements of the present invention, and are not to be construed as limiting the present invention.

In the embodiments of the present invention, terms such as "fixedly connected," "connecting," and the like should be understood as meaning to mean either a fixed connection, body connection or a detachable connection, or a direct connection or an indirect connection through an intermediary.

As introduced by the background technology, the grain surface leveling operation of the existing grain depot and the work of each phase in the grain depot mainly depend on manpower, in order to solve the problems of the shortage of labor service of the grain depot, the severe operation environment in the granary and the technical defects of the existing granary leveling robot, the invention provides steering type granary leveling robots with high working efficiency, simple operation, high utilization rate and strong adaptability and capable of taking out, throwing and separating, which can replace the personnel in a depot area to go into the granary and work continuously and efficiently in the severe environment.

Example (b):

the invention relates to an steering type leveling robot with pumping, throwing and separating functions, which comprises a bottom bracket, a grain sucking auger device 5, a grain throwing conveyor belt device 8, a grain leveling device, a traveling device 1 and a control device 7.

Wherein, running gear 1 totally two and be crawler-type running gear 1, and two running gear 1 intervals set up side by side in the both sides of bottom support for drive bottom support walking.

The walking device 1 in this embodiment is mainly composed of a crawler 20, a support wheel 21, a guide wheel 22, a crawler drive motor 23, a bottom frame 24, a drive wheel 27 and a riding wheel 28. The supporting wheel 21, the guide wheel 22, the driving wheel 27 and the riding wheel 28 are all rotatably assembled on the bottom frame 24, the crawler belt is in transmission connection among the supporting wheel 21, the guide wheel 22, the driving wheel 27 and the riding wheel 28, and the crawler belt driving motor 23 is in transmission connection with the driving wheel 27 so as to drive the crawler belt 20 to realize the transmission of walking.

The walking devices 1 are two in total, the steel pipe support 26 is arranged between the two bottom frames 24, the two bottom frames 24 are connected into bodies through the steel pipe support 26 to form the crawler chassis, adjusting gaps are reserved on the left, the right, the front and the back of the bottom frames 24 during installation, fine adjustment can be carried out, the wheel shafts of the left crawler belt 20 and the right crawler belt 20 are coaxial, and the coordination and the stability of the movement of the whole device are guaranteed.

In addition, the side surface of the crawler 20 is additionally provided with a crawler side sealing plate 25 to completely protect the walking device 1 and prevent grain particles from entering the crawler walking device.

The bottom support is arranged between the two walking devices 1 through a steel pipe support 26 and comprises a head mounting frame and a tail mounting frame 2, and the tail mounting frame 2 is connected to the tail end of the head mounting frame through a bolt. A turning device is arranged on the head mounting frame and serves as an overall steering device 17 for driving the grain throwing conveyor belt device 8 to rotate in the horizontal direction; and a slewing gear is arranged on the tail mounting frame 2 and serves as a packing auger steering device 3 for driving the grain sucking packing auger device to rotate in the horizontal direction.

In this embodiment, the general steering device 17 includes a general steering motor 18, a general gear transmission mechanism and a general rotary support 35, the general gear transmission mechanism and the general rotary support 35 are both disposed on the head mounting frame and are in transmission connection in a gear engagement manner, the general steering motor 18 is disposed above the general gear transmission mechanism and the general rotary support 35, an output shaft of the general steering motor 18 is in transmission connection with the general gear transmission mechanism, and the general steering motor 18 drives the general rotary support 35 to rotate through the general gear transmission mechanism, so as to realize steering of the grain throwing conveyor belt device 8.

The whole shape that the auger turned to device 3 is circular, turn to motor 40 including the auger, auger gear drive mechanism and auger gyration are supported 37 and all are set up on afterbody mounting bracket 2 and are connected with gear engagement's mode transmission, auger turns to motor 40 and sets up in the top that auger gear drive mechanism and auger gyration were supported 37, the auger turns to the output shaft of motor 40 and is connected with auger gear drive mechanism transmission, auger turns to motor 40 and drives the auger gyration through auger gear drive mechanism and support 37 rotatoryly, thereby realize inhaling turning to of grain auger device.

Inhale grain auger device 5 and include the auger mounting bracket, auger mechanism 41, auger height adjusting device 4 and auger drive arrangement 6, the auger mounting bracket sets up and turns to on the gyration of device 3 is supported at the auger, 41 slopes of auger mechanism set up on the auger mounting bracket and with auger mounting bracket normal running fit, auger height adjusting device 4 is connected with 41 transmissions of auger mechanism, cooperate with auger mounting bracket and drive 41 oscilaltions of auger mechanism.

In this embodiment, the auger mounting rack comprises auger upright posts 38 and a rotating assembly, the auger upright posts 38 and the rotating assembly are respectively two and corresponding to each other, the two auger upright posts 38 arranged in parallel at intervals are vertically arranged on corresponding rotary supports, the auger mechanism 41 is obliquely arranged between the two auger upright posts 38, the rotating assembly comprises a rotating short shaft 42 and a rotating bearing 39, the rotating bearing 39 is arranged at the top end of the corresponding auger upright post 38, the end of the rotating short shaft 42 penetrates through the corresponding rotating bearing 39 and is in rotating fit with the rotating bearing 39, the other end of the rotating short shaft 42 is connected with the upper section of the auger mechanism 41, wherein the rotating bearing 39 comprises a fixing seat and a second fixing seat, the fixing group and the second fixing seat are both U-shaped seats and are fixed at the top end of the corresponding auger upright post 38 in an upward opening manner, the second fixing seat is fixed above the fixing seat in a downward opening manner by bolts, and an opening of the fixing seat is in butt joint with an opening of the second fixing seat to form a shaft hole.

The packing auger height adjusting device 4 is a packing auger motor push rod which is arranged on the tail mounting frame 2, the power output end of the packing auger motor push rod is in transmission connection with the lower end of the packing auger mechanism 41, the packing auger motor push rod acts on the lower end part of the packing auger mechanism 41 to enable the packing auger mechanism 41 to ascend and descend, the packing auger mechanism 41 is in running fit with the packing auger mounting frame, and therefore the packing auger mechanism 41 moves up and down under the driving of the packing auger height adjusting device 4.

The packing auger driving device 6 comprises a packing auger driving motor and a belt transmission mechanism consisting of a belt pulley and a belt, a motor bracket 43 is arranged above the packing auger mechanism 41, the packing auger driving motor is arranged on the motor bracket 43 and is in transmission connection with the packing auger mechanism 41 through the belt transmission mechanism for driving blades in the packing auger mechanism 41 to rotate, so that grains are lifted to a grain outlet of the packing auger mechanism 41 from a grain inlet, and the grains are sucked for transportation. In order to protect the pulley drive mechanism, a pulley guard 44 is provided on the outside of the pulley drive mechanism.

In order to limit the rotation range of the auger mechanism 41 and avoid collision between the auger mechanism 41 and other mechanisms in the rotation process, the auger limiting device is arranged on the tail mounting frame 2. The packing auger limiting device comprises an electronic limiting switch and a mechanical limiting block. The two electronic limit switches are arranged on the tail mounting frame 2, connected with the control device 7 and used for limiting the steering angles of the auger mechanism 41 within the range of 60 degrees on the left and the right; two mechanical limiting blocks are arranged on the tail mounting frame 2 and used for limiting the steering angle of the auger mechanism 41 within the range of 60 degrees on the left and the right.

Specifically, in this embodiment, the electronic limit switch is a touch electronic limit switch, when the auger mechanism 41 rotates to the electronic limit switch, if the rotation angle of the auger mechanism 41 to a certain side exceeds 60 °, the auger mechanism 41 touches the electronic limit switch to trigger the electronic limit switch to be turned on, the electronic limit switch sends a signal to the control device 7, and the auger steering device 3 stops rotating under the control of the control device 7, so that the limit of the auger mechanism 41 is realized.

The mechanical limiting block is arranged on the tail mounting frame 2 and located at a preset position, when the auger mechanism 41 rotates to the position of the mechanical limiting block, if the auger mechanism 41 continues to rotate, the mechanical limiting block and the auger mechanism 41 touch and resist the auger mechanism 41 to continue to rotate, and therefore the auger mechanism 41 is limited.

The electronic limit switch and the mechanical limit block can be the existing switch device which can realize the functions, and are not limited to the model of single .

Under the circumstances that above-mentioned electron limit switch and mechanical stopper exist simultaneously, use electron limit switch to give first place to, machinery limit switch is for assisting, avoids electron limit switch to break down the back, can not be in time spacing.

The grain throwing conveyor belt device 8 comprises a grain throwing mounting frame 13, a conveyor belt mechanism and a grain throwing driving device, the grain throwing mounting frame 13 is fixed on a rotary support of the general steering device 17 through bolts, a bearing surface for assembling the conveyor belt mechanism on the grain throwing mounting frame 13 inclines by an angle of 15 degrees, namely the bearing surface of the grain throwing mounting frame 13 is in a lifting state with the head end higher than the tail end, so that grains are conveniently and better thrown, the conveyor belt mechanism comprises a conveyor belt 31 and a plurality of rollers 36, the conveyor belt 31 is paved above the grain throwing mounting frame 13 in a vertically crossed mode through the rollers 36, the grain throwing driving device comprises a grain throwing driving motor 14 and a grain throwing transmission mechanism, the grain throwing driving motor 14 is arranged below the front end of the grain throwing mounting frame 13, the grain throwing transmission mechanism is a belt wheel transmission mechanism mainly composed of a belt 12 and belt wheels, the grain throwing driving motor 14 is in transmission connection with rollers 36 through the grain throwing transmission mechanism, and the conveyor belt 31 is driven to run through the rollers 36.

Because the auger mechanism 41 and the conveyor belt device can rotate independently, in order to facilitate the communication between the feed opening of the auger mechanism 41 and the input end of the conveyor belt device, the input end of the conveyor belt device is provided with the funnel 34, and the funnel 34 is fixed on the grain throwing mounting frame 13 through a bolt, positioned above the conveyor belt device and positioned between the feed opening of the auger mechanism 41 and the input end of the conveyor belt device. The hopper 34 can guide the grains in the auger mechanism 41 into the conveyor belt mechanism at each steering angle to throw the grains.

In the grain throwing process, dust and impurities in grains are lifted, and the operation environment is influenced, therefore, the grain throwing machine is further provided with a dust removing device 9, the dust removing device 9 comprises a dust collecting cover 33, a dust removing fan 32 and a dust storage bag 19, a feeding port, a discharging port and a dust removing port are formed in the dust collecting cover 33, the dust collecting cover 33 is covered above a grain throwing conveying belt device 8, a funnel 34 is inserted into the feeding port, the input end of the grain throwing conveying belt device 8 is communicated with the feeding port and is communicated with a discharging port of a grain sucking auger device positioned above the feeding port through the funnel 34, the output end of the grain throwing conveying belt device 8 is communicated with the discharging port and throws grains through the discharging port, the dust removing fan 32 is arranged at the dust removing port of the dust collecting cover 33 and is connected with a control device 7, and the dust storage bag 19 is arranged on the side of the dust preventing cover and.

In the grain throwing process of the grain throwing conveyor belt device 8, the dust removal fan 32 works, dust and impurities in the dust collection cover 33 are sucked into the dust storage bag 19 through wind power, and when the dust and the impurities in the dust storage bag 19 are accumulated to for a certain amount, the dust storage bag 19 can be detached for cleaning.

Meanwhile, in order to adjust the grain throwing distance, a grain throwing distance adjusting device 11 is further arranged, the grain throwing distance adjusting device 11 comprises a guide cover 30 and a guide driving device 29, the guide cover 30 is hinged with a discharge hole of the dust collecting cover 33 through a hinge, a buffer gasket is arranged on the inner side of the guide cover 30, the guide driving device 29 is a guide motor push rod and is vertically arranged between the guide cover 30 and the head mounting frame and located on the side of the discharge hole of the dust collecting cover 33, and the guide driving device 29 is connected with the control device 7 and used for adjusting the angle between the guide cover 30 and the discharge hole of the dust collecting cover 33, so that the grain throwing track and distance can be adjusted.

The grain flattening device comprises a pushing shovel 15, a pushing shovel mounting frame and a pushing shovel adjusting device 16, the pushing shovel 15 is arc-shaped, the pushing shovel mounting frame comprises four cross rods, two vertical rods which are arranged at intervals in parallel are arranged at the front end of a head mounting frame, the four cross rods are divided into two groups, each group corresponds to vertical rods, the tail end of cross rods in each group is hinged with the upper end of the corresponding vertical rod, the head end of each cross rod is hinged with the upper end of the corresponding vertical rod, the tail end of another cross rods are hinged with the lower end of the corresponding vertical rod, the head end of each cross rod is hinged with the lower end of the pushing shovel 15, namely the head end of the pushing shovel mounting frame is hinged with the pushing shovel 15, the tail end of the pushing shovel mounting frame is hinged with the head mounting frame, the pushing shovel adjusting device 16 is a pushing shovel motor push rod, the pushing shovel motor push rod is arranged on the head side of the head mounting frame and is in transmission.

When pushing away grain through flat grain device, push away shovel 15 direct action on grain, for providing more flexible effort, be provided with flexible mechanism in the bottom that pushes away shovel 15.

The flexible mechanism comprises two push rods 51 and two springs 52, wherein the two push rods 51 are arranged at intervals up and down and are connected through the two springs 52; the bottom of the push shovel 15 is preset with a threaded hole, the push rod 51 above the push shovel is provided with a corresponding threaded hole, and the flexible mechanism is detachably arranged at the bottom of the push shovel 15 through a bolt.

The control device 7 comprises a control box body, a control unit and a remote controller, a fixing groove 50 welded by angle iron is arranged on the right side of the grain throwing mounting frame 13, the control box body is positioned in the fixing groove 50, and the control box body is pushed in the fixing groove 50 through a rotary screw 45; the side wall of the control box body is provided with a heat dissipation air window, the fire extinguisher and the support rod 10 are arranged on the outer side, and the top of the control box body is provided with a plurality of wiring terminals 47; the control unit comprises a controller, a wireless communication module 48, a power supply module, a protection circuit module and the like, wherein the power supply module is used for supplying electric energy, the wireless communication module 48, the protection circuit module and each wiring terminal 47 are connected with the controller, and the wiring terminals 47 are used for externally connecting the robot equipment; the remote controller is provided with a control unit, a wireless communication unit and a plurality of adjusting switches, the section switch is used for controlling the opening or closing of the remote controller body and remotely controlling the external robot equipment through the control unit, and the external robot equipment turns to a device, a grain sucking auger device 5, a grain throwing conveying belt device 8, a grain leveling device, a walking device 1, a dust removal fan 32, a flow guide driving device 29 and the like.

Specifically, in this embodiment, the power module is used for connecting 380V power through the main power plug 46, and performs voltage conversion to each device and module through the corresponding voltage converter to provide power, and the adjustment switch of the remote controller includes: a main switch, an emergency stop switch, an auger steering switch, an auger lifting switch, a grain throwing steering switch, a grain throwing distance adjusting switch, a push plate lifting switch, a fan adjusting switch and a traveling switch,

the main switch is used for regulating and controlling the connection and disconnection of the power supply of the 380V power supply; the scram switch is connected with the output end of the power supply module and used for realizing scram of the leveling robot, the packing auger steering switch is used for remotely controlling the packing auger steering device 3 to adjust the rotation of the remote control packing auger mechanism 41 in the horizontal direction, the packing auger lifting switch is used for controlling the packing auger height adjusting device 4 to control the up-and-down lifting of the remote control packing auger mechanism 41, the grain throwing steering switch is used for remotely controlling the overall steering device 17 to control the rotation of the transmission belt mechanism in the horizontal direction, the grain throwing distance adjusting switch is used for remotely controlling the diversion driving device 29 to control the throwing angle, the push plate lifting switch is used for remotely controlling the push shovel adjusting device 16 to control the lifting of the push shovel 15, the fan adjusting switch is used for remotely controlling the opening and closing of the dust removal fan 32, and the travel switch is used for remotely controlling the crawler.

In this embodiment, a welding nut is arranged on the support rod 10, and the cable passes through the welding nut to be connected with the equipment, so that the cable is protected from being rolled into the equipment, and the operation safety is guaranteed.

The steering type leveling robots with the functions of pumping, throwing and separating have the working modes that:

under the remote control of a remote controller, the robot walks to the corresponding grain pile through a crawler-type walking device;

under the remote control of a remote controller, the direction of rotation of the packing auger mechanism 41 is adjusted by the packing auger direction changing device 3, so that a material inlet of the packing auger mechanism 41 corresponds to the grain pile, the packing auger mechanism 41 is driven by the packing auger driving device 6 to transmit, and the grains are sucked from the grain pile and are transmitted into the conveyor belt mechanism;

under the control of a remote controller, the steering of the conveyor belt mechanism is adjusted through the overall steering device 17, the output end of the conveyor belt mechanism corresponds to a destination, and the conveyor belt is driven by the conveyor belt driving device to transmit, so that grains are thrown;

under the control of a remote controller, the remote control dust removal fan 32 works to absorb dust and impurities in the dust collection cover 33;

under the control of a remote controller, the upper and lower heights of the push shovel 15 are adjusted through the push shovel adjusting device 16, and grains are pushed flat through the push shovel 15.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. The equivalent substitution or change made by the technical personnel in the technical field on the basis of the invention is all within the protection scope of the invention. The protection scope of the invention is subject to the claims.

Claims

1, kind take out throw separation turn to type flush bin robot, its characterized in that includes:

2. The suction-throwing separated turning type leveling robot of claim 1, further comprising a dust removing device, the dust removing device comprising:

and the dust storage bag is communicated with an outlet of the dust removal fan.

3. The kind of draw-throw separation turn-type bunk robot of claim 2, further comprising a throw distance adjusting device, the throw distance adjusting device comprising:

4. The kinds of draw-throwing separated steering type leveling robots of claim 1, 2 or 3, wherein the steering device comprises a steering motor, a gear transmission mechanism and a rotary support, the gear transmission mechanism is in transmission connection with the rotary support in a gear meshing manner, and the steering motor drives the rotary support to rotate along the horizontal direction through the gear transmission mechanism;

5. The kinds of the robot of turning type of taking out and throwing separation of claim 1, 2 or 3, wherein the grain-sucking auger device comprises:

6. The kinds of draw-throwing separated steering type leveling robots of claim 5, characterized in that the auger mounting frame comprises:

the rotary bearing includes:

7. The kinds of turning type leveling robots with the functions of pulling, throwing and separating according to claim 5, further comprising an auger limiting device, wherein the auger limiting device comprises an electronic limiting switch and/or a mechanical limiting block;

the mechanical limiting blocks are two in number and are arranged on the tail mounting frame, and the mechanical limiting blocks are used for limiting the steering angle of the grain suction auger device within a preset range.

8. The kinds of draw-throwing separated turning type leveling robots of claim 1, 2 or 3, characterized in that the grain throwing conveyer belt device comprises:

the conveying belt mechanism comprises a plurality of conveying belts and a plurality of rollers, the conveying belts are paved above the grain throwing mounting frame in a vertically crossed manner through the rollers, a funnel is arranged at the output end of the conveying belt mechanism, and the conveying belt mechanism is communicated with a grain discharging port of the grain sucking auger device through the funnel;

9. The kinds of draw-throw separation turning type leveling robot of claim 1, 2 or 3, characterized in that the grain leveling device comprises:

the push shovel is arc-shaped;

10. The draw-throw separation turn-around bunk robot of claim 1, 2 or 3, wherein the control device comprises: