CN114014039B

CN114014039B - Intelligent flat-cabin robot

Info

Publication number: CN114014039B
Application number: CN202111487283.3A
Authority: CN
Inventors: 于清
Original assignee: Anhui Rongguo Environmental Intelligent Technology Co ltd
Current assignee: Anhui Rongguo Environmental Intelligent Technology Co ltd
Priority date: 2021-12-07
Filing date: 2021-12-07
Publication date: 2023-05-16
Anticipated expiration: 2041-12-07
Also published as: CN114014039A

Abstract

The invention relates to the technical field of bin flattening machines and discloses an intelligent bin flattening robot which comprises a base, wherein an upright post is rotatably arranged on the upper side of the base, and a rotary table is fixedly connected to the top of the upright post; the grain pushing assembly comprises a top plate, a second electric push rod, a guide plate, a limiting groove, fixing plates and a push plate, wherein the baffle is fixedly connected to one end of the base, the top plate is fixedly installed on one side of the baffle, which is far away from the top plate, a plurality of groups of fixing plates are arranged at equal intervals on the bottom of the top plate, the bottom end of the fixing plates is hinged to the push plate, the bottom side of the top plate is provided with the second electric push rod, the second electric push rod is fixedly connected with the baffle, a plurality of groups of guide plates are fixedly connected to the telescopic end of the second electric push rod at equal intervals, the limiting groove is formed in the bottom end of the guide plate, and the top end of the push plate is connected with the limiting groove in a sliding mode through a pin shaft. The problem of traditional intelligent flat-cabin robot when meetting great cereal heap pushes away motionless, skidding is solved.

Description

Intelligent flat-cabin robot

Technical field:

the invention relates to the technical field of bin flattening machines, in particular to an intelligent bin flattening robot.

The background technology is as follows:

when the grain warehouse is stored, grains are fed from the window by the belt conveyor, small peaks are formed near the window, a valley bottom is formed far away from the window, and a long ditch is formed between two walls. Traditional grain leveling adopts the manual mode, takes trouble and is laborious, and intelligent leveling robots appear in the market later, and grain leveling is carried out through the machines.

The existing intelligent leveling robot in the market moves on the upper side of a grain pile to push grains through a push plate, imitates manual leveling, when the situation that the grain pile is large is met, the leveling machine cannot push forward, the leveling machine is caused to skid on the upper side of the grains, the work is stopped, meanwhile, the existing leveling machine pushes the grains in the advancing process, and the grains after being pushed level are rolled through wheels and become potholes.

The invention comprises the following steps:

aiming at the problems in the prior art, the invention aims to provide an intelligent flat-cabin robot.

The technical problems to be solved by the invention are realized by adopting the following technical scheme: an intelligent flat-cabin robot comprises

The base is provided with an upright post in a rotating way, and the top of the upright post is fixedly connected with a rotary table;

the grain pushing assembly comprises a top plate, a second electric push rod, guide plates, limiting grooves, fixing plates and push plates, wherein one end of the base is fixedly connected with the baffle, the top plate is fixedly installed at the top of one side of the baffle away from the base, a plurality of groups of fixing plates are arranged at equal intervals at the bottom of the top plate, the bottom end of each fixing plate is hinged with the push plates, the bottom side of the top plate is provided with the second electric push rod, the second electric push rod is fixedly connected with the baffle, a plurality of groups of guide plates are fixedly connected at the telescopic ends of the second electric push rod at equal intervals, the limiting grooves are formed in the bottom ends of the guide plates, and the top ends of the push plates are connected with the limiting grooves in a sliding mode through pin shafts;

the push plate is provided with three groups, the bottom side of the push plate at the leftmost side is provided with a leakage net, and the bottom side of the push plate at the middle is provided with a plurality of groups of vertical grooves;

the flattening component is arranged at one end of the base, which is far away from the baffle, and is used for flattening grains.

Preferably, the rotary table top rigid coupling has two sets of support frames, two sets of rotate between the support frame and install the hoist cylinder, the inside auger that is equipped with of hoist cylinder, rotary table one side is equipped with first electric putter, the flexible end of first electric putter is articulated with the hoist cylinder middle part, the rotary table upside is equipped with the sprayer, sprayer one side is equipped with and connects the hopper, connect the hopper to be located the discharge gate downside of hoist cylinder.

Preferably, the base both sides are equipped with the removal track, base is close to removal track one side fixed mounting has the curb plate, curb plate middle part rigid coupling has the conversion platform, be equipped with L type groove in the conversion platform, the first piston of L type inslot horizontal direction sliding connection, the vertical direction sliding connection in the L type inslot has the second piston, fixedly connected with spring between first piston one side and the L type groove, first piston opposite side rigid coupling has the connecting rod, the connecting rod is L type pole, first piston one end and baffle bottom rigid coupling are kept away from to the connecting rod, second piston upper side fixed mounting has the pull rod, the sleeve spring has been cup jointed in the pull rod outside, sleeve spring one end and second piston upper side butt, sleeve spring other end and L type groove top butt, second piston one end fixed mounting is kept away from to the pull rod, link plate bottom fixed mounting has the stock.

Preferably, a slide block is arranged on one side of the long rod, which is close to the side plate, a slide groove is arranged on the side plate, and the slide block is positioned in the slide groove and is in sliding connection with the slide groove.

Preferably, the flattening component comprises a scraping plate and a rotating roller, and the left side of the scraping plate is fixedly connected with the long rod.

Preferably, a gear motor is arranged on the upper side of the base, a gear is fixedly arranged on an output shaft of the gear motor, a gear ring is arranged on the outer side of the upright post, and the gear ring is in meshed connection with the gear.

Preferably, the fixed plate bottom side rotates and is connected with the pivot, pivot one end runs through push pedal fixed mounting and has the baffle ring, the pivot other end runs through the push pedal and is equipped with external screw thread, baffle ring one end threaded connection has the nut is kept away from to the pivot.

Preferably, a controller is arranged on the upper side of the rotary table, camera shooting assemblies are arranged at the left end and the right end of the base, and the camera shooting assemblies are electrically connected with the input end of the controller through a conversion module.

Compared with the prior art, the invention has the beneficial effects that:

according to the invention, the movable crawler belt drives the base to integrally move, so that the contact area with grains is increased, the friction force is increased, slipping is prevented, the rotary table drives the lifting cylinder to rotate, stacked grains are sprayed to a low-lying position under the cooperation of lifting of the auger and the sprayer, and 360-degree dead-angle-free work can be realized; the grain pushing assembly is driven to advance through the movement of the base to push grains, the grid leakage can initially push away a small amount of piled grains, the vertical grooves can also push part of grains, so that the surface of the grains forms a gully shape, and finally the surface of the grains is pushed to be flat through the complete push plate, so that the problem that the traditional intelligent flat-bin robot cannot push and skid when encountering a large pile of grains is solved;

the second electric push rod stretches to drive the guide plate to move left, the push plate is enabled to rotate anticlockwise under the cooperation of the limiting groove and the pin shaft, the inclination angle of the push plate can be adjusted, meanwhile, the connecting rod drives the first piston to move left, the second piston drives the long rod to move downwards, the scraping plate moves downwards, grains rolled by the movable track are flattened through the cooperation of the scraping plate and the rotating roller, the scraping plate and the push plate are synchronously lifted, the connection is tight, and the quality of a flat bin is improved.

Description of the drawings:

in order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed in the description of the embodiments will be briefly described below, it will be apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art;

FIG. 1 is a schematic diagram of the overall structure of the present invention;

FIG. 2 is a schematic view of a grain pushing assembly according to the present invention;

FIG. 3 is a schematic view of a leaky network structure according to the invention;

FIG. 4 is a schematic view of a vertical slot structure according to the present invention;

FIG. 5 is a schematic view of the connection structure of the fixing plate and the push plate in the present invention;

FIG. 6 is an enlarged view of a portion of the invention at A in FIG. 1;

FIG. 7 is an enlarged view of a portion of the invention at B in FIG. 1;

wherein: 1. a base; 2. a moving track; 3. a rotary table; 4. a lifting cylinder; 5. a jet machine; 6. a grain pushing component; 601. a top plate; 602. a second electric push rod; 603. a guide plate; 604. a limit groove; 605. a fixing plate; 606. a vertical groove; 607. a push plate; 608. a drain screen; 7. a side plate; 701. a chute; 8. a speed reducing motor; 9. a gear; 10. a column; 11. a gear ring; 12. a receiving hopper; 13. a support frame; 14. a first electric push rod; 15. an auger; 16. a controller; 17. a baffle; 18. a connecting rod; 19. a first piston; 20. a second piston; 21. a spring; 22. a pull rod; 23. sleeving a spring; 24. a connecting plate; 25. a long rod; 26. a scraper; 27. a rotating roller; 28. a slide block; 29. a conversion stage; 30. a rotating shaft; 31. a baffle ring; 32. and (3) a nut.

The specific embodiment is as follows:

the invention is further described with reference to the following detailed drawings in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the implementation of the invention easy to understand.

Example 1:

as shown in fig. 1-5, an intelligent flat-cabin robot comprises

The lifting device comprises a base 1, wherein an upright post 10 is rotatably arranged on the upper side of the base 1, a rotary table 3 is fixedly connected to the top of the upright post 10, two groups of supporting frames 13 are fixedly connected to the top of the rotary table 3, lifting cylinders 4 are rotatably arranged between the two groups of supporting frames 13, a packing auger 15 is arranged inside the lifting cylinders 4, a first electric push rod 14 is arranged on one side of the rotary table 3, the telescopic end of the first electric push rod 14 is hinged to the middle of the lifting cylinders 4, an ejector 5 is arranged on the upper side of the rotary table 3, a receiving hopper 12 is arranged on one side of the ejector 5, and the receiving hopper 12 is positioned on the lower side of a discharge hole of the lifting cylinders 4;

the grain pushing assembly 6 comprises a top plate 601, a second electric push rod 602, a guide plate 603, a limiting groove 604, a fixing plate 605 and a push plate 607, wherein a baffle 17 is fixedly connected to one end of the base 1, the top of one side of the baffle 17, far away from the base 1, is fixedly provided with the top plate 601, a plurality of groups of fixing plates 605 are arranged at the bottom of the top plate 601 at equal intervals, the bottom end of the fixing plate 605 is hinged with the push plate 607, the bottom side of the top plate 601 is provided with the second electric push rod 602, the second electric push rod 602 is fixedly connected with the baffle 17, a plurality of groups of guide plates 603 are fixedly connected to the telescopic end of the second electric push rod 602 at equal intervals, the bottom end of the guide plate 603 is provided with the limiting groove 604, and the top end of the push plate 607 is in sliding connection with the limiting groove 604 through a pin shaft;

the push plate 607 is provided with three groups, the leftmost bottom side of the push plate 607 is provided with a leakage net 608, and the middle bottom side of the push plate 607 is provided with a plurality of groups of vertical grooves 606.

The two sides of the base 1 are provided with movable tracks 2, the upper side of the rotary table 3 is provided with a controller 16, the left end and the right end of the base 1 are respectively provided with a camera shooting assembly, and the camera shooting assemblies are electrically connected with the input end of the controller 16 through a conversion module.

The gear wheel 9 is fixedly mounted on the output shaft of the gear motor 8, the gear wheel 11 is arranged on the outer side of the upright post 10, and the gear wheel 11 is in meshed connection with the gear wheel 9.

Specifically, the internal condition of the granary is surveyed through moving the crawler belt driving device, when the camera shooting assembly finds the higher grain pile in the granary, the signal is transmitted to the controller 16 through the conversion module, the first electric push rod 14 is controlled to stretch and retract through the controller 16, the bottom end of the lifting cylinder 4 is inserted into the grain pile, the grain is injected into the low-lying position through the receiving hopper 12 under the rotary lifting action of the auger 15, the ejector 5 is started to eject the grain to the low-lying position, the gear 9 is driven to rotate through the gear 8, the gear ring 11 is driven to rotate the upright post 10, the grain can be ejected in 360 degrees, after the processing of the larger grain pile is completed, the second electric push rod 602 is controlled to stretch, the three guide plates 603 are driven to move left, the push plate 607 is enabled to rotate anticlockwise under the cooperation of the limiting groove 604 and the pin shaft, the inclination angle of the push plate 607 is adjusted, the leakage net 608 can be used for preliminarily pushing away a small amount of the piled grain, part of grain can be pushed by the design of the vertical groove 606, meanwhile, the grain surface is evacuated, the grain surface is shaped into a gully, and the grain is ejected through the left groove, and the grain surface is pushed by the push plate 607 through the leftmost complete push plate 607.

Example 2:

on the basis of embodiment 1, as shown in fig. 1, 6 and 7, a side plate 7 is fixedly installed on one side of the base 1, which is close to the movable crawler belt 2, a conversion table 29 is fixedly connected to the middle of the side plate 7, an L-shaped groove is formed in the conversion table 29, a first piston 19 is connected in the horizontal direction in the L-shaped groove in a sliding manner, a second piston 20 is connected in the vertical direction in the L-shaped groove in a sliding manner, a spring 21 is fixedly connected between one side of the first piston 19 and the L-shaped groove, a connecting rod 18 is fixedly connected to the other side of the first piston 19, the connecting rod 18 is an L-shaped rod, one end, far away from the first piston 19, of the connecting rod 18 is fixedly connected with the bottom end of a guide plate 603, a pull rod 22 is fixedly installed on the upper side of the second piston 20, one end of the pull rod 23 is in butt joint with the upper side of the second piston 20, the other end of the pull rod 23 is in butt joint with the top of the L-shaped groove, a connecting plate 24 is fixedly connected to the other end, far away from the second piston 20, and a long rod 25 is fixedly installed at the bottom of the connecting plate 24.

The long rod 25 is provided with a sliding block 28 at one side close to the side plate 7, the side plate 7 is provided with a sliding groove 701, and the sliding block 28 is positioned in the sliding groove 701 and is in sliding connection with the sliding groove 701.

The flattening component is arranged at one end, far away from the baffle 17, of the base 1 and is used for flattening grains, and comprises a scraping plate 26 and a rotating roller 27, and the left side of the scraping plate 26 is fixedly connected with the long rod 25.

The fixed plate 605 downside rotates and is connected with pivot 30, pivot 30 one end runs through push pedal 607 fixed mounting and keeps off ring 31, the pivot 30 other end runs through push pedal 607 and is equipped with external screw thread, pivot 30 keeps away from and keeps off ring 31 one end threaded connection and has nut 32.

Specifically, the lift cylinder 4 is matched with the sprayer 5 to process grains of a large grain pile, the grain pushing component 6 is driven by the movable crawler 2 to roughly push grains of a small grain pile, so that the grains are leveled, the guide plate 603 is driven to move left by extending the second electric push rod 602, the push plate 607 is enabled to rotate anticlockwise under the matching of the limiting groove 604 and the pin shaft, the inclination angle of the push plate 607 can be adjusted, meanwhile, the connecting rod 18 drives the first piston 19 to move left, the spring 21 is in a stretching state, the second piston 20 drives the pull rod 22 to move downwards under the elastic force of the sleeve spring 23, the pull rod 22 drives the connecting plate 24 and the long rod 25 to move downwards, the scraping plate 26 is enabled to move downwards, grains rolled by the movable crawler 2 are leveled by the matching of the scraping plate 26 and the rotating roller 27, (the design of the movable crawler 2 has an anti-skid characteristic and is matched with the grain pushing component 6 and the rotating roller 27 to further improve the quality of a leveling bin, and the scraping plate 26 and the push plate 607 are synchronously lifted under the action of the elasticity of the sleeve spring 23, and the tight connection is achieved.

It is noted that relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. An intelligent flat-cabin robot which is characterized in that: comprising

The base (1), the stand column (10) is rotatably arranged on the upper side of the base (1), and a rotary table (3) is fixedly connected to the top of the stand column (10);

the grain pushing assembly (6), the grain pushing assembly (6) comprises a top plate (601), a second electric push rod (602), guide plates (603), limiting grooves (604), fixing plates (605) and pushing plates (607), wherein one end of a base (1) is fixedly connected with a baffle plate (17), the top of one side of the baffle plate (17) far away from the base (1) is fixedly provided with the top plate (601), a plurality of groups of fixing plates (605) are arranged at equal intervals on the bottom of the top plate (601), the bottom end of the fixing plates (605) is hinged with the pushing plates (607), the bottom side of the top plate (601) is provided with the second electric push rod (602), the second electric push rod (602) is fixedly connected with the baffle plate (17), a plurality of groups of guide plates (603) are fixedly connected with the telescopic ends of the second electric push rod (602) at equal distances, the bottom end of the guide plates (603) is provided with the limiting grooves (604), and the top ends of the pushing plates (607) are connected with the limiting grooves (604) in a sliding mode through pin shafts.

The push plate (607) is provided with three groups, the bottom side of the push plate (607) at the leftmost side is provided with a leakage net (608), and the bottom side of the push plate (607) in the middle is provided with a plurality of groups of vertical grooves (606);

the flattening component is arranged at one end of the base (1) far away from the baffle (17) and is used for flattening grains;

the novel movable crawler belt comprises a base (1), wherein two sides of the base (1) are provided with movable crawler belts (2), one side of the base (1) close to the movable crawler belts (2) is fixedly provided with a side plate (7), the middle part of the side plate (7) is fixedly connected with a conversion table (29), an L-shaped groove is formed in the conversion table (29), a first piston (19) is connected in the horizontal direction in the L-shaped groove in a sliding manner, a second piston (20) is connected in the vertical direction in the L-shaped groove in a sliding manner, a spring (21) is fixedly connected between one side of the first piston (19) and the L-shaped groove, a connecting rod (18) is fixedly connected to the other side of the first piston (19), the connecting rod (18) is an L-shaped rod, one end of the connecting rod (18) is far away from the first piston (19) and is fixedly connected with the bottom of a guide plate (603), a pull rod (22) is fixedly arranged on the upper side of the second piston (20), a sleeve spring (23) is sleeved on the outer side of the pull rod (22), one end of the sleeve spring (23) is in butt joint with the upper side of the second piston (20), the other end of the sleeve spring (23) is fixedly connected with the top of the L-shaped groove, and the second piston (24) is fixedly connected with a long plate (24);

the flattening component comprises a scraping plate (26) and a rotating roller (27), and the left side of the scraping plate (26) is fixedly connected with the long rod (25);

the utility model discloses a rotary table, including rotary table (3), support frame (13), hoist cylinder (4) are installed in the rotation between support frame (13), hoist cylinder (4) inside is equipped with auger (15), rotary table (3) one side is equipped with first electric putter (14), the flexible end of first electric putter (14) is articulated with hoist cylinder (4) middle part, rotary table (3) upside is equipped with sprayer (5), sprayer (5) one side is equipped with connects hopper (12), connect hopper (12) to be located the discharge gate downside of hoist cylinder (4).

2. The intelligent flat cabin robot of claim 1, wherein: the long rod (25) is provided with a sliding block (28) on one side close to the side plate (7), the side plate (7) is provided with a sliding groove (701), and the sliding block (28) is positioned in the sliding groove (701) and is in sliding connection with the sliding groove.

3. The intelligent flat cabin robot of claim 1, wherein: the novel gear box is characterized in that a gear motor (8) is arranged on the upper side of the base (1), a gear (9) is fixedly arranged on an output shaft of the gear motor (8), a gear ring (11) is arranged on the outer side of the upright post (10), and the gear ring (11) is meshed with the gear (9).

4. The intelligent flat cabin robot of claim 1, wherein: the fixed plate (605) bottom side rotates and is connected with pivot (30), pivot (30) one end runs through push pedal (607) fixed mounting and keeps off ring (31), pivot (30) other end runs through push pedal (607) and is equipped with external screw thread, pivot (30) are kept away from and are kept away from baffle ring (31) one end threaded connection has nut (32).

5. The intelligent flat cabin robot of claim 1, wherein: the rotary table (3) upside is equipped with controller (16), both ends all are equipped with the subassembly of making a video recording about base (1), the subassembly of making a video recording passes through the input electric connection of conversion module and controller (16).