CN117342039A

CN117342039A - An automated unmanned loading robot

Info

Publication number: CN117342039A
Application number: CN202311384211.5A
Authority: CN
Inventors: 王永亮
Original assignee: Shenzhen Payment Robot Co ltd
Current assignee: Shenzhen Yijun Technology Co.,Ltd.
Priority date: 2023-10-24
Filing date: 2023-10-24
Publication date: 2024-01-05
Anticipated expiration: 2043-10-24
Also published as: CN117342039B

Abstract

The invention discloses an automatic unmanned loading robot which comprises a chassis, wherein a frame is arranged on the chassis, a funnel is fixed in the frame, a conveying frame is used for continuously collecting piled grain particles, a cleaning assembly is arranged in the funnel and used for receiving the grain particles conveyed by the conveying frame and cleaning sundries in the grain particles; the cleaning component comprises a shell, a feeding box is arranged at the front end of the shell, a fan component is arranged on the top surface of the shell, a blowing component is arranged at the top of an inner cavity of the shell, a conveying frame and a guide frame are arranged at the bottom of the inner cavity of the shell, and a discharging hole is preset between the conveying frame and the guide frame; a storage cavity is formed in the shell; one end of the conveying frame is provided with a vibration frame; grain particles are added from the feeding box into the shell, slide downwards along the vibration frame, and wind conveyed by the fan assembly is conveyed to the grain particles through the blowing assembly to blow light impurities in the grain particles to the storage cavity.

Description

Automatic unmanned operation loading robot

Technical Field

The invention relates to the technical field of robots, in particular to an automatic unmanned loading robot.

Background

The grains are accumulated in a warehouse in a large quantity after being harvested, and then the grains are packed, and the packed grains are packaged and carried. However, in the process of harvesting grains, since the harvester processes the straw and grain particles of the grains simultaneously and simultaneously, impurities such as straw and husk of the grains are mixed in the grain particles obtained in a large number of operation processes, so that the grains are not clean. Before packing grains, sundries such as straws and the like in the grains need to be cleaned out. It is desirable to provide a loading machine that can clean up impurities such as straw in grain to facilitate cleaning up impurities such as straw therein prior to packing the grain into a warehouse.

Disclosure of Invention

The invention aims to provide an automatic unmanned loading robot which is used for removing straw sundries in grain particles.

In order to achieve the above purpose, the technical scheme of the invention is as follows:

an automatic unmanned loading robot comprises a chassis, a frame is arranged on the chassis, a funnel is fixed in the frame, a conveying frame is arranged at the front end of the frame and used for continuously collecting piled grain particles,

the cleaning assembly is arranged in the hopper and is used for receiving grain particles conveyed by the conveying frame and cleaning sundries in the grain particles;

the cleaning assembly comprises a shell, a feeding box is arranged at the front end of the shell, a fan assembly is arranged on the top surface of the shell, a blowing assembly is arranged at the top of an inner cavity of the shell along the grain conveying direction, a conveying frame and a guiding frame are sequentially arranged at the bottom of the inner cavity of the shell along the grain conveying direction, and a discharging hole is preset between the conveying frame and the guiding frame; a storage cavity is formed in one end, away from the feeding box, of the inner part of the shell;

a vibration frame is arranged at one end of the conveying frame, which is close to the feeding box, and the top surface of the vibration frame is inclined downwards;

grain particles are added from the feeding box and enter the shell, vibration is generated in the process of sliding downwards along the vibration frame, wind conveyed by the fan assembly is conveyed onto the grain particles through the blowing assembly, and doped light impurities in the grain particles are blown to the storage cavity so as to clean the impurities.

The technical scheme of the invention has the beneficial effects that:

1. grain particles are added from the feeding box and enter the shell, vibration is generated in the process of sliding downwards along the vibration frame, wind conveyed by the fan assembly is conveyed onto the grain particles through the blowing assembly, and doped light impurities in the grain particles are blown to the storage cavity so as to clean the impurities.

The air outlet direction is adjusted through the air outlet pipe, so that the air output by the air outlet pipe can be stably blown to the position above the grain particles, and the mixed straw in the grain particles is more easily sprung to the position higher in the vibration process due to the small weight of the straw, so that the mixed straw is blown away under the blowing of the air outlet pipe, and the grain particles are purified.

Drawings

Fig. 1 is a perspective view of an automated unmanned loading robot of the present invention.

Fig. 2 is a side view of the automated unmanned loading robot of the present invention.

Fig. 3 is a perspective view of the cleaning assembly of the present invention.

FIG. 4 is a side view of the cleaning assembly of the present invention with the side guards removed.

Fig. 5 is a partial enlarged view corresponding to reference numeral a in fig. 4.

FIG. 6 is a perspective view of the cleaning assembly of the present invention with the side guards removed.

Fig. 7 is a partial enlarged view corresponding to reference symbol B in fig. 6.

Fig. 8 is a perspective view of an output assembly of the present invention.

Fig. 9 is a side view of the output assembly of the present invention.

1. Cleaning the assembly; 11. a storage cylinder; 12. a housing; 13. a cross beam; 14. a fan assembly; 15. a feed box; 16. a storage chamber; 17. a guide frame; 18. a carriage;

19. a vibration frame; 191. a rubber strip; 192. a support frame;

20. a base; 201. a support block; 202. a cross plate;

21. a blowing assembly; 211. a housing; 212. an air outlet; 213. an air outlet pipe; 214. a connecting pipe;

2. a funnel; 3. a camera; 4. a carriage; 41. a first motor; 42. a transmission rod; 43. a bucket; 44. a conveyor belt; 45. a steel pipe; 46. a telescopic rod; 47. a bracket 5. A chassis; 6. a wheel; 7. a frame;

8. an output assembly; 81. a discharging cylinder; 82. an addition cylinder; 83. weighing cylinder; 84. a support base; 85. a mounting frame; 86. a deflector; 87. a door panel; 88. a feed cylinder; 89. an adjusting plate; 810. a pressure sensor.

Detailed Description

The following examples are illustrative of the invention and are not intended to limit the scope of the invention.

Examples

The grains are accumulated in a warehouse in a large quantity after being harvested, and then the grains are packed, and the packed grains are packaged and carried. However, in the process of harvesting grains, since the harvester processes the straw and grain particles of the grains simultaneously, the grain particles obtained in a large number of operation processes are mixed with impurities such as straw and husk of the grains, so that the grains are not clean, and the impurities such as straw and the like in the grains need to be cleaned before the grains are packed.

The application provides an automatic unmanned operation loading robot, refer to fig. 1 and 2, including chassis 5 be fixed with frame 7 with the bolt on the chassis 5, install funnel 2 with the bolt is detachable in frame 7, the rotatable top of carriage 4 is installed on the top of frame 7, carriage 4 is used for taking up the grain granule of piling up in succession, and carry to in the clearance subassembly 1. The structure of the carriage 4 is described in detail below.

The cleaning component 1 is installed in the hopper 2 by bolts, and the cleaning component 1 cleans sundries in grain particles after receiving the grain particles conveyed by the conveying frame 4. Details are described later.

Referring to fig. 3, the cleaning assembly 1 includes a housing 12, a feed box 15 is welded at the front end of the housing 12, the feed box 15 is communicated with the housing 12, a fan assembly 14 is mounted on the top surface of the housing 12 by bolts, and a plurality of fans are mounted inside the housing of the fan assembly 14. A cross beam 13 is fixed at the top end of the shell 12 by bolts, and two ends of the cross beam 13 are respectively fixed on the funnel 2 by bolts.

Referring to fig. 4, a blowing unit 21 is mounted on the top of the inner cavity of the housing 12 by bolts along the grain conveying direction, a conveying frame 18 and a guiding frame 17 are mounted on the bottom of the inner cavity of the housing 12 by bolts along the grain conveying direction, and a discharging hole is preset between the conveying frame 18 and the guiding frame 17. The purified grain particles are discharged into the feed cylinder 88 through the discharge hole.

A storage cavity 16 is formed in one end, away from the feeding box 15, of the interior of the shell 12, and the storage cavity 16 is communicated with the inner cavity of the shell 12.

The carriage 18 is of a wedge-shaped structure, with a cavity inside, and the top surface of the carriage 18 is inclined downward. A vibration frame 19 is mounted at one end of the carriage 18 near the feed box 15, and both ends of the vibration frame 19 are pivotally connected to the carriage 18. The top surface of the vibration frame 19 is inclined downwards and is consistent with the inclination direction of the conveying frame 18, and the butt joint of the vibration frame 19 and the conveying frame 18 is sealed by rubber. The vibration frame 19 is made of spring steel with good elasticity.

Grain particles are added from the feeding box 15 into the shell 12, and vibrate in the process of sliding downwards along the vibration frame 19, and after the grain particles strike the vibration frame 19, the grain particles and impurities such as straw doped in the grain particles are sprung up under the elastic action of the vibration frame 19.

The wind that fan assembly 14 carried is carried to grain granule (grain granule, straw) through blowing assembly 21, because the quality and the density of straw are less than grain granule to after straw and grain granule are bounced, the straw that mixes in grain granule is blown out from grain granule under the effect of wind power, and then the straw is blown to accomodate chamber 16, in order to clear up impurity such as straw, realizes the purification treatment to grain granule.

Further, referring to fig. 5 and 6, the air blowing assembly 21 includes a housing 211, a plurality of air outlets 212 are formed at intervals at the bottom of the housing 211, and the plurality of air outlets 212 are distributed along the length direction of the air blowing assembly 21.

The air outlet pipe 213 is pivotally connected to the bottom of the housing 211, the axial direction of the air outlet pipe 213 is consistent with the width direction of the housing 211, and the air outlet of the air outlet pipe 213 faces downward toward the vibration frame 19.

The air outlet pipe 213 is rotated in the air outlet 212 to adjust the air outlet direction, and the direction of the air outlet 212 is changed along with the rotation of the air outlet pipe 213, so as to change the air outlet direction, so as to adjust the air outlet direction to be in a direction close to the bottom surface of the housing 211.

Under the effect of the wind power output by the wind outlet pipe 213, the impurities with small mass, such as straw, mixed in the grain particles are separated by wind, and are blown to the accommodating cavity 16 under the blowing effect of the wind power, so as to realize the purification of the grain particles.

Referring to fig. 6 and 7, a triangular rubber strip 191 is embedded in the top of the vibration frame 19, and the rubber strip 191 is adhered to the vibration frame 19 by glue. After the grain particles and the straw are impacted onto the rubber strips 191, the rubber strips 191 assist the grain particles to vibrate longitudinally under the elastic action of the rubber strips 191 so as to be beneficial to separating the grain particles from straw impurities.

Referring to fig. 7, a support frame 192 is fixed to the bottom of the vibration frame 19, and the support frame 192 has a rectangular upper portion and an L-shaped lower portion.

The base 20 comprises a supporting block 201, transverse plates 202 are vertically welded on two sides of the supporting block 201, and the supporting block 201 is longitudinally penetrated in the supporting frame 192 and is abutted against the bottom of the vibration frame 19.

The support frame 192 is pressed against the transverse plate 202, and referring to fig. 5 and 7, specifically, an L-shaped portion of a lower portion of the support frame 192 is pressed transversely against the transverse plate 202, and a vibration structure is formed by the transverse plate 202 and the support frame 192. Wherein, the cross plate 202 and the supporting frame 192 are made of spring steel with good elasticity, and are easy to vibrate, so as to promote the vibration frame 19 to vibrate, and the straw impurity is separated from the grain particles in an auxiliary manner along with the increase of vibration amplitude.

Referring to fig. 6, a storage cylinder 11 is detachably mounted to the rear portion of the housing 12 by bolts, and the storage cylinder 11 communicates with the storage chamber 16. The straw sundries collected in the storage cavity 16 can be stored in the storage barrel 11.

Referring to fig. 2, the output assembly 8 is mounted at the tail of the frame 7 by bolts, one end of the feed material of the output assembly 8 is located inside the hopper 2, and the grain particles purified by the cleaning assembly 1 drop down into the output assembly 8.

Referring to fig. 8 and 9, the output assembly 8 includes a feeding barrel 88, the feeding barrel 88 is welded and fixed on one side of the mounting frame 85, an outlet on one side of the feeding barrel 88 faces the weighing barrel 83, a door plate 87 is pivoted to the outlet of the feeding barrel 88, and the door plate 87 is driven by a first stepping motor. The door panel 87 is rotated by the first stepping motor to open or close the outlet of the feed cylinder 88, thereby controlling the grain particles to be discharged from the feed cylinder 88. See in detail below.

A deflector 86 is welded to the lower edge of the outlet of the feed cylinder 88, and the grain particles output from the outlet of the feed cylinder 88 are sent into the weighing cylinder 83 along the deflector 86.

Referring to fig. 8 and 9, the output assembly 8 includes a mounting frame 85, a supporting seat 84 is fixed on the bottom of the inner cavity of the mounting frame 85 by bolts, and a circular arc-shaped supporting groove is formed on the top of the supporting seat 84. The weighing cylinder 83 is rotatably supported on the top surface of the support base 84, and the bottom of the weighing cylinder 83 is supported in the support groove.

An electronic scale is provided in the support 84 to weigh the grains in the weighing cylinder 83. When it is desired to control the weight of the grain packed in each package, the feed drum 88 first delivers the grain into the weighing drum 83, and the weighing drum 83 weighs the received grain. When the weight of the grain reaches the required weight, the main controller sends a command to the controller of the first stepping motor to control the first stepping motor to rotate and drive the door panel 87 to rotate, the outlet of the feeding cylinder 88 is closed, and the weight of the grain obtained by the weighing cylinder 83 meets the preset weight requirement.

The main controller can be realized by adopting computer programming or integrated with a singlechip, and the control is realized by programming.

A second stepping motor is mounted at one end of the weighing cylinder 83 in the axial direction.

The second stepping motor drives the weighing cylinder 83 to rotate, the grains stored in the weighing cylinder 83 are poured into the adding cylinder 82, and the grains are conveyed into the packaging bag through the adding cylinder 82 and the discharging cylinder 81.

In another embodiment, when it is desired to weigh grains by controlling the volume, a plurality of adjusting plates 89 are installed in the weighing cylinder 83 in the lateral direction, and the adjusting plates 89 are penetrated in the weighing cylinder 83 in the lateral direction and are slidable in the lateral direction. The plurality of adjustment plates 89 are at different positions in the longitudinal direction.

When grains are required to be filled into the grain packaging bag with larger volume, the adjusting plate 89 positioned near the bottom of the weighing cylinder 83 can slide out along the transverse direction to form the bottom of the container, so that the adjusting plate 89 and the weighing cylinder 83 form a container with large volume, a large amount of grains can be contained in a single time, and the large-volume packaging bag is satisfied.

When the grains are required to be filled into the grain packaging bag with smaller volume, the adjusting plate 89 positioned near the top of the weighing cylinder 83 can slide out along the transverse direction to form the bottom of the container, so that the adjusting plate 89 and the weighing cylinder 83 form a container with smaller volume, a small amount of grains can be contained in a single way, and the small-volume packaging bag is satisfied.

The capacity of the weighing cylinder 83 is adjusted by the adjusting plate 89, and the amount of grains packed each time is controlled by the capacity adjustment.

Pressure sensors are fixed to the upper edges of the inner surfaces of the both ends of the weighing cylinder 83 with bolts, respectively. After the grains are added to the weighing cylinder 83, as the amount of grains in the weighing cylinder 83 increases, the grains generate pressing force to the pressure sensors 810 at both ends. When the extrusion force reaches a preset pressure value, the main controller sends a command to the controller of the first stepping motor, the first stepping motor is controlled to drive the door plate 87 to rotate, the outlet of the feeding cylinder 88 is closed, and grains obtained by the weighing cylinder 83 meet preset requirements.

Referring to fig. 8 and 9, the output assembly 8 includes a discharging cylinder 81, the discharging cylinder 81 is fixed on the other side of the mounting frame 85 by bolts, an adding cylinder 82 is welded at the top end of the discharging cylinder 81, the inlet of the packaging bag is placed under the discharging cylinder 81 in a butt joint manner, and the weighing cylinder 83 packs the weighed grain particles by bagging the adding cylinder 82 and the discharging cylinder 81.

The conveying frame 4 comprises a steel pipe 45, a transmission rod 42 is rotatably installed between the end parts of the two parallel steel pipes 45, a transmission belt 44 is wrapped outside the transmission rod 42, the transmission rod 42 is driven by a first motor 41, and the transmission rod 42 drives the transmission belt 44 to move, which is not described in detail in the prior art.

The conveying belt 44 drives the bucket 43, and when the bucket 43 moves to the lower end of the steel pipe 45, accumulated grain particles are taken away, and then the grain particles are dumped into the cleaning assembly 1 in the tilting process after being conveyed to the upper end of the steel pipe 45 along with the movement of the conveying belt 44.

A rectangular bracket 47 is bolted to the lower part of the steel pipe 45. A telescopic rod 46 is installed at the front end of the chassis 5, the telescopic rod 46 comprises a circular tube-shaped supporting tube, a circular supporting rod extends out of the supporting tube along the axial direction, and the front section of the supporting rod is pivoted on a bracket 47. After the support rod is telescopically adjusted to a proper position in the support tube along the axial direction, the positions of the support rod and the support tube are locked by bolts.

Grain particles are transported into the feed box 15, and the grain particles enter the housing 12 through the feed box 15.

The grain particles slide downwards along the vibration frame 19 in an inclined way, and the rubber strips 191 assist the grain particles and straw sundries impacted on the rubber strips to vibrate.

The fan assembly 14 delivers wind into the housing 211 through the connecting pipe 214, two ends of the connecting pipe 214 are respectively connected to the ends of the fan assembly 14 and the air blowing assembly 21 through bolts, the wind is blown onto grain particles on the vibration frame 19 through the air outlet pipe 213, and straw sundries are separated from the grain particles under the effects of vibration and wind blowing.

While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims

1. An automatic unmanned loading robot comprises a chassis (5), a frame (7) is arranged on the chassis (5), a funnel (2) is fixed in the frame (7), a conveying frame (4) is arranged at the front end of the frame (7) and used for continuously collecting piled grain particles,

the cleaning assembly (1) is arranged in the hopper (2) and is used for receiving grain particles conveyed by the conveying frame (4) and cleaning sundries in the grain particles;

the cleaning assembly (1) comprises a shell (12), a feeding box (15) which is communicated is arranged at the front end of the shell (12), a fan assembly (14) is arranged on the top surface of the shell (12), a blowing assembly (21) is arranged at the top of an inner cavity of the shell (12) along the grain conveying direction, a conveying frame (18) and a guide frame (17) are sequentially arranged at the bottom of the inner cavity of the shell (12) along the grain conveying direction, and a discharging hole is preset between the conveying frame (18) and the guide frame (17); a receiving chamber (16) is arranged at one end of the interior of the housing (12) facing away from the feeding box (15);

a vibration frame (19) is arranged at one end of the conveying frame (18) close to the feeding box (15), and the top surface of the vibration frame (19) is inclined downwards;

grain particles are added into the shell (12) from the feeding box (15), vibration is generated in the process of sliding downwards along the vibration frame (19), wind conveyed by the fan assembly (14) is conveyed onto the grain particles through the blowing assembly (21), and doped light impurities in the grain particles are blown to the containing cavity (16) so as to clean the impurities.

2. The automated unmanned loading robot according to claim 1, wherein the blowing assembly (21) comprises a housing (211), a plurality of air outlets (212) are formed at intervals at the bottom of the housing (211), an air outlet pipe (213) is installed at the bottom of the housing (211), the air outlet pipe (213) rotates in the air outlet (212) to adjust the air outlet direction, and air is blown along the upper part of the inner cavity of the housing (12) to separate straw impurities from grain particles and blow the straw impurities into the accommodating cavity (16).

3. The automated unmanned loading robot according to claim 1, wherein a triangular rubber strip (191) is embedded in the top of the vibration frame (19), and a support frame (192) is fixed to the bottom of the vibration frame (19), wherein the upper part of the support frame (192) is rectangular, and the lower part is L-shaped; the rubber strips (191) are used for assisting the longitudinal vibration of the particles impacted on the rubber strips so as to be beneficial to separating grain particles from straw impurities.

4. An automated unmanned loading robot according to claim 3, wherein the base (20) comprises a support block (201), and transverse plates (202) are vertically provided on both sides of the support block (201); the supporting block (201) is longitudinally arranged in the supporting frame (192) in a penetrating manner and is abutted against the bottom of the vibration frame (19), and the supporting frame (192) is extruded on the transverse plate (202); the base (20) is used for supporting the vibration frame (19) and lifting the vibration amplitude of the vibration frame (19) so as to assist grain particles and straw impurities to be separated.

5. The automated unmanned loading robot according to claim 1, wherein a storage drum (11) is mounted at the tail of the housing (12), the storage drum (11) and the receiving cavity (16) communicating to receive impurities.

6. The automated unmanned loading robot of claim 1, wherein,

the grain cleaning device further comprises an output assembly (8), wherein the output assembly (8) is installed at the tail of the frame (7), one feeding end of the output assembly is located in the funnel (2) and is used for receiving purified grain particles discharged by the cleaning assembly (1).

7. The automated unmanned loading robot of claim 6, wherein,

the output assembly (8) comprises a mounting frame (85), a supporting seat (84) is mounted at the bottom of an inner cavity of the mounting frame (85), and a weighing cylinder (83) is rotatably arranged on the top surface of the supporting seat (84);

a pressure sensor (810) is installed in the installation frame (85);

a plurality of adjusting plates (89) are arranged in the weighing cylinder (83) along the transverse direction, and the adjusting plates (89) are used for adjusting the capacity of the weighing cylinder (83) and controlling the amount of grains packed each time through capacity adjustment.

8. The automated unmanned loading robot according to claim 7, wherein the output assembly (8) comprises a feed cylinder (88), the feed cylinder (88) being fixed to one side of the mounting frame (85), a door panel (87) being pivoted at the outlet of the feed cylinder (88);

an electronic scale is arranged in the supporting seat (84); the electronic scale and the door plate (87) are used for controlling the grain particle outputting process of the feeding cylinder (88) based on weight;

a guide plate (86) is fixed at the lower edge of the outlet of the feeding cylinder (88) to convey the output grain particles into the weighing cylinder (83).

9. The automated unmanned loading robot according to claim 7 or 8, wherein the output assembly (8) comprises a discharge cylinder (81), the discharge cylinder (81) is fixed at the other side of the mounting frame (85), an adding cylinder (82) is mounted at the top end of the discharge cylinder (81), and the weighing cylinder (83) packs the weighed grain particles by bagging the adding cylinder (82) and the discharge cylinder (81).

10. The automated unmanned loading robot of claim 5, wherein,

a conveying belt (44) in the conveying frame (4) drives a plurality of buckets (43) to continuously rotate so as to excavate grain particles, the grain particles are conveyed into the feeding box (15), and the grain particles enter the shell (12) through the feeding box (15);

the grain particles slide downwards along the vibration frame (19), and the rubber strips (191) promote the grain particles and straw sundries impacted on the rubber strips to vibrate;

the fan assembly (14) conveys wind into the shell (211) through the connecting pipe (214), the wind is blown onto grain particles on the vibration frame (19) through the air outlet pipe (213), and straw sundries are separated from the grain particles under the effects of vibration and wind blowing.