CN118108040A - Truss grain unloading device - Google Patents

Abstract

The invention discloses a truss grain unloading device in the field of grain storage, which comprises a truss, and a grain suction mechanism, a grain delivery mechanism and a controller which are arranged on the truss; the grain sucking mechanism comprises a pneumatic conveying device, a grain sucking pipeline and a direction adjusting mechanism, the tail end of the grain sucking pipeline is flexibly connected with a feed inlet of the pneumatic conveying device, the middle part of the grain sucking pipeline is connected with the pneumatic conveying device through the direction adjusting mechanism, and the grain conveying mechanism comprises a belt conveyor arranged on a truss. According to the invention, grain in the carriage is sucked and transmitted by utilizing the truss-supported grain suction mechanism and the grain delivery mechanism, grain unloading operation is directly carried out from the upper part of the carriage, convenience and rapidness are realized, the unloaded grain can be directly delivered to subsequent cleaning equipment from a high place, the traditional warehousing process is simplified, dust pollution can be reduced by a pneumatic conveying device, the whole device can realize high-automation control by an image recognition and multi-sensor fusion technology, the labor intensity of workers is greatly reduced, and the grain unloading efficiency is improved.

Description

Truss grain unloading device

Technical Field

The invention relates to the field of grain storage, in particular to a truss grain unloading device.

Background

At present, in the bulk grain unloading operation process, common use modes comprise unloading grains by utilizing a hydraulic plate turnover machine, unloading grains by utilizing a bulk grain side unloading machine, manually unloading grains and the like. The hydraulic panel turnover machine is used for unloading grains, the large hydraulic equipment is used for lifting the vehicle, the inclination of the vehicle is increased, and the grains slide out of the carriage under the action of gravity after a certain angle is reached, so that the purpose of unloading grains is achieved. Bulk grain side unloader uses chain scraper to mechanically transport grain out of carriage. The manual grain unloading is usually carried out by opening a door at the side of a carriage, and manually shoveling the grain to the door opening position and then sliding the grain to a conveying belt.

These methods of unloading have the following problems: the hydraulic panel turnover machine has large occupied area, high requirements on the field and difficult control of grain unloading speed; the bulk grain side unloader is required to unload grains, the equipment is required to be moved frequently or the bulk grain side unloader is partially dependent on manual grain shoveling to a feeding area, the residual grains are required to be cleaned and moved manually, the carriage door plate is required to be opened with manual grain unloading in the mode, grain collapse is easy to occur, personal safety is endangered, the problem of large dust exists in the bulk grain side unloader and the bulk grain side unloader, and great harm is caused to the health of grain unloading operators. On the other hand, because the automation degree of the modes is not high, the grain unloading operation can be finished by cooperation of multiple people, the operation efficiency is not high, and the labor cost is high. In addition, outlets of the three grain unloading modes are all arranged below, and a grain lifting device is additionally arranged when the subsequent cleaning equipment is in butt joint, so that the length of a working line is certainly increased. In order to ensure the health of operators and improve the grain unloading operation efficiency, the occupation of the field is reduced, and the adoption of a grain unloading technology with high automation degree is urgent.

Disclosure of Invention

In order to overcome the defects of the existing grain unloading mode, the invention aims to solve the technical problems that: the truss grain unloading device can improve unloading efficiency.

The technical scheme adopted for solving the technical problems is as follows:

A truss grain unloading device comprises a truss, and a grain suction mechanism, a grain delivery mechanism and a controller which are arranged on the truss; a channel for passing a truck is arranged below the truss along the length direction of the truss; the pneumatic grain sucking mechanism comprises a pneumatic conveying device, a grain sucking pipeline and a direction adjusting mechanism, wherein the pneumatic conveying device, the grain sucking pipeline and the direction adjusting mechanism are arranged at the top of the truss, the tail end of the grain sucking pipeline is flexibly connected with a feed inlet of the pneumatic conveying device, the middle part of the grain sucking pipeline is connected with the pneumatic conveying device through the direction adjusting mechanism, and the grain sucking head at the front end of the grain sucking pipeline can extend into a wagon box below the truss and adjust the position of the grain sucking head in the wagon box; the grain conveying mechanism comprises a belt conveyor arranged on the truss, the feeding end of the belt conveyor is positioned below the discharging port of the pneumatic conveying device, and the discharging end of the belt conveyor is in butt joint with external equipment; the controller is electrically connected with the grain suction mechanism and the grain delivery mechanism.

Further, the truss top is equipped with first track and second track along its length direction, it is provided with the support frame to slide on the first track, pneumatic conveyor sets up in the support frame top, direction adjustment mechanism connects between inhaling grain pipeline and support frame, the feed end of belt feeder is fixed in the support frame below, is equipped with along the rolling gyro wheel of second track on the base of belt feeder, the support frame slides along first track through the driver of controller control.

Further, a sensor electrically connected with the controller and used for detecting the height of the grain surface in the carriage is arranged on one side, close to the grain suction pipeline, of the supporting frame, and the sensor comprises an image acquisition device, a laser radar system and the like.

Further, a metering device for detecting grain flow or weight is arranged at the discharge port of the pneumatic conveying device or on the belt conveyor, and the metering device is electrically connected with the controller.

Further, the direction adjusting mechanism comprises two hydraulic rods, the telescopic ends of the two hydraulic rods are hinged with the grain sucking pipeline, and the other ends of the two hydraulic rods are respectively hinged with the top and the side face of the support frame.

Further, a grain suction head of the grain suction pipeline is provided with an anti-collision sensor electrically connected with the controller.

Further, the belt conveyor is a telescopic belt conveyor, and a grain throwing head with an adjustable grain throwing angle is arranged at the discharge end of the belt conveyor.

Further, the truss includes four telescopic stands, and the truss top is equipped with the roughness and detects the sensor, the controller is according to image acquisition device or laser radar system feedback's information to adjust stand height, and it is flexible to adjust the stand according to the information that the roughness detects the sensor feedback, ensures first track and second track level.

Further, the bottom of the upright post is provided with a traveling mechanism electrically connected with the controller, the traveling mechanism comprises three driving wheels, wherein two driving wheels are positioned at two ends of one side of the truss, the other driving wheel is positioned in the middle of the other side of the truss, and the inner side of the upright post is provided with a distance sensor electrically connected with the controller and used for preventing a vehicle from colliding with the upright post and detecting in-place information of the vehicle parking.

Further, when unloading grains, the controller controls the work of each part according to the following steps:

step one, a truck needing to unload grains is driven in a channel below a truss, in the driving process, a distance sensor on the inner side of a stand column detects the distance in the width direction of the vehicle, the distance is warned and prompted when the distance is over-small, and when the distance sensor on the stand column on the truss, which is close to the tail of the truck, detects the tail information of the vehicle, the warning and the vehicle stopping movement are prompted;

scanning carriage data by using an image acquisition device and a laser radar system when the vehicle moves to obtain carriage size, grain type and grain surface height distribution information, and sending the information to a controller;

step three, the controller determines the initial position of grain sucking according to the information of the step two, plans a grain sucking path and adjusts the belt conveyor to be in butt joint with external equipment;

step four, starting a grain suction mechanism, a grain delivery mechanism and a travelling mechanism, wherein the controller controls the grain suction head to move according to a grain suction path through the travelling mechanism and the direction adjusting mechanism according to the grain surface height information so as to suck grains;

Step five, after finishing grain sucking operation according to the path, acquiring the residual grain information again by utilizing the image acquisition device and the laser radar system, and controlling the grain sucking head to execute residual grain cleaning work;

Step six, when the grain suction mechanism reaches the limit of the structural position and grains exist in the carriage, the whole truss is set to move to a new grain taking point position according to an operation mode, and the belt conveyor moves reversely and equidistantly in the moving process, so that the relative position with external equipment is always kept unchanged;

and step seven, repeating the steps four to six until the grain sucking operation is confirmed to be completed manually.

The beneficial effects of the invention are as follows: the grain in the carriage is sucked and transported by utilizing the truss-supported grain suction mechanism and the grain delivery mechanism, and the grain unloading operation is directly carried out from the upper part of the carriage, so that a carriage door plate is not required to be manually driven, the possibility of safety accidents is eliminated, the unloaded grain can be directly delivered to subsequent cleaning equipment from a high place, the traditional warehousing process is simplified, and the occupation of places is reduced; the pneumatic conveying device is adopted by the pneumatic grain suction mechanism, so that dust-free and unmanned operation is basically realized on site, and the harm to the environment and personnel health is reduced; the whole device can realize high-automation control through an image recognition technology and a multi-sensor fusion technology, so that the labor intensity of workers is greatly reduced, and the grain unloading efficiency is improved.

Drawings

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

FIG. 2 is a schematic view of the structure of the invention during unloading;

FIG. 3 is a control schematic of the controller of the present invention;

Fig. 4 is a control flow chart of the controller of the present invention.

The device is characterized by comprising a 1-truss, a 2-controller, a 3-pneumatic conveying device, a 4-grain sucking pipeline, a 5-direction adjusting mechanism, a 6-belt conveyor, a 7-truck, an 8-supporting frame, 9-cleaning equipment, an 11-first rail, a 12-second rail, a 13-driving wheel, a 14-upright post, a 15-flatness detecting sensor, a 16-distance sensor, a 41-grain sucking head, a 42-anti-collision sensor, a 61-grain throwing head, 62-rollers, 71-carriages, 81-image acquisition devices and 82-laser radar systems.

Detailed Description

The invention is further described below with reference to the accompanying drawings.

In the present invention, directional terms such as up, down, left, right, front, rear, and azimuth are used to facilitate the description of the relative positional relationship between the members, and are not meant to refer specifically to the absolute position of the relative member or the inter-member relationship, but are used only to explain the relative positional relationship, movement, and the like between the members in a specific posture, and if the specific posture is changed, the directional terms are changed accordingly. In the present invention, the terms "plurality", "a plurality" and the like refer to two or more.

As shown in fig. 1 and 2, the truss grain unloading device provided by the invention comprises a truss 1, and a grain suction mechanism, a grain delivery mechanism and a controller 2 which are arranged on the truss 1; a passage for passing the truck 7 is arranged below the truss 1 along the length direction of the truss; the grain suction mechanism comprises a pneumatic conveying device 3, a grain suction pipeline 4 and a direction adjusting mechanism 5 which are arranged at the top of the truss 1, the tail end of the grain suction pipeline 4 is flexibly connected with a feed inlet of the pneumatic conveying device 3, the middle part of the grain suction pipeline 4 is connected with the pneumatic conveying device 3 through the direction adjusting mechanism 5, the grain suction head 41 at the front end of the grain suction pipeline 4 can extend into a carriage 71 of a truck 7 below the truss 1 through the direction adjusting mechanism 5, and the position of the grain suction head 41 in the carriage 71 is adjusted; the grain conveying mechanism comprises a belt conveyor 6 arranged on the truss 1, the feeding end of the belt conveyor 6 is positioned below the discharging port of the pneumatic conveying device 3, and the discharging end of the belt conveyor 6 is in butt joint with external equipment; the controller 2 is electrically connected with the grain suction mechanism and the grain delivery mechanism.

The invention utilizes the truss 1 to erect the grain suction mechanism and the grain delivery mechanism above the truck 7, directly performs grain unloading operation from the upper part of the carriage 71, does not need to manually open the door plate of the carriage 71 or utilize the hydraulic turning plate to incline the vehicle, and has convenient operation and higher safety. The whole truss 1 only needs to be slightly wider than the width of the common truck 7, the occupied planar space is small, and the truss 1 can be arranged in a height-adjustable mode in height so as to adapt to carriages 71 with different heights. The grain suction mechanism adopts the pneumatic conveying device 3 and the grain suction pipeline 4 to suck grains, and dust pollution can not be generated. In the grain sucking process, the position of the grain sucking head 41 is adjusted by the direction adjusting mechanism 5, so that omnibearing grain sucking can be realized, and the grain sucking is ensured to be clean. The sucked grain is directly conveyed to the external cleaning equipment 9 from the high position through the belt conveyor 6, so that the material does not need to be lifted again, the cleaning and subsequent warehousing processes can be simplified, the occupied space is reduced, and the grain unloading efficiency is improved.

In the grain sucking process, the shorter carriage 71 can be covered by directly utilizing the direction adjusting mechanism 5; for a carriage 71 which is slightly longer, when the grain sucking range exceeds the range which can be adjusted by the direction adjusting mechanism 5, the grain sucking position can be adjusted by moving the truss 1 or the truck 7, and a small amount of grains can be manually cleaned to be within the grain sucking range of the grain sucking head 41. For longer cars 71, the present invention provides a preferred solution to reduce the number of movements of truss 1 or truck 7. The top of the truss 1 is provided with a first track 11 and a second track 12 along the length direction of the truss, the first track 11 is provided with a support frame 8 in a sliding manner, the pneumatic conveying device 3 is arranged above the support frame 8, the direction adjusting mechanism 5 is connected between the grain suction pipeline 4 and the support frame 8, the feeding end of the belt conveyor 6 is fixed below the support frame 8, a roller 62 rolling along the second track 12 is arranged on a base of the belt conveyor 6, and the support frame 8 slides along the first track through a driver controlled by a controller. The grain suction mechanism and the grain delivery mechanism are connected into a whole through the support frame 8, the support frame 8 is supported by the first rail 11, and the belt conveyor 6 is supported by the second rail 12, so that stable structure and stable operation are ensured. In the grain sucking process, the grain sucking head 41 is controlled by the direction adjusting mechanism 5 to suck grains in one grain sucking area, then the support frame 8 is moved to change the position of the pneumatic conveying device 3, the grain sucking area is adjusted, grain sucking is continued, and finally the grain sucking area is adjusted again by moving the whole truss 1 or the truck 7. The carriage 71 of the longest truck 7 is about 14m in length, so the truss 1 can be set to be about 7m, and the grain unloading operation of the whole carriage 71 can be completed only by moving the truss 1 or the truck 7 once.

Further, in order to realize automatic control, the preferred embodiment of the present invention is that a sensor, such as an image acquisition device 81 and a laser radar system 82, for detecting the height of the grain surface in the carriage 71 is electrically connected to the controller 2, which is disposed on the side of the support frame 8 near the grain suction pipe 4. The image acquisition device 81 and the laser radar system 82 are both of the prior art, and the image acquisition device and the laser radar system respectively detect the grain height by utilizing image recognition and laser scanning, so that the control system can control the grain suction head 41 to move according to the grain height. The specific process is that before unloading, the image acquisition device 81 and the laser radar system 82 are utilized to determine the initial height of the grain surface, in the grain sucking process, whether the grain sucking head 41 moves downwards or not and whether the limit depth of a carriage is reached or not is judged through the real-time grain surface height information, so that continuous grain sucking is realized, whether grain sucking operation of a zone is finished or not is judged, and after judging, the grain sucking head 41 is moved to the next zone, so that automatic grain unloading control is realized.

In addition, the flow or weight of the grain can be combined to improve the judgment precision. Specifically, a metering device for detecting grain flow or weight is arranged at the discharge port of the pneumatic conveying device 3 or on the belt conveyor 6, and the metering device is electrically connected with the controller. The metering device is not limited to a belt scale or a flowmeter, because the contact area of the grain suction head 41 and the grain surface is positively related to the grain suction flow, when the metering device detects that the flow of the grain is reduced, the contact area of the grain suction head 41 and the grain surface can be judged to be reduced, and the controller 2 can control the grain suction head 41 to move downwards. Thus, through the two judging systems, the grain suction head 41 can be well ensured to move along the grain surface, and the continuity of grain suction is ensured.

For the direction adjusting mechanism 5, the scheme adopted by the invention is that the direction adjusting mechanism 5 comprises two hydraulic rods, the telescopic ends of the two hydraulic rods are hinged with the grain suction pipeline 4, and the other ends of the two hydraulic rods are respectively hinged with the top and the side surface of the support frame 8. The hydraulic rods connected with the top of the support frame 8 are used for adjusting the grain suction head 41 to move up and down in a vertical plane, the hydraulic rods connected with the side face of the support frame 8 are used for adjusting the grain suction head 41 to move left and right in a horizontal plane, and the two hydraulic rods are matched for use so as to flexibly adjust the spatial position of the grain suction head 41 in the carriage 71. Of course, other telescopic mechanisms may be used instead of hydraulic rods, such as linear motors, lead screw motors, pneumatic rods, or the like.

In order to avoid damage caused by hard contact between the grain suction head 41 and the carriage 71 during movement, an anti-collision sensor 42 electrically connected with the controller 2 is arranged on the grain suction head 41 of the grain suction pipeline 4. The anti-collision sensor 42 can adopt a pressure sensor and is arranged at the forefront end of the grain suction head 41, and when the anti-collision sensor 42 detects that the pressure is too high, a signal can be fed back to the controller 2 to prevent the grain suction head 41 from moving forwards.

Since the external cleaning device 9 is generally stationary, it is not ensured that the grain stably enters the cleaning device 9 when the belt conveyor 6 moves together with the support frame 8. Therefore, preferably, the belt conveyor 6 is a telescopic belt conveyor, and the discharge end of the belt conveyor 6 is provided with a grain throwing head 61 with an adjustable grain throwing angle. When the support frame 8 is moved, the belt conveyor 6 can be controlled to synchronously stretch and retract, so that the position of the grain throwing head 61 is ensured to be inconvenient. The grain throwing head 61 should be provided with an adjustable pitching angle, so that grains can be better sent into the cleaning equipment 9.

In order to improve the stability of the whole structure, the truss 1 comprises four telescopic upright posts 14, the top of the truss 1 is provided with a flatness detection sensor 15, the controller 2 firstly adjusts the height of the upright posts 14 according to the information fed back by the image acquisition device 81 or the laser radar system 82, so that the grain suction mechanism is close to the carriage 71 as much as possible, and then adjusts the telescopic upright posts 14 according to the information fed back by the flatness detection sensor 15, so that the first rail 11 and the second rail 12 are ensured to be horizontal.

For convenient removal whole device stand 14 bottom be equipped with controller 2 electric connection's running gear, running gear includes three drive wheel 13, and wherein two drive wheels 13 are located the both ends of truss 1 one side, and another is located the middle part of truss 1 opposite side, stand 14 inboard be equipped with controller 2 electric connection for prevent that the vehicle from bumping with stand 14, detect the distance sensor 16 of vehicle stop information in place simultaneously, distance sensor 16 can adopt ordinary infrared, laser or sonic ranging sensor, avoids moving in-process stand and freight train 7 to bump.

Further, the control principle of the whole equipment is shown in fig. 3, the external system transmits grain data in the process of skewing detection to the controller, and the operation table can be a remote controller, so that the operator can conveniently perform grain unloading operation at a distance. The controller controls the grain suction mechanism, the grain delivery mechanism and the running mechanism to run according to the metering sensor, the anti-collision sensor, the position sensor, the distance sensor, the image acquisition device, the laser radar system and the like. The grain suction mechanism comprises integral movement of the grain suction mechanism, lifting of a grain suction head, swinging of the grain suction head, starting and stopping of a pneumatic conveying device and the like; the grain feeding mechanism comprises start and stop of the belt conveyor, telescopic control of the belt conveyor and the like.

In the process of unloading grains, the specific control process of the controller 2 is shown in fig. 4, and comprises the following steps:

Step one, the system is ready, a truck 7 needing to unload grains is driven into a channel which is parked below a truss 1, in the driving process, a distance sensor 16 on the inner side of a stand column 14 detects the distance in the width direction of the vehicle, and when the distance is too small, an alarm prompt is given, and when a distance sensor on the stand column 14, which is close to the tail part of the truck 7, on the truss 1 detects the tail part information of the truck 7, the alarm prompt vehicle stops moving;

Scanning carriage 71 data by using an image acquisition device 81 and a laser radar system 82 when the vehicle moves to obtain carriage size, grain type and grain surface height distribution information, and sending the information to a controller 2;

Step three, the controller 2 determines the initial position of grain sucking according to the information of the step two, plans the grain sucking path and adjusts the belt conveyor 6 to be in butt joint with external equipment;

Step four, starting a grain suction mechanism, a grain delivery mechanism and a travelling mechanism, wherein the controller 2 controls the grain suction head 41 to move according to a grain suction path through the travelling mechanism and the direction adjusting mechanism 5 according to the grain surface height information so as to suck grains;

step five, after finishing the grain sucking operation according to the path, acquiring the residual grain information again by utilizing the image acquisition device 81 and the laser radar system 82, and controlling the grain sucking head 41 to execute residual grain cleaning work;

Step six, when the grain suction mechanism reaches the limit of the structural position and grains exist in the carriage, the whole truss 1 is set to move to a new grain taking point position according to an operation mode, and the belt conveyor 6 moves reversely and equidistantly in the moving process, so that the relative position with external equipment is always kept unchanged;

and step seven, repeating the steps four to six until the grain sucking operation is confirmed manually, and resetting and stopping the discharging device.

In order to reduce the moving times of the truss 1 and the support frame 8, when the grain sucking path is planned, the grain sucking pipeline 4 is moved firstly, then the support frame 8 is moved, and finally the truss 1 is moved to carry out step-by-step planning. The cleaning work of the residual grains in the fifth step is to make the grain sucking head 41 suck grains completely along the bottom of the carriage once quickly, and if the cleaning is not clean once, the cleaning is performed once again, and the cleaning can be ensured to be completed usually once or twice.

Claims (10)

1. A truss grain unloading device is characterized in that: comprises a truss (1), a grain suction mechanism, a grain delivery mechanism and a controller (2) which are arranged on the truss (1); a channel for passing a truck (7) is arranged below the truss (1) along the length direction of the truss; the pneumatic grain sucking mechanism comprises a pneumatic conveying device (3) arranged at the top of a truss (1), a grain sucking pipeline (4) and a direction adjusting mechanism (5), wherein the tail end of the grain sucking pipeline (4) is flexibly connected with a feed inlet of the pneumatic conveying device (3), the middle part of the grain sucking pipeline (4) is connected with the pneumatic conveying device (3) through the direction adjusting mechanism (5), the grain sucking head (41) at the front end of the grain sucking pipeline (4) can extend into a carriage (71) of a truck (7) below the truss (1) through the direction adjusting mechanism (5), and the position of the grain sucking head (41) in the carriage (71) is adjusted; the grain conveying mechanism comprises a belt conveyor (6) arranged on the truss (1), the feeding end of the belt conveyor (6) is positioned below the discharging port of the pneumatic conveying device (3), and the discharging end of the belt conveyor (6) is in butt joint with external equipment; the controller (2) is electrically connected with the grain suction mechanism and the grain delivery mechanism.

2. The truss grain unloading apparatus of claim 1, wherein: truss (1) top is equipped with first track (11) and second track (12) along its length direction, it is provided with support frame (8) to slide on first track (11), pneumatic conveyor (3) set up in support frame (8) top, direction adjustment mechanism (5) are connected between inhaling grain pipeline (4) and support frame (8), the feed end of belt feeder (6) is fixed in support frame (8) below, is equipped with on the base of belt feeder (6) along rolling gyro wheel (62) of second track (12), support frame (8) are slided along first track through the driver of controller control.

3. The truss grain unloading apparatus of claim 2, wherein: one side of the support frame (8) close to the grain suction pipeline (4) is provided with a sensor electrically connected with the controller (2) and used for detecting the height of a grain surface in the carriage (71), and the sensor comprises an image acquisition device (81) and a laser radar system (82).

4. A truss grain unloading apparatus according to claim 3 wherein: the pneumatic conveying device is characterized in that a metering device for detecting grain flow or weight is arranged at a discharge hole of the pneumatic conveying device (3) or on the belt conveyor (6), and the metering device is electrically connected with the controller.

5. The truss grain unloading apparatus of claim 2, wherein: the direction adjusting mechanism (5) comprises two hydraulic rods, the telescopic ends of the two hydraulic rods are hinged with the grain suction pipeline (4), and the other ends of the two hydraulic rods are respectively hinged with the top and the side face of the supporting frame (8).

6. The truss grain unloading apparatus of claim 5, wherein: the grain sucking head (41) of the grain sucking pipeline (4) is provided with an anti-collision sensor (42) electrically connected with the controller (2).

7. The truss grain unloading apparatus of claim 2, wherein: the belt conveyor (6) is a telescopic belt conveyor, and a grain throwing head (61) with an adjustable grain throwing angle is arranged at the discharge end of the belt conveyor (6).

8. A truss grain unloading apparatus according to any one of claims 3 to 7, wherein: truss (1) are equipped with roughness detection sensor (15) including four telescopic stand (14), truss (1) top, controller (2) are according to image acquisition device (81) or information that laser radar system (82) fed back adjust the height of stand (14), and the information according to roughness detection sensor (15) fed back is adjusted stand (14) and is flexible, ensures first track (11) and second track (12) level.

9. The truss grain unloading apparatus of claim 8, wherein: the novel car parking device is characterized in that a running mechanism electrically connected with the controller (2) is arranged at the bottom of the upright post (14), the running mechanism comprises three driving wheels (13), two driving wheels (13) are located at two ends of one side of the truss (1), the other driving wheel is located in the middle of the other side of the truss (1), the inner side of the upright post (14) is provided with a distance sensor (16) electrically connected with the controller (2) and used for preventing a car from colliding with the upright post (14) and detecting parking information of the car.

10. The truss grain unloading apparatus of claim 9, wherein: when unloading grains, the controller (2) controls the work of each part according to the following steps:

Step one, a truck (7) needing to unload grains is driven in a channel below a truss (1), in the driving process, a distance sensor (16) at the inner side of a stand column (14) detects the distance in the width direction of the vehicle and gives an alarm to prompt that the vehicle stops moving when the distance sensor on the stand column (14) which is close to the tail of the truck (7) on the truss (1) detects the tail information of the truck (7);

Scanning carriage (71) data by using an image acquisition device (81) and a laser radar system (82) when the vehicle moves to obtain carriage size, grain type and grain surface height distribution information, and sending the information to a controller (2);

step three, the controller (2) determines the initial position of grain suction according to the information of the step two, plans a grain suction path and adjusts the belt conveyor (6) to be in butt joint with external equipment;

step four, starting a grain suction mechanism, a grain delivery mechanism and a travelling mechanism, wherein a controller (2) controls a grain suction head (41) to move according to a grain suction path through the travelling mechanism and a direction adjusting mechanism (5) according to grain surface height information so as to suck grains;

step five, after finishing grain sucking operation according to the path, acquiring the residual grain information again by utilizing an image acquisition device (81) and a laser radar system (82), and controlling a grain sucking head (41) to execute residual grain cleaning work;

Step six, when the grain suction mechanism reaches the limit of the structural position and grains exist in the carriage, the whole truss (1) is set to move to a new grain taking point position according to an operation mode, and the belt conveyor (6) moves reversely and equidistantly in the moving process, so that the relative position with external equipment is kept unchanged all the time;

and step seven, repeating the steps four to six until the grain sucking operation is confirmed manually, and resetting and stopping the discharging device.