CN208356864U - The hulling machine system of self feed back automation compensation - Google Patents

Abstract

The utility model discloses a kind of hulling machine systems of self feed back automation compensation, it include: that first movement compensation rubber rollers are arranged in parallel at the top of the second motion compensation rubber rollers, fixed rubber rollers are set to first movement compensation rubber rollers and the second motion compensation rubber rollers side, and compensating rubber rollers and the second motion compensation rubber rollers with first movement, there are cereal processing spaces；Measurement module is set to fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers side；The non-equal sub-module of particle stream compensates the top of the cereal processing space between rubber rollers and fixed rubber rollers by fixed mount setting in first movement；Processing module is communicatively coupled to mobile bearing pedestal and measurement module.Realization to particle stream continuity, anisotropically shunts, and wears nonsynchronous phenomenon to correct rubber roller, the spacing of roll surfaces linear velocity and rubber roller is adjusted in the automatic abrasion condition for detecting rubber roller.

Description

The hulling machine system of self feed back automation compensation

Technical field

The utility model relates to agricultural hulling machine technical fields, more particularly, to a kind of self feed back automation compensation Hulling machine system.

Background technique

Existing hulling machine is mobile to drive a rubber rollers to lean on to another rubber rollers by two synchronous hydraulic cylinders Nearly movement, but the disadvantage is that not can guarantee two rubber roll shafts parallel, and moving distance error is big, because when synchronous hydraulic cylinder moves Error is big；Fast roller may be acted on by paddy makes slow rollers speed become faster, and fast roller speed is slack-off, and two roller instantaneous velocitys have fluctuation, This, which also has husking yield and yield, seriously affects；Due to having abrasion, and the two roller radius degrees of wear when operation of two rollers Can be different, cause two rollers linear resonance surface velocity in the case where revolving speed is constant that can change.

Meanwhile produce or process granular product in, it is sometimes desirable to its product particle with flowing into Line Continuity, it is non- It equably shunts, i.e., the flow in same exit is different everywhere；For example, in the production process of rice, hulling machine to rice into Row shelling, usually can be since the blanking of rice at feed shedding plate is uneven, contains miscellaneous too many and two rubber roller roll axis in rice stream The reasons such as not parallel cause to wear everywhere on rubber roller bus it is asynchronous and phenomena such as cause Guide Top Roller Abrasion, concentric reducer；It is investigated that card, glue The abrasion non-uniform phenomenon such as roller grooving, concentric reducer can largely influence husking yield and production efficiency；So just needing at this time A kind of device that can carry out uneven continuous partial flow to export rice stream is wanted, wears nonsynchronous phenomenon to correct rubber roller, it is real Rubber roller abrasion synchronizes in existing certain period of time.

Therefore, it is necessary to develop a kind of hulling machine system of self feed back automation compensation, two rubber rollers mill can automatically detect Situation, and automatic uncompensation distance are damaged, and reduces the automation hulling machine of rubber roller abrasion.

Utility model content

The utility model proposes a kind of hulling machine systems of self feed back automation compensation, by the mill for detecting rubber roller automatically Situation is damaged, the spacing of two rubber rollers is adjusted, and is imitated by the work that the non-equal sub-module of particle stream improves hulling machine Rate.

A kind of hulling machine system of self feed back automation compensation according to the present utility model, the hulling machine system include:

Fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers, the first movement compensate rubber Rubber roller is arranged in parallel at the top of the second motion compensation rubber rollers, and the fixed rubber rollers are set to the first movement compensation Rubber rollers and the second motion compensation rubber rollers side compensate rubber rollers and the second motion compensation rubber with the first movement There are cereal processing spaces for roller；

Mobile bearing pedestal, the mobile bearing pedestal are set at the top of first movement compensation rubber rollers and described the Two motion compensation rubber rollers bottoms；

Measurement module, the measurement module are set to the fixed rubber rollers, first movement compensation rubber rollers and the second shifting Dynamic compensation rubber rollers side；

The non-equal sub-module of particle stream, the non-equal sub-module of particle stream are compensated by fixed mount setting in the first movement The top of cereal processing space between rubber rollers and the fixed rubber rollers；

Wherein, the non-equal sub-module of particle stream includes: feed shedding plate, the feed shedding plate be it is dustpan-shaped, two sides be equipped with gear Plate, one end are equipped with feed inlet, and the other end is equipped with discharge port；

Multiple rows of support gantry is parallel to each other between described multiple rows of support gantry, is set up in above the feed shedding plate, described Supporting gantry includes two the first pillars and the second pillar being vertically arranged, and is horizontally placed on first pillar and second Crossbeam on pillar；

Multiple first driving mechanisms, each first driving mechanism is connect with the support gantry, for driving It is moved along the length direction of baffle at described support gantry；

Multiple shunting stick mechanisms, the multiple shunting stick mechanism are arranged according to pascal's triangle, are set to multiple rows of support On gantry；

Wherein, the shunting stick mechanism includes connection frame, cabinet and shunts stick, and the connection frame is set to the support dragon Men Shang, and can be set on the connection frame along the cross beam movement at described support gantry, the cabinet, and can be along the connection frame Vertical direction it is mobile, the lower part for shunting stick and being set to the cabinet；

Processing module, the processing module are communicatively coupled to the mobile bearing pedestal and the measurement module.

Preferably, the mobile bearing pedestal includes: first movement bearing bracket stand, the second mobile bearing bracket stand, connecting rod, shifting Moving frame thread slider, mobile threaded screw rod and shift servo motor, the first movement compensation rubber rollers and second movement The both ends of compensation rubber rollers are connected to the first movement bearing bracket stand and the second mobile bearing bracket stand, the connecting rod connect It connects the first movement bearing bracket stand and the second mobile bearing bracket stand, the movable stand thread slider is arranged in the first movement Bearing bracket stand bottom, the mobile threaded screw rod are arranged in the movable stand thread slider, the output of the shift servo motor Axis connection is connected to the processing module in the mobile threaded screw rod, the shift servo communications.

Preferably, the mobile bearing pedestal further include: mobile sliding block, mobile slide bar, postive stop baffle and limit switch, The mobile sliding block setting is in the described second mobile bearing bracket stand bottom, and the mobile slide bar is arranged in the mobile sliding block, institute It states postive stop baffle and is set to the mobile slide bar both ends, the limit switch is arranged on the mobile sliding block.

Preferably, the measurement module respectively includes horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, cunning Bar sliding block approaches servo motor, transverse direction servo motor and measurement sensor, and longitudinal screw bar one end is sliding across the screw thread Block, the other end, which is connected to, approaches servo motor, and described longitudinal direction slide bar one end passes through the slide bar sliding block, the horizontal thread bar one End is connected to the thread slider, and the other end passes through the slide bar sliding block and is connected to the lateral servo motor, and the measurement passes Sensor is arranged on the horizontal thread bar；

Wherein, longitudinal screw bar one end of the measurement module passes through the thread slider and is connected to the fixed rubber One end of one end of rubber roller, one end of first movement compensation rubber rollers and the second motion compensation rubber rollers, the survey Longitudinal slide bar one end of amount module passes through the slide bar sliding block and is connected to the other end of the fixed rubber rollers, described first The other end of the other end of motion compensation rubber rollers and the second motion compensation rubber rollers.

Preferably, the measurement sensor includes:

Master reference and obstacle avoidance sensor, the master reference and obstacle avoidance sensor are set side by side；

Wherein, the obstacle avoidance sensor includes: anticollision mounting plate, anticollision cantilever crane, anticollision wheel shaft, anticollision suspension, anticollision arc Shape permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the anticollision cantilever crane setting At the top of the anticollision mounting plate, the anticollision suspension is arranged on the anticollision cantilever crane, and the insulation fixing sleeve is set in institute It states on anticollision suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel of the collision avoiding caster Hub, the anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet are sequentially sleeved on the anticollision wheel shaft, the anticollision Induction electrode is set to anticollision induction mouse cage winding two sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.

Preferably, the master reference include sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage around Resistance, screw shell, quill, insulation shell, the roller housing are set to one end of the quill, and the squirrel-cage winding is arranged One end is connected to the wheel hub of idler wheel in quill, and the sensor housing is set in squirrel-cage winding outside, the survey Amount electrode is connected to squirrel-cage winding both ends, passes through the sensor housing, and the arcuate permanent magnetic iron is arranged in the mouse Between cage winding and the sensor housing, the screw shell is fixed on the sensor housing bottom, the insulation shell Body is set in outside the sensor housing, and the measuring electrode passes through the sensor housing and the insulation shell set.

Preferably, the non-equal sub-module of the particle stream further include:

Multiple second driving mechanisms, each second driving mechanism connect with a connection frame for shunting stick mechanism It connects, for driving the shunting stick mechanism along the cross beam movement at described support gantry；

Multiple third driving mechanisms, each third driving mechanism are connect with a cabinet for shunting stick mechanism, For driving the shunting stick to move along the vertical direction of the connection frame；

Multiple rotary drive mechanisms, each rotary drive mechanism are set to the cabinet for shunting stick mechanism It is interior, it is connect with the top for shunting stick, for driving the shunting stick to rotate about the axis thereof.

Preferably, the non-equal sub-module of the particle stream further include: controller, the controller control described first respectively and drive Motivation structure, the second driving mechanism, third driving mechanism and rotary drive mechanism.

Preferably, according to the pascal's triangle, one is provided on support gantry described in the first row close to the feed inlet A shunting stick mechanism arranges close to the N of the discharge port and is provided with N number of shunting stick mechanism on described support gantry, Form positive pascal's triangle；Or it is provided with N number of shunting stick mechanism on support gantry described in the first row close to the feed inlet, It is arranged close to the N of the discharge port and is provided with the shunting stick mechanism on described support gantry, form positive pascal's triangle.

Preferably, the lower circumference surface for shunting stick is equipped with the shunting tooth being distributed along its axis direction, the shunting Tooth is uniformly distributed along the lower circumference surface for shunting stick.

The hulling machine system of a kind of self feed back automation compensation according to the present utility model, the advantage is that: particle stream is non- Equal sub-module adjusts each of which position for shunting the three-dimensional space direction of stick mechanism, feed inlet stream of the particle stream from feed shedding plate Into adjustment shunts position of the stick mechanism above feed baffle, and shunts the depth of stick insertion particle stream, is driven by rotation Mechanism driving shunts revolving speed and the steering of stick rotation, hits to the particle for flowing to discharge port by feed inlet, changes particle Flow direction and speed, realization to particle stream continuity, anisotropically shunt, i.e., the flow in same exit is different everywhere, to rectify Positive rubber roller wears nonsynchronous phenomenon, prevents the synchronous abrasion of rubber roller in certain period of time.Cross measurement module measure fixed rubber rollers, First movement compensates the abrasion loss and linear resonance surface velocity of rubber rollers and the second motion compensation rubber rollers, is passed through based on abrasion loss removable Dynamic bearing pedestal adjusts the spacing of fixed rubber rollers and two motion compensation rubber rollers, adjusts fixed rubber based on linear resonance surface velocity The driving revolving speed of roller and two motion compensation rubber rollers makes to produce rice rate and husking yield is protected.

The hulling machine system of the utility model has other characteristics and advantages will be in the attached drawing being incorporated herein and then Specific embodiment in stated in detail, these the drawings and specific embodiments are used together to explain the specific original of the utility model Reason.

Detailed description of the invention

The utility model exemplary embodiment is described in more detail in conjunction with the accompanying drawings, the utility model it is above-mentioned And other purposes, feature and advantage will be apparent, wherein identical in the utility model exemplary embodiment Appended drawing reference typically represents same parts.

Fig. 1 shows showing for the self feed back automation compensation hulling machine of an exemplary embodiment according to the present utility model It is intended to.

Fig. 2 shows the schematic diagrames of the measurement module of an exemplary embodiment according to the present utility model.

Fig. 3 shows the schematic diagram of the master reference of an exemplary embodiment according to the present utility model.

Fig. 4 shows the schematic diagram of the obstacle avoidance sensor of an exemplary embodiment according to the present utility model.

Fig. 5 shows the schematic diagram of the mobile bearing pedestal of an exemplary embodiment according to the present utility model.

Fig. 6 shows the structural representation of the non-equal sub-module of particle stream of an exemplary embodiment according to the present utility model Figure.

Fig. 7 shows the partial structurtes of the non-equal sub-module of particle stream of an exemplary embodiment according to the present utility model Schematic diagram.

Fig. 8 a shows the partial enlarged view of the single diversion mechanism in the utility model one embodiment.

Fig. 8 b shows the partial enlarged view at single support gantry in the utility model one embodiment.

Fig. 9 a shows the axis side structure schematic diagram of the single shunting stick mechanism in the utility model one embodiment.

Fig. 9 b shows the partial enlarged view of the single shunting stick mechanism in the utility model one embodiment.

Figure 10 shows the overlooking structure diagram of the single shunting stick mechanism in the utility model one embodiment.

Figure 11 a shows the structural schematic diagram of the first driving mechanism in the utility model one embodiment.

Figure 11 b shows the structural schematic diagram of the second gear in the utility model one embodiment.

Description of symbols:

1, measurement module；2, the second motion compensation rubber rollers；3, fixed rubber rollers；4, first movement compensates rubber rollers；5, Fixed rubber rollers stepper motor；6, motion compensation rubber rollers stepper motor；7, mobile bearing pedestal；8, particle stream is non-divides equally mould Block；101, servo motor is approached；102, shaft coupling；103, longitudinal screw bar；104, thread slider；105, obstacle avoidance sensor； 106, thin pedestal；107, master reference；108, lateral servo motor；109, longitudinal slide bar；110, slide bar sliding block；111, lateral spiral shell Rasp bar；1071, idler wheel；1072, measuring electrode；1073, arcuate permanent magnetic iron；1074, squirrel-cage is wound；1075, sensor shell； 10751, axle sleeve end cap；10752, quill；10753, insulation shell；10754, screw shell；1051, anticollision cantilever crane； 10511, anticollision wheel shaft；10512, insulate fixing sleeve；10513, anticollision suspension；1052, anticollision induction electrode；1053, anticollision sense Mouse cage is answered to wind；1054, collision avoiding caster；1055, anticollision arc-shaped permanent magnet；1056, torsionspring is buffered；1057, anticollision is installed Plate；10571, spring follow block；10572, small fixation hole；10573, big fixation hole；10574, axial restraint threaded hole；10575, solid Fixed axle pin；10576, follow block is limited；10577, swing arm pivot pin；71, the second mobile bearing bracket stand；72, connecting rod；73, first movement Bearing bracket stand；74, mobile threaded screw rod；75, shift servo motor；76, mobile slide bar；761, postive stop baffle；77, limit switch； 81, baffle；82, feed shedding plate；811, gantry is supported；8111, sliding block；812, stick mechanism is shunted；1201, the second driving motor； 12011, the second driving motor bracket；1202, first bevel gear；1203, second bevel gear；1204, the second lead screw；1205, Two lead screw brackets；1206, connection frame；12061, the second motion thread hole；12062, tongue-and-groove；12063, tenon item；1207, third is driven Dynamic motor；1208, third lead screw；1209, cabinet；12091, third motion thread hole sliding block；12092, output shaft hole；12093, Mounting groove；1210, shaft coupling；1211, arrangements of diverter rods；12111, tooth is shunted；1212, it is rotated into motor；813, the first screw rod bracket； 814, the first screw rod；815, the first driving mechanism；151, the first driving motor；152, first gear；153, gear mounting plate； 154, second gear；1541, the first motion thread hole；816, guide rod.

Specific embodiment

The utility model is more fully described below with reference to accompanying drawings.Although showing the preferred of the utility model in attached drawing Embodiment, however, it is to be appreciated that may be realized in various forms the utility model without that should be limited by embodiments set forth here System.On the contrary, thesing embodiments are provided so that the utility model is more thorough and complete, and can be by the utility model Range is completely communicated to those skilled in the art.

The utility model proposes a kind of hulling machine system of self feed back automation compensation, which includes: solid Determine rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers, first movement compensation rubber rollers are arranged in parallel in At the top of second motion compensation rubber rollers, fixed rubber rollers are set to first movement compensation rubber rollers and the second motion compensation rubber rollers Side, compensating rubber rollers and the second motion compensation rubber rollers with first movement, there are cereal processing spaces；Mobile bearing pedestal, Mobile bearing pedestal is set at the top of first movement compensation rubber rollers and the second motion compensation rubber rollers bottom；Measurement module, Measurement module is set to fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers side；Particle stream is non- Equal sub-module, the non-equal sub-module of particle stream are compensated between rubber rollers and fixed rubber rollers by fixed mount setting in first movement The top of cereal processing space；Wherein, the non-equal sub-module of particle stream includes: feed shedding plate, and feed shedding plate is dustpan-shaped, two sides Equipped with baffle, one end is equipped with feed inlet, and the other end is equipped with discharge port；Multiple rows of support gantry, it is mutually flat between multiple rows of support gantry Row is set up in above feed shedding plate, and support gantry includes that two the first pillars being vertically arranged and the second pillar and level are set The crossbeam being placed on the first pillar and the second pillar；Multiple first driving mechanisms, each first driving mechanism and a support dragon Door connection, for driving support gantry to move along the length direction of baffle；Multiple shunting stick mechanisms, multiple shunting stick mechanisms according to Pascal's triangle arrangement, is set on multiple rows of support gantry；Wherein, it shunts stick mechanism to include connection frame, cabinet and shunt stick, connect Erection is placed on support gantry, and can be set on connection frame along the cross beam movement at support gantry, cabinet, and can be along connection frame Vertical direction is mobile, shunts the lower part that stick is set to cabinet；Processing module, processing module are communicatively coupled to mobile bearing pedestal And measurement module.

Specifically, by the setting of measurement module, it is mobile that fixed rubber rollers, first movement compensation rubber rollers and second are measured The abrasion loss and linear resonance surface velocity for compensating rubber rollers adjust fixed rubber by mobile bearing pedestal based on abrasion amount measuring result The spacing of rubber roller and first movement compensation rubber rollers and the second motion compensation rubber rollers, the measurement result tune based on linear resonance surface velocity The driving revolving speed for saving fixed rubber rollers and motion compensation rubber rollers makes to produce rice rate and husking yield is protected.

Preferably, mobile bearing pedestal include: first movement bearing bracket stand, the second mobile bearing bracket stand, connecting rod, Movable stand thread slider, mobile threaded screw rod and shift servo motor, first movement compensate rubber rollers and the second motion compensation rubber The both ends of rubber roller are connected to first movement bearing bracket stand and the second mobile bearing bracket stand, connecting rod connect first movement bearing bracket stand and Second mobile bearing bracket stand, the setting of movable stand thread slider are arranged in first movement bearing bracket stand bottom, mobile threaded screw rod in movement In frame thread slider, the output shaft of shift servo motor is connected to mobile threaded screw rod, and shift servo communications are connected to place Manage module.

Preferably, mobile bearing pedestal further include: mobile sliding block, mobile slide bar, postive stop baffle and limit are opened It closes, mobile sliding block setting is in the second mobile bearing bracket stand bottom, and in mobile sliding block, postive stop baffle is set to shifting for mobile slide bar setting Moving slide-bar both ends, limit switch setting is on mobile sliding block.

Specifically, the mill of mobile bearing pedestal is obtained based on measurement fixation rubber rollers, first movement compensation rubber rollers The abrasion loss of damage amount and the second motion compensation rubber rollers is rotated, then band by the mobile threaded screw rod of shift servo motor driven It moves first movement bearing bracket stand and the second mobile bearing bracket stand is mobile, adjust the abrasion loss and the second movement of first movement compensation rubber rollers Compensate the position of the abrasion loss of rubber rollers.Make the best spacing of holding of fixed rubber rollers and motion compensation rubber rollers.

Mobile threaded screw rod and shift servo motor positioned at first movement bearing bracket stand bottom play driving effect, are located at the Movable stand thread slider, mobile slide bar, postive stop baffle and the limit switch of two mobile bearing bracket stand bottoms play position-limiting action, prevent Mobile bearing pedestal moves out controllable range, causes danger.

Preferably, measurement module respectively include horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, Slide bar sliding block approaches servo motor, lateral servo motor and measurement sensor, and longitudinal screw bar one end is across thread slider, separately One end, which is connected to, approaches servo motor, and longitudinal slide bar one end passes through slide bar sliding block, and horizontal thread bar one end is connected to thread slider, The other end passes through slide bar sliding block and is connected to lateral servo motor, and measurement sensor is arranged on horizontal thread bar；Wherein, mould is measured Longitudinal screw bar one end of block is connected to one end of fixed rubber rollers across thread slider, first movement compensates rubber rollers One end and one end of the second motion compensation rubber rollers, longitudinal slide bar one end of measurement module pass through slide bar sliding block and are connected to admittedly Determine the other end, the other end of first movement compensation rubber rollers and the other end of the second motion compensation rubber rollers of rubber rollers.

Preferably, measurement sensor includes:

Master reference and obstacle avoidance sensor, master reference and obstacle avoidance sensor are set side by side；

Wherein, obstacle avoidance sensor include: anticollision mounting plate, anticollision cantilever crane, anticollision wheel shaft, anticollision suspension, anticollision arc forever Magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the setting of anticollision cantilever crane are pacified in anticollision At the top of loading board, anticollision suspension is arranged on anticollision cantilever crane, and insulation fixing sleeve is set on anticollision suspension, the connection of anticollision wheel shaft one end In anticollision suspension, the other end is connected to the wheel hub of collision avoiding caster, and anticollision induction mouse cage winding and anticollision arc-shaped permanent magnet successively cover It is located on anticollision wheel shaft, anticollision induction electrode is set to anticollision induction mouse cage winding two sides, and one end passes through anticollision suspension and insulation Fixing sleeve.

Wherein, master reference includes sensor housing, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding, screw thread Sleeve, quill, insulation shell, roller housing are set to one end of quill, and squirrel-cage winding is set in one end in quill and connects In the wheel hub of idler wheel, sensor housing is set in squirrel-cage winding outside, and measuring electrode is connected to squirrel-cage winding both ends, passes through Sensor housing, for the setting of arcuate permanent magnetic iron between squirrel-cage winding and sensor housing, screw shell is fixed on sensor shell Body bottom, insulation shell are set in outside sensor housing, and measuring electrode passes through sensor housing and insulation shell set.

It is highly preferred that obstacle avoidance sensor includes: anticollision mounting plate, anticollision cantilever crane, anticollision wheel shaft, anticollision suspension, anticollision arc Shape permanent magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, anticollision mounting plate bottom set It is located on horizontal thread bar, anticollision cantilever crane is arranged at the top of anticollision mounting plate, and anticollision suspension is arranged on anticollision cantilever crane, and insulation is solid It is set on anticollision suspension calmly, anticollision wheel shaft one end is connected to anticollision suspension, and the other end is connected to the wheel hub of collision avoiding caster, prevents It hits induction mouse cage winding and anticollision arc-shaped permanent magnet is sequentially sleeved on anticollision wheel shaft, anticollision induction electrode is set to anticollision induction Mouse cage winds two sides, and one end passes through anticollision suspension and insulation fixing sleeve.

It is highly preferred that obstacle avoidance sensor further includes anticollision fixed pivot pin, anticollision limit follow block, anticollision swing arm pivot pin, buffering Torsionspring and spring follow block, anticollision cantilever crane are articulated at the top of anticollision mounting plate by anticollision swing arm pivot pin, and anticollision limits follow block It is set to anticollision cantilever crane side, anticollision fixed pivot pin is set to the anticollision cantilever crane other side, is connected to anticollision mounting plate, passes through buffering Torsionspring is connected to anticollision fixed pivot pin.

Specifically, which is used to detect the linear resonance surface velocity of rolling body, when use collision avoiding caster preferentially with Rolling body is in contact, collision avoiding caster drive anticollision wheel shaft and anticollision induction mouse cage winding rotation, anticollision incude mouse cage winding with Relative displacement occurs for anticollision arc-shaped permanent magnet, and then generates electric current, and then determines that obstacle avoidance sensor connects with rolling body Touching controls master reference then, close to rolling body, to measure rolling body linear resonance surface velocity compared with low velocity.It is sensed by anticollision The setting of device can drive master reference mobile to object under test at mobile initial stage with fast speed, obstacle avoidance sensor with to After surveying object contact, driving speed is reduced, prevents master reference and rolling body to be measured from sending high velocity impact, reduces master reference The probability of damage.

Specifically, anticollision cantilever crane and anticollision mounting plate are hinged, can play when collision avoiding caster is in contact with rolling body Buffer function, applies lateral pull to anticollision cantilever crane bottom by buffering torsionspring, and anticollision is arranged in the anticollision cantilever crane other side Follow block is limited, and then limits the swing space of anticollision cantilever crane, uses measurement sensor safer.

Specifically, anticollision mounting plate is for fixing obstacle avoidance sensor.

It is highly preferred that further including thin pedestal, thin pedestal is set at the top of horizontal thread bar, and one end is connected to thread slider, The other end is connected to slide bar sliding block, and thin pedestal passes through quill, and measurement sensor is slidably installed on thin pedestal and horizontal thread bar.

Specifically, it tests on the anticollision mounting plate and screw shell of sensor and two fixation holes is respectively set, be arranged respectively It is connected to thin pedestal and horizontal thread bar, keeps master reference and obstacle avoidance sensor more firm.

It is highly preferred that further include shaft coupling, shaft coupling setting is being approached between servo motor and longitudinal screw bar and laterally Between threaded rod and lateral servo motor.

It is highly preferred that fixed rubber rollers drive stepper motor and motion compensation rubber rollers stepper motor, fixed rubber rollers drive step Fixed rubber rollers can be driven to rotate into motor, motion compensation rubber rollers stepper motor can drive motion compensation rubber rollers to turn Dynamic, fixed rubber rollers drive stepper motor and motion compensation rubber rollers stepper motor is communicatively coupled to processing module.

Specifically, processing module is communicatively coupled to fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor, Turn of fixed rubber rollers stepper motor and motion compensation rubber rollers stepper motor can be adjusted based on the detection information of measurement module Speed.

Preferably, longitudinal screw bar is arranged in parallel with longitudinal slide bar, and horizontal thread bar is transversely to the machine direction threaded rod And longitudinal slide bar, the bus of fixed rubber rollers, the bus of motion compensation rubber rollers and horizontal thread bar are parallel to each other.

It preferably, further include rack, fixed rubber rollers are fixedly connected on rack, mobile bearing bottom by connecting rod Seat is respectively arranged at the top and bottom of rack for two.

Preferably, first movement compensation rubber rollers and the second motion compensation rubber rollers form and dimension are identical.

Preferably, the bus of fixed rubber rollers, the bus of first movement compensation rubber rollers, the second motion compensation rubber The bus and horizontal thread bar of rubber roller are parallel to each other.

Preferably, longitudinal screw bar is arranged in parallel with longitudinal slide bar, and horizontal thread bar is transversely to the machine direction threaded rod And longitudinal slide bar.

In use, detection time interval is arranged by processing module, measurement obtains the initial distance of cereal processing space, if Surely the initial linear velocity in surface, the initial linear velocity in surface and the second motion compensation of first movement compensation rubber rollers of fixed rubber rollers The initial linear velocity in the surface of rubber rollers；

Every time interval, processing module control linear resonance surface velocity and the fixation that measurement module measures fixed rubber rollers The radius attrition amount of rubber rollers, first movement compensates the linear resonance surface velocity of rubber rollers and first movement compensates the half of rubber rollers Diameter attrition amount, the radius attrition of the linear resonance surface velocity of the second motion compensation rubber rollers and the second motion compensation rubber rollers Amount；

Processing module adjusts the revolving speed of fixed rubber rollers based on the linear resonance surface velocity of fixed rubber rollers, makes fixation adjusted The linear resonance surface velocity of rubber rollers is equal to the initial linear velocity in surface of fixed rubber rollers；Processing module is based on first movement and compensates rubber The linear resonance surface velocity of roller adjusts the revolving speed of first movement compensation rubber rollers, the linear resonance surface velocity based on people's motion compensation rubber rollers The revolving speed for adjusting the second motion compensation rubber rollers makes the linear resonance surface velocity of motion compensation rubber rollers adjusted be equal to motion compensation The initial linear velocity in the surface of rubber rollers；

The radius abrasion of radius attrition amount, first movement compensation rubber rollers of the processing module based on fixed rubber rollers disappears The radius attrition amount of consumption and the second motion compensation rubber rollers, control mobile bearing pedestal is mobile, adjusts first movement The position for compensating rubber rollers and the second motion compensation rubber rollers makes the distance of cereal processing space be equal to initial distance.

Preferably, the radius attrition amount of the fixed rubber rollers of processing module control measurement module measurement includes:

Measurement obtains initial distance before the abrasion between sensor and fixed rubber rollers；

Every a detection time interval, processing module control approaches servo motor driving horizontal thread bar and measurement is driven to pass Sensor is mobile to fixed rubber rollers；

Obstacle avoidance sensor is contacted with fixed rubber rollers, is then reduced and is approached servo motor revolving speed driving measurement sensor and solid Determine rubber rollers contact, record obtains the distance that measurement sensor moves horizontally；

Initial distance subtracts the distance that measurement sensor moves horizontally before wearing, the radius abrasion as fixed rubber rollers Consumption.

Preferably, the radius attrition amount packet of processing module control measurement module measurement motion compensation rubber rollers It includes:

Measurement obtains initial distance before the abrasion between sensor and fixed rubber rollers；

By the bus of motion compensation rubber rollers by being equidistantly partitioned into multiple measurement points；

Master reference is driven successively with multiple measurement point contacts, to obtain more by approaching servo motor and lateral servo motor Radius value after a abrasion；

Based on radius value after multiple abrasions, radius average value after abrasion is obtained；

The radius attrition amount of motion compensation rubber rollers is obtained based on radius average value after abrasion.

Preferably, the linear resonance surface velocity packet of processing module control measurement module measurement first movement compensation rubber rollers It includes:

Every a detection time interval, processing module control approaches servo motor driving horizontal thread bar and measurement is driven to pass Sensor is mobile to fixed rubber rollers；

Obstacle avoidance sensor is contacted with fixed rubber rollers, is then reduced and is approached servo motor revolving speed driving measurement sensor and solid Determine rubber rollers contact, the revolving speed based on idler wheel obtains the linear resonance surface velocity of motion compensation rubber rollers.

Preferably, the non-equal sub-module of particle stream further includes multiple second driving mechanisms, each second driving mechanism The connection frame for shunting stick mechanism with one is connect, and shunts stick mechanism along the cross beam movement at support gantry for driving；Multiple thirds Driving mechanism, the cabinet that each third driving mechanism shunts stick mechanism with one are connect, and shunt stick along connection frame for driving Vertical direction is mobile；Multiple rotary drive mechanisms, each rotary drive mechanism are set in the cabinet of a shunting stick mechanism, with The top connection for shunting stick, for driving shunting stick to rotate about the axis thereof；Controller, controller control the first driving machine respectively Structure, the second driving mechanism, third driving mechanism and rotary drive mechanism.

Multiple rows of support gantry parallel shelf is set to above feed shedding plate, and by controller, every row supports gantry by one the One driving mechanisms control its moved along the length direction of baffle；Multiple shunting stick mechanisms are arranged according to pascal's triangle in multiple rows of It supports on gantry, the connection frame that each second driving mechanism shunts stick mechanism with one is connect, and driving shunts stick mechanism along support The cross beam movement at gantry, the cabinet that each third driving mechanism shunts stick mechanism with one are connect, and driving shunts the case of stick mechanism Body is moved along the vertical direction of connection frame, is as moved along its axis direction；Each rotary drive mechanism is set to a shunting It in the cabinet of stick mechanism, and is connect with the top for shunting stick, driving shunts stick and rotates about the axis thereof, and realizes to each shunting stick machine The movement of the three-dimensional space direction of structure, particle stream are flowed into from the feed inlet of feed shedding plate, and adjustment shunts stick mechanism in feed baffle The position of top, and shunt stick insertion particle stream depth, by rotary drive mechanism drive shunt stick rotation revolving speed and It turns to, the particle for flowing to discharge port by feed inlet is hit, change the flow direction and speed of particle, realize continuous to particle stream Property, anisotropically shunt, i.e., the flow in same exit is different everywhere, wears nonsynchronous phenomenon to correct rubber roller, prevents The synchronous abrasion of rubber roller in certain period of time.

Preferably, it according to pascal's triangle, is supported close to the first row of feed inlet and is provided with a shunting on gantry Stick mechanism is provided with N number of shunting stick mechanism on N row's support gantry of discharge port, forms positive pascal's triangle；Or close into The first row of material mouth, which supports, is provided with N number of shunting stick mechanism on gantry, be provided with one on N row's support gantry of discharge port A shunting stick mechanism forms positive pascal's triangle, realizes a variety of shunting modes.

Specifically, the one side of baffle be equipped with along baffle length direction be arranged the first lead screw, another side be equipped with Lead screw is symmetrical and guide rod disposed in parallel；The side of first pillar is equipped with sliding block, and the first driving mechanism is set to the second pillar Side, sliding block are connect with guide rail, and the first driving mechanism is connect with the first lead screw.

Specifically, the first driving mechanism includes the first driving motor being set on the first pillar, the first driving motor Output end is equipped with first gear, sets second gear on the first lead screw, first gear is engaged with second gear, the wheel hub of second gear Inner wall is equipped with the first motion thread hole, and the first motion thread hole and the first lead screw are cooperatively connected.

First driving motor is fixed on the second pillar side at support gantry, and output shaft is equipped with first gear, to the Corresponding first lead screw of one gear position is equipped with second gear, and the wheel hub of second gear is equipped with the first motion thread hole and the One lead screw cooperatively forms screw thread pair, and two clamping plates in gear mounting plate being fixedly connected by the second support frame side are to the first tooth Wheel and second gear to it and clamp fixed, the first driving motor driving first gear and second gear engaged transmission, so that support Gantry can move linearly along the axis direction of the first lead screw, drop down to adjust and shunt stick mechanism on support gantry relative to feeding Linear position on plate on the first lead screw.

Specifically, the second driving mechanism is set on crossbeam, is equipped with the second lead screw of multistage along crossbeam, connection frame is equipped with Second motion thread hole, connection frame are set on the second lead screw by the second motion thread hole, the second motion thread hole and second Lead screw is cooperatively connected.

Specifically, the second driving mechanism includes the second driving motor being set on crossbeam, the output of the second driving motor End is equipped with first bevel gear, and the one end of the second lead screw is equipped with second bevel gear, the axis and second bevel gear of first bevel gear Axis it is vertical, and be intermeshed.

It supports and is provided with multiple second driving motor brackets and the second lead screw bracket on the crossbeam at gantry, each second drives Dynamic motor is fixed on crossbeam by fixed electric machine support, and the second lead screw passes through the support of the second lead screw and the second driving motor bracket Upper coaxial two shaft hole matchings installation, realizes the radially fixed of the second lead screw.The output end of second driving motor is equipped with first The one end of bevel gear, the second lead screw is equipped with second bevel gear, and the axis of first bevel gear and the axis of second bevel gear are vertical And be intermeshed, by setting the second motion thread hole on connection frame, the second motion thread hole is set on the second lead screw, and second Motion thread hole and the second lead screw are cooperatively connected, and realize that the rotation of the second driving motor drives connection frame along the water in the second lead screw direction Translation is dynamic.

Specifically, the top of connection frame is equipped with third driving mechanism, and the side of connection frame is equipped with the tenon item being vertically arranged, case The side of body is equipped with the tongue-and-groove being vertically arranged, and tenon item is connect with tongue and groove fit, and cabinet is equipped with third motion thread hole, and third passes The axis vertical setting of dynamic threaded hole.

Third driving motor is set to the top of connection frame, and output shaft is vertically arranged, the output end of third driving motor It is connect by shaft coupling with third lead screw, third motion thread is set to the fixed third motion thread hole sliding block of body side On, third lead screw and third motion thread hole are cooperatively connected, and third driving motor drives the rotation of third lead screw, third motion thread Sliding block drives cabinet to slide along tenon item, realizes the lifting moving for shunting the vertical direction on stick edge.

Specifically, rotary drive mechanism includes rotary drive motor arranged in the box body, and the lower end of cabinet is equipped with output Axis hole, the output shaft of rotary drive motor pass through output shaft hole and connect with the top for shunting stick.

Specifically, the lower circumference surface for shunting stick is equipped with the shunting tooth being distributed along its axis direction, shunts tooth along shunting The lower circumference surface of stick is uniformly distributed.

The shunting tooth for shunting the setting of stick side, the cross sectional shape for shunting tooth is similar to gear, to stir particle stream, so that It shunts stick and particle stream is similar to the impact effects of elastic collision, so that particle is moved along the tangential direction of its rotation, increase Large shunt effect.

By the spatial distribution position of change shunting stick and steering and revolving speed, realize that particle shunts.Particle stream is dropped down from feeding The feed inlet of plate flows into, and adjustment shunts position of the stick mechanism above feed baffle, and shunts the depth of stick insertion particle stream, The revolving speed for shunting stick rotation and steering are driven by rotary drive mechanism, and the particle for flowing to discharge port by feed inlet is hit It hits, changes the flow direction and speed of particle, realization to particle stream continuity, anisotropically shunts, i.e., the flow in same exit It is different everywhere, nonsynchronous phenomenon is worn to correct rubber roller, prevents the synchronous abrasion of rubber roller in certain period of time.

Embodiment 1

Fig. 1 shows showing for the self feed back automation compensation hulling machine of an exemplary embodiment according to the present utility model It is intended to.

As shown in Figure 1, a kind of hulling machine system of self feed back automation compensation of the present embodiment, comprising:

Fixed rubber rollers 3, first movement compensation rubber rollers 4 and the second motion compensation rubber rollers 2, first movement compensate rubber Roller 4 is arranged in parallel in the top of the second motion compensation rubber rollers 2, and fixed rubber rollers 3 are set to first movement compensation rubber rollers 4 and the Two motion compensation rubber rollers, 2 side, compensating rubber rollers 4 and the second motion compensation rubber rollers 2 with first movement, there are cereal processing Space；

Mobile bearing pedestal 7, mobile bearing pedestal set 7 and are placed in 4 top of first movement compensation rubber rollers and the second shifting Dynamic compensation 2 bottom of rubber rollers；

Measurement module 1, measurement module 1 are set to fixed rubber rollers 3, first movement compensation rubber rollers 4 and the second mobile benefit Repay 2 side of rubber rollers；

The non-equal sub-module (not shown in figure 1) of particle stream, the non-equal sub-module of particle stream are moved by fixed mount setting in first The top of cereal processing space between dynamic compensation rubber rollers and fixed rubber rollers；The non-equal sub-module of particle stream, particle stream are non- Sub-module is set to the cereal between first movement compensation rubber rollers 4 and fixed rubber rollers 3 by fixed frame (not shown in figure 1) The top of processing space；

Processing module, processing module are communicatively coupled to mobile bearing pedestal 7 and measurement module 1.

Processing module is communicatively coupled to fixed rubber rollers stepper motor 5 and motion compensation rubber rollers stepper motor, Neng Gouji The revolving speed of fixed rubber rollers stepper motor 5 and motion compensation rubber rollers stepper motor 6 is adjusted in the detection information of measurement module 1.

Fig. 2 shows the schematic diagram of the measurement module of an exemplary embodiment according to the present utility model, Fig. 3 is shown The schematic diagram of the master reference of an exemplary embodiment according to the present utility model, Fig. 4 shows according to the present utility model The schematic diagram of the obstacle avoidance sensor of one exemplary embodiment, Fig. 5 show an exemplary implementation according to the present utility model The schematic diagram of the mobile bearing pedestal of example.

As Figure 2-Figure 5, measurement module 1 is fixedly placed on entire rack (not shown), and preferred its is integrally placed Direction should be at force balance state with horizontal direction parallel, avoid by partical gravity for a long time to its accurate thread face Extruding causes conquassation to damage；Fixed rubber rollers 3 should be fixedly placed in the static pedestal (not shown) in rack, it is preferred that it is put Setting direction should be parallel to the horizontal plane, and rubber rollers generatrix direction should be parallel with 111 direction of horizontal thread bar, and does to its depth of parallelism It requires out；Second motion compensation rubber rollers 4 and first movement compensation rubber rollers 2 are placed in the sliding on movable axle frame module 7 Bearing fit, it is preferred that its placement direction should be parallel to the horizontal plane, while the bus of rubber rollers should be with 111 side of horizontal thread bar To parallel, and requirement is made to its depth of parallelism；Servo motor 101 is approached to be fixedly installed in rack；Longitudinal screw bar 103 passes through Shaft coupling 102 is connect with servo motor 101 is approached, it is preferred that reply approaches the shaft and longitudinal screw bar of servo motor 101 103 concentricities make requirement；Thread slider 104 and longitudinal screw bar 103 cooperate, it is preferred that the essence on reply thread slider 104 The close axis of thread and its end face squareness make requirement；For the setting of anticollision cantilever crane 1051 at 1057 top of anticollision mounting plate, anticollision is outstanding Frame 10513 is arranged on anticollision cantilever crane 1051, and insulation fixing sleeve 10512 is set on anticollision suspension 10513, anticollision wheel shaft 10511 one end are connected to anticollision suspension 10513, and the other end is connected to the wheel hub of collision avoiding caster 1054, and anticollision incudes mouse cage winding 1053 and anticollision arc-shaped permanent magnet 1055 be sequentially sleeved on anticollision wheel shaft 10511, anticollision induction electrode 1052 is set to anticollision Incude mouse cage and wind 1053 two sides, one end passes through anticollision suspension 1051 and insulation fixing sleeve 10512.It is big on obstacle avoidance sensor 105 Fixation hole 10573 is matched with 111 non-threaded sections of horizontal thread bar, and small fixation hole 10572 cooperates with thin pedestal 106, clamp screw It follows closely to match to merge with axial restraint threaded hole 10574 and be inserted into the fixing groove on lateral accurate thread bar 111 to obstacle avoidance sensor 105 Play axial restraint；Thin pedestal 106 is fixedly connected with thread slider 104, slide bar sliding block 110, preferred to cope with related morpheme Tolerance makes requirement, and the axis for specially requiring thin pedestal 106 should be parallel with the axis of surveyed rubber rollers, while the sky that axis determines Between plane should be parallel to the horizontal plane；Screw shell 10754 and horizontal thread bar 111 in the sensor shell 1075 of master reference 107 Cooperation, quill 10752 and thin pedestal 106 cooperate, and the geometric tolerance for preferably coping with its correlation cooperation makes requirement；It is longitudinal sliding Bar 109 is set in rack, it is preferred that its setting direction should be parallel to the horizontal plane, and hang down with the rubber rollers axial space of measurement Directly；Lateral servo motor 108 should be set in rack and can be relative to rack transversely 111 axis direction level of threaded rod shifting It is dynamic；Lateral servo motor 108 is connect by shaft coupling 102 with horizontal thread bar 111, it is preferred that the concentricity for coping with the two is done It requires out；Non-threaded section of 111 both ends of horizontal thread bar and fixation hole cooperation and axial direction on slide bar sliding block 110, thread slider 104 It fixes and can be freely rotated relative to two sliding blocks, it is preferred that cope with related geometric tolerance and make requirement；The wheel hub of idler wheel 1071 with Quill 10752 cooperates, and axle sleeve end cap 10751 plays the role of axial restraint to it, it is preferred that the central point of idler wheel 1071 is distinguished With fixed rubber rollers 3, first movement compensation rubber rollers 4 and 2 center of the second motion compensation rubber rollers on a horizontal line, To guarantee the accuracy of measurement；Measuring electrode 1072 should pass through insulation shell 10753 and be fixed on sensor shell 1075, want simultaneously Guarantee that measuring electrode 1072 and squirrel-cage wind 1074 liang of end in contact, arcuate permanent magnetic iron 1073 is fixed in sensor shell 1075 Portion, so that squirrel-cage winding 1074 is in its magnetic field；Squirrel-cage winding 1074 and the wheel hub of idler wheel 1071 are fixed, and squirrel-cage is made Winding 1074 can be freely rotated with idler wheel 1071；Insulation shell 10753 is set in sensor shell 1075；Anticollision cantilever crane 1051 by Swing arm pivot pin 10577 is fixed and can be rotated；Anticollision induction electrode 1052 passes through insulation fixing sleeve 10512 and is fixed on anticollision suspension On 10513；Anticollision induction mouse cage winding 1053 and the wheel hub of collision avoiding caster 1054 are fixed；The wheel hub of collision avoiding caster 1054 and anticollision Wheel shaft 10511 cooperates；Anticollision arc-shaped permanent magnet 1055 is set to 10513 inner wall of anticollision suspension；Torsionspring 1056 is buffered by solid Fixed axle pin 10575 is fixed, and buffering torsionspring 1056 pushes down 1051 edge of anticollision cantilever crane on one side, and another side resists spring follow block 10571, it is preferred that guarantee that anticollision swing arm frame forward extends out certain angle, make the collision avoiding caster when sensor approaches rubber rollers 1054 prior to master reference idler wheel 1071, with guarantee realize collision prevention function；It is another that limit follow block 10576 resists anticollision cantilever crane 1051 Angle limit is played the role of in one end；Connecting rod 72 and fixed mobile bearing bracket stand 71 and first movement bearing bracket stand 73 are fixed, play solid It is set for using；Postive stop baffle 761 is set to mobile 76 both ends of slide bar, and the setting of limit switch 77 is on mobile sliding block, movable stand screw thread Sliding block is set to 73 lower end of first movement bearing bracket stand, and movable stand thread slider and mobile threaded screw rod 74 cooperate；Shift servo electricity Machine 75 is coupled by shaft coupling with mobile threaded screw rod 74, it is preferred that both replies concentricity claims, shift servo motor 75 are set in rack；Mobile slide bar 76 and the accurate sliding block of second mobile bearing bracket stand one end cooperate, and mobile slide bar 76 is set to In rack, it is preferred that its axis installation direction is parallel to the horizontal plane, and perpendicular to rubber roll axis；Mobile threaded screw rod 74 is another One end is set in rack, it is preferred that its axis installation direction is parallel with mobile 76 axis of slide bar；Limit switch 77 is fixed on On the mobile sliding block of two mobile 71 one end of bearing bracket stand, and guarantee that limit switch 77 can be contacted with limit switch 77.

Fig. 6 shows the structural representation of the non-equal sub-module of particle stream of an exemplary embodiment according to the present utility model Figure, Fig. 7 show the partial structurtes signal of the non-equal sub-module of particle stream of an exemplary embodiment according to the present utility model Figure, Fig. 8 a show the partial enlarged view of the single diversion mechanism in the utility model one embodiment, and Fig. 8 b shows this reality With the partial enlarged view at single support gantry in novel one embodiment, Fig. 9 a is shown in the utility model one embodiment Single shunting stick mechanism axis side structure schematic diagram.Fig. 9 b shows the single shunting stick in the utility model one embodiment The partial enlarged view of mechanism, the plan structure that Figure 10 shows the single shunting stick mechanism in the utility model one embodiment are shown It is intended to, Figure 11 a shows the structural schematic diagram of the first driving mechanism in the utility model one embodiment, and Figure 11 b is shown The structural schematic diagram of second gear in the utility model one embodiment.

As shown in Fig. 6-Figure 11 b, the non-equal sub-module 8 of a kind of particle stream of the present embodiment, comprising: feed shedding plate 82, feeding Drop down plate 82 be it is dustpan-shaped, two sides be equipped with baffle 81, one end be equipped with feed inlet, the other end be equipped with discharge port；Four rows support gantry 811, four rows support to be parallel to each other between gantry 811, is set up in 82 top of feed shedding plate, and support gantry 811 includes two vertical The first pillar and the second pillar being arranged, and the crossbeam being horizontally placed on the first pillar and the second pillar；Four first drives Motivation structure 815, each first driving mechanism 815 are connect with a support gantry 811, for driving support gantry 811 along baffle 81 length horizontal direction is mobile；Ten shunting stick mechanisms 812, ten shunting stick mechanisms 812 are arranged according to pascal's triangle, setting It is supported on gantry in four rows；Wherein, shunting stick mechanism 812 includes connection frame 1206, cabinet 1209 and shunting stick 1211, connection frame 1206 are set on support gantry 811, and can be set to connection frame 1206 along the cross beam movement at support gantry 811, cabinet 1209 On, and can be slided along the vertical direction of connection frame 1206, it shunts stick 1211 and is set to 1209 lower part of cabinet；Ten the second driving machines Structure, the connection frame 1206 that each second driving mechanism shunts stick mechanism 812 with one are connect, and shunt stick mechanism 812 for driving It moves in crossbeam direction along support gantry 811；Ten third driving mechanisms, each third driving mechanism and a shunting stick mechanism Cabinet 1209 connect, shunt stick 1211 for driving and move along its axis direction；Ten rotary drive mechanisms, each rotation are driven Motivation structure is set in the cabinet 1209 of a shunting stick mechanism 812, is connect with the top for shunting stick 1211, is shunted for driving Stick 1211 rotates about the axis thereof；Controller, controller control the first driving mechanism 815, the second driving mechanism, third driving respectively Mechanism and rotary drive mechanism.

According to pascal's triangle, is supported close to the first row of feed inlet and be provided with a shunting stick mechanism 812 on gantry 811； It is supported close to the 4th row of discharge port and shunts stick mechanism 812 on gantry 811 there are four settings.

Second row, which supports, to be arranged there are two Liu Bang mechanism 812 on gantry 811, and third row's support is provided with three on gantry 811 Ge Liu stick mechanism 812.

The one side of baffle 81 is equipped with horizontally disposed first lead screw 813 of length direction along baffle 801, and another side is set There is the guide rod 816 with the symmetrical parallel setting of the first lead screw 813；The side of first pillar is equipped with sliding block 8111, the first driving mechanism 815 are set to the side of the second pillar, and sliding block 8111 is connect with guide rail, and the first driving mechanism 815 is connect with the first lead screw 813, Guide rod 816 schedules the left outside side of baffle 81 by guide bar support solid 813, and the first lead screw 813 is solid by lead screw guide rails bracket 813 Due to the right lateral surface of baffle 81.

First driving mechanism 815 includes the first driving motor 151 being set on support gantry 811, the first driving motor 151 output end is equipped with first gear 152, to setting second gear 154 on corresponding first lead screw 812 in 152 position of first gear, First gear 152 is engaged with second gear 154, and the wheel hub of second gear 154 is equipped with the first motion thread hole 1541, and first passes Dynamic threaded hole 1541 and the first lead screw 813 are cooperatively connected.

Two clamping plates in gear mounting plate 153 being fixedly connected by the second support frame side are to first gear 152 and Two gears 154, which are aligned and clamp, to be determined, and the first driving motor 151 drives 154 engaged transmission of first gear 152 and second gear, is made It must support gantry 811 that can move linearly along the axis direction of the first lead screw 813, shunt stick on support gantry 811 to adjust Mechanism 812 relative on feed shedding plate 802 along the position of the first lead screw 813.

Second driving mechanism is set on crossbeam, is equipped with the second lead screw of multistage 1204 along crossbeam, is set on connection frame 1206 There is the second motion thread hole 12061, connection frame 1206 is set on the second lead screw 1204 by the second motion thread hole 12061, Second motion thread hole 12061 and the second lead screw 1204 are cooperatively connected.

Second driving mechanism includes the second driving motor 1201 being set on crossbeam, the output of the second driving motor 1201 End is equipped with first bevel gear 1202, and the one end of the second lead screw 1204 is equipped with second bevel gear 1203, first bevel gear 1202 Axis is vertical with the axis of second bevel gear 1203 and is intermeshed.It supports and is provided with multiple second drives on the crossbeam at gantry 811 Dynamic electric machine support 12011 and the second lead screw bracket 1205, each second driving motor 1201 pass through the second driving motor bracket 12011 are fixed on crossbeam, and the second lead screw 1204 passes through same on the second lead screw bracket 1205 and the second driving motor bracket 12011 Two shaft hole matchings of axis are installed, and realize the radially fixed of the second lead screw 1204.By setting the second transmission on connection frame 1206 Threaded hole 12061, the second motion thread hole 12061 are set on the second lead screw 1204, the second motion thread hole 12061 and second Lead screw 1204 is cooperatively connected, and realizes the rotation of the second driving motor 1201, drives connection 1206 along the water in 1204 direction of the second lead screw Translation is dynamic.The top of connection frame 1206 is equipped with third driving mechanism, and the side of connection frame 1206 is equipped with the tenon item being vertically arranged 12063, the side of cabinet 1209 is equipped with the tongue-and-groove 12062 being vertically arranged, and tenon item 12063 and tongue-and-groove 12062 are cooperatively connected, cabinet 1209 are equipped with third motion thread hole, and the axis vertical in third motion thread hole is arranged.Third driving mechanism includes being set to The output end of the third driving motor 1207 on the top of connection frame 1206, third driving motor 1207 is equipped with third lead screw 1208, Third lead screw 1208 and third motion thread hole are cooperatively connected.The output end of third driving motor 1207 by shaft coupling 1210 with Third lead screw 1208 connects, third motion thread is set on the third motion thread hole sliding block 12091 of body side, third Lead screw 1208 and third motion thread hole are cooperatively connected, and third driving motor drives third lead screw 1208 to rotate, and third is driven spiral shell Line sliding block 12091 drives cabinet 1209 to slide along tenon item 12091, realizes the lifting moving for shunting the vertical direction on 1211 edge of stick. Rotary drive mechanism includes the rotary drive motor 1212 being set in cabinet 1209, and the lower end of cabinet 1209 is equipped with output shaft hole 12092, the output shaft of rotary drive motor 1212 passes through output shaft hole 12092 and connect with the top for shunting stick 1211.Rotation is driven Dynamic motor 1212 is fixed in cabinet by the mounting groove 12093 in cabinet 1209, and there are rotations on the top of mounting groove 12094 The output shaft of the cabling space of driving motor 1212, rotary drive motor 1212 is stretched out by the output shaft hole of cabinet lower end, and It is connect with the top for shunting stick 1211, drives shunting stick rotatable around its axis.The lower circumference surface for shunting stick 1211 is equipped with edge The shunting tooth 12111 of its axis direction distribution shunts tooth 12111 and is uniformly distributed along the lower circumference surface for shunting stick 1211.Point The shunting tooth 12111 of 1211 side of stick setting is flowed, the cross sectional shape for shunting tooth 12111 is similar to gear, to stir particle stream, So that the impact effects that stick 1211 is similar to elastic collision with particle stream are shunted, thus tangential direction of the particle along its rotation Movement increases shunting effect.

The embodiments of the present invention are described above, above description is exemplary, and non-exclusive, and It is also not necessarily limited to disclosed embodiment.Without departing from the scope and spirit of embodiment described, for this technology Many modifications and changes are obvious for the those of ordinary skill in field.The selection of term used herein, it is intended to The principle, practical application or the improvement to the technology in market of embodiment are best explained, or makes the other of the art Those of ordinary skill can understand embodiments disclosed herein.

Claims (10)

1. a kind of hulling machine system of self feed back automation compensation, which is characterized in that the hulling machine system includes:

Fixed rubber rollers, first movement compensation rubber rollers and the second motion compensation rubber rollers, the first movement compensate rubber rollers It is arranged in parallel at the top of the second motion compensation rubber rollers, the fixed rubber rollers are set to the first movement compensation rubber Roller and the second motion compensation rubber rollers side compensate rubber rollers with the first movement and the second motion compensation rubber rollers are stayed There is cereal processing space；

Mobile bearing pedestal, the mobile bearing pedestal is set at the top of first movement compensation rubber rollers and described second moves Dynamic compensation rubber rollers bottom；

Measurement module, the measurement module are set to the fixed rubber rollers, first movement compensation rubber rollers and the second mobile benefit Repay rubber rollers side；

The non-equal sub-module of particle stream, the non-equal sub-module of particle stream compensate rubber in the first movement by fixed mount setting The top of cereal processing space between roller and the fixed rubber rollers；

Wherein, the non-equal sub-module of particle stream includes: feed shedding plate, the feed shedding plate be it is dustpan-shaped, two sides be equipped with baffle, one End is equipped with feed inlet, and the other end is equipped with discharge port；

Multiple rows of support gantry is parallel to each other between described multiple rows of support gantry, is set up in above the feed shedding plate, the support Gantry includes two the first pillars and the second pillar being vertically arranged, and is horizontally placed on first pillar and the second pillar On crossbeam；

Multiple first driving mechanisms, each first driving mechanism are connect with the support gantry, described for driving It is moved along the length direction of baffle at support gantry；

Multiple shunting stick mechanisms, the multiple shunting stick mechanism are arranged according to pascal's triangle, are set to described multiple rows of support gantry On；

Wherein, the shunting stick mechanism includes connection frame, cabinet and shunts stick, and the connection frame is set to described support gantry On, and can be set on the connection frame along the cross beam movement at described support gantry, the cabinet, and can be along the connection frame Vertical direction is mobile, the lower part for shunting stick and being set to the cabinet；

Processing module, the processing module are communicatively coupled to the mobile bearing pedestal and the measurement module.

2. the hulling machine system of self feed back automation compensation according to claim 1, wherein the mobile bearing pedestal It include: that first movement bearing bracket stand, the second mobile bearing bracket stand, connecting rod, movable stand thread slider, mobile threaded screw rod and movement are watched Motor is taken, the first movement compensates rubber rollers and the both ends of the second motion compensation rubber rollers are connected to described first Mobile bearing bracket stand and the second mobile bearing bracket stand, the connecting rod connect the first movement bearing bracket stand and second movement Bearing bracket stand, the movable stand thread slider setting exist in first movement bearing bracket stand bottom, the mobile threaded screw rod setting In the movable stand thread slider, the output shaft of the shift servo motor is connected to the mobile threaded screw rod, the movement Servo motor is communicatively coupled to the processing module.

3. the hulling machine system of self feed back automation compensation according to claim 2, wherein the mobile bearing pedestal Further include: mobile sliding block, mobile slide bar, postive stop baffle and limit switch, the mobile sliding block are arranged in second shifting axle Bolster bottom, the mobile slide bar are arranged in the mobile sliding block, and the postive stop baffle is set to the mobile slide bar both ends, The limit switch is arranged on the mobile sliding block.

4. the hulling machine system of self feed back automation compensation according to claim 1, wherein the measurement module wraps respectively It includes horizontal thread bar, longitudinal screw bar, longitudinal slide bar, thread slider, slide bar sliding block, approach servo motor, lateral servo motor And measurement sensor, longitudinal screw bar one end pass through the thread slider, the other end, which is connected to, approaches servo motor, described Longitudinal slide bar one end passes through the slide bar sliding block, and horizontal thread bar one end is connected to the thread slider, and the other end passes through The slide bar sliding block is connected to the lateral servo motor, and the measurement sensor is arranged on the horizontal thread bar；

Wherein, longitudinal screw bar one end of the measurement module passes through the thread slider and is connected to the fixed rubber rollers One end, the first movement compensation rubber rollers one end and the second motion compensation rubber rollers one end, the measurement mould Longitudinal slide bar one end of block passes through the slide bar sliding block and is connected to the other end of the fixed rubber rollers, the first movement Compensate the other end of rubber rollers and the other end of the second motion compensation rubber rollers.

5. the hulling machine system of self feed back automation compensation according to claim 4, wherein the measurement sensor packet It includes:

Master reference and obstacle avoidance sensor, the master reference and obstacle avoidance sensor are set side by side；

Wherein, the obstacle avoidance sensor include: anticollision mounting plate, anticollision cantilever crane, anticollision wheel shaft, anticollision suspension, anticollision arc forever Magnet, anticollision induction mouse cage winding, anticollision induction electrode, collision avoiding caster and insulation fixing sleeve, the anticollision cantilever crane are arranged in institute It states at the top of anticollision mounting plate, the anticollision suspension is arranged on the anticollision cantilever crane, and the insulation fixing sleeve is set in described anti- It hits on suspension, anticollision wheel shaft one end is connected to the anticollision suspension, and the other end is connected to the wheel hub of the collision avoiding caster, institute It states anticollision induction mouse cage winding and the anticollision arc-shaped permanent magnet is sequentially sleeved on the anticollision wheel shaft, the anticollision induced electricity Pole is set to anticollision induction mouse cage winding two sides, and one end passes through the anticollision suspension and the insulation fixing sleeve.

6. the hulling machine system of self feed back automation compensation according to claim 5, wherein the master reference includes passing Sensor shell, idler wheel, measuring electrode, arcuate permanent magnetic iron, squirrel-cage winding, screw shell, quill, insulation shell, the rolling Wheel is sheathed on one end of the quill, and the squirrel-cage winding is set in the wheel hub that one end in quill is connected to idler wheel, institute It states sensor housing and is set in squirrel-cage winding outside, the measuring electrode is connected to squirrel-cage winding both ends, wears The sensor housing is crossed, the arcuate permanent magnetic iron setting is described between squirrel-cage winding and the sensor housing Screw shell is fixed on the sensor housing bottom, and the insulation shell is set in outside the sensor housing, the survey It measures electrode and passes through the sensor housing and the insulation shell set.

7. the hulling machine system of self feed back automation compensation according to claim 1, wherein the particle stream is non-to divide equally mould Block further include:

Multiple second driving mechanisms, each second driving mechanism connect with a connection frame for shunting stick mechanism, use In the driving stick mechanism that shunts along the cross beam movement at described support gantry；

Multiple third driving mechanisms, each third driving mechanism connect with a cabinet for shunting stick mechanism, are used for The shunting stick is driven to move along the vertical direction of the connection frame；

Multiple rotary drive mechanisms, each rotary drive mechanism are set in the cabinet for shunting stick mechanism, with The top connection for shunting stick, for driving the shunting stick to rotate about the axis thereof.

8. the hulling machine system of self feed back automation compensation according to claim 7, wherein the particle stream is non-to divide equally mould Block further include: controller, the controller control first driving mechanism, the second driving mechanism, third driving mechanism respectively And rotary drive mechanism.

9. the hulling machine system of self feed back according to claim 8 automation compensation, wherein according to the pascal's triangle, It is provided with the shunting stick mechanism on support gantry described in first row close to the feed inlet, close to the discharge port N is arranged and is provided with N number of shunting stick mechanism on described support gantry, forms positive pascal's triangle；Or close to the feed inlet It is provided with N number of shunting stick mechanism on support gantry described in first row, the N close to the discharge port arranges described support gantry On be provided with the shunting stick mechanism, form positive pascal's triangle.

10. the hulling machine system of self feed back automation compensation according to claim 8, wherein the lower part for shunting stick Circumferential surface is equipped with the shunting tooth being distributed along its axis direction, and the shunting tooth is uniform along the lower circumference surface for shunting stick Distribution.