Grain surface leveling robot lifting system and control method and strategy thereof

Abstract

The invention relates to a grain surface leveling robot lifting system and control method and strategy thereof. A servo motor transfers the torque to lifting rope components on both sides after the servo motor is rotatably connected with a driving shaft through a high-precision gear set, so that the consistency of the linear speed of two cord lifting mechanisms from the hardware is ensured, and abasis for quantitative lifting is provided. A stay wire sensor is installed above a frame and on one side of a winding roll, so that the basis for the quantitative lifting control of the system is provided. A bearing and a high-precision axial matching shaft are used in two cross connecting rod supporting mechanisms, a line rail roller and a sliding seat guide are introduced at the same time, so that the axial and radial movement in the process of the connecting rod action is reduced, the rigidity of the single set cross connecting rod mechanism is ensured, and the front and back and left andright movement of a connecting grain surface leveling working mechanism is avoided. A limiting sensor effectively ensures the safety of equipment, especially effectively avoids the mechanism collisionproblem caused by accidental failure or misoperation during the installation and commissioning of the equipment.

Description

technical field [0001] The invention relates to the field of grain leveling, in particular to a leveling robot lifting system and its control method and strategy. Background technique [0002] At present, the closing work of grain storage in my country is purely manual work. Not only is the closing speed slow, labor-intensive and labor-intensive, but also the quality of closing is difficult to guarantee, especially for grain piles with large height differences. Warehouse machine to achieve liquidation. [0003] A Chinese patent discloses a grain leveling machine (authorized announcement number CN203998207U), which includes horizontally arranged rails along the inner walls on both sides of the warehouse. There are brackets placed horizontally between the rails. Track wheels, at least one track wheel is driven by a motor, and there is also an unwinding device slidingly connected with the bracket on the bracket. The unwinding equipment includes a rotating rod driven by a motor,...

AI Technical Summary

Problems solved by technology

[0004] Combining the above patents and the existing commonly used unwinding equipment, the following problems generally exist: 1. The lifting stroke of the unwinding equipment is insufficient, and when the granary is not fully loaded, the stirring blades of the unwinding equipment cannot touch the grain; 2. , It does not have the ability of self-lifting and obstacle avoidance, and the degree of intelligence is not high; 3. The traditional lifting mechanism uses a scissor lift, and the lift uses slide rails and sliders as travel limits. It is easy to wear the slider and the slide rail under the drop and drag, which will further cause shaking

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