Reciprocating grain distribution robot

Abstract

The present invention relates to a reciprocating grain distribution robot for distributing grain to a granary, comprising a grain loading device for being arranged outside the granary, and a grain conveying and distributing device; the grain conveying and distributing device comprises a horizontal grain conveyor belt for being arranged on the top of the granary, a transverse grain distributing mechanism, and a grain distributing mechanism connecting the horizontal grain conveyor belt and the transverse grain distributing mechanism; wherein the transverse grain distributing mechanism comprises a distributing frame for being slidably arranged on the granary, a distributing pipe structure arranged on the distributing frame and connected to the grain distributing mechanism, and a distributing funnel structure movably arranged at the bottom of the distributing pipe structure, and the distributing funnel structure has a reciprocating movable stroke along the extending direction of the distributing pipe structure. The present invention aims to solve the problem that the traditional technology of leveling grain in the granary requires a lot of manpower and material resources, is inefficient and costly.

Description

Technical Field

[0001] The invention relates to the technical field of granary equipment, and in particular to a reciprocating grain distribution robot. Background Art

[0002] Grain surface leveling is an important part of daily granary management. After the grain surface in the granary is leveled, it is convenient for grain ventilation to balance the temperature of the grain in the granary to prevent uneven heat dissipation of the grain, and to prevent the heat from being concentrated on the top of the conical grain pile and accelerating grain deterioration. Moreover, after the grain surface in the granary is leveled, it is also convenient to control the humidity in the granary, measure the volume of grain in the granary, remove impurities, keep the grain surface clean and not easy to form condensation, and detect granary abnormalities. However, in traditional technology, grain loading and leveling are usually achieved manually, which consumes a lot of manpower to transport the grain to the granary, and consumes a lot of manpower, material resources and financial resources to flatten the unevenly distributed conical grain piles by manual tools, which is very inefficient, costly, and the leveling effect is still poor. Summary of the invention

[0003] Based on this, the present invention provides a reciprocating grain-distributing robot, aiming to solve the problem in traditional technology that leveling grain in a granary requires a lot of manpower and material resources, is inefficient and costly.

[0004] In order to achieve the above object, the present invention proposes the following technical solutions:

[0005] A reciprocating grain distribution robot, used for distributing grain in a granary, comprises:

[0006] A grain loading device, which is arranged outside the grain silo; and

[0007] The grain conveying and distributing device comprises a horizontal grain conveying belt arranged on the top of the grain silo, a transverse grain distributing mechanism, and a grain distributing mechanism connecting the horizontal grain conveying belt and the transverse grain distributing mechanism, wherein the horizontal grain conveying belt is matched with the grain feeding device and is passed through the grain distributing mechanism, the transverse grain distributing mechanism is slidably arranged on the top of the grain silo and is arranged in an alternating manner with the horizontal grain conveying belt, and the grain distributing mechanism is arranged on the transverse grain distributing mechanism;

[0008] Among them, the horizontal grain distribution mechanism includes a distribution rack slidably arranged on the granary, a distribution pipe structure arranged on the distribution rack and connected to the grain distribution mechanism, and a distribution funnel structure movably arranged at the bottom of the distribution pipe structure, and the distribution funnel structure has a reciprocating movement stroke along the extension direction of the distribution pipe structure.

[0009] Optionally, the material distribution pipe structure includes a material distribution pipe fixedly arranged on the material distribution frame;

[0010] The material distribution funnel structure includes a funnel reciprocating frame slidably arranged on the material distribution pipe, a plurality of discharge funnels arranged on the funnel reciprocating frame and located at the bottom of the material distribution pipe, and a reciprocating driving structure arranged on the material distribution frame and connected to the funnel reciprocating frame. The bottom of the material distribution pipe is provided with distribution holes corresponding to the funnel inlets at the tops of the plurality of discharge funnels along the extension direction of the material distribution pipe.

[0011] Optionally, the funnel reciprocating frame includes a sliding guide rail frame arranged on the material distribution pipe, and a sliding plate structure slidably mounted on the sliding guide rail frame, the sliding guide rail frame and the sliding plate structure are both arranged along the extension of the material distribution pipe, a plurality of the discharge funnels are evenly arranged on the sliding plate structure, and the sliding plate structure is connected to the reciprocating driving structure.

[0012] Optionally, the sliding guide rail frame includes sliding guide plates respectively arranged on both sides of the material distribution pipe and arranged in an extending manner along the material distribution pipe, and a guide rail fixing plate connected to the material distribution pipe, and the guide rail fixing plate is connected to the sliding guide plate;

[0013] The sliding plate structure includes sliding side plates respectively arranged on both sides of the material distribution pipe, and a slide plate fixing plate connected to the sliding side plates, each of the sliding side plates is correspondingly slidably arranged on one of the sliding guide plates, a plurality of the discharge funnels are arranged at the bottom position between the two sliding side plates, and the slide plate fixing plate is slidably arranged on the material distribution pipe.

[0014] Optionally, the reciprocating drive structure includes a linear drive motor arranged on the cloth rack, a reciprocating drive shaft connected to the output shaft of the linear drive motor, and a reciprocating telescopic rod connected to the reciprocating drive shaft, and the reciprocating telescopic rod is connected to the sliding plate structure.

[0015] Optionally, the material distribution funnel structure further comprises a funnel support plate arranged on the slide plate fixing plate, the bottoms of the plurality of discharge funnels are all fixed on the funnel support plate, and the tops of the plurality of discharge funnels are all arranged on the sliding side plate;

[0016] A plurality of discharge holes are provided at the bottom of the funnel support plate, and the plurality of discharge holes correspond one-to-one to the funnel outlets at the bottom of the plurality of discharge funnels.

[0017] Optionally, the material distribution funnel structure includes a funnel flow regulating mechanism provided on the material distribution frame, the funnel flow regulating mechanism is located at the bottom of the funnel support plate and is used to adjust the opening of the funnel outlets at the bottom of the plurality of discharge funnels;

[0018] The funnel flow regulating mechanism comprises an adjusting driving structure arranged on the material distributing frame, and a flow regulating plate connected to the adjusting driving structure, wherein the flow regulating plate is correspondingly arranged at the bottom of the funnel supporting plate;

[0019] The flow regulating plate is provided with a plurality of regulating holes, each of which corresponds to one of the discharge holes, and the regulating driving structure is used to drive the flow regulating plate to move relative to the funnel support plate so that the regulating hole is misaligned or aligned with the discharge hole.

[0020] Optionally, the material distribution pipe structure includes a spiral grain pushing mechanism provided on the material distribution frame, the spiral grain pushing mechanism extends into a material distribution cavity formed in the material distribution pipe, and is used to spirally push the grain in the material distribution cavity along the extension direction of the material distribution pipe;

[0021] The spiral grain pushing mechanism includes a spiral pushing shaft arranged in the material distributing cavity and along the extending direction of the material distributing pipe, and a spiral pushing driving structure connected to the spiral pushing shaft, and the spiral pushing driving structure is arranged on the material distributing frame.

[0022] Optionally, the material distribution pipe structure includes a material sensing mechanism provided on the material distribution frame, and the material sensing mechanism corresponds to and cooperates with the material distribution pipe;

[0023] The material sensing mechanism includes a laser transmitter disposed on the material distribution frame, and a laser receiver rotatably disposed on the inner wall of the end of the material distribution pipe, and the laser receiver cooperates with the laser transmitter;

[0024] Among them, when the food material in the distribution pipe reaches the end of the distribution pipe and squeezes the laser receiver out of the end of the distribution pipe, and makes the laser receiver face the laser transmitter, the laser receiver works normally.

[0025] Optionally, the food distributing mechanism comprises:

[0026] A material collecting bin is arranged on the material distributing pipe, and a material collecting cavity is formed in the material collecting bin and is connected with the material distributing cavity of the material distributing pipe;

[0027] A feed bin is disposed on the top of the material collecting bin, wherein a feed cavity communicating with the material collecting cavity is formed in the feed bin; and

[0028] A material guide plate is protrudingly arranged on the side of the feed bin, and a material belt installation gap for a horizontal grain conveyor belt to pass through is formed between the bottom of the material guide plate and the top of the collection bin;

[0029] Among them, a feed port connected to the feed cavity is opened on the top of the feed bin, and the feed port corresponds to the side of the horizontal grain conveyor belt. The guide plate protrudes outside the feed port and is used to intercept the grain transported on the horizontal grain conveyor belt into the feed port.

[0030] In the technical solution provided by the present invention, the grain outside the granary can be transported to the grain transport and distribution device on the top of the granary through the grain feeding device. The grain transport and distribution device can transport and distribute the grain so that the grain is evenly distributed in the granary. The entire grain loading and leveling is automatically performed by mechanical equipment, which can greatly reduce the consumption of manpower, material resources and financial resources, and has high efficiency and good leveling effect. Specifically, the grain can be lifted onto the horizontal grain conveyor belt arranged on the top of the granary by using the grain feeding device, and the horizontal grain conveyor belt can convey the grain along the horizontal longitudinal direction of the granary (from one end of the granary to the other end of the granary), and during the conveying process, the grain distributing mechanism arranged on the horizontal grain conveyor belt can intercept the grain on the horizontal grain conveyor belt and input it into the transverse grain spreading mechanism, and the transverse grain spreading mechanism can convey and distribute the grain along the transverse direction of the granary, and the transverse grain spreading mechanism can also move along the extension direction of the horizontal grain conveyor belt, and can distribute the grain from one end of the granary to the other end of the granary, so that the whole granary can be fully distributed and the distribution can be fully flat. Moreover, during the distribution process of the transverse grain spreading mechanism, the distribution pipe structure connected to the grain distributing mechanism can transport and arrange the grain along the transverse direction of the granary, and then distribute the grain through the distribution funnel structure at the bottom of the distribution pipe structure, so that the grain is distributed into the granary along the extension direction of the distribution pipe structure. Moreover, during the material feeding process of the cloth funnel structure, the cloth funnel structure can also reciprocate along the extension direction of the cloth tube structure, so that the food will move back and forth in a line during the material feeding process, and will not form accumulation at certain points, thereby making the cloth smoother. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0032] Figure 1 This is a schematic diagram of the three-dimensional structure of the reciprocating grain distribution robot (when installed on a grain silo) according to an embodiment of the present invention;

[0033] Figure 2It is a three-dimensional structural schematic diagram of the horizontal grain distribution mechanism of the reciprocating grain distribution robot according to an embodiment of the present invention;

[0034] Figure 3 for Figure 2 A schematic diagram of a local enlarged structure of a local A;

[0035] Figure 4 for Figure 3 A front view (partial cross-section) schematic diagram of the structure;

[0036] Figure 5 It is a partial cross-sectional structural schematic diagram of the material distribution pipe structure of the reciprocating grain distribution robot according to an embodiment of the present invention;

[0037] Figure 6 for Figure 4 A schematic diagram of a local enlarged structure of a local C;

[0038] Figure 7 for Figure 2 A schematic diagram of a local enlarged structure of a local B;

[0039] Figure 8 for Figure 7 A schematic diagram of a local enlarged structure of a local D;

[0040] Fig. 9 It is a partial cross-sectional structural schematic diagram of the material sensing mechanism (in the initial state) of the reciprocating grain distribution robot according to an embodiment of the present invention;

[0041] Fig.10 It is a partial cross-sectional structural schematic diagram of the material sensing mechanism (under normal working state) of the reciprocating grain distribution robot according to an embodiment of the present invention;

[0042] Fig.11 It is a partial cross-sectional structural schematic diagram of the material sensing mechanism (under abnormal working state) of the reciprocating grain distribution robot according to an embodiment of the present invention.

[0043] Description of Figure Numbers:

[0044]

[0045]

[0046] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0049] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or suggesting their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In addition, the technical solutions between the various embodiments can be combined with each other, but they must be based on the ability of ordinary technicians in the field to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0050] like Figure 1 As shown, the present invention proposes a reciprocating grain distribution robot for distributing grain to a granary 10. The reciprocating grain distribution robot includes a grain loading device 100 for being arranged outside the granary 10, and a grain conveying and distributing device for being arranged on the top of the granary 10, and the grain conveying and distributing device cooperates with the grain loading device 100. Through the grain loading device 100, the grain outside the granary 10 can be transported to the grain conveying and distributing device on the top of the granary, and the grain conveying and distributing device can transport and distribute the grain on the top of the granary 10, so that the grain is evenly and evenly distributed in the granary 10. The entire grain loading and leveling is automatically performed by mechanical equipment, which can greatly reduce the consumption of manpower, material resources and financial resources, and has high efficiency and good leveling effect.

[0051] Specifically, the grain feeding device 100 may include a feeding frame 110 that is tilted and arranged outside the granary 10, a feeding conveyor belt 120 arranged on the feeding frame 110, and a feeding hopper 130 arranged at the discharge end of the feeding conveyor belt 120, and the feeding hopper 130 is located above the grain conveying and distributing device. That is, by the tilted feeding frame 110, the feeding conveyor belt 120 is also tilted, and the feeding conveyor belt 120 can be tilted and extended from the horizontal ground to the top of the granary 10, so that the grain can be transported from the ground to the top of the granary 10, and the feeding hopper 130 arranged at the discharge end of the feeding conveyor belt 120 (that is, the end at the highest position corresponding to the grain conveying and distributing device) can transport the grain transported on the feeding conveyor belt 120 to the grain conveying and distributing device through the feeding hopper 130. Moreover, in this embodiment, the above-mentioned loading funnel 130 can be set as a flow limiting funnel, which is fixed to the top end of the inclined loading conveyor belt 120 and can be used to limit the cross-sectional area of ​​the grain fluid passing through the loading conveyor belt 120 to prevent grain from spilling and splashing.

[0052] In addition, if Figure 1 to Figure 2 As shown, the above-mentioned grain conveying and distributing device may include a horizontal grain conveyor belt 200 for being arranged on the top of the grain silo 10, a transverse grain distributing mechanism 300, and a grain dividing mechanism 400 connecting the horizontal grain conveyor belt 200 and the transverse grain distributing mechanism 300. The horizontal grain conveyor belt 200 corresponds to the feeding funnel 130 of the grain feeding device 300 and is passed through the grain dividing mechanism 400. The transverse grain distributing mechanism 300 is used to be slidably arranged on the top of the grain silo 10 and is arranged alternately with the horizontal grain conveyor belt 200. The grain dividing mechanism 400 is arranged on the transverse grain distributing mechanism 300. The grain loading device 100 can be used to lift the grain to the horizontal grain conveyor belt 200 arranged on the top of the granary 10. The horizontal grain conveyor belt 200 can convey the grain along the horizontal longitudinal direction of the granary 10 (from one end of the granary to the other end of the granary). During the conveying process, the grain dividing mechanism 400 arranged on the horizontal grain conveyor belt 200 can intercept the grain on the horizontal grain conveyor belt 200 and input it into the transverse grain spreading mechanism 300. The transverse grain spreading mechanism 300 can convey and spread the grain along the transverse direction of the granary 10, and the transverse grain spreading mechanism 300 can also move along the extension direction of the horizontal grain conveyor belt 200, and can spread the grain from one end of the granary 10 to the other end of the granary, so that the entire granary can be fully spread and the spreading can be fully flat.

[0053] Moreover, the above-mentioned grain conveying and distributing device may include a horizontal grain conveying belt 200 for being horizontally and longitudinally arranged at the top of the granary 10, and one or more transverse grain distributing mechanisms 300 arranged horizontally and transversely on the horizontal grain conveying belt 200, and the horizontal grain conveying belt 200 and each transverse grain distributing mechanism 300 may be connected by a grain distributing mechanism 400. Moreover, when multiple transverse grain distributing mechanisms 300 are provided, these transverse grain distributing mechanisms 300 are arranged side by side and spaced apart. In the present embodiment, the grain conveying and distributing device includes a horizontal grain conveying belt 200 arranged horizontally and longitudinally in the middle of the top of the granary 10, and a transverse grain distributing mechanism 300 arranged horizontally and transversely on the horizontal grain conveying belt 200, and the two sides of the transverse grain distributing mechanism 300 are symmetrically arranged about the horizontal grain conveying belt 200. In addition, when the granary is large, multiple above-mentioned grain conveying and distributing devices may also be provided at the same time for distributing.

[0054] Furthermore, the horizontal grain conveyor belt 200 may include a horizontal bracket for being suspended between two opposite side walls of the top of the granary, and a horizontal conveyor belt arranged on the horizontal bracket, and the horizontal conveyor belt may convey the grain conveyed by the grain feeding device 100 to the top of the granary 10. In addition, the transverse grain distributing mechanism 300 may be slidably arranged on the horizontal bracket, and the grain distributing mechanism 400 may be matched with the horizontal conveyor belt. That is, the transverse grain distributing mechanism 300 may be supported by the horizontal bracket, and the grain distributing mechanism 400 may intercept the grain conveyed on the horizontal conveyor belt and convey it to the transverse grain distributing mechanism.

[0055] Moreover, the above-mentioned transverse grain distributing mechanism 300 may include a distributing frame 302 for slidingly distributing on the grain bin 10, a distributing pipe structure 310 disposed on the distributing frame 302 and connected to the grain distributing mechanism 400, and a distributing funnel structure 320 movably disposed at the bottom of the distributing pipe structure 310, and the distributing funnel structure 320 has a reciprocating motion stroke along the extending direction of the distributing pipe structure 310. The distributing frame 302 may be slidably disposed on the opposite side walls of the grain bin 10, so that the distributing pipe structure 310 and the distributing funnel structure 320 span the top of the grain bin 10. During the distributing process of the transverse grain distributing mechanism 300, the distributing pipe structure 310 connected to the grain distributing mechanism 400 may transport and arrange the grain along the transverse direction of the grain bin 10, and then discharge the grain through the distributing funnel structure 320 at the bottom of the distributing pipe structure 310, so that the grain is discharged and distributed into the grain bin 10 along the extending direction of the distributing pipe structure 310. Moreover, during the material discharging process of the material distribution funnel structure 320, the material distribution funnel structure 320 can also reciprocate along the extension direction of the material distribution tube structure 310, so that the grain will move back and forth in a line during the material discharging process, and will not form accumulation at certain points, thereby making the grain distribution smoother.

[0056] Moreover, the above-mentioned material distribution pipe structure 310 may include a material distribution pipe 312 fixed on the material distribution frame 302, and the material distribution pipe 312 is connected to the grain distribution mechanism 400, so that the grain distribution mechanism 400 can transport the grain intercepted from the horizontal grain conveyor belt 200 to the material distribution pipe 312. Moreover, a material distribution pipe 312 can be set on both sides of the horizontal grain conveyor belt 200, and the two material distribution pipes 312 can be connected by a grain distribution mechanism 400, or two grain distribution mechanisms 400 can be connected to the two material distribution pipes 312 one by one; in addition, only one material distribution pipe 312 can be set, and a grain distribution mechanism 400 can be set in the middle of the material distribution pipe 312, and the material distribution pipe 312 can be connected to the horizontal grain conveyor belt 200 by the grain distribution mechanism 400.

[0057] Moreover, if Figures 3 to 8 As shown, the grain distributing mechanism 400 may include a collection bin 410 disposed on the material distributing pipe 312, a feed bin 420 disposed on the top of the collection bin 410, and a guide plate 430 protruding from the side of the feed bin 420. The guide plate 430 extends above the horizontal conveyor belt of the horizontal grain conveyor belt 200, and a belt installation gap 440 for the horizontal grain conveyor belt 200 to pass through is formed between the bottom of the guide plate 430 and the top of the collection bin 410, so that the horizontal grain conveyor belt 200 can be passed through the belt installation gap 440, so that the grain distributing mechanism 400 slides along the horizontal grain conveyor belt 200 driven by the transverse grain distributing mechanism 300, and the horizontal conveyor belt of the horizontal grain conveyor belt 200 can also move freely through the belt installation gap 440. In addition, the feed bin 420 can also be slidably connected to the horizontal bracket of the horizontal grain conveyor belt 200 to provide support for the grain distributing mechanism 400.

[0058] Moreover, a material collecting cavity 414 connected to the material distributing cavity of the material distributing pipe 312 is formed in the material collecting bin 410, and a material feeding cavity 424 connected to the material collecting cavity 414 is formed in the material feeding bin 420. Moreover, a material feeding port 422 connected to the material feeding cavity 424 is provided at the top of the material feeding bin 420, and the material feeding port 422 corresponds to the side of the horizontal conveyor belt of the horizontal grain conveyor belt 200, and a material guide plate 430 is protrudingly arranged outside the material feeding port 422, and is used to intercept the grain transported on the horizontal grain conveyor belt 200 into the material feeding port 422 (the setting position of the material feeding port is close to the material feeding direction of the horizontal conveyor belt, and the connection position of the material guide plate 430 is relatively far from the material feeding direction of the horizontal conveyor belt, so that the material guide plate 430 can easily intercept the grain on the horizontal conveyor belt into the material feeding port 422). In this way, the guide plate 430 can intercept the grain transported by the horizontal conveyor belt through the installation gap of the belt, so that the grain is diverted to the feed port 422 opened at the top of the feed bin under the interception of the guide plate, and enters the feed cavity 424 of the feed bin 420 through the feed port 422, and then enters the collecting cavity 414 of the collecting bin 410 through the feed cavity 424, and finally the grain flows from the collecting cavity 414 into the distribution cavity of the distribution pipe 312, thereby realizing the diversion of the grain on the horizontal grain conveyor belt 200 to the distribution pipe 312 of the horizontal grain distribution mechanism 300.

[0059] Furthermore, in some embodiments, a feed bin 420 may be provided on the top of the above-mentioned collection bin 410, and a guide plate 430 is correspondingly provided on the feed bin 420. That is, in this embodiment, the grain distributing mechanism 400 may have only one feed bin 420, and a guide plate 430 extending above the horizontal conveyor belt is provided on the feed bin 420, and the guide plate 430 is located on one side of the horizontal conveyor belt, so that the grain on the horizontal conveyor belt can be intercepted from one side.

[0060] In addition, in other embodiments, a feed bin 420 may be provided on both sides of the top of the above-mentioned collection bin 410, and a guide plate 430 is correspondingly provided on each feed bin 420. That is, in this embodiment, the grain distribution mechanism 400 may have two feed bins 420, so that each feed bin 420 is provided with a guide plate 430 extending above the horizontal conveyor belt, and the two guide plates 430 are respectively located on both sides of the horizontal conveyor belt (that is, a guide plate is provided on one side of the horizontal conveyor belt), so that the grain on the horizontal conveyor belt can be intercepted from both sides at the same time, and the grain on the horizontal conveyor belt is intercepted into the two feed bins 420 respectively, so that the interception of the grain on the horizontal conveyor belt is more uniform.

[0061] Furthermore, the two feed bins 420 can be aligned with respect to the extension line of the horizontal grain conveyor belt 200, that is, the two feed bins 420 can be aligned on both sides of the horizontal conveyor belt, so as to facilitate simultaneous material distribution from both sides of the horizontal conveyor belt. Moreover, the feed ports 422 of the two feed bins 420 are arranged opposite to each other, and the two guide plates 430 are also arranged opposite to each other, and the material belt installation gap 440 is formed between the top of the collection bin 410 and the bottom of the two guide plates 430. That is, the feed ports 422 of the two feed bins 420 are respectively arranged on one side of the horizontal conveyor belt, and the two guide plates 430 also extend from the side of the horizontal conveyor belt to its center, so that the transported grain can be intercepted and distributed to the respective feed ports 422 from both sides of the horizontal conveyor belt at the same time. In addition, the feed ports 422 of the two feed bins 420 can be arranged opposite each other, that is, each feed port 422 is perpendicular to the center line of the horizontal conveyor belt along the length direction; in addition, the feed ports of the two feed bins 420 can also be tilted to correspond to each other, that is, each feed port can face the incoming direction of the horizontal conveyor belt.

[0062] Moreover, each guide plate 430 can be extended obliquely from the side edge of the feed bin 420 toward the conveying start end of the horizontal conveyor belt. That is, the guide plate 430 can be arranged obliquely, so that the guide plate 430 extends from one side of the horizontal conveyor belt to the other side of the horizontal conveyor belt, and is also inclined from the feed port 422 toward the incoming direction of the horizontal conveyor belt, so as to gradually intercept and divide the grains conveyed by the horizontal conveyor belt, so as to smoothly guide the grains to the feed port 422, and it is not easy to generate grain accumulation at the feed port 422. In addition, the guide plate 430 can also be arranged as a flat plate, so that the guide plate 430 and the horizontal conveyor belt are perpendicular to each other.

[0063] Furthermore, the ends of the two guide plates 430 can be connected to form a whole. By connecting the two guide plates 430 located on both sides of the horizontal conveyor belt as a whole, no gap will be left between the two guide plates 430, which is more conducive to fully intercepting the grain on the horizontal conveyor belt into the feed port; and, by connecting the two guide plates 430 as a whole, a closed ring-shaped belt installation gap 440 can be formed between the guide plates 430 and the collection bin 410, so that the horizontal conveyor belt can be better conveyed at the belt installation gap 440, and better support can be provided for the grain distribution mechanism 400. Moreover, the two guide plates 430 can be connected to form a V-shaped plate structure, that is, the two guide plates 430 are inclined to the incoming direction of the horizontal conveyor belt, so that the grain can be guided into the feed port 422 from both sides.

[0064] In addition, the two feed bins 420 can be staggered about the extension line of the horizontal grain conveyor belt 200. That is, the two feed bins 420 can be set corresponding to different positions of the horizontal conveyor belt, and the grain can be intercepted and divided from different positions of the horizontal conveyor belt. Moreover, the two feed bins 420 can be located on the same side of the horizontal conveyor belt, or on different sides of the horizontal conveyor belt.

[0065] In addition, the above-mentioned material collection bin 410 may be provided with an isolation plate, and the isolation plate separates the material collection cavity into a first material collection chamber and a second material collection chamber; wherein the first material collection chamber is connected to the feed chamber of one feed bin, and the second material collection chamber is connected to the feed chamber of another feed bin. That is, the material collection bin 410 can be isolated into two material collection sub-bins, and each material collection sub-bin can be connected to a corresponding feed bin. Moreover, the two material collection sub-bins can be connected and arranged on a respective distribution pipe, respectively, and can be fed to different distribution pipes; or, the two material collection sub-bins can be connected and arranged at different positions of a distribution pipe, respectively, and can be fed from different positions of the same distribution pipe. In addition, according to needs, an isolation plate may not be provided, and only one material collection cavity may be formed in the material collection bin; or multiple isolation plates may be provided to form multiple material collection cavities in the material collection bin. In addition, a silo fixing frame 412 may be provided at the bottom of the collecting silo 410 to be fixed on the material distribution pipe 312 , thereby fixing the grain distributing mechanism 400 on the material distribution pipe 312 .

[0066] In addition, the above-mentioned material distribution pipe structure 310 may include a spiral grain pushing mechanism provided on the material distribution frame 302, and the spiral grain pushing mechanism 316 extends into the material distribution cavity formed in the material distribution pipe 312, and is used to spirally push the grain in the material distribution cavity along the extension direction of the material distribution pipe 312. By providing the spiral grain pushing mechanism, the grain intercepted by the grain distribution mechanism 400 and entering the material distribution pipe 312 can be pushed in the material distribution pipe 312, so that the grain is evenly arranged in the material distribution pipe 312, so that the material distribution funnel structure 320 provided at the bottom of the material distribution pipe 312 can evenly discharge the material in the extension direction of the material distribution pipe 312, thereby realizing the uniform filling and distribution of the grain bin 10. In addition, in addition to using the spiral grain pushing mechanism to push the grain in the material distribution pipe, other grain pushing mechanisms can also be used for distribution, such as a circulating material pushing mechanism, which can circulate and push the grain in the material distribution pipe 312, so that the grain is evenly arranged in the material distribution pipe 312.

[0067] Furthermore, the above-mentioned spiral grain pushing mechanism may include a spiral propulsion shaft 316 disposed in the material distributing cavity and arranged along the extension direction of the material distributing pipe 312, and a spiral propulsion driving structure 314 connected to the spiral propulsion shaft 316, and the spiral propulsion driving structure 314 is disposed on the material distributing frame 302. The spiral propulsion driving structure 314 can drive the spiral propulsion shaft 316 to rotate in the material distributing cavity of the material distributing pipe 312, so that the grain intercepted by the grain distributing mechanism 400 and entering the material distributing pipe 312 can be evenly pushed in the material distributing cavity of the material distributing pipe 312, so that the grain is fully distributed in the material distributing cavity along the extension direction of the material distributing pipe 312. By transporting grain in this way, the transporting amount is larger.

[0068] Moreover, in some embodiments, the spiral propulsion shaft 316 may include a propulsion shaft body disposed in the material distributing cavity, and a plurality of push blades protruding in a spiral shape on the circumference of the propulsion shaft body, and the spiral push driving structure 314 is connected to the end of the propulsion shaft body. In this embodiment, the grain entering the material distributing pipe 312 can be spread over the entire material distributing pipe 312 in the extending direction of the material distributing pipe 312 under the spiral propulsion of the plurality of push blades spirally disposed on the propulsion shaft body. Moreover, in this embodiment, the plurality of push blades can be arranged at intervals, but are generally arranged in a spiral shape, and the arrangement of the push blades is flexible.

[0069] In addition, in other embodiments, the spiral propulsion shaft 316 may include a propulsion shaft body disposed in the material distributing cavity, and a push groove spirally provided on the propulsion shaft body, and the spiral push driving structure 314 is connected to the end of the propulsion shaft body. In this embodiment, the grain in the material distributing pipe can be transported from one end to the other end through the spiral push groove provided on the propulsion shaft body, so that the grain is distributed throughout the material distributing pipe. In this way, the grain is transported with better continuity and stability.

[0070] In addition, the above-mentioned spiral push driving structure 314 may include a spiral push motor disposed on the material distribution frame 302, and a spiral push reducer connected to the spiral push motor, and the spiral push reducer is connected to the spiral propulsion shaft. The material distribution frame 302 may support the spiral push motor and the spiral push reducer, the spiral push motor may drive the spiral push reducer to operate, and the spiral push reducer may drive the spiral propulsion shaft to rotate, so that the spiral propulsion shaft pushes the grain in the material distribution pipe 312. In addition, the grain distribution mechanism 400 and the spiral push motor may be disposed at the same end of the material distribution pipe 312, and the grain transported into the material distribution pipe 312 by the grain distribution mechanism 400 may be transported from the end close to the spiral push motor to the other end away from the spiral push motor through the spiral propulsion shaft; in addition, the grain distribution mechanism 400 and the spiral push motor may be disposed at the two ends of the material distribution pipe 312 respectively, and the grain may be transported from the end away from the spiral push motor to the other end close to the spiral push motor through the spiral propulsion shaft.

[0071] In addition, the above-mentioned distribution funnel structure 320 may include a funnel reciprocating frame 322 slidably disposed on the distribution pipe 312, a plurality of discharge funnels 324 disposed on the funnel reciprocating frame 322, located at the bottom of the distribution pipe 312, and evenly arranged along the extension direction of the distribution pipe 312, and a reciprocating driving structure 326 disposed on the distribution frame 302 and connected to the funnel reciprocating frame 322. Distribution holes corresponding to the funnel inlets at the tops of the plurality of discharge funnels 324 are disposed at the bottom of the distribution pipe 312 along the extension direction of the distribution pipe 312. Through the plurality of discharge funnels 324 disposed at the bottom of the distribution pipe 312, the grain 20 evenly distributed in the distribution pipe 312 can enter the corresponding funnel inlets of the discharge funnel 324 from the plurality of distribution holes disposed in the extension direction of the distribution pipe 312 to enter the discharge funnel 324, and then flow out from each discharge funnel 324 to the granary 10. Moreover, the grain 20 in the material distribution pipe 312 can fall from the multiple discharge funnels 324 into the granary 10 along the extension direction of the material distribution pipe 312, so that the grain can fall evenly in the granary 10. Moreover, in the process of the grain 10 falling from the discharge funnel 324, the funnel reciprocating frame 322 can be reciprocated by the reciprocating driving structure 326, so that the multiple discharge funnels 324 can be reciprocated along the extension direction of the material distribution pipe 312, so as to continuously change the material dropping position of each discharge funnel 324. In this way, the gap between the two discharge funnels 324 can be dropped, avoiding the formation of a blind spot between the two discharge funnels 324 and causing multiple small grain piles to be formed in the granary 10, so that the grain 20 can be dropped more evenly, so that the distribution of the grain 20 in the granary 10 is more flat and uniform.

[0072] Specifically, the funnel reciprocating frame 322 may include a sliding guide frame 3222 disposed on the material distribution pipe 312, and a sliding plate structure 3224 slidably mounted on the sliding guide frame 3222. The sliding guide frame 3222 and the sliding plate structure 3224 are both arranged along the extension direction of the material distribution pipe 312. A plurality of discharge funnels 324 are evenly disposed on the sliding plate structure 3224, and the sliding plate structure 3224 is connected to a reciprocating driving structure 326. The reciprocating driving structure 326 may drive the sliding plate structure 3224 to reciprocate on the sliding guide frame 3222, thereby driving the plurality of discharge funnels 324 to reciprocate along the extension direction of the material distribution pipe 312. Among them, the sliding guide frame 3222 can not only provide sliding tracks for the sliding plate structure 3224 and the discharge funnel 324, but also provide support for them; and the sliding plate structure 3224 can provide a setting foundation for the discharge funnel 324, so as to facilitate the setting of multiple discharge funnels 324 at the bottom of the distribution pipe 312.

[0073] Furthermore, the sliding guide rail frame 3222 may include sliding guide plates 32224 respectively arranged on both sides of the material distribution pipe 312 and arranged along the extension direction of the material distribution pipe 312, and a guide rail fixing plate 32222 connected to the material distribution pipe 312, wherein the guide rail fixing plate 32222 is connected to the sliding guide plate 32224. The sliding guide plate 32224 may provide a sliding track for the sliding plate structure 3224, so that the sliding plate structure 3224 may reciprocate along the extension direction of the material distribution pipe 312; and the guide rail fixing plate 32222 may fix the sliding guide plate 32224 on the material distribution pipe 312, so as to facilitate its installation and positioning. Moreover, the guide rail fixing plate 32222 may be set as an inverted U-shaped plate structure, buckled on the material distribution pipe 312, and the sliding guide plates 32224 on both sides are connected to both sides of the U-shaped guide rail fixing plate 32222 in a one-to-one correspondence. Moreover, a guide rail fixing plate 32222 may be provided at both ends of the material distribution pipe 312 to connect and fix the sliding guide plate 32224 from both ends; a guide rail fixing plate 32222 may be provided at one end or the middle of the material distribution pipe 312 to connect and fix the sliding guide plate 32224 from one position; in addition, guide rail fixing plates 32222 may be provided at both ends and the middle of the material distribution pipe 312 to connect and fix the sliding guide plate 32224 from multiple positions.

[0074] Moreover, the sliding plate structure 3224 may include sliding side plates 32244 respectively disposed on both sides of the material distribution pipe 312, and a slide plate fixing plate 32242 connected to the sliding side plates 32244, each sliding side plate 32244 is correspondingly slidably disposed on a sliding guide plate 32224, a plurality of discharge funnels 324 are disposed at the bottom position between the two sliding side plates 32244, and the slide plate fixing plate 32242 is slidably disposed on the material distribution pipe 312. That is, the discharge funnel 324 can be slidably disposed on the sliding guide plate 32224 through the sliding side plates 32242, and the sliding side plates 32244 and the discharge funnel 324 can be further slidably connected to the material distribution pipe 312 through the slide plate fixing plate 32242, so that the connection between the discharge funnel 324 and the sliding guide plate 32224 is more stable and reliable. Moreover, the above-mentioned slide plate fixing plate 32242 can be arranged at one end, or both ends, or the middle of the material distribution pipe 312, and can also be arranged in cooperation with the above-mentioned guide rail fixing plate 32222. Similarly, the above-mentioned slide plate fixing plate 32242 can also be set as an inverted U-shaped plate structure, which can be connected and fixed to the sliding side plate 32244 from both sides. Moreover, the sliding side plates 32244 on both sides can also be connected together to form a U-shaped groove plate structure, which is convenient for installing the discharge funnel 324 at the bottom of the U-shaped groove plate structure.

[0075] In addition, the reciprocating drive structure 326 may include a linear drive motor 3262 disposed on the material distributing frame 302, a reciprocating drive shaft 3264 connected to the output shaft of the linear drive motor 3262, and a reciprocating telescopic rod 3266 connected to the reciprocating drive shaft 3264, wherein the reciprocating telescopic rod 3266 is connected to the slide plate fixing plate or the sliding side plate of the sliding plate structure 3224. The linear drive motor 3262 can drive the reciprocating drive shaft 3264 to reciprocate, thereby driving the reciprocating telescopic rod 3266 to telescopically move, driving the sliding plate structure 3224 to reciprocate, and thus causing the discharging funnel 324 to reciprocate. Moreover, the linear drive motor 3262 may be set as a low-power motor, which only needs to drive the discharging funnel 324 to reciprocate by one body position, so that the grain dropped from the discharging funnel 324 can fill the gap between the two discharging funnels 324. Furthermore, the material distribution rack 302 may include a branch bracket disposed at the end or middle of the material distribution pipe 312, and the linear drive motor 3262 may be disposed on such a branch bracket. Furthermore, the grain distribution mechanism 400 may also be disposed on the branch bracket, or the branch bracket may be integrated with the collection bin 410 of the grain distribution mechanism 400.

[0076] Moreover, the above-mentioned material distribution funnel structure 320 may also include a funnel support plate 325 arranged on the slide plate fixing plate 32242 of the sliding plate structure 3224, the bottoms of the plurality of discharge funnels 324 are all fixed on the funnel support plate 325, and the tops of the plurality of discharge funnels 324 are all arranged on the sliding side plate 32244. By arranging the funnel support plate 325 at the bottom of the discharge funnel 324, the plurality of discharge funnels 324 can be supported from the bottom, so that the connection of the discharge funnel 324 is more stable and reliable. Moreover, the bottom of the funnel support plate 325 is provided with a plurality of discharge holes, and the plurality of discharge holes correspond to the funnel outlets at the bottom of the plurality of discharge funnels 324 one by one, so that the grain in the discharge funnel 324 can fall from the discharge holes into the granary.

[0077] In addition, the above-mentioned material distribution funnel structure 320 may include a funnel flow regulating mechanism 328 provided on the material distribution frame 302, and the funnel flow regulating mechanism 328 may be located at the bottom of the funnel support plate 325, and is used to adjust the opening of the funnel outlets at the bottom of the plurality of material discharging funnels 324. That is, the discharging speed of each material discharging funnel 324 can be adjusted through the funnel flow regulating mechanism 328.

[0078] Specifically, the funnel flow regulating mechanism 328 may include an adjusting drive structure provided on the material distributing frame 302, and a flow regulating plate 3286 connected to the adjusting drive structure, the flow regulating plate 3286 being correspondingly provided at the bottom of the funnel supporting plate 325; moreover, a plurality of adjusting holes are provided on the flow regulating plate 3286, each adjusting hole corresponding to a discharge hole, and the adjusting drive structure is used to drive the flow regulating plate 3286 to move relative to the funnel supporting plate 325 so that the adjusting hole and the discharge hole are misaligned or aligned. That is, the position between the flow regulating plate 3286 and the funnel supporting plate 325 can be adjusted by adjusting the driving structure, so that the flow regulating plate 3286 blocks or opens the discharge hole on the funnel supporting plate 325, so as to adjust the speed of the grain falling from the discharge funnel 324. Moreover, the flow regulating plate 3286 and the funnel supporting plate 325 can both be thin plates. In addition, the flow regulating plate 3286 can be slidably provided on the guide rail fixing plate or the slide fixing plate.

[0079] Moreover, the above-mentioned adjustment drive structure may include a linear drive member 3282 disposed on the material distribution frame 302, and an adjustment connecting rod 3284 connected to the linear drive member 3282, and the adjustment connecting rod 3284 is connected to the flow regulating plate 3286. The linear drive member 3282 can drive the adjustment connecting rod 3284 to move linearly and reciprocally, driving the flow regulating plate 3286 to move reciprocally, thereby adjusting the corresponding position between the adjustment hole on the flow regulating plate 3286 and the discharge hole of the funnel support plate 324, so as to realize the opening, closing, increasing or decreasing of the discharge hole. Moreover, the above-mentioned linear drive member 3282 can be set as a linear drive motor, or as a drive cylinder, or as a drive hydraulic cylinder.

[0080] In addition, if Figures 9 to 11 As shown, the above-mentioned distribution pipe structure 310 may include a material sensing mechanism 330 arranged on the distribution rack 302 (which may be directly arranged on the distribution rack 302 or indirectly arranged on the distribution rack 302). The material sensing mechanism 330 corresponds to the distribution pipe 312 and is used to detect the arrangement of grain in the distribution pipe 312, so as to adjust the unloading speed of the discharge funnel 324 through the funnel flow adjustment mechanism.

[0081] Specifically, the material sensing mechanism 330 may include a laser transmitter 332 disposed on the material distribution frame 302, and a laser receiver 334 rotatably disposed on the inner wall of the end of the material distribution pipe 312, and the laser receiver 334 cooperates with the laser transmitter 332; wherein, when the food material in the material distribution pipe 312 reaches the end of the material distribution pipe 312 and squeezes the laser receiver 334 out of the end of the material distribution pipe 312, and makes the laser receiver 334 face the laser transmitter 332, the laser receiver 334 works normally. When the material sensing mechanism 330 works normally, it means that the food in the material distribution pipe 312 has been sufficiently distributed, and the material discharge funnel 324 can be opened for material discharge.

[0082] Moreover, the material distribution pipe 312 may include a pipe body provided on a material distribution frame, and a pipe elbow 3122 provided at the end of the pipe body, the opening direction of the pipe elbow 3122 is vertically upward; the laser receiver 334 may include a material baffle 3342 hinged at the end of the pipe body and located in the inner cavity of the pipe elbow 3122, and a laser receiving plate 3344 protruding from the material baffle 3342, the laser receiving plate 3344 cooperates with the laser emitter 332. In the initial state, the material baffle 3342 blocks the end of the pipe body, and the laser receiving plate 3344 is located in the inner cavity of the pipe elbow 3122 and is misaligned with the laser emitter 332. At this time, due to insufficient grain arrangement in the distribution pipe 312, there is not enough grain in the pipe elbow 3122 at the end of the distribution pipe 312 to form an outward squeezing effect on the material baffle 3342, so that the material baffle 3342 is always in the pipe elbow 3122, resulting in the laser emitted by the laser transmitter 332 not being received by the laser receiving plate 3344, so that the material sensing mechanism 330 will not be triggered, and the flow regulating plate at the bottom of the discharge funnel 324 will not be opened, and grain will not fall from the discharge funnel 324.

[0083] In normal working state, the material baffle 3342 rotates toward the outlet of the pipe elbow 3122 under the pressure of the grain 20 in the pipe body, so that the laser receiving plate 3344 protrudes outside the outlet of the pipe elbow 3122 and corresponds to the laser emitter 332. At this time, since the grain 20 in the material distribution pipe 312 is sufficiently arranged, there is enough grain in the pipe elbow 3122 at the end of the distribution pipe 312 to form an outward pressure on the material baffle 3342, so that the material baffle 3342 rotates to the outer side of the pipe elbow 3122, so that the laser emitted by the laser emitter 332 is received by the laser receiving plate 3344, so that the material sensing mechanism 400 is triggered, and the flow regulating plate at the bottom of the discharge funnel 324 is opened, and the grain can fall from the discharge funnel 324.

[0084] In addition, in an abnormal working state, the material baffle 3342 rotates to the outside of the pipe elbow 3122 under the pressure of the grain 20 in the pipe body, and the laser receiving plate 3344 protrudes from the outside of the pipe elbow 3122 and is misaligned with the laser emitter 332. In addition, due to the excessive arrangement of grain 20 in the material distribution pipe 312, there is excessive grain in the pipe elbow 3122 at the end of the distribution pipe 312, which excessively squeezes the material baffle 3342, causing the material baffle 3342 to completely rotate to the outside of the pipe elbow 3122, resulting in the laser receiving plate 3344 on the material baffle 3342 also failing to face the laser emitter 332 and failing to receive the laser signal emitted by the laser emitter 332. At this time, the flow regulating plate at the bottom of the discharge funnel 324 can be further adjusted to allow the grain 20 to fall from the discharge funnel 324 faster; in addition, the operating speed of the above-mentioned spiral grain pushing mechanism can also be slowed down to slow down the grain pushing speed in the distribution pipe 312; in addition, the flow regulating plate and the grain pushing mechanism can also be adjusted at the same time.

[0085] In addition, the pipe elbow 3122 can be set as a circular arc elbow, and the material baffle 3342 can be set as a fan-shaped baffle matched with the circular arc elbow. In addition, the height value of the top opening of the pipe elbow 3122 is less than or equal to the radius value of the pipe body, which can prevent excessive accumulation of grain in the pipe body and cause obstruction to the internal screw pusher.

[0086] In addition, the above-mentioned material distribution frame 302 may include a first support frame and a second support frame provided at both ends of the material distribution pipe structure 310, and a support pulley 340 provided on the first support frame and the second support frame. The support pulley 340 includes a support rail 342 provided on the first support frame and the second support frame, respectively, and a track driving motor 344 provided on the first support frame or the second support frame, and the two support rails 342 are respectively slidably matched with the guide rails 12 on both sides of the granary 10 in a one-to-one correspondence. The track driving motor 344 can drive the first support frame and the second support frame to slide back and forth along the guide rails 12 on both sides of the granary, respectively, thereby driving the material distribution pipe structure 310 and the horizontal grain distribution mechanism 300 to reciprocate along the horizontal grain conveyor belt 200, so as to facilitate the equal pressure distribution of grain in the granary from the longitudinal and transverse directions.

[0087] The above descriptions are only optional embodiments of the present invention, and are not intended to limit the patent scope of the present invention. All equivalent structural changes made using the contents of the present invention's specification and drawings, or directly / indirectly applied in other related technical fields, are included in the patent protection scope of the present invention.

Claims

1. A reciprocating grain distribution robot for distributing grain to a granary, characterized in that: include: A grain loading device, which is arranged outside the grain silo; and The grain conveying and distributing device comprises a horizontal grain conveying belt arranged on the top of the grain silo, a transverse grain distributing mechanism, and a grain distributing mechanism connecting the horizontal grain conveying belt and the transverse grain distributing mechanism, wherein the horizontal grain conveying belt is matched with the grain feeding device and is passed through the grain distributing mechanism, the transverse grain distributing mechanism is slidably arranged on the top of the grain silo and is arranged in an alternating manner with the horizontal grain conveying belt, and the grain distributing mechanism is arranged on the transverse grain distributing mechanism; The horizontal grain distribution mechanism includes a distribution frame slidably arranged on the grain bin, a distribution pipe structure arranged on the distribution frame and connected to the grain distribution mechanism, and a distribution funnel structure movably arranged at the bottom of the distribution pipe structure, and the distribution funnel structure has a reciprocating movement stroke along the extension direction of the distribution pipe structure; The material distribution pipe structure comprises a material distribution pipe fixedly arranged on the material distribution frame; The horizontal grain conveyor belt comprises a horizontal bracket for being suspended between two opposite side walls of the top of the granary, and a horizontal conveyor belt arranged on the horizontal bracket; Grain distribution agencies include: A material collecting bin is arranged on the material distributing pipe, and a material collecting cavity communicating with the material distributing pipe is formed in the material collecting bin; A feed bin is disposed on the top of the material collecting bin, wherein a feed cavity communicating with the material collecting cavity is formed in the feed bin; and A material guide plate is protrudingly arranged on the side of the feed bin, and a material belt installation gap for a horizontal grain conveyor belt to pass through is formed between the bottom of the material guide plate and the top of the collection bin; Among them, a feed port connected to the feed chamber is opened on the top of the feed bin, and the feed port corresponds to the side of the horizontal grain conveyor belt. The guide plate extends to above the horizontal conveyor belt of the horizontal grain conveyor belt, protrudes outside the feed port, and is used to intercept the grain transported on the horizontal grain conveyor belt into the feed port.

2. The reciprocating grain distribution robot according to claim 1, characterized in that: The material distribution funnel structure includes a funnel reciprocating frame slidably arranged on the material distribution pipe, a plurality of discharge funnels arranged on the funnel reciprocating frame and located at the bottom of the material distribution pipe, and a reciprocating driving structure arranged on the material distribution frame and connected to the funnel reciprocating frame. The bottom of the material distribution pipe is provided with distribution holes corresponding to the funnel inlets at the tops of the plurality of discharge funnels along the extension direction of the material distribution pipe.

3. The reciprocating grain distribution robot according to claim 2, characterized in that: The funnel reciprocating frame includes a sliding guide frame arranged on the material distribution pipe, and a sliding plate structure slidably mounted on the sliding guide frame. The sliding guide frame and the sliding plate structure are both arranged along the extension direction of the material distribution pipe. Multiple discharge funnels are evenly arranged on the sliding plate structure, and the sliding plate structure is connected to the reciprocating driving structure.

4. The reciprocating grain distribution robot according to claim 3, characterized in that: The sliding guide rail frame comprises sliding guide plates respectively arranged on both sides of the material distribution pipe and arranged along the extending direction of the material distribution pipe, and a guide rail fixing plate connected to the material distribution pipe, wherein the guide rail fixing plate is connected to the sliding guide plate; The sliding plate structure includes sliding side plates respectively arranged on both sides of the material distribution pipe, and a slide plate fixing plate connected to the sliding side plates, each of the sliding side plates is correspondingly slidably arranged on one of the sliding guide plates, a plurality of the discharge funnels are arranged at the bottom position between the two sliding side plates, and the slide plate fixing plate is slidably arranged on the material distribution pipe.

5. The reciprocating grain distribution robot according to claim 3, characterized in that: The reciprocating drive structure includes a linear drive motor arranged on the material distribution frame, a reciprocating drive shaft connected to the output shaft of the linear drive motor, and a reciprocating telescopic rod connected to the reciprocating drive shaft, and the reciprocating telescopic rod is connected to the sliding plate structure.

6. The reciprocating grain distribution robot according to claim 4, characterized in that: The material distribution funnel structure also includes a funnel support plate arranged on the slide plate fixing plate, the bottoms of the plurality of discharge funnels are fixed on the funnel support plate, and the tops of the plurality of discharge funnels are arranged on the sliding side plate; A plurality of discharge holes are provided at the bottom of the funnel support plate, and the plurality of discharge holes correspond one-to-one to the funnel outlets at the bottom of the plurality of discharge funnels.

7. The reciprocating grain distribution robot according to claim 6, characterized in that: The material distribution funnel structure includes a funnel flow regulating mechanism provided on the material distribution frame, the funnel flow regulating mechanism is located at the bottom of the funnel support plate and is used to adjust the opening of the funnel outlets at the bottom of the plurality of discharge funnels; The funnel flow regulating mechanism comprises an adjusting driving structure arranged on the material distributing frame, and a flow regulating plate connected to the adjusting driving structure, wherein the flow regulating plate is correspondingly arranged at the bottom of the funnel supporting plate; The flow regulating plate is provided with a plurality of regulating holes, each of which corresponds to one of the discharge holes, and the regulating driving structure is used to drive the flow regulating plate to move relative to the funnel support plate so that the regulating hole is misaligned or aligned with the discharge hole.

8. The reciprocating grain distribution robot according to any one of claims 2 to 7, characterized in that: The material distribution pipe structure includes a spiral grain pushing mechanism arranged on the material distribution frame, the spiral grain pushing mechanism extends into a material distribution cavity formed in the material distribution pipe, and is used to spirally push grain in the material distribution cavity along the extension direction of the material distribution pipe; The spiral grain pushing mechanism includes a spiral pushing shaft arranged in the material distributing cavity and along the extending direction of the material distributing pipe, and a spiral pushing driving structure connected to the spiral pushing shaft, and the spiral pushing driving structure is arranged on the material distributing frame.

9. The reciprocating grain distribution robot according to any one of claims 2 to 7, characterized in that: The material distribution pipe structure includes a material sensing mechanism disposed on the material distribution frame, and the material sensing mechanism corresponds to the material distribution pipe; The material sensing mechanism includes a laser transmitter disposed on the material distribution frame, and a laser receiver rotatably disposed on the inner wall of the end of the material distribution pipe, and the laser receiver cooperates with the laser transmitter; Among them, when the food material in the distribution pipe reaches the end of the distribution pipe and squeezes the laser receiver out of the end of the distribution pipe, and makes the laser receiver face the laser transmitter, the laser receiver works normally.

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