Grain sampling and screening walking device

Abstract

The present invention relates to the technical field of grain screening devices, and in particular to a grain sampling and screening walking device, comprising a frame, a walking mechanism, a front and rear leveling mechanism, a sampling and screening mechanism, and a left and right leveling mechanism; the walking mechanism is installed on both sides of the frame, the front and rear leveling mechanism is installed on the frame, and the sampling and screening mechanism is installed on the front and rear leveling mechanism; the left and right leveling mechanism is installed on the upper part of the sampling and screening mechanism, and automatically rotates to set the walking route according to the measurement data. The device can accurately measure the distance and automatically set the walking route, automatically find the direction, and determine the orientation through the left and right leveling mechanisms. The sampling and screening mechanism uniformly samples to ensure the accuracy of sampling, automatically takes materials, stores materials, automatically screens materials, and takes photos for preservation.

Description

Technical Field

[0001] The invention relates to the technical field of grain screening devices, and in particular to a grain sampling and screening walking device. Background Art

[0002] Food safety is an important factor affecting human health and has always been the focus of research by relevant departments in various countries around the world. Grains are rich in protein, carbohydrates and other ingredients, and are food crops with high nutritional value. At present, imported grains (soybeans, soybeans, wheat, corn, rice, etc.) are stored in warehouses. During the storage process, various molds such as Aspergillus flavus, Aspergillus parasiticus, Fusarium sphaeroides, and Aspergillus cyanus will be produced. In a humid environment, it is easy to cause mildew, releasing odors such as moldy, rotten, and rancid. Once the moldy grain enters the circulation market, it will produce harmful food, which will seriously endanger people's health. For this reason, currently, the grain in the warehouse is sampled manually to detect the quality of the grain, which is difficult to do manually and has low work efficiency. Summary of the invention

[0003] The purpose of the present invention is to overcome the deficiencies of the above-mentioned technology and provide a grain sampling and screening walking device.

[0004] In order to achieve the above-mentioned object, the present invention adopts the following technical scheme: a grain sampling and screening walking device, characterized in that it includes a frame, a walking mechanism, a front and rear leveling mechanism, a sampling and screening mechanism, and a left and right leveling mechanism; the walking mechanism is installed on both sides of the frame and is used to drive the frame to move;

[0005] The front and rear leveling mechanism is installed on the frame and is used to adjust the sampling and screening mechanism to the front and rear level;

[0006] The sampling and screening mechanism is installed on the front and rear leveling mechanism and is used for sampling and screening grains;

[0007] The left and right leveling mechanism is installed on the upper part of the sampling and screening mechanism, and is used to adjust the sampling and screening mechanism to the left and right level. The distance measuring sensor is installed on the left and right leveling mechanism, and automatically rotates to set the walking route according to the measurement data.

[0008] Preferably, the walking mechanism includes two side feet, four connecting rods, a rotating base, a driving gear, a cylindrical gear, a rotating motor and a travel motor with a reduction box; the two side feet are respectively located on both sides of the frame, one end of the four connecting rods is connected to the bearing seats on the upper parts of the side feet through connecting rods, and the other ends of the corresponding two connecting rods are connected through synchronous rods. A support plate is fixed on the frame, two synchronous rods are connected to the support plate through bearings, one of the synchronous rods is connected to the output end of the reduction box, the upper part of the rotating base is connected to the bottom of the frame through the cylindrical gear, the driving gear is meshed with the cylindrical gear, the driving gear is installed at the output end of the rotating motor, and the rotating motor is fixed on the frame.

[0009] Preferably, the front and rear leveling mechanism includes an electric push rod, side clamps, a tray and an upper top plate; the lower parts of the two side clamps are movably connected to one of the synchronization rods, the tray is fixed between the two side clamps, the upper top plate is fixed to the tops of the two side clamps, the electric push rod is connected to the upper part of the frame through a support seat, and the push rod of the electric push rod is connected to the side of one of the side clamps or the side of the sampling and screening mechanism through a hinge shaft.

[0010] Preferably, the sampling and screening mechanism screens a motor, a motor bracket, a guide rail, a slider, a slider connecting plate, a slide plate, a swing rod, a sampling electric push rod and a material picking tray; the screening motor is fixed to the bottom of the upper top plate through the motor bracket, the output end of the screening motor is fixedly connected to one end of the swing rod, and the other end of the swing rod is equipped with a roller bearing, the roller bearing is slidably matched with a slide groove on the slide plate, and the two ends of the slide plate are slidably matched with the inner side of the guide rail through the slider, and a first electromagnet is fixed on the inner side of the slide plate, and the first electromagnet is adsorbed and matched with the back side of the material picking tray, and the two sides of the upper top plate are respectively connected to the outer side of the guide rail through a connecting plate, and the guide rail is two, and the slider is slidably matched with the guide rail, and the slider is fixed on both sides of the material picking tray, and the sampling electric push rod is fixed to the bottom of the upper top plate through a connecting rod, and the movable end of the sampling electric push rod is fixed with a second electromagnet, and the second electromagnet is adsorbed and matched with the back side of the material picking tray.

[0011] Preferably, the sampling and screening mechanism includes a screening motor, a motor bracket, a guide rail, a slider, a slider connecting plate, a slide plate, a rocker arm, a sampling push rod and a material collection tray; the guide rail is fixed to the lower part of the upper top plate, the slider is slidably matched with the lower part of the guide rail, the slide plate is vertically fixed to one side of the slider, a slide groove is provided in the vertical direction of the slide plate, a roller bearing is slidably matched in the slide groove, the roller bearing is connected to one end of the rocker arm, and the other end of the rocker arm is connected to the output end of the screening motor, the screening motor is fixed to the motor bracket, and the motor bracket is fixed to the guide rail; the other side of the slider is connected to the slider connecting plate, a push rod bracket is fixed on the slider connecting plate, the sampling push rod is installed on the push rod bracket, and the push rod of the sampling push rod is connected to the upper part of the material collection tray.

[0012] Preferably, a discharge port is provided at one end of the back side of the material picking tray, and a slide is provided on the tray below the discharge port. Both sides of the tray are fixed to the guide rails through the slider connecting plate. A switch door is provided on the discharge port, and the switch door is hinged to both sides of the discharge port through a rotating shaft. A torsion spring is sleeved on the rotating shaft, and the upper part of the switch door is adsorbed and cooperated with the third electromagnet, and the third electromagnet is fixedly connected to the bottom of the upper top plate.

[0013] Preferably, the left and right leveling mechanism includes a pan-tilt platform, an adjustment motor and a sensor mounting seat, wherein the sensor mounting seat is fixed on the pan-tilt platform, the bottom of the pan-tilt platform is connected to the output end of the adjustment motor, and the adjustment motor is fixed on the upper part of the upper top plate. The horizontal sensor is mounted on the sensor mounting seat, and the sensor mounting seat is set at an inclined angle to avoid obstruction of grain. The distance measuring sensor is mounted on the front of the pan-tilt platform. The camera is mounted on the upper top plate and is aimed at the screen at the bottom.

[0014] Preferably, the front portion of the material taking tray is provided with a front shovel, the rear portion is provided with a hopper, and the bottom of the hopper is provided with a screen.

[0015] Preferably, a crossbeam is fixed to the upper portion of the hopper, and a push rod of the sampling push rod is connected to the crossbeam.

[0016] Preferably, a gear box is provided on the frame, and a pressure shaft is provided in the middle of the gear box; gears are respectively installed on the two synchronization rods, and the gears are connected together by a synchronization belt, and the gears and the synchronization belt are both located in the gear box.

[0017] The beneficial effects of the present invention are as follows: the device can accurately measure distance, automatically set the walking route, automatically find the direction, and determine the orientation through the left and right leveling mechanisms. The sampling and screening mechanism uniformly samples to ensure the accuracy of sampling, automatically takes materials, stores materials, automatically screens materials, and takes photos for preservation. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a stereogram of the present invention;

[0019] Figure 2 It is a three-dimensional diagram of the walking mechanism of the present invention in a top view direction;

[0020] Figure 3 It is a three-dimensional diagram of the walking mechanism of the present invention when viewed from above;

[0021] Figure 4 It is a structural schematic diagram of the front and rear leveling mechanism of the present invention;

[0022] Figure 5a-5c is a three-dimensional diagram of one of the sampling and screening mechanisms of the present invention;

[0023] Figure 6a and 6b is a stereogram of the second sampling and screening mechanism of the present invention;

[0024] Figure 7 It is a structural schematic diagram of the left and right leveling mechanism in the present invention;

[0025] Figure 8 It is a schematic diagram of the structure of the gear box in the present invention. DETAILED DESCRIPTION

[0026] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between one device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below other devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0027] like Figure 1 As shown, a grain sampling and screening walking device includes a frame 1, a walking mechanism 2, a front and rear leveling mechanism 3, a sampling and screening mechanism 4 and a left and right leveling mechanism 5; the walking mechanism is installed on both sides of the frame to drive the frame to move; the front and rear leveling mechanism is installed on the frame to adjust the sampling and screening mechanism to be horizontal; the sampling and screening mechanism is installed on the front and rear leveling mechanism to sample and screen grains; the left and right leveling mechanism is installed on the upper part of the sampling and screening mechanism, and automatically rotates to set the walking route according to the measurement data.

[0028] like Figure 2 and Figure 3 As shown, the walking mechanism 2 includes two side feet 21, four connecting rods 22, a rotating base 23, a driving gear 24, a cylindrical gear 25, a rotating motor 26 and a travel motor 27 with a reduction box; the two side feet are respectively located on both sides of the frame, one end of the four connecting rods is connected to the bearing seat at the top of the side feet through a connecting rod 28, and the other ends of the corresponding two connecting rods are connected through a synchronous rod 20, a support plate 6 is fixed on the frame, two synchronous rods are connected to the support plate through bearings 61, one of the synchronous rods is connected to the output end of the reduction box, the upper part of the rotating base is connected to the bottom of the frame through the cylindrical gear, the driving gear is meshed with the cylindrical gear, the driving gear is installed at the output end of the rotating motor, and the rotating motor is fixed on the frame. The two side feet can be driven to move by the travel motor, and when the two side feet are suspended, the rotating motor can rotate around the rotating base at the bottom.

[0029] like Figure 4 As shown, the front and rear leveling mechanism 3 includes an electric push rod 31, a side clamp plate 32, a tray 33 and an upper top plate 34; the lower parts of the two side clamp plates are movably connected to one of the synchronization rods, the tray is fixed between the two side clamp plates, the upper top plate is fixed to the top of the two side clamp plates, the electric push rod is connected to the upper part of the frame through a support seat 35, and the push rod of the electric push rod is connected to the side of one of the side clamp plates or the side of the sampling and screening mechanism through a hinge shaft 36. The front and rear leveling mechanism is used to adjust the sampling and screening mechanism to the horizontal level, and the electric push rod can push the side clamp plates to connect to the internal sampling and screening mechanism to rotate around the synchronization rod.

[0030] This device has two sampling and screening mechanisms, such as Figure 5a-5cAs shown, it is one of the best sampling and screening mechanisms, specifically, the sampling and screening mechanism 4 includes a screening motor 41, a motor bracket 42, a guide rail 43, a slider 44, a slider connecting plate 45, a slide plate 46, a swing rod 47, a sampling electric push rod 48 and a material taking tray 49; the screening motor is fixed to the bottom of the upper top plate through the motor bracket, the output end of the screening motor is fixedly connected to one end of the swing rod, and the other end of the swing rod is installed with a roller bearing 462, the roller bearing is slidably matched with the slide groove 461 on the slide plate, and the two ends of the slide plate are connected by the slider. The first electromagnet 410 is fixed on the inner side of the slide plate, which is in sliding cooperation with the inner side of the guide rail. The first electromagnet is adsorbed and cooperated with the back side of the material picking tray. The two sides of the upper top plate are respectively connected to the outer side of the guide rail through connecting plates 411. There are two guide rails. The slider is in sliding cooperation with the guide rail. The slider is fixed on both sides of the material picking tray. The sampling electric push rod is fixed to the bottom of the upper top plate through a connecting rod 412. The movable end of the sampling electric push rod is fixed with a second electromagnet 413, which is adsorbed and cooperated with the back side of the material picking tray. When collection is required, the second electromagnet is energized and the first electromagnet is deenergized, and no magnetic force is generated. After the second electromagnet is energized, it will adsorb the back side of the material taking tray, and the first electromagnet will be detached, so that the sampling push rod is started, driving the material taking tray to extend for shoveling, and then retracting to its original state. After taking the material, the front and rear leveling mechanisms make the material taking tray move backward at a certain angle, and part of the grain raw materials flows out from the back side of the material taking tray for storage, and the remaining part is screened after the material taking tray is adjusted to a horizontal level. During screening, the second electromagnet is deenergized and the first electromagnet is energized to start the screening motor. The screening motor drives the rocker arm to swing, thereby driving the roller bearing to reciprocate in the slide groove, and then driving the slide plate to reciprocate on the guide rail. Since the material taking tray and the first electromagnet on the slide plate are adsorbed and fixed, the reciprocating screening action is realized.

[0031] like Figure 5c As shown, a discharge port is provided at one end of the back side of the material taking tray, a slideway 331 is provided on the tray below the discharge port, and both sides of the tray are fixed to the guide rails through the slider connecting plate 45, and a switch door 414 is provided on the discharge port, and the switch door is hinged to both sides of the discharge port through a rotating shaft 415, and a torsion spring is sleeved on the rotating shaft, and the upper part of the switch door is adsorbed and matched with the third electromagnet 416, and the third electromagnet is fixed to the bottom of the upper top plate. The discharge port is used to collect a part of the grain, and the flipping of the switch door is controlled by the third electromagnet. In the initial state, the switch door is lowered by the torsion spring to close the discharge port. After the third electromagnet is started, it will adsorb the upper part of the switch door, so that the switch door rotates around the rotating shaft, and the lower part of the discharge port is opened, and the grain flows out.

[0032] like Figure 6a and 6bAs shown, the second type of sampling and screening mechanism 4 includes a screening motor 41, a motor bracket 42, a guide rail 43, a slider 44, a slider connecting plate 45, a slide plate 46, a swing rod 47, a sampling push rod 48 and a material taking tray 49; the guide rail is fixed to the lower part of the upper top plate, the slider is slidably matched with the lower part of the guide rail, the slide plate is vertically fixed to one side of the slider, a slide groove 461 is provided in the vertical direction of the slide plate, a roller bearing 462 is slidably matched in the slide groove, the roller bearing is connected to one end of the swing rod, the other end of the swing rod is connected to the output end of the screening motor, the screening motor is fixed to the motor bracket, and the motor bracket is fixed to the guide rail; the other side of the slider is connected to the slider connecting plate, a push rod bracket 40 is fixed to the slider connecting plate, the sampling push rod is installed on the push rod bracket, and the push rod of the sampling push rod is connected to the upper part of the material taking tray. The front part of the material taking tray 49 is provided with a front shovel 491, and the rear part is provided with a hopper 492, and the bottom of the hopper is provided with a screen 493. A crossbeam 494 is fixed on the upper part of the hopper, and the push rod of the sampling push rod is connected to the crossbeam. The overall working principle is the same as the first structure.

[0033] like Figure 7 As shown, the left and right leveling mechanism 5 includes a pan-tilt platform 51, an adjustment motor 52 and a sensor mounting seat 53. The sensor mounting seat is fixed on the pan-tilt platform. The bottom of the pan-tilt platform is connected to the output end of the adjustment motor. The adjustment motor is fixed on the upper part of the upper top plate. A horizontal sensor 54 is installed on the sensor mounting seat. The sensor mounting seat is set at an inclined angle to avoid obstruction of grain. A distance sensor 55 is installed at the front of the pan-tilt platform. A camera 56 is installed on the upper top plate and is aimed at the screen at the bottom.

[0034] like Figure 8 As shown, the frame is provided with a gear box 7, and the middle part of the gear box is provided with a press shaft 71. Gears 72 are respectively mounted on the two synchronous rods, and the gears are connected together by a synchronous belt, and the gears and the synchronous belt are both located in the gear box.

[0035] Working principle:

[0036] 1. Put the trolley into the silo or cabin.

[0037] 2. The front and rear, left and right leveling mechanisms level the gimbal according to the data X and Y of the horizontal sensor so that X=0, Y=0.

[0038] 3. The distance sensor measures the distance d from the car to the front wall and the distance abc from the left wall (the three values ​​abc can confirm the parallelism between the car and the wall).

[0039] 4. Compare the measured value with the value of the trolley's running trajectory, adjust the trolley's rotation angle according to the size and move it.

[0040] 5. After the travel is completed, the trolley rotates 90° to the left so that the front of the trolley faces the left wall, and the lower leveling mechanism moves so that the shovel bucket at the front of the trolley is parallel to the horizontal.

[0041] 6. The electric push rod of the shovel hopper extends to shovel the material, and retracts after shoveling. At this time, part of the grain enters the collection box to complete the collection. Part of the grain enters the screen part to wait for screening.

[0042] 7. The screen part is vibrated and screened. After the screening is completed, the push rod pushes the screen to the outside to leak out the screened position. The camera 56 is installed on the screen to take pictures of the impurities that fall and store them.

[0043] 8. The trolley rotates 180° so that the front of the trolley is against the left wall. At this time, the grain in the drying net and the screened impurities roll to the floor of the warehouse to complete the work.

[0044] 9. The car rotates back 90° so that the front of the car faces the front wall again, and performs the leveling in step 2 and the distance measurement in step 3. If the distance d is less than the track distance, the car rotates 90° and then moves. If it is greater than the track d, the cycle starts from step 4 and continues.

[0045] 10. The system has an automatic counting function. When the sampling times reach the set times, the sampling stops and a sound is made to prompt the staff to take the samples. The pictures are transmitted wirelessly, recorded in real time and stored automatically.

[0046] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A grain sampling and screening walking device, characterized in that: It includes a vehicle frame, a traveling mechanism, a front and rear leveling mechanism, a sampling and screening mechanism, and a left and right leveling mechanism; the traveling mechanism is installed on both sides of the vehicle frame to drive the vehicle frame to move; The front and rear leveling mechanism is installed on the frame and is used to adjust the sampling and screening mechanism to the front and rear level; The sampling and screening mechanism is installed on the front and rear leveling mechanism and is used for sampling and screening grains; The left and right leveling mechanism is installed on the upper part of the sampling and screening mechanism, and is used to adjust the sampling and screening mechanism to the left and right level. The distance measuring sensor is installed on the left and right leveling mechanism, and automatically rotates to set the walking route according to the measurement data; The walking mechanism includes two side feet, four connecting rods, a rotating base, a driving gear, a cylindrical gear, a rotating motor and a travel motor with a reduction box; the two side feet are respectively located on both sides of the frame, one end of the four connecting rods is connected to the bearing seat at the upper part of the side feet through a connecting rod, and the other ends of the corresponding two connecting rods are connected through a synchronous rod, a support plate is fixed on the frame, two synchronous rods are connected to the support plate through bearings, one of the synchronous rods is connected to the output end of the reduction box, the upper part of the rotating base is connected to the bottom of the frame through the cylindrical gear, the driving gear is meshed with the cylindrical gear, the driving gear is installed at the output end of the rotating motor, and the rotating motor is fixed on the frame; The front and rear leveling mechanism includes an electric push rod, a side clamping plate, a tray and an upper top plate; the lower parts of the two side clamping plates are movably connected to one of the synchronization rods, the tray is fixed between the two side clamping plates, the upper top plate is fixed to the tops of the two side clamping plates, the electric push rod is connected to the upper part of the frame through a support seat, and the push rod of the electric push rod is connected to the side of one of the side clamping plates or the side of the sampling and screening mechanism through a hinge shaft; The sampling and screening mechanism comprises a screening motor, a motor bracket, a guide rail, a slider, a slider connecting plate, a slide plate, a swing rod, a sampling electric push rod and a material picking tray; the screening motor is fixed to the bottom of the upper top plate through the motor bracket, the output end of the screening motor is fixedly connected to one end of the swing rod, the other end of the swing rod is equipped with a roller bearing, the roller bearing is slidably matched with the slide groove on the slide plate, the two ends of the slide plate are slidably matched with the inner side of the guide rail through the slider, the inner side of the slide plate is fixed with a first electromagnet, the first electromagnet is adsorbed and matched with the back side of the material picking tray, the two sides of the upper top plate are respectively connected to the outer side of the guide rail through a connecting plate, the guide rail is two, the slider is slidably matched with the guide rail, the slider is fixed on both sides of the material picking tray, the sampling electric push rod is fixed to the bottom of the upper top plate through a connecting rod, and the movable end of the sampling electric push rod is fixed with a second electromagnet, and the second electromagnet is adsorbed and matched with the back side of the material picking tray; Alternatively, the sampling and screening mechanism includes a screening motor, a motor bracket, a guide rail, a slider, a slider connecting plate, a slide plate, a rocker arm, a sampling push rod and a material collection tray; the guide rail is fixed to the lower part of the upper top plate, the slider is slidably matched with the lower part of the guide rail, the slide plate is vertically fixed to one side of the slider, a slide groove is provided in the vertical direction of the slide plate, a roller bearing is slidably matched in the slide groove, the roller bearing is connected to one end of the rocker arm, and the other end of the rocker arm is connected to the output end of the screening motor, the screening motor is fixed to the motor bracket, and the motor bracket is fixed to the guide rail; the other side of the slider is connected to the slider connecting plate, a push rod bracket is fixed on the slider connecting plate, the sampling push rod is installed on the push rod bracket, and the push rod of the sampling push rod is connected to the upper part of the material collection tray.

2. The grain sampling and screening walking device according to claim 1 is characterized in that: A discharge port is provided at one end of the back side of the material picking tray, and a slide is provided on the tray below the discharge port. Both sides of the tray are fixed to the guide rails through the slider connecting plate. A switch door is provided on the discharge port, and the switch door is hinged to both sides of the discharge port through a rotating shaft. A torsion spring is sleeved on the rotating shaft, and the upper part of the switch door is adsorbed and cooperated with the third electromagnet, and the third electromagnet is fixedly connected to the bottom of the upper top plate.

3. The grain sampling and screening walking device according to claim 2 is characterized in that: The left and right leveling mechanism includes a pan-tilt platform, an adjustment motor and a sensor mounting seat, wherein the sensor mounting seat is fixed on the pan-tilt platform, the bottom of the pan-tilt platform is connected to the output end of the adjustment motor, the adjustment motor is fixed to the upper part of the upper top plate, the horizontal sensor is mounted on the sensor mounting seat, and the sensor mounting seat is set at an inclined angle to avoid obstruction of grain, the ranging sensor is mounted on the front of the pan-tilt platform, and the camera is mounted on the upper top plate and aimed at the lower screen.

4. The grain sampling and screening walking device according to claim 3 is characterized in that: The front part of the material taking tray is provided with a front shovel, the rear part is provided with a hopper, and the bottom of the hopper is provided with a screen.

5. The grain sampling and screening walking device according to claim 4 is characterized in that: A crossbeam is fixed on the upper part of the hopper, and a push rod of the sampling push rod is connected to the crossbeam.

6. The grain sampling and screening walking device according to claim 5, characterized in that: The frame is provided with a gear box, and a pressure shaft is provided in the middle of the gear box; two synchronous rods are respectively provided with gears, and the gears are connected together through a synchronous belt, and the gears and the synchronous belt are both located in the gear box.

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