A ground cage storage system

Abstract

The present invention provides a ground cage storage system, which includes: a mobile platform; a lifting robotic arm arranged on the mobile platform; a ground cage fixing mechanism arranged on the mobile platform, and the ground cage fixing mechanism moves synchronously with the lifting robotic arm and is used to gradually insert and fix on the ground cage lifted by the lifting robotic arm until it reaches the inserted and fixed state. In the present invention, when the lifting robotic arm lifts, it extends into the interior of the ground cage, and the ground cage is lifted upward along with the lifting, so as to lift to the position where the ground cage fixing mechanism starts to insert and fix. The ground cage fixing mechanism is inserted into the ground cage lifted by the lifting robotic arm through the mesh holes of the ground cage, so that the ground cage is fixed to the ground cage fixing mechanism and can be lifted under the action of the ground cage fixing mechanism. The release of the lifting robotic arm can also be realized, so that the lifting robotic arm can be reset to lift the next ground cage, realizing the automatic storage of the ground cage. While saving labor costs, reducing costs and increasing efficiency, the risk of work safety accidents is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of ground cage storage, and more particularly, to a ground cage storage system. Background Art

[0002] The mechanical ventilation grain storage process is the grain storage process with the highest current usage coverage rate and is also one of the most effective processes for saving grain and reducing losses. However, in this process flow, the deployment of related equipment, such as ventilation ground cages, circulation fans, etc., is relatively difficult. Currently, all work is carried out by manual labor, consuming a large amount of labor costs; and there are safety hazards during the deployment process, and production safety accidents are likely to occur. Summary of the Invention

[0003] In view of this, the present invention proposes a ground cage storage system, aiming to solve the problem that the existing ventilation ground cages need to be manually stored and transported, consuming a large amount of labor costs.

[0004] The present invention proposes a ground cage storage system, which includes: a mobile platform; a lifting robotic arm arranged on the mobile platform, used for lifting the ground cage and also serving as a ground cage carrying base for unloading the ground cage; a ground cage fixing mechanism arranged on the mobile platform, the ground cage fixing mechanism moving synchronously with the lifting robotic arm, used for gradually inserting and fixing on the ground cage lifted by the lifting robotic arm until the inserted and fixed state is achieved, realizing the release between the lifting robotic arm and the ground cage, so that the lifting robotic arm can lift another ground cage, and the ground cage fixing mechanism is also used for lifting and lowering adjustment of the ground cage to realize the storage and unloading of the ground cage.

[0005] Further, in the above ground cage storage system, the ground cage fixing mechanism includes: a load-bearing column, which plays a supporting role; a crawler-type lifting component arranged on the load-bearing column, and the crawler-type lifting component is connected with a driving component, used for driving the crawler-type lifting component to move in the vertical direction; a fixed claw hook arranged on the crawler-type lifting component, used for clamping the ground cage and moving up and down with the crawler-type lifting component to realize the lifting and lowering adjustment of the ground cage.

[0006] Further, in the above ground cage storage system, the crawler-type lifting component includes: a crawler, a driving wheel and a driven wheel; wherein, the driving wheel and the driven wheel are arranged side by side and at intervals in the vertical direction, the crawler is sleeved on the outer circumferences of the driving wheel and the driven wheel, and the crawler is respectively meshed with the driving wheel and the driven wheel, used for rotating clockwise or counterclockwise under the action of the driving wheel to drive the lifting of the fixed claw hooks arranged on the crawler; the fixed claw hooks are multiple and are arranged side by side and at intervals along the outer wall of the crawler, used for respectively clamping multiple ground cages and moving up and down with the crawler for transportation.

[0007] Furthermore, for the above-mentioned cage storage system, the driving assembly includes: a crawler driving motor; a crawler speed reducer for reducing the output of the crawler driving motor; and a crawler controller for controlling the crawler driving motor.

[0008] Furthermore, for the above-mentioned cage storage system, the lifting robotic arm includes: a telescopic column; a telescopic weighing crossbeam disposed at the telescopic end of the telescopic column; two telescopic tentacles disposed at an angle to the telescopic weighing crossbeam, with the two telescopic tentacles respectively disposed at both ends of the telescopic weighing crossbeam and used for inserting into the cage, so that the cage and the telescopic tentacles are lifted under the action of the telescopic column with the telescopic weighing crossbeam, and can be disengaged from the cage to realize the release of the cage. The telescopic tentacles also move under the action of the telescopic weighing crossbeam to adjust the distance between the two telescopic tentacles.

[0009] Furthermore, for the above-mentioned cage storage system, the telescopic column is a hydraulic telescopic column; and / or, the telescopic weighing crossbeam is a hydraulic telescopic load-bearing crossbeam; and / or, the telescopic tentacles are telescopic hydraulic robotic tentacles.

[0010] Furthermore, for the above-mentioned cage storage system, the mobile platform includes: a robotic arm support platform; two first mobile platforms respectively disposed on both sides of the robotic arm support platform, and each of the first mobile platforms is connected to the robotic arm support platform through a first telescopic connector; two second mobile platforms corresponding to the first mobile platforms one by one, and the corresponding second mobile platform and the first mobile platform are connected through a second telescopic connector.

[0011] Furthermore, for the above-mentioned cage storage system, a power mechanism is provided on the first mobile platform and / or the second mobile platform for driving the first mobile platform or the second mobile platform to move; the power mechanism includes: wheels, a wheel steering motor, a wheel speed reducer, a wheel driving motor, a wheel controller, and a battery module.

[0012] Furthermore, for the above-mentioned cage storage system, the first telescopic connector and / or the second telescopic connector is a hydraulic telescopic structure.

[0013] Furthermore, for the above-mentioned cage storage system, the system further includes: a control console, a ranging sensor, and / or a beacon detector; wherein, the control console is disposed on the mobile platform for providing an operation prompt platform; the ranging sensor is used for detecting the distance between the mobile platform and the cage; the beacon detector is used for obtaining the position of the beacon, so that the mobile platform moves towards the beacon according to the position of the beacon to realize the guidance of the movement of the mobile platform.

[0014] The ground cage storage system provided by the present invention is moved through a mobile platform to move to the position where the ground cage is located; when lifting, the lifting robotic arm extends into the interior of the ground cage, and the ground cage is lifted upward by lifting, so as to lift to the position where the ground cage fixing mechanism starts to insert and fix. The ground cage fixing mechanism can be inserted into the ground cage lifted by the lifting robotic arm through the mesh holes of the ground cage, so that the ground cage is fixed to the ground cage fixing mechanism and can be lifted under the action of the ground cage fixing mechanism. The lifting robotic arm can also be released, so that the lifting robotic arm can be reset to lift the next ground cage, and the ground cages are stored one by one to realize the storage of the ground cages. This system realizes the automatic deployment of large equipment such as ground cages and circulation fans in the mechanical ventilation storage process, can replace manual operations, realizes the automatic storage of the above-ground cage air ducts for mechanical ventilation storage operations, saves labor costs, reduces costs and increases efficiency, while reducing the risk of work safety accidents, and lays a foundation for the construction of smart granaries; at the same time, the crawler structure runs stably and has a strong structure. The metal-rubber articulated crawler has the advantages of low noise and long service life, so that the stored ground cage is always in a stable state during the system operation, and the occurrence of safety accidents can be effectively avoided. For the handling and stacking of large equipment and heavy equipment, the motor has stable advantages compared with the internal combustion engine; the zero emission of the motor during operation also meets the standard requirements of modern industry; and the high torque characteristic of the motor can complete the task of handling heavy equipment; a servo control system is selected to control the motor to perform precise operations, which greatly improves the robustness of the overall system; the omni-directional wheel power system can realize the omnidirectional movement of the robot and has good performance with a low turning radius. This system is a special machine for the grain industry with high functional integration, high automation and high stability, realizes the automatic storage and handling operations of the above-ground cages, assists in handling large equipment in the storage area, solves the problems of high labor costs and potential safety hazards in manual operations in existing granaries, and changes the operation process and improves the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] By reading the detailed description of the preferred embodiments below, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0016] Figure 1 is a schematic structural diagram of the ground cage storage system provided by an embodiment of the present invention;

[0017] Figure 2 is a top view of the ground cage storage system provided by an embodiment of the present invention;

[0018] Figure 3 is a front view of the ground cage storage system provided by an embodiment of the present invention;

[0019] Figure 4 A side view of the cage storage system provided by the embodiment of the present invention;

[0020] Figure 5 A schematic structural diagram of the power mechanism provided by the embodiment of the present invention;

[0021] Figure 6 A schematic structural diagram of the cage fixing mechanism provided by the embodiment of the present invention. Detailed implementation manners

[0022] Hereinafter, exemplary embodiments of the present disclosure will be described in more detail with reference to the accompanying drawings. Although the exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided so that the present disclosure can be more thoroughly understood and the scope of the present disclosure can be completely conveyed to those skilled in the art. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other. Hereinafter, the present invention will be described in detail with reference to the drawings and in combination with the embodiments.

[0023] Refer to Figures 1 to 4 , which shows the preferred structure of the cage storage system provided by the embodiment of the present invention. As shown in the figure, the system includes: a mobile platform 1, a lifting robotic arm 2, and a cage fixing mechanism 3; wherein,

[0024] The lifting robotic arm 2 is arranged on the mobile platform 1 and is used for lifting the cage 4 and also serves as a cage bearing base for unloading the cage. Specifically, the mobile platform 1 can be a mobile support platform to support each component of the system and realize the overall movement of the system, thereby driving the cage stored in the system to move to the unloading area for unloading the cage. The lifting robotic arm 2 can be arranged on the mobile platform 1 and is used to extend into the interior of the cage during lifting and lift the cage upward by lifting, so as to lift to the position where the cage fixing mechanism 3 starts to insert and continue to gradually lift until the cage fixing mechanism 3 is completely inserted into the cage, that is, the inserted state. Subsequently, it can continue to be lifted synchronously with the cage fixing mechanism 3 for the cage, or can be reset to lift the next cage. That is to say, the cage arranged on the ground can be lifted from the ground by the action of the lifting robotic arm 2 so that the cage fixing mechanism 3 can be inserted into the cage. As is well known to those skilled in the art, the cage is usually a round cage or a square cage, and its axis is horizontally arranged on the ground or the working surface; in this embodiment, as Figure 2As shown, the lifting robotic arm 2 can extend into the interior of the cage along the axial direction of the cage so that the cage can be lifted along with the lifting robotic arm 2. In this embodiment, the lifting robotic arm 2 and the mobile platform 1 are detachably connected to each other so that other working structures can be replaced for construction operations; among them, a replacement mechanism 7 can be provided on the mobile platform 1, and the replacement mechanism 7 is detachably connected to the lifting robotic arm 2. Of course, the replacement mechanism 7 can also be detachably connected to other working mechanisms such as equipment transfer mechanisms; the replacement mechanism can be a ball screw mechanism, and threaded through holes are provided on both the lifting robotic arm 2 and the equipment transfer mechanism so that the lifting robotic arm 2 and the replacement mechanism 7 are connected through a ball screw pair to drive the reciprocating linear motion of the lifting robotic arm 2 through the replacement mechanism until it moves to the end of the screw of the ball screw mechanism. The mobile platform 1 drives the replacement mechanism 7 to move to realize the separation between the lifting robotic arm 2 and the replacement mechanism 7, that is, to make the lifting robotic arm 2 disengage from the screw of the replacement mechanism 7. For example, it can be disengaged and placed on a fixed frame. The mobile platform 1 can also drive the replacement mechanism 7 to move and insert it into the threaded through hole of the equipment transfer mechanism. Through the transmission connection between the two, the equipment transfer mechanism is gradually installed on the screw and can move to a preset position for operation, so as to realize the replacement between the lifting robotic arm 2 and the replacement mechanism 7.

[0025] The cage fixing mechanism 3 is arranged on the mobile platform 1 and moves synchronously with the lifting robotic arm 2. It is used to gradually insert and fix on the cage lifted along with the lifting robotic arm 2 until it is in a fixed state, realizing the release between the lifting robotic arm 2 and the cage, so that the lifting robotic arm 2 can lift another cage. The cage fixing mechanism 3 is also used to adjust the lifting and lowering of the cage to realize the storage and unloading of the cage. Specifically, the cage fixing mechanism 3 can provide a plurality of insertion and fixing points arranged side by side and at intervals in the vertical direction to gradually insert and fix on the cage lifted along with the lifting robotic arm 2 until it is in a fixed state. The cage fixing mechanism 3 can be inserted into the mesh holes of the cage, making the fixation between the cage fixing mechanism 3 and the cage firm, so that the lifting robotic arm 2 can reset, that is, realizing the release between the lifting robotic arm 2 and the cage. Then, another cage is lifted through the lifting robotic arm 2, and the cage fixed on the cage fixing mechanism 3 is lifted through the cage fixing mechanism 3, and gradually inserted and fixed on the next cage lifted along with the lifting robotic arm 2 through another insertion and fixing point until it is in a fixed state. Repeat this process until each insertion and fixing point on the cage fixing mechanism 3 is inserted with a cage or partially inserted with a cage. The mobile platform 1 can drive the cage fixing mechanism 3 to move to the unloading area for unloading the cage. Among them, there can be multiple cage fixing mechanisms 3, as Figures 1 to 4 shown, the cage fixing mechanism 3 can be four to provide four insertion, lifting and fixing points for each cage, thereby ensuring the stability of the cage fixation.

[0026] Continue to refer to Figure 1 andFigure 4 The system may further include: a control console 5, a ranging sensor 6, and / or a beacon detector (not shown in the figure); wherein, the control console 5 is arranged on the mobile platform 1 for providing an operation prompt platform; the ranging sensor 6 is used to detect the distance between the mobile platform 1 and the cage; the beacon detector is used to obtain the position of the beacon, so that the mobile platform 1 moves towards the beacon according to the position of the beacon, realizing the guidance of the movement of the mobile platform 1. Specifically, the control console 5 may include a main control MCU integrated board, an LED control screen, and a bracket, and is arranged on the upper part of the mobile platform 1 for the convenience of operation selection by construction workers. For example, it can be provided that the operator can select the placement form (one machine with two lanes, one machine with three lanes, guiyuan shape, etc.), the cage size (width, shape type, etc.) on the LED control screen which can be a touch screen according to the stacking situation of the cages in the bin, so that the main control MCU integrated board analyzes according to the obtained stacking situation of the cages in the bin to plan the movement path of the mobile platform 1 and the movement paths of the lifting robotic arm 2 and the cage fixing mechanism 3, and then controls the mobile platform 1, the lifting robotic arm 2, the cage fixing mechanism 3, etc. The ranging sensor 6 can detect the distance between the mobile platform 1 and the cage to ensure that the mobile platform 1 operates on the cage after moving into place. Of course, the system may also be provided with other environmental perception modules to avoid collisions during the movement of the system. The beacon detector can obtain the position of the beacon, so that the mobile platform 1 moves towards the beacon according to the position of the beacon, realizing the guidance of the movement of the mobile platform 1. For example, before the cage is stored, the beacon can be placed at the cage storage location so that the system can automatically navigate to the beacon. This cage storage system can form a robot to realize automatic cage storage, unloading, and equipment shipment.

[0027] Continue to refer to Figures 2 to 4 The mobile platform 1 may include: a robotic arm support platform 11, two first mobile platforms 12, and two second mobile platforms 13; wherein, the two first mobile platforms 12 are respectively arranged on both sides of the robotic arm support platform 11 (such as Figure 2 the upper and lower sides shown in the figure), and each first mobile platform 12 is connected to the robotic arm support platform 11 through a first telescopic connecting member 14; the two second mobile platforms 13 correspond to the first mobile platforms 12 one by one, and the corresponding second mobile platform 13 and the first mobile platform 12 are connected through a second telescopic connecting member 15. Specifically, the robotic arm support platform 11 is used to support the disassembly and replacement mechanism 7 and the lifting robotic arm 2; the two first mobile platforms 12 and the two second mobile platforms 13 are on the left side of the robotic arm support platform 11 (relative to Figure 2arranged in a quadrilateral layout (in terms of the positions shown) to respectively support the four ground cage fixing mechanisms 3; in this embodiment, support platforms 16 are provided on both of the two first moving platforms 12, and each support platform 16 is connected to both sides of the robotic arm support platform 11 through a first telescopic connecting member 14, so as to adjust the lateral distance between the robotic arm support platform 11 and the first moving platform 12 through the first telescopic connecting member 14 (such as Figure 2 the vertical direction shown), thereby adapting to ground cages of different widths or diameters, and ensuring the stability of inserting and fixing the ground cage by the two first moving platforms 12 and the two second moving platforms 13; at the same time, the corresponding second moving platform 13 and the first moving platform 12 are connected through a second telescopic connecting member 15, so as to adjust the longitudinal distance between the corresponding second moving platform 13 and the first moving platform 12 through the second telescopic connecting member 15 (such as Figure 2 the horizontal direction shown), thereby adapting to ground cages of different lengths, and further ensuring the stability of inserting and fixing the ground cage by the two first moving platforms 12 and the two second moving platforms 13, that is, the multi-stage hydraulic telescopic rod can adapt to ground cages of various sizes and provide an adaptable chassis structure for the handling of other warehousing operation equipment. Among them, the first telescopic connecting member 14 and / or the second telescopic connecting member 15 is a hydraulic telescopic structure, and can also be other telescopic structures, and no limitation is made to it in this embodiment.

[0028] Continue to refer to Figures 3 to 4 , a power mechanism 17 may be provided on the first moving platform 12 and / or the second moving platform 13 for driving the first moving platform 12 or the second moving platform 13 to move. As Figure 5 shown, the power mechanism 17 may include: wheels 171, a wheel steering motor 172, a wheel reducer 173, a wheel drive motor 174, a wheel controller (not shown in the figure) and a battery module (not shown in the figure), forming a steerable wheel power system. Among them, the wheel steering motor 172 may be a steering servo motor, the wheel drive motor 174 may be a drive servo motor, the wheel controller is a servo controller, and the battery module is a lithium battery pack. Of course, it may also be other structures, and no limitation is made to it in this embodiment.

[0029] Continue to refer to Figures 2 to 4 , the lifting robotic arm 2 includes: a telescopic column 21, a telescopic weighing cross beam 22 and two telescopic tentacles 23; among them, the telescopic weighing cross beam 22 is arranged at the telescopic end of the telescopic column 21 (such as Figure 3 the top shown); the two telescopic tentacles 23 are arranged at an angle with the telescopic weighing cross beam 22, and the two telescopic tentacles 23 are respectively arranged at both ends of the telescopic weighing cross beam 22 (such as Figure 2The upper and lower ends shown are used to be inserted into the ground cage 4 so that the ground cage 4 and the telescopic tentacles 23 are lifted along with the telescopic weighing cross beam 22 under the action of the telescopic column 21, and can be detached from the ground cage 4 to realize the release of the ground cage 4. The telescopic tentacles 23 also move under the action of the telescopic weighing cross beam 22 to adjust the distance between the two telescopic tentacles 23. Specifically, in this embodiment, the telescopic column 21 is a hydraulic telescopic column; and / or, the telescopic weighing cross beam 22 is a hydraulic telescopic load-bearing cross beam; and / or, the telescopic tentacles 23 are telescopic hydraulic mechanical tentacles.

[0030] In this embodiment, the working process of the lifting robotic arm 2 is as follows: after the telescopic column 21 contracts downward so that the telescopic weighing cross beam 22 and the two telescopic tentacles 23 are at an operable height, the two telescopic tentacles 23 start to extend and retract. After reaching the designated position, the telescopic column 21 starts to lift the two telescopic tentacles 23 and lift the ground cage.

[0031] Continue to refer to Figure 4 and Figure 6 , the ground cage fixing mechanism 3 includes: a load-bearing column 31, a crawler-type lifting assembly 32, and a fixed claw hook 33; among them, the load-bearing column 31 plays a supporting role; the crawler-type lifting assembly 32 is arranged on the load-bearing column 31, and the crawler-type lifting assembly 32 is connected with a driving assembly (not shown in the figure) for driving the crawler-type lifting assembly 32 to move in the vertical direction; the fixed claw hook 33 is arranged on the crawler-type lifting assembly 32 for clamping the ground cage 4 and moving up and down along with the crawler-type lifting assembly 32 to realize the lifting adjustment of the ground cage 4. Specifically, the crawler-type lifting assembly 32 can protrude on the load-bearing column 31 so as to rotate and convey along the length direction of the load-bearing column 31 (such as Figure 6 the vertical direction shown) so that the fixed claw hook 33 arranged on the crawler-type lifting assembly 32 can rotate circumferentially to adjust the orientation of the fixed claw hook 33, such as Figure 4As shown in the figure, the fixing claw hooks 33 of the two cage fixing mechanisms 3 are arranged back to back. The fixing claw hooks 33 can be driven by the crawler lifting assembly 32 to face each other. That is, the fixing claw hook 33 on the right rotates to the left side of the load-bearing column 31 and is set to face left, and the fixing claw hook 33 on the left rotates to the right side of the load-bearing column 31 and is set to face right, so as to insert and fix the cage arranged between the two load-bearing columns 31. Among them, there can be multiple fixing claw hooks 33, which are arranged side by side and at intervals along the outer wall of the crawler 321 of the crawler lifting assembly 32, and are used to respectively fix multiple cages and lift and convey them along with the crawler; each fixing claw hook 33 can correspond to and catch a mesh hole of one of the cages to achieve the catching of each cage one by one. Of course, the same cage can also be caught by multiple fixing claw hooks 33. In this embodiment, no limitation is made on this. In this embodiment, the movement speed of the crawler lifting assembly 32 matches the lifting speed of the telescopic column 21, so that when the telescopic column 21 lifts the cage by a fixed distance, the cage is caught by the fixing claw hooks 33 at the same time.

[0032] In this embodiment, as Figure 6 shown, the crawler lifting assembly 32 includes: a crawler 321, a driving wheel 322 and a driven wheel 323; among them, the driving wheel 322 and the driven wheel 323 are arranged side by side and at intervals in the vertical direction, the crawler 321 is sleeved on the outer peripheries of the driving wheel 322 and the driven wheel 323, and the crawler 321 meshes with the driving wheel 322 and the driven wheel 323 respectively, and is used to rotate clockwise or counterclockwise under the action of the driving wheel 322 to drive the lifting of the fixing claw hooks 33 arranged on the crawler 321. Specifically, when implemented, there can be one driving wheel 322, which is connected with a driving assembly, and there can be one driven wheel 323. The driving wheel 322 and this driven wheel 323 can be respectively arranged at both ends to support both ends of the crawler 321. Of course, multiple driven wheels 323 can also be arranged between the driving wheel 322 and this driven wheel 323 to support the crawler 321 and ensure the stability of the crawler 321, and further ensure the stability of the cage lifting. In an alternative implementation manner of this embodiment, there can be two driving wheels 322, which are respectively connected with driving assemblies and arranged at both ends to support both ends of the crawler 321. Multiple driven wheels 323 can be arranged between the two driving wheels 322 to support the crawler 321 and ensure the stability of the crawler 321, and further ensure the stability of the cage lifting; at the same time, the two driving wheels 322 move synchronously.

[0033] In this embodiment, the driving assembly includes: a crawler driving motor, a crawler speed reducer for reducing the output of the crawler driving motor, and a crawler controller for controlling the crawler driving motor. Specifically, the crawler driving motor can be a servo motor, the crawler speed reducer can be a servo speed reducer, and the crawler controller can be a servo controller.

[0034] The cage storage operation of this cage storage system: First, the maintenance personnel of the grain depot turn on the main switch of this cage storage system, select the cage storage operation through the LED control screen, and perform relevant configurations before the operation; the main control MCU integrated board of the cage storage system can select the warehouse to be operated according to the electronic map of the grain depot. After selection, leave the designated area according to the prompt. Subsequently, the cage storage system starts to operate, and under the action of the controller, the mobile platform 1 moves so that the system automatically moves to the front of the warehouse; after reaching the front of the warehouse, the LED control screen prompts the operator to perform the next operation. According to the stacking situation of the cages in the warehouse, select the stacking form (one machine with two lanes, one machine with three lanes, gui-shaped, etc.) and the cage size (width, shape type) on the LED control screen. After selection, the system can prompt the operator to use the joystick to perform positioning operations on the system. When the system is in the correct position, the operator loses the operation permission and is prompted to exit the designated area. After the operator exits, the system starts the cage storage operation. The system first controls the movement of the system through the laser ranging sensor system located at the chassis. When moving to the operation area, the controller controls the lifting robotic arm 2 and the cage fixing mechanism 3 to act according to the movement path determined by the stacking form and the cage size. First, control the lifting robotic arm 2 to start working. After the telescopic column 21 contracts downward so that the telescopic weighing cross beam 22 and the two telescopic tentacles 23 are at the height where they can operate, the two telescopic tentacles 23 start to expand and contract. After reaching the designated position, the telescopic column 21 starts to lift the two telescopic tentacles 23 and lift the cage; at the same time, by performing a function matching on the lifting speed of the telescopic column 21 and the lifting speed of the cage fixing mechanism 3, the cage is lifted by a fixed distance and then clamped by the cage fixing mechanism 3; at this time, the lifting robotic arm 2 and the cage fixing mechanism 3 stop operating, and the lifting robotic arm 2 resets; after that, the system continues to move forward to the next cage position to perform the next cage storage operation. When the cage storage in the warehouse is completed, the system enters the next stage of the operation. Before this, the maintenance personnel can pre-place the beacon at the cage storage location. At this time, the robot will move towards the beacon. After the robot moves to the beacon, the lifting robotic arm 2 starts to operate, adjusts its own position as the cage placement positioning base, and then the driving wheel of the cage fixing mechanism 3 rotates in reverse to unload the stored cages onto the lifting robotic arm 2 in sequence. Until after the unloading is completed, the lifting robotic arm 2 unloads each cage to the storage area, and then the lifting robotic arm 2 resets. The system prompts the maintenance personnel that the operation has been completed and asks them to perform the next operation.

[0035] Equipment handling operation of the ground cage storage system: To assist in handling large equipment, first, the maintenance personnel in the grain depot need to place the system in the designated area. The beacon mechanism enables the system to automatically find its way and dock automatically in the designated area where the beacon is located. After the system reaches the designated position, it automatically switches to the manual operation mode, and the operator adjusts the position of the system through the LED control panel. After the position adjustment is completed, the equipment transfer mechanism is replaced by using the replacement mechanism 7 to fix the equipment to be transferred through the equipment transfer mechanism. After the fixation is completed, the operator places the beacon in the corresponding passage, which is a yellow strip. The operator clicks to start the handling, and the system starts automatic operation. Since the pre-laid passage leads to each fixed warehouse, before the operation starts, the operator needs to select the corresponding passage of the warehouse where the equipment needs to arrive. After the system reaches near the target location, the operation mode switches back to the manual operation mode, and the maintenance personnel adjust the position of the system through the LED control panel so that the transported equipment is finally placed in the required position, and the equipment transfer mechanism is unlocked, thus completing the equipment transfer operation.

[0036] Among them, the system can be built into a multi-purpose grain depot intelligent robot system with a micro low-power high-torque drive motor set, multi-stage hydraulic telescopic rods, an independent electric control steering module, a central control microcomputer system, a sequential logic two-wheel drive / four-wheel drive intelligent control system, an LED display panel, a manual operation panel, a modular detachable robotic arm, a crawler-type ground cage fixing device, a wireless sensor perception network module, an orbit perception module, a beacon tracking system, etc. It can also achieve automatic unloading after storage, achieving the effect of unmanned operation throughout the process. The disassembly structure of the lifting robotic arm 2 can be applied not only to the handling of above-ground cages, but also, according to needs, different operating mechanisms can be replaced to complete internal grain depot operations such as handling large equipment in the depot such as fans, deploying belt conveyors into the warehouse, and injecting circulation fumigation agents. The system can achieve real-time switching between four-wheel drive and two-wheel drive, and each drive module can be functionally programmed to be adjusted to the best drive mode according to different power requirements. The system can achieve offline automatic operation in the offline state and can also complete the operation tasks according to the preset program in an environment without network coverage or poor network conditions. In the networked state, it can perform OTA firmware upgrade, remote control, and status monitoring.

[0037] In summary, the ground cage storage system provided in this embodiment moves through the mobile platform 1 to reach the position where the ground cage is located; when lifting, the lifting robotic arm 2 extends into the interior of the ground cage, and the ground cage is lifted upward accordingly through lifting to the position where the ground cage fixing mechanism 3 starts to insert and fix. The ground cage fixing mechanism 3 can be inserted into the ground cage lifted by the lifting robotic arm 2 through the mesh holes of the ground cage, so that the ground cage is fixed to the ground cage fixing mechanism 3 and can be lifted under the action of the ground cage fixing mechanism 3. The release of the lifting robotic arm 2 can also be realized, so that the lifting robotic arm 2 can be reset to lift the next ground cage, and the ground cages are stored one by one to achieve the storage of the ground cages. This system realizes the automatic deployment of large equipment such as ground cages and circulation fans in the mechanical ventilation storage process, can replace manual operations, realizes the automatic storage of the above-ground cage air ducts for mechanical ventilation storage operations, saves labor costs, reduces costs and increases efficiency, while reducing the risk of work safety accidents, and lays a foundation for the construction of smart granaries; at the same time, the crawler structure runs stably and is structurally strong. The metal-rubber articulated crawler has the advantages of low noise and long service life, making the stored ground cages always in a stable state during the system operation, and can effectively avoid the occurrence of safety accidents. For the handling and stacking of large equipment and heavy equipment, the motor has a stable advantage compared with the internal combustion engine; the zero emission of the motor during operation also meets the standard requirements of modern industry; and the high torque characteristic of the motor can complete the task of handling heavy equipment; a servo control system is selected to control the motor for precise operation, which greatly improves the robustness of the overall system; the omnidirectional mobile robot can be realized by the omni-wheel power system, and it has good performance with a low turning radius. This system is a special machine for the grain industry with high functional integration, high automation and high stability, realizes the automatic storage and handling operation of the above-ground cages, and assists in handling large equipment in the storage area, solves the problems of high labor cost and potential safety hazards in manual operations in the existing granaries, and changes the operation process and improves the operation efficiency.

[0038] It should be noted that in the description of the present invention, the terms indicating the direction or position relationship such as "upper", "lower", "left", "right", "inner", "outer", etc. are based on the direction or position relationship shown in the drawings. This is only for convenience of description, rather than indicating or implying that the device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention.

[0039] In addition, it should also be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0040] Obviously, those skilled in the art can make various modifications and variations to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalent technologies, the present invention is also intended to include these modifications and variations.

Claims

1. A ground cage storage system, characterized in that, it includes: A mobile platform; A lifting robotic arm arranged on the mobile platform, used for lifting the ground cage and also serving as a bearing base for the ground cage to unload the ground cage; A ground cage fixing mechanism arranged on the mobile platform, the ground cage fixing mechanism moves synchronously with the lifting robotic arm, and is used to gradually insert and fix on the ground cage lifted by the lifting robotic arm until the fixing state is achieved, realizing the release between the lifting robotic arm and the ground cage, so that the lifting robotic arm can lift another ground cage. The ground cage fixing mechanism is also used for lifting and lowering adjustment of the ground cage to realize the storage and unloading of the ground cage; The ground cage fixing mechanism includes: A load-bearing column, which plays a supporting role; A crawler-type lifting component arranged on the load-bearing column, and the crawler-type lifting component is connected with a driving component, which is used to drive the crawler-type lifting component to move in the vertical direction; Fixed claw hooks arranged on the crawler-type lifting component, which are used to clamp the ground cage and move up and down with the crawler-type lifting component to realize the lifting and lowering adjustment of the ground cage.

2. The ground cage storage system according to claim 1, characterized in that, The crawler-type lifting component includes: a crawler, a driving wheel and a driven wheel; wherein, The driving wheel and the driven wheel are arranged side by side and at intervals in the vertical direction, the crawler is sleeved on the outer circumferences of the driving wheel and the driven wheel, and the crawler is respectively meshed with the driving wheel and the driven wheel, and is used to rotate clockwise or counterclockwise under the action of the driving wheel to drive the lifting of the fixed claw hooks arranged on the crawler; There are multiple fixed claw hooks, which are arranged side by side and at intervals along the outer wall of the crawler, and are used to respectively clamp multiple ground cages and lift and transport them along with the crawler.

3. The ground cage storage system according to claim 1, characterized in that, The driving component includes: A crawler driving motor; A crawler reducer for reducing the output of the crawler driving motor; A crawler controller for controlling the crawler driving motor.

4. The ground cage storage system according to any one of claims 1 to 3, characterized in that, The lifting robotic arm includes: A telescopic column; A telescopic weighing cross beam arranged at the telescopic end of the telescopic column; Two telescopic tentacles arranged at an angle with the telescopic weighing cross beam, and the two telescopic tentacles are respectively arranged at both ends of the telescopic weighing cross beam, and are used to insert into the ground cage, so that the ground cage and the telescopic tentacles are lifted under the action of the telescopic weighing cross beam by the telescopic column and can be separated from the ground cage to realize the release of the ground cage. The telescopic tentacles also move under the action of the telescopic weighing cross beam to adjust the distance between the two telescopic tentacles.

5. The ground cage storage system according to claim 4, characterized in that, The telescopic column is a hydraulic telescopic column; and / or, The telescopic weighing cross beam is a hydraulic telescopic load-bearing cross beam; and / or, The telescopic tentacles are telescopic hydraulic robotic tentacles.

6. The ground cage storage system according to any one of claims 1 to 3, characterized in that, The mobile platform includes: A robotic arm support platform; Two first mobile platforms are respectively arranged on both sides of the robotic arm support platform, and each of the first mobile platforms is connected to the robotic arm support platform through a first telescopic connecting member; Two second mobile platforms, which correspond to the first mobile platforms one by one, and the corresponding second mobile platform and the first mobile platform are connected through a second telescopic connecting member.

7. The cage storage system according to claim 6, characterized in that a power mechanism is provided on the first mobile platform and / or the second mobile platform for driving the first mobile platform or the second mobile platform to move; The power mechanism includes: wheels, a wheel steering motor, a wheel reducer, a wheel drive motor, a wheel controller and a battery module.

8. The cage storage system according to claim 6, characterized in that the first telescopic connecting member and / or the second telescopic connecting member is a hydraulic telescopic structure.

9. The cage storage system according to any one of claims 1 to 3, characterized in that it further includes: a control operation console, a ranging sensor and / or a beacon detector; wherein, the control operation console is arranged on the mobile platform for providing an operation prompt platform; the ranging sensor is used for detecting the distance between the mobile platform and the cage; the beacon detector is used for obtaining the position of the beacon, so that the mobile platform moves towards the beacon according to the position of the beacon, realizing the guiding of the movement of the mobile platform.

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