A fumigation and medicine residue recycling robot for large grain barns

Abstract

The application discloses a fumigation and medicine feeding and recycling robot for large granaries, which comprises a vehicle chassis, a medicine feeding vehicle body and a recycling vehicle body, the medicine feeding vehicle body is fixed on the chassis, the recycling vehicle body is fixedly installed on one side of the medicine feeding vehicle body, a moving mechanism is arranged on the vehicle chassis, a medicine feeding device is arranged in the medicine feeding vehicle body, a material collecting device is arranged in the recycling vehicle body, the material collecting device comprises a fourth motor, a lead screw, a nut, two BK bearings, driving arms, a mechanical arm and a clamping hand, the two BK bearings are fixedly arranged in the recycling vehicle body and the axes thereof coincide, the two ends of the lead screw are rotatably installed on the two BK bearings, the power output end of the fourth motor is fixedly connected with one end of the lead screw, the nut is threadedly connected with the lead screw, and the two driving arms are symmetrically hinged to the outer wall of the nut through hinge pieces. The device solves the safety hidden trouble existing in the manual fumigation and residue recycling in the prior art, realizes full automation of medicine feeding and medicine residue recycling, and reduces the labor cost.

Description

Technical Field

[0001] This invention relates to the field of grain storage technology, specifically to a fumigation and drug residue recovery robot for large grain warehouses. Background Technology

[0002] Fumigation is a pest control procedure used in grain storage. When the grain is infested with pests to a certain extent, a certain amount of phosphide is buried in the grain pile under sealed conditions. This phosphide reacts chemically with the moisture in the grain, releasing highly toxic phosphine gas, thereby killing various pests and their eggs. Chemical agents and fumigants are toxic to humans; improper use or negligence can lead to accidents and endanger lives. Currently, most grain fumigation in China is carried out manually, posing safety hazards.

[0003] Henan Zhihui Liangcang Intelligent Technology Co., Ltd. has developed a uniform and efficient grain warehouse fumigation equipment (refer to patent document CN215381019U). This robot has solved the problem of limited spraying height and improved fumigation efficiency, but it has not solved the problem of the drug causing harm to the human body during the fumigation process. It has not achieved unmanned operation of the drug fumigation process, which increases the workload of workers and still poses safety hazards.

[0004] Chinese patent documents (authorization announcement number CN106112956B) disclose a fumigation robot for grain storage and its application method. This robot solves the problem of manual fumigation, autonomously walking on walkways on the grain pile surface, accurately positioning itself, automatically grabbing fumigation bottles and opening the caps to fill the fumigation tank, and simultaneously performing bidirectional fumigation while rotating. However, this robot cannot recover fumigation residue. Since grain storage warehouses are often very large, the workload for manual residue recovery is substantial, increasing labor costs. Furthermore, prolonged exposure to this working environment still poses safety hazards for manual operations. Summary of the Invention

[0005] This invention addresses the shortcomings of existing technologies by proposing an intelligent grain warehouse fumigation and residue recovery robot that enables unmanned operation of the entire fumigation and residue recovery process. This solves the safety hazards associated with manual fumigation residue recovery in existing technologies, achieves full automation of fumigation and residue recovery, and reduces labor costs.

[0006] To solve the above-mentioned technical problems, the technical solution of the present invention is as follows:

[0007] A fumigation dosing and residue recovery robot for large grain silos includes a chassis, a dosing body, and a recovery body. The dosing body is fixed to the chassis, and the recovery body is fixedly installed on one side of the dosing body. A moving mechanism is provided on the chassis. A dosing device is installed inside the dosing body, and a collection device is installed inside the recovery body. The collection device includes a fourth motor, a lead screw, a nut, two BK bearings, a drive arm, a robotic arm, and a gripper. The two BK bearings are fixedly installed inside the recovery body and their axes coincide. The two ends of the lead screw are respectively... The fourth motor is rotatably mounted on two BK bearings. The power output end of the fourth motor is fixedly connected to one end of the lead screw. The nut is threaded onto the lead screw. The two drive arms are symmetrically hinged to the outer wall of the nut via hinges. One end of each of the two mechanical arms is hinged to the other end of the drive arm via hinges. The other end of the mechanical arm is fixed with a gripper. The two sides of the recovery vehicle are symmetrically provided with through holes for the mechanical arms to pass through. The inner wall of the through hole is provided with a vertical fixed shaft. The mechanical arm is provided with a rotating hole that fits onto the fixed shaft.

[0008] Preferably, the robotic arm is V-shaped and bends inward, and the grippers are plate-shaped polygonal structures arranged on opposite sides, so that when the two grippers are engaged, the opposite sides fit together.

[0009] Preferably, the clamp is provided with several drainage holes.

[0010] Preferably, a coupling is provided between the fourth motor and the lead screw.

[0011] Preferably, a retractable collection box is provided under the recycling vehicle body.

[0012] Preferably, the drug delivery vehicle body is equipped with a matching drug delivery device and a drug storage device. A drug delivery port is provided on one side of the drug delivery vehicle body corresponding to the drug delivery device. The drug storage device includes a fixing plate and a drug storage tank. The fixing plate is fixed to the inner top wall of the drug delivery vehicle body. The drug storage tank is fixedly arranged on one side of the fixing plate. A drug pushing plate is provided in the drug storage tank. A drug pushing cylinder is fixed to one side of the fixing plate. One side of the drug pushing plate is fixedly connected to the power output end of the drug pushing cylinder.

[0013] Preferably, the dosing device is located directly below the drug storage device. The dosing device includes a U-shaped track, a connecting rod, a crank rod, a second motor, and a slider. The second motor is fixedly installed at one end of the U-shaped track. One end of the crank rod is connected to the output shaft of the motor. The other end of the crank rod is connected to one end of the connecting rod through a hinge. The other end of the connecting rod is hinged to the slider through a hinge. The slider is slidably disposed within the U-shaped track. The other end of the U-shaped track extends to the dosing port.

[0014] Preferably, the mobile device includes a first motor, a reducer, a gearbox, a wheel axle, and a spiral wheel. The first motor and the reducer are fixedly mounted on the chassis. The power output shaft of the first motor is connected to the input end of the reducer. The reducer outputs power through a transmission shaft, which is mounted on the chassis via a BK bearing. The input ends of the two gearboxes are respectively connected to the ends of the transmission shaft. The gearboxes output power through the wheel axle, and the spiral wheel is fixedly mounted at both ends of the wheel axle.

[0015] Preferably, the spiral wheel includes a cylindrical body, the outer end of which is provided with a conical head, and the radial outer wall of the cylindrical body is provided with spiral ribs.

[0016] The above technical solution achieves the following: 1) The use of spiral wheels facilitates movement within grain piles, enabling both internal fumigation and surface fumigation for pest control; 2) The adoption of an autonomous drug storage and pushing mechanism replaces manual application, significantly improving safety during fumigation; 3) The designed gripper and drawer mechanisms facilitate the recycling and storage of drug residues, achieving full automation and reducing labor costs and safety hazards; 4) The gripper's structural design provides sufficient force to grasp drug residues, and unlike traditional robotic arms, it does not require precise positioning, offering a degree of positional tolerance. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 The image shown is a planar axonometric view of an embodiment of the present invention.

[0019] Figure 2 The image shown is a top view of a wheel according to an embodiment of the present invention.

[0020] Figure 3 The image shown is a cross-sectional view of the vehicle body according to an embodiment of the present invention.

[0021] Figure 4 The image shown is a cross-sectional view of the arm according to an embodiment of the present invention.

[0022] In the diagram: 1. Drug delivery vehicle body; 2. Retrieval vehicle body; 3. Robotic arm; 4. Gripper; 5. Spiral wheel; 6. Receiving box; 7. Gearbox; 8. Reducer; 9. First motor; 10. Wheel axle; 11. Drive shaft; 12. Connecting rod; 13. Fixing plate; 14. Drug pushing cylinder; 15. Drug pushing plate; 16. Drug storage tank; 17. Crank rod; 18. U-shaped track; 19. Second motor; 20. Third motor; 21. Telescopic gate; 22. Slider; 23. Leakage hole; 24. Nut; 25. Drive arm; 26. Hinge; 27. Lead screw; 28. BK bearing; 29. ​​Coupling; 30. Fourth motor. Detailed Implementation

[0023] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other.

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0025] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art will understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0026] This invention provides a robot for fumigation dosing and drug residue recovery in large grain silos, such as... Figure 1As shown, the vehicle includes a chassis, a fumigation vehicle body 1, and a recovery vehicle body 2. The recovery vehicle body 2 is fixedly installed on one side of the fumigation vehicle body 1. The fumigation vehicle body is equipped with a fumigation device, and the recovery vehicle body is equipped with a material collection device. The fumigation drug is delivered through the fumigation vehicle body 1, and most importantly, the fumigation drug can be recovered through the recovery vehicle body 2, thereby realizing unmanned drug residue recovery operation. This not only saves labor costs and improves recovery efficiency, but also avoids the safety hazards of manual operation.

[0027] As is conceivable, the drug delivery vehicle body is fixed to a chassis. In this embodiment, a conventional chassis is used, therefore it will not be described in detail. A moving mechanism is provided on the chassis to drive the robot's movement, working in conjunction with an automatic tracking system to move to the location where drug residue can be collected.

[0028] Specifically, such as Figure 2 As shown, the mobile device includes a first motor 9, a reducer 8, a gearbox 7, a wheel axle 10, and a spiral wheel 5. The first motor 9 and the reducer 8 are fixedly mounted on the chassis. The power output shaft of the first motor 9 is connected to the input end of the reducer 8. The reducer 8 outputs power through a transmission shaft 11. The transmission shaft 11 is mounted on the chassis through a BK bearing 28. The input ends of the two gearboxes 7 are respectively connected to the ends of the transmission shaft 11. The gearboxes 7 output power through the wheel axle 10. The spiral wheel 5 is fixedly mounted on both ends of the wheel axle 10.

[0029] Understandably, the first motor 9 outputs power to the reducer, which increases the torque and then transmits the power to the two gearboxes. The gearboxes then output power to the wheel axle 10, which in turn drives the spiral wheel 5 to rotate, thus enabling the robot to move.

[0030] As can be imagined, reducers and gearboxes are conventional devices, so they will not be described in detail in this embodiment.

[0031] Furthermore, the spiral wheel 5 includes a cylindrical body, the outer end of which is provided with a conical head, and the radial outer wall of the cylindrical body is provided with spiral ribs.

[0032] Understandably, the spiral wheel 5 in this embodiment increases the propulsive effect of the spiral wheel on the grain when it moves, thus facilitating movement on the grain and preventing it from getting stuck in the grain and unable to move.

[0033] Specifically, such as Figure 4As shown, the receiving device includes a fourth motor 30, a lead screw 27, a nut 24, two BK bearings 28, a drive arm 25, a robotic arm 3, and a gripper 4. Further, the two BK bearings 28 are fixedly installed inside the recovery vehicle body 2 with their axes coincident. The two ends of the lead screw 27 are rotatably mounted on the two BK bearings 28 respectively. Understandably, the BK bearings and the mounting of the lead screw 27 allow the lead screw to only rotate. The power output end of the fourth motor is fixedly connected to one end of the lead screw, thereby driving the lead screw 27 to rotate. The fourth motor and the lead screw are connected via a coupling 29. Additionally, the nut is threaded onto the lead screw, allowing the nut to move back and forth on the lead screw as the lead screw rotates. Further, the two drive arms 25 are symmetrically hinged to the outer wall of the nut via hinges 26. It is conceivable that by symmetrically setting two connecting seats on the outer wall of the nut, the hinges can be used to connect the drive arms to one end via the hinges. One end of each of the two robotic arms is hinged to the other end of the drive arm via a hinge joint. The two sides of the recovery vehicle body 2 have symmetrical through holes for the robotic arms to pass through. A vertical fixed shaft is provided on the inner wall of each through hole, and the robotic arm has a rotating hole that fits onto the fixed shaft. The through holes are for the robotic arms to pass through. The fixed shaft allows the robotic arms to rotate around the fixed shaft under the action of the drive arm. A gripper 4 is fixed to the other end of each robotic arm. Therefore, when the robotic arm rotates counterclockwise, the grippers close together to perform a gripping action; conversely, the grippers release. The rotation of the robotic arm is achieved by the back-and-forth movement of a lead screw, which in turn pushes one end of the robotic arm through the drive arm. Furthermore, the grippers have a plate-like polygonal structure and are positioned on opposite sides; when two grippers are engaged, the opposite sides fit together. In addition, the gripper is provided with a number of holes 23. When the medicine residue is gripped, the grain on the gripper can fall back into the grain pile through the holes.

[0034] Furthermore, the robotic arm is V-shaped and bends inward. This design reduces the rotation angle of the robotic arm, thus enabling the gripping action to be completed.

[0035] In a further embodiment of the present invention, a retractable collection box 6 is provided below the recycling vehicle body 2.

[0036] Specifically, the dispensing vehicle body 1 is equipped with a partition, dividing it into two layers. The receiving box 6 is installed in a drawer-type configuration on the lower layer of the dispensing vehicle body 1, and its extension and retraction are driven by a cylinder. Understandably, when the gripper picks up drug residue, the receiving box extends below the gripper; after the gripper releases, the drug residue falls into the receiving box 6, and then retracts back into the dispensing vehicle body 1.

[0037] Further features of the present invention, such as Figure 3As shown, the drug delivery vehicle body 1 is equipped with a matching drug delivery device and a drug storage device. A drug delivery port is provided on one side of the drug delivery vehicle body corresponding to the drug delivery device. The drug storage device includes a fixing plate 13 and a drug storage tank 16. The fixing plate 13 is fixed to the inner top wall of the drug delivery vehicle body. The drug storage tank 16 is fixedly arranged on one side of the fixing plate 13. A pusher plate 15 is provided in the drug storage tank 16. A pusher cylinder 14 is fixed to one side of the fixing plate 13. One side of the pusher plate 15 is fixedly connected to the power output end of the pusher cylinder 14.

[0038] Understandably, the drug is placed in the drug storage tank 16, and the drug pushing plate 15 is pushed by the drug pushing cylinder 14, thereby pushing the drug to the drug delivery device.

[0039] As one might expect, a dispensing port for placing drugs into the storage tank is provided above the drug storage tank 16.

[0040] Furthermore, the dosing device is located directly below the drug storage device. The dosing device includes a U-shaped track 18, a connecting rod 12, a crank rod 17, a second motor 19, and a slider 22. The second motor 19 is fixedly installed at one end of the U-shaped track 18. One end of the crank rod 17 is connected to the output shaft of the second motor 19. The other end of the crank rod 17 is connected to one end of the connecting rod through a hinge. The other end of the connecting rod is hinged to the slider through a hinge. The slider is slidably disposed within the U-shaped track. The other end of the U-shaped track extends to the dosing port.

[0041] As is understandable, the drug is pushed out of the storage tank by the pusher plate and falls into the U-shaped track. The second motor drives the crank 17 to rotate, which in turn pushes the slider through the connecting rod, pushing the drug out of the dosing port and completing the dosing operation. This technical solution has a very simple overall structure, low cost, and can complete the dosing operation very well.

[0042] As can be imagined, the dosing port is equipped with a telescopic gate, which moves longitudinally and is driven by a third motor 20 pulling a traction rope.

[0043] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the described embodiments. For those skilled in the art, various changes, modifications, substitutions, and variations can be made to these embodiments, including components, without departing from the principles and spirit of the present invention, and these variations still fall within the protection scope of the present invention.

Claims

1. A fumigation and drug residue recovery robot for large grain warehouses, characterized by, The vehicle includes a chassis, a dispensing body, and a retrieval body. The dispensing body is fixed to the chassis, and the retrieval body is fixedly installed on one side of the dispensing body. A retractable collection box is located below the retrieval body. A moving mechanism is installed on the chassis. A dispensing device is installed inside the dispensing body, along with a corresponding dispensing and storage device. A dispensing port is located on one side of the dispensing body corresponding to the dispensing device. The storage device includes a fixing plate and a storage tank. The fixing plate is fixed to the top wall inside the dispensing body, and the storage tank is fixedly installed... A pusher plate is installed in the medicine storage tank, located on one side of a fixed plate. A pusher cylinder is fixed to one side of the fixed plate, and one side of the pusher plate is fixedly connected to the power output end of the pusher cylinder. The dosing device is located directly below the medicine storage device. The dosing device includes a U-shaped track, a connecting rod, a crank rod, a second motor, and a slider. The second motor is fixedly installed at one end of the U-shaped track. One end of the crank rod is connected to the output shaft of the motor, and the other end of the crank rod is connected to one end of the connecting rod via a hinge. The other end of the connecting rod is hinged to the slider via a hinge. The slider is slidably disposed within a U-shaped track, the other end of which extends to the dosing port. A material collection device is installed inside the recovery vehicle body. This device includes a fourth motor, a lead screw, a nut, two BK bearings, a drive arm, a robotic arm, and a gripper. The two BK bearings are fixedly disposed within the recovery vehicle body with their axes coincident. Both ends of the lead screw are rotatably mounted on the two BK bearings. The power output end of the fourth motor is fixedly connected to one end of the lead screw. The nut is threaded onto the lead screw. The two drive arms are symmetrically connected via hinges. The two robotic arms are hinged to the outer wall of the nut. One end of each robotic arm is hinged to the other end of the drive arm via a hinge. The other end of the robotic arm is fixed with a gripper. The two sides of the recovery vehicle are symmetrically arranged with through holes for the robotic arms to pass through. The inner wall of the through hole is provided with a vertical fixed shaft. The robotic arm is provided with a rotating hole that fits onto the fixed shaft. The robotic arm is V-shaped and bends inward. The gripper is a plate-shaped polygonal structure and is symmetrically arranged. When the two grippers are engaged, the opposite sides fit together. The gripper is provided with several perforations.

2. The fumigation and drug residue recycling robot for large silos according to claim 1, characterized in that, A coupling is provided between the fourth motor and the lead screw.

3. The fumigation and drug residue recycling robot for large-scale grain barn according to claim 1, characterized in that, The moving mechanism includes a first motor, a reducer, a gearbox, a wheel axle, and a spiral wheel. The first motor and the reducer are fixedly mounted on the chassis. The power output shaft of the first motor is connected to the input end of the reducer. The reducer outputs power through a transmission shaft, which is mounted on the chassis via a BK bearing. The input ends of the two gearboxes are respectively connected to the ends of the transmission shaft. The gearboxes output power through the wheel axle, and the spiral wheel is fixedly mounted at both ends of the wheel axle.

4. The fumigation and drug residue recycling robot for large-scale grain barn according to claim 3, characterized in that, The spiral wheel includes a cylindrical body, with a conical head at the outer end of the cylindrical body, and spiral ribs on the radial outer wall of the cylindrical body.

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