Automatic insertion device for temperature measurement channel of granary

Abstract

The invention discloses an automatic insertion device for a temperature measuring channel of a granary, comprising: a main body, used to fix a ball screw transmission mechanism and a linear slide pair; the ball screw transmission mechanism, as a power module for driving the temperature measuring channel to be inserted downward; the linear slide pair, as a guide module for a movable clamping jaw mechanism to slide up and down on the main body; the movable clamping jaw mechanism, connected with a nut seat of the ball screw transmission mechanism and a linear slide pair, for clamping the temperature measuring channel. The invention can not only insert the temperature measuring channel automatically and efficiently, but also can insert the temperature measuring channel safely and reliably to a required depth without damaging the temperature measuring channel.

Description

Technical Field

[0001] The invention belongs to the field of granary temperature measuring equipment, in particular to an automatic insertion device for a granary temperature measuring channel. Background Art

[0002] my country is not only a major grain producer, but also a major grain consumer. In order to ensure the timely supply of grain, grain is generally stored in tall flat warehouses for emergency use. Grain is concentrated in tall flat warehouses, and the height of the grain is high, which makes it difficult to ensure the quality of the backlog of grain. Grain storage safety is an important part of food security. Therefore, it is necessary to regularly monitor the temperature of the grain pile in the granary to prevent the quality of the grain from being moldy due to excessive temperature. In order to facilitate the temperature monitoring of the stacked grain, it is generally necessary to place a temperature measuring device in the warehouse. After the grain is filled, it is difficult to insert the temperature measuring channel, and it requires a lot of manpower and material resources, with high labor intensity and low work efficiency. Manual operation is also prone to damage the temperature measuring channel, affecting the accuracy of grain temperature detection.

[0003] Therefore, it is of great significance to develop an automatic insertion device for the temperature measurement channel of a granary that is easy to operate, safe, and efficient. Summary of the invention

[0004] The purpose of the present invention is to provide an automatic insertion device for a temperature measuring channel of a granary, which can automatically insert the temperature measuring channel with high efficiency, and can safely and reliably insert the device to a required depth without damaging the temperature measuring channel.

[0005] The technical solution to achieve the purpose of the present invention is:

[0006] A device for automatically inserting a temperature measurement channel of a granary, comprising:

[0007] The main body is used to fix the ball screw transmission mechanism and the linear guide rail pair;

[0008] The ball screw transmission mechanism serves as a power module to drive the temperature measurement channel to be inserted downward;

[0009] The linear guide rail pair serves as a guide module for the movable clamp mechanism to slide up and down on the main body;

[0010] The movable clamping jaw mechanism is connected with the nut seat and the linear guide rail pair of the ball screw transmission mechanism and is used for clamping the temperature measuring channel.

[0011] Compared with the prior art, the present invention has the following significant advantages:

[0012] The present invention introduces the concept of flexible manipulator design and establishes a force feedback system of "elastic pressure maintaining element-pressure sensor-precision servo drive" on the dynamic clamping jaw mechanism. The dynamic clamping jaw mechanism of the present invention is an automated device with downward insertion force perception. During the insertion process, the force state of the workpiece is perceived in real time, and the insertion speed, force and insertion stroke are dynamically adjusted to establish a matching relationship between the insertion force and the insertion speed. If an abnormal matching function occurs in a single insertion stroke, the work is suspended, the workpiece is pulled out within a small range, and insertion is attempted again. If the situation does not improve after multiple consecutive attempts, a system alarm is generated to summon personnel to manually intervene in the work.

[0013] The dynamic clamping jaw mechanism of the present invention adopts a left-right rotating rigid module mechanism with high integration, strong rigidity and high reliability. The clamping jaw part is designed with a force sensor and has a machine tactile function. Under the premise of effectively controlling the clamping force, it ensures that the clamping temperature measurement channel is not damaged. At the same time, during the insertion action, the force control can be used to achieve a "guiding" function similar to that of a human hand.

[0014] The automatic insertion device for temperature measuring pipes in grain silos of the present invention can support multiple temperature measuring channels at the same time. It is driven by a DC servo motor and adopts a ball screw pair to realize the support and plugging and pulling actions. It has reliable action and stable mechanical properties. Compared with manual insertion of temperature measuring channels, it greatly improves work efficiency and saves labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the automatic insertion device for the temperature measuring pipe in a granary according to the present invention.

[0016] Figure 2 It is a schematic diagram of the exploded structure of the main body of the automatic insertion device for temperature measuring pipe in granary of the present invention.

[0017] Figure 3 It is a schematic diagram of the exploded structure of the screw transmission mechanism of the automatic insertion device for the temperature measuring pipe in the granary of the present invention.

[0018] Figure 4 It is a schematic diagram of the exploded structure of the movable clamping jaw mechanism of the automatic insertion device for the temperature measuring pipe in a granary according to the present invention.

[0019] Figure 5 It is a schematic diagram of the exploded structure of the flexible clamping spring mechanism of the automatic insertion device for the temperature measuring pipe in a granary of the present invention.

[0020] The numbers in the figure mean:

[0021] 1. Main body, 2. Ball screw transmission mechanism, 3. Linear guide rail, 4. Slider, 5. Moving jaw mechanism, 6. Limit sensor;

[0022] 7. Upper cover plate, 8. Frame extension section, 9. Connecting cover plate, 10. Connecting plate, 11. Main frame, 12. Handle, 13. Support ribs, 14. Limit sensor, 15. Base plate, 16. Universal wheel with brake;

[0023] 17. Screw seat, 18. Support plate, 19. Tension pressure sensor, 20. Connecting block, 21. Sliding support plate, 22. Ball screw, 23. Left clamping claw, 24. Oblique tie bar, 25. Flexible clamping spring mechanism, 26. Coupling, 27. Clamping strip, 28. Servo motor, 29. Clamping fixing plate with tension sensor, 30. Main clamping cover, 31. Right pressure plate, 32. Clamping rubber, 33. Guide rod, 34. Right clamping cover, 35. Sliding sleeve, 36. Right clamping claw, 37. Coupling, 38. Clamping motor seat, 39. Servo motor, 40. Two-way opening and closing linear module;

[0024] 41. push rod, 42. push rod spring, 43. pressure sensor, 44. push rod gasket, 45. push rod bushing, 46. push rod clamping ring; DETAILED DESCRIPTION

[0025] The present invention is further described below in conjunction with the accompanying drawings and specific embodiments.

[0026] Combination Figure 1 to Figure 5 The automatic insertion device for temperature measuring pipe in granary of the present invention comprises a main body 1, a ball screw transmission mechanism 2, a linear sliding guide rail 3, a slider 4, a movable clamping claw mechanism 5, and a limit sensor 6;

[0027] The main body includes an upper cover plate 7, a frame extension section 8, a connecting cover plate 9, a connecting plate 10, a main frame 11, a handle 12, a support rib 13, a base plate 15 and a universal wheel with a brake 16; the top cover plate 7, the frame extension section 8, the connecting cover plate 9, the connecting plate 10, the main frame 11, the base plate 15 and the universal wheel with a brake 16 are connected in sequence from top to bottom by screws; the handle 12 is fixed on both sides of the main frame 11 for carrying the device and adjusting the position; the support rib 13 is fixed to the back of the main frame 11; the lower ends of the main frame 11 and the support rib 13 are connected to the base by bolts. The plate 15 is fixedly connected; the ball screw transmission mechanism 2 is fixed on the main body 1 by screws for up and down transmission; the dynamic clamping jaw mechanism 5 is fixedly connected to the nut seat 20 of the screw transmission mechanism 2, and is used to support the temperature measuring pipe to be inserted downward; the limit sensor 6 is arranged at the specified positions at the upper and lower ends of the main body 1, and is used to control the vertical displacement and automatic reversing of the dynamic clamping jaw mechanism 5; the linear sliding guide rail 3 is installed in parallel on the main frame 11, and the slider 4 is installed in conjunction with the sliding linear guide rail 3; the base plate 15 is fixed at the bottom of the main frame 11, and the universal wheel 16 with brake is fixed at the bottom of the base plate 15.

[0028] Furthermore, the screw transmission mechanism 2 includes a ball screw 22, a nut 21, a nut seat 20, an angular contact ball bearing 18, a bearing cover 19, a screw seat 17, a coupling 26, and a servo motor 28; the ball screw 22 is installed in cooperation with the nut 21; the nut seat 20 is sleeved on the nut 21 and fixed by screws; both ends of the ball screw 22 are installed in cooperation with the angular contact ball bearing 18; the angular contact ball bearing 18 is installed in the screw seat 17; the bearing cover 19 is installed on the screw seat 17 by screws, and is used to fix the angular contact ball bearing 18; the screw seat 17 is installed on the main frame 11; the servo motor 18 is connected to the screw 33 through the coupling 26, and is fixed to the connecting plate 27 by screws;

[0029] Furthermore, the movable clamp mechanism 5 includes a support plate 18, a sliding support plate 21, a tension sensor 19, a tension sensor mounting plate 17, a connecting block 20, an inclined tie bar 24, a tension sensor clamping plate 29, a left clamp 23, a left pressure plate 26, a right clamp 36, a right pressure plate 31, a clamping strip 27, a clamping rubber 32, a main clamping cover plate 30, a left clamping cover plate 28, a right clamping cover plate 34, a guide rod 33, a flexible clamping spring mechanism 25, a two-way opening and closing linear module 40, a coupling 37, a clamping motor seat 38, a servo motor 39, and a limit sensor 40; the support plate 18 and the slider 4, the nut The seat 20 is fixedly connected; the connecting block 20, the tension and pressure sensor 19, and the tension and pressure sensor mounting plate 17 are fixedly connected in sequence by screws; the tension and pressure sensor mounting plate 17 is installed on the upper side of the support plate 18; the sliding support plate 21 is installed with the support plate 18 through the groove; the clamping and fixing plate 29 with the tension sensor is installed at the center line position of the sliding support plate 21; the inclined tie bar 24 is respectively fixedly connected with the sliding support plate 21 and the clamping and fixing plate 29 with the tension sensor, and is used to support and clamp the clamping and fixing plate 29 with the tension sensor; the bidirectional opening and closing linear module 40 is fixed on the sliding support plate 21; the servo motor 39 is connected to the sliding support plate 21 through the coupling 3 7 is connected to the bidirectional opening and closing linear module 40, and is fixedly connected to the bidirectional opening and closing linear module 40 through the clamping motor seat 38; the left claw 23 and the right claw 36 are respectively installed on the left and right sliders of the bidirectional opening and closing linear module 40; the left pressure plate 26 and the right pressure plate 31 are respectively installed on the left and right sides of the tension sensor clamping and fixing plate 29 through the left and right guide rods 33; the clamping strip 27 is installed between the left pressure plate 26 and the tension sensor clamping and fixing plate 29, and between the right pressure plate 31 and the tension sensor clamping and fixing plate 29; the clamping strip 27 is embedded in the left pressure plate 26, the tension sensor clamping and fixing plate 29 and the right pressure plate The clamping plate 31 is installed in the installation groove of the clamping strip 27; the clamping rubber 32 is installed in the installation groove of the clamping strip 27, two pairs are arranged in a semicircular arc shape, so as to clamp the temperature measuring pipe; the upper and lower ends of the clamping fixing plate 29 with tension sensor are provided with main clamping cover plates 30, the upper and lower ends of the left clamping plate 26 are provided with left clamping cover plates 28, and the upper and lower sides of the right clamping plate 31 are provided with right clamping cover plates 34 to prevent the clamping strip 27 and the clamping rubber 32 from falling from the installation groove, and at the same time, the clamping strip 27 and the clamping rubber 32 can be replaced; the limit sensor 40 is installed at the specified positions on both sides of the two-way opening and closing linear module 40, and is used to control the displacement and automatic reversing of the clamping plate;

[0030] The flexible clamping spring mechanism 25 includes a push rod 41, a push rod spring 42, a pressure sensor 43, a push rod gasket 44, a push rod sleeve 45 and a push rod clamping ring 46; the push rod spring 42 is installed and fixed to the base of the push rod 41, and is used to protect the temperature measuring pipe during the clamping process; the pressure sensor 43 and the push rod gasket 44 are installed on the push rod 41 in sequence, and the pressure sensor 43 is used to monitor the clamping force of the temperature measuring pipe; the push rod base 41 is respectively installed on the left side of the left pressure plate 26 and the right side of the right pressure plate 31, and the head passes through the left claw 23 and the right claw 36 respectively through the push rod sleeve 45; the push rod clamping ring 46 is respectively installed on the left side of the left claw 23 and the right side of the left pressure plate 26, and is used to clamp the push rod 41;

[0031] When the automatic insertion device for temperature measuring pipe in a granary of the present invention is working, the insertion distance, maximum insertion force and insertion speed are set; the temperature measuring pipe is placed in the clamping mechanism of the clamping jaws, the automatic insertion mode is selected, the servo-electric drive bidirectional opening and closing linear module moves, and the left clamping jaw and the right clamping jaw in the dynamic clamping jaw mechanism move toward each other under the drive of the slider in the opening and closing linear module to clamp the temperature measuring pipe. During this process, the pressure sensor in the flexible clamping spring mechanism monitors the change of the clamping force to prevent the temperature measuring pipe from being damaged by excessive clamping force; the limit sensor installed on the opening and closing linear module is used to control the stroke and reciprocating motion of the left clamping jaw and the right clamping jaw; the ball screw transmission mechanism drives the dynamic clamping jaw to move in the vertical direction, and the servo motor controls the displacement distance in the vertical direction; the limit sensor is used to control the dynamic clamping jaw mechanism to automatically change direction between specified positions in the vertical direction to obtain continuous reciprocating motion; during this process, the dynamic clamping jaw mechanism clamps the temperature measuring pipe and inserts it downward, and when it is inserted to a certain distance, the left clamping jaw and the right clamping jaw in the dynamic clamping jaw mechanism open and close. Driven by the slider in the combined linear module, it moves in opposite directions along the guide rod, thereby loosening the temperature measuring pipe. The dynamic clamping jaw mechanism moves upward for a specified distance and then clamps the temperature measuring pipe again for downward insertion, repeating this movement. At the same time, the pressure sensor is pulled to monitor the insertion force. If the insertion force continues to increase during the insertion process (reaching the set value), the downward movement stroke of the dynamic clamping jaw mechanism remains unchanged (the stroke can be obtained by monitoring the rotation angle of the servo motor 28 through the encoder), indicating that the insertion resistance is large. After the dynamic clamping jaw mechanism is opened, it is separated from the temperature measuring pipe, and the ball screw transmission mechanism moves upward (the upward step length is set by the rotation angle), driving the dynamic clamping jaw mechanism upward. The dynamic clamping jaw mechanism continues to clamp the temperature measuring pipe and will try to insert it again after moving upward in a small range. If the insertion stroke remains unchanged, the insertion abnormality will be displayed and the insertion resistance alarm will be triggered (the alarm is connected to the controller), requiring staff intervention. After the temperature measuring pipe has been inserted to the preset distance, the manual mode is selected to release the clamping mechanism and the automatic insertion device is transferred to the next station.

Claims

1. A device for automatically inserting a temperature measurement channel into a granary, characterized in that: include: The main body is used to fix the ball screw transmission mechanism and the linear guide rail pair; The ball screw transmission mechanism serves as a power module to drive the temperature measurement channel to be inserted downward; The linear guide rail pair serves as a guide module for the movable clamp mechanism to slide up and down on the main body; The movable clamping jaw mechanism is connected with the nut seat and the linear guide rail pair of the ball screw transmission mechanism and is used for clamping the temperature measuring channel; The movable clamping jaw mechanism comprises: A support plate, used for connecting with the nut seat and the linear guide rail pair; The sliding support plate is slidably matched with the support plate and is used to fix the two-way opening and closing linear module; A pull pressure sensor is provided between the support plate and the sliding support plate to measure the resistance during the insertion process; The left and right claws are connected to the left and right sliders of the two-way opening and closing linear module to realize the opening and closing action; A clamping module that can be opened and closed is used to clamp several temperature measurement channels; The flexible clamping spring mechanism is arranged between the clamping module and the left and right clamping claws to monitor the clamping force and provide force protection for the temperature measurement channel; After the movable jaw mechanism clamps the temperature measuring channel, the ball screw transmission mechanism drives the movable jaw mechanism and the temperature measuring channel to be inserted into the granary; when the resistance is greater than the set value and the downward movement stroke does not change, after the jaw mechanism opens, the ball screw transmission mechanism moves upward, and the movable jaw mechanism continues to clamp the temperature measuring tube until the measuring tube is inserted to the preset distance; The clamping module includes a clamping and fixing plate with a tension sensor, a left pressure plate, a right pressure plate, a clamping strip, and a guide rod; The clamping and fixing plate with the tension sensor is fixed to the sliding support plate; The left pressure plate and the right pressure plate are respectively mounted on the left and right sides of the clamping fixing plate with the tension sensor through the left and right guide rods; The clamping strips are respectively fixed in the mounting grooves of the left pressure plate, the tension sensor clamping plate and the right pressure plate; The flexible clamping spring mechanism includes a push rod, a push rod spring, a pressure sensor, a push rod gasket, a push rod sleeve and a push rod clamping ring; the push rod spring is installed and fixed to the push rod base; the pressure sensor and the push rod gasket are installed on the push rod in sequence, and the pressure sensor is used to monitor the clamping force of the temperature measuring pipe; the push rod base is respectively installed on the left side of the left pressure plate and the right side of the right pressure plate, and the head passes through the left claw and the right claw respectively through the push rod sleeve; the push rod clamping ring is respectively installed on the left side of the left claw and the right side of the left pressure plate, and is used to clamp the push rod.

2. The automatic insertion device for the temperature measurement channel of a granary according to claim 1 is characterized in that: A clamping rubber is fixed on the inner side of the clamping strip, and the two clamping rubbers are arranged in a pair and form a semicircular arc shape to clamp the temperature measuring pipe.

3. The automatic insertion device for the temperature measurement channel of a granary according to claim 2 is characterized in that: The clamping strip is embedded in the mounting grooves of the left pressure plate, the clamping plate with tension sensor and the right pressure plate; the clamping rubber is installed in the clamping strip mounting groove; main clamping cover plates are provided at the upper and lower ends of the clamping plate with tension sensor, left clamping cover plates are provided at the upper and lower ends of the left pressure plate, and right clamping cover plates are provided on the upper and lower sides of the right pressure plate to prevent the clamping strip and the clamping rubber from falling from the corresponding mounting grooves.

4. The automatic insertion device for the temperature measurement channel of a granary according to claim 1 is characterized in that: The main body comprises a main frame and a frame extension section, the main frame and the frame extension section are connected via a connecting plate, and a screw transmission mechanism is fixed on the connecting plate.

5. The automatic insertion device for the temperature measurement channel of a granary according to claim 4 is characterized in that: A base plate is fixed at the bottom of the main frame, and a universal wheel with a brake is arranged at the bottom of the base plate.

6. The automatic insertion device for the temperature measurement channel of a granary according to claim 4 is characterized in that: Handles are arranged on both sides of the main frame.

Images