Intelligent warehousing robot

Abstract

The present invention belongs to the technical field of bulk grain warehousing equipment, and specifically discloses a conveying line, a support frame, a first electric telescopic rod, a second electric telescopic rod and a third electric telescopic rod. The conveying line includes a first conveying frame, a second conveying frame, a third conveying frame and a belt; a first connecting plate is provided at a position near the middle of the bottom of the second conveying frame, and a second connecting plate is provided at a position near the middle of the bottom of the third conveying frame. A first electric telescopic rod is provided at the end of the first conveying frame, and a second electric telescopic rod is provided at the end of the second conveying frame; the first electric telescopic rod provided can push the second conveying frame to slide on the first conveying frame, and the conveying line is elongated by using the winding principle; a material blocking cover is provided at the end of the third conveying frame, a first distance sensor is arranged on the side of the second conveying frame, second distance sensors are arranged on the sides of both the second conveying frame and the material blocking cover, a third distance sensor is arranged on the side of the material blocking cover away from the third conveying frame, and a fourth distance sensor is arranged at the bottom of the material blocking cover.

Description

Technical Field

[0001] The present invention relates to the technical field of bulk grain bin filling equipment, and specifically to an intelligent bin filling robot. Background Art

[0002] The square bin is the dominant bin type in the grain storage industry, and its bin capacity accounts for about 85% of the total storage capacity of the storage and handling bins. The bulk grain filling into the square bin is an essential operation link. Therefore, when filling bulk grain into the bin, a conveying device is generally required to send the bulk grain into the square bin.

[0003] The devices currently used for bulk grain bin filling generally adopt the belt conveying method. By adding bulk grain onto the belt and then conveying the bulk grain to the required position through the belt. If the conveying device is not moved during the conveying process, the bulk grain will accumulate in one place, forming a heap. If the position of the conveying device needs to be adjusted, only the staff can push the conveying device to change its position. There are also some people who think of installing a driving mobile base under the conveying device and controlling the movement of the mobile base to change the position of the conveying device. However, these bin filling devices all have a common drawback, that is, the degree of automation is low, and it is easy to form heaps, and the practicality is very poor. Summary of the Invention

[0004] The purpose of the present invention is to provide an intelligent bin filling robot to solve the problems raised in the above background art.

[0005] To achieve the above object, the present invention provides the following technical solutions: It includes a conveyor line, a support frame, a first electric telescopic rod, a second electric telescopic rod, and a third electric telescopic rod. The conveyor line includes a first conveyor frame, a second conveyor frame, a third conveyor frame, and a belt. The second conveyor frame is slidably connected to the inside of the first conveyor frame, and the third conveyor frame is slidably connected to the inside of the third conveyor frame. Inside the first conveyor frame, there are a first driving roller, a second driving roller, a tensioning roller, and a driving roller. The second driving roller is arranged below the second conveyor frame. The first driving roller is arranged at a position away from the second conveyor frame, and the tensioning roller and the driving roller are located below the first driving roller. Inside the second conveyor frame, there are a third driving roller and a fourth driving roller. The fourth driving roller is arranged below the third conveyor frame. The third driving roller is arranged at a position away from the fourth driving roller. Inside the third conveyor frame, there are a fifth driving roller and a sixth driving roller. The sixth driving roller is arranged at a position away from the second conveyor frame, and the fifth driving roller is arranged at a position away from the fifth driving roller. The belt is wound around the first driving roller, the tensioning roller, the driving roller, the second driving roller, the third driving roller, the fourth driving roller, the fifth driving roller, and the sixth driving roller. At a position near the middle of the bottom of the second conveyor frame, there is a first connecting plate. At a position near the middle of the bottom of the third conveyor frame, there is a second connecting plate. At the end of the first conveyor frame, there is a first electric telescopic rod, and the end of the first electric telescopic rod is fixed to the first connecting plate. At the end of the second conveyor frame, there is a second electric telescopic rod, and the end of the second electric telescopic rod is fixed to the second connecting plate. The arranged first electric telescopic rod can push the second conveyor frame to slide on the first conveyor frame, and at the same time, reduce the distance between the third driving roller and the second driving roller, and make the conveyor line extend by using the winding principle. Similarly, the second electric telescopic rod can also push the third conveyor frame to extend. At the end of the third conveyor frame, there is a material blocking cover. On the side of the second conveyor frame, there is a first distance sensor. On the sides of the second conveyor frame and the material blocking cover, there are second distance sensors. On the side of the material blocking cover away from the third conveyor frame, there is a third distance sensor. At the bottom of the material blocking cover, there is a fourth distance sensor. At the bottom of the support frame, there is a support plate. On the support plate, there is a driving motor. The driving shaft of the driving motor is connected to the support frame. At the end of the support frame, there is a rotating seat, and on the rotating seat, there is a third electric telescopic rod. The driving motor can drive the conveyor line to rotate so as to change the angle of the conveyor line. The walking chassis adopts an unmanned walking chassis. Since the electric walking chassis belongs to the existing mature technology, the present invention will not elaborate on this structure.

[0006] Preferably, the end of the third electric telescopic rod is rotatably connected to the rotating seat. The other end of the third electric telescopic rod is connected to a connecting block, and the connecting block is rotatably connected to the first conveyor frame through a pin shaft. The arranged third electric telescopic rod can lift the conveyor line.

[0007] Preferably, a control processor is provided on the side of the first conveyor frame. The control processor is electrically connected to the drive motor, the first electric telescopic rod, the second electric telescopic rod, the third electric telescopic rod, the walking chassis, the first distance sensor, the second distance sensor, the third distance sensor, and the fourth distance sensor. The first distance sensor, the second distance sensor, the third distance sensor, and the fourth distance sensor are used to detect signals and feedback the signals to the control processor, and then the drive motor is controlled by the control processor. The first electric telescopic rod, the second electric telescopic rod, and the third electric telescopic rod operate.

[0008] Preferably, a walking chassis is provided below the support plate. The support plate is fixed on the walking chassis through support columns, and a guard plate is provided outside the support columns. The guard plate mainly serves to protect the drive motor.

[0009] Preferably, a protective cover is provided outside the third electric telescopic rod. The protective cover is fixed on the first conveyor frame, and a through groove is provided on the protective cover. The protective cover mainly serves to protect the third electric telescopic rod.

[0010] Preferably, a support rod is provided at a position on the side of the support frame away from the third electric telescopic rod. A bearing seat is provided at the end of the support rod. The first conveyor frame is rotatably connected to the conveyor frame. When the third electric telescopic rod jacks up the conveyor line, the first conveyor frame will rotate on the bearing seat.

[0011] Preferably, baffle plates are symmetrically arranged above the first conveyor frame. The baffle plates can separate the bulk grain from the conveyor line during feeding.

[0012] Preferably, a baffle plate is provided inside the baffle cover at the end of the third conveyor frame. The baffle plate plays a role in dispersing the material to a certain extent.

[0013] Preferably, a first roller is provided on the inner side of the first conveyor frame beside the second driving roller. The first roller contacts the second conveyor frame. When the second conveyor frame expands and contracts, the first roller will roll, improving the stability of the expansion and contraction of the second conveyor frame.

[0014] Preferably, a second roller is provided on the inner side of the second conveyor frame beside the fourth driving roller. The second roller contacts the third conveyor frame. When the third conveyor frame expands and contracts, the second roller will roll, improving the stability of the expansion and contraction of the third conveyor frame.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: The present invention detects the landing point of bulk grain through the first spacing sensor, the second spacing sensor, the third spacing sensor, and the fourth spacing sensor, and then controls the angle and length of the conveyor line through the driving motor, the first electric telescopic rod, the second electric telescopic rod, and the third electric telescopic rod, so as to control the landing point of bulk grain. There is no need for manual pushing devices, which greatly reduces the labor intensity of workers and improves the degree of intelligence. And the driving motor drives the conveyor line to rotate back and forth to perform a fan-shaped movement, preventing the problem of bulk grain piling up in one place and forming a heap, which greatly improves the practicability of the device. And the length of the conveyor line can be changed to be applicable to square bins of different specifications. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a schematic three-dimensional structure diagram of the present invention;

[0017] Figure 2 is a schematic partial cross-sectional structure diagram of the present invention;

[0018] Figure 3 is a schematic structure diagram of the conveyor line of the present invention;

[0019] Figure 4 is a schematic enlarged partial structure diagram of the present invention.

[0020] In the figure: 1, conveyor line; 101, first conveyor frame; 1011, first driving roller; 1012, driving roller; 1013, tensioning roller; 1014, second driving roller; 1015, first roller; 1016, material limiting plate; 102, second conveyor frame; 1021, third driving roller; 1022, fourth driving roller; 1023, second roller; 1024, first connecting plate; 103, third conveyor frame; 1031, fifth driving roller; 1032, sixth driving roller; 1033, second connecting plate; 2, support frame; 201, support rod; 202, bearing seat; 203, rotating seat; 3, walking chassis; 301, enclosure; 302, support column; 4, support plate; 5, driving motor; 6, belt; 7, material blocking cover; 8, protective cover; 9, first spacing sensor; 10, second spacing sensor; 11, third spacing sensor; 12, fourth spacing sensor; 13, first electric telescopic rod; 14, second electric telescopic rod; 15, third electric telescopic rod; 16, connecting block; 17, material blocking plate; 18, control processor. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0022] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "vertical", "upper", "lower", "horizontal", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention.

[0023] In the description of the present invention, it should also be noted that unless otherwise clearly defined and limited, the terms "set", "installed", "connected", "connected" 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 a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0024] Please refer to Figures 1-4, the present invention provides a technical solution: an intelligent warehousing robot, including a conveyor line 1, a support frame 2, a first electric telescopic rod 13, a second electric telescopic rod 14 and a third electric telescopic rod 15. The conveyor line 1 includes a first conveyor frame 101, a second conveyor frame 102, a third conveyor frame 103 and a belt 6. The second conveyor frame 102 is slidably connected to the inside of the first conveyor frame 101, and the third conveyor frame 103 is slidably connected to the inside of the third conveyor frame 103. Inside the first conveyor frame 101, there are a first driving roller 1011, a second driving roller 1014, a tensioning roller 1013 and a driving roller 1012. The second driving roller 1014 is arranged below the second conveyor frame 102, the first driving roller 1011 is arranged at a position away from the second conveyor frame 102, and the tensioning roller 1013 and the driving roller 1012 are located below the first driving roller 1011; inside the second conveyor frame 102, there are a third driving roller 1021 and a fourth driving roller 1022. The fourth driving roller 1022 is arranged below the third conveyor frame 103, and the third driving roller 1021 is arranged at a position away from the fourth driving roller 1022; inside the third conveyor frame 103, there are a fifth driving roller 1031 and a sixth driving roller 1032. The sixth driving roller 1032 is arranged at a position away from the second conveyor frame 102, and the fifth driving roller 1031 is arranged at a position away from the fifth driving roller 1031. The belt 6 is wound around the first driving roller 1011, the tensioning roller 1013, the driving roller 1012, the second driving roller 1014, the third driving roller 1021, the fourth driving roller 1022, the fifth driving roller 1031 and the sixth driving roller 1032; at a position near the middle of the bottom of the second conveyor frame 102, there is a first connecting plate 1024, and at a position near the middle of the bottom of the third conveyor frame 103, there is a second connecting plate 1033. At the end of the first conveyor frame 101, there is a first electric telescopic rod 13, and the end of the first electric telescopic rod 13 is fixed on the first connecting plate 1024. At the end of the second conveyor frame 102, there is a second electric telescopic rod 14, and the end of the second electric telescopic rod 14 is fixed on the second connecting plate 1033; the first electric telescopic rod 13 provided can push the second conveyor frame 102 to slide on the first conveyor frame 101, and at the same time reduce the distance between the third driving roller 1021 and the second driving roller 1014, and use the winding principle to make the conveyor line 1 elongate. Similarly, the second electric telescopic rod 14 can also push the third conveyor frame 103 to elongate; at the end of the third conveyor frame 103, there is a material blocking cover 7. On the side of the second conveyor frame 102, there is a first distance sensor 9. On the sides of the second conveyor frame 102 and the material blocking cover 7, there are second distance sensors 10. On the side of the material blocking cover 7 away from the third conveyor frame 103, there is a third distance sensor 11. At the bottom of the material blocking cover 7, there is a fourth distance sensor 12; at the bottom of the support frame 2, there is a support plate 4. On the support plate 4, there is a driving motor 5. The driving shaft of the driving motor 5 is connected to the support frame 2. At the end of the support frame 2, there is a rotating seat 203. On the rotating seat 203, there is a third electric telescopic rod 15;The driving motor 5 can drive the conveyor line 1 to rotate so as to change the angle of the conveyor line 1. The walking chassis 3 adopts an unmanned walking chassis 3. Since the electric walking chassis 3 is an existing mature technology, the structure of the present invention will not be described in detail herein.

[0025] Furthermore, the end of the third electric telescopic rod 15 is rotatably connected to the rotating seat 203. The other end of the third electric telescopic rod 15 is connected with a connecting block 16. The connecting block 16 is rotatably connected to the first conveying frame 101 through a pin shaft. The arranged third electric telescopic rod 15 can lift the conveyor line 1.

[0026] Furthermore, a control processor 18 is arranged on the side of the first conveying frame 101. The control processor 18 is electrically connected to the driving motor 5, the first electric telescopic rod 13, the second electric telescopic rod 14, the third electric telescopic rod 15, the walking chassis 3, the first distance sensor 9, the second distance sensor 10, the third distance sensor 11 and the fourth distance sensor 12 respectively. The first distance sensor 9, the second distance sensor 10, the third distance sensor 11 and the fourth distance sensor 12 are used to detect signals and feedback the signals to the control processor 18, and then control the driving motor 5, the first electric telescopic rod 13, the second electric telescopic rod 14 and the third electric telescopic rod 15 to operate through the control processor 18.

[0027] Furthermore, a walking chassis 3 is arranged below the support plate 4. The support plate 4 is fixed on the walking chassis 3 through a support column 302, and a guard plate 301 is arranged outside the support column 302. The arranged guard plate 301 mainly plays a role in protecting the driving motor 5.

[0028] Furthermore, a protective cover 8 is arranged outside the third electric telescopic rod 15. The protective cover 8 is fixed on the first conveying frame 101, and a through groove is formed on the protective cover 8. The protective cover 8 mainly plays a role in protecting the third electric telescopic rod 15.

[0029] Furthermore, a support rod 201 is arranged at a position on the side of the support frame 2 far from the third electric telescopic rod 15. A bearing seat 202 is arranged at the end of the support rod 201. The first conveying frame 101 is rotatably connected to the bearing seat 202. When the third electric telescopic rod 15 jacks up the conveyor line 1, the first conveying frame 101 will rotate on the bearing seat 202.

[0030] Furthermore, limiting plates 1016 are symmetrically arranged above the first conveying frame 101. The arranged limiting plates 1016 can separate the bulk grain from the conveyor line 1 during feeding.

[0031] Furthermore, a baffle plate 17 is arranged inside the material retaining cover 7 at the end of the third conveying frame 103. The arranged baffle plate 17 plays a role in dispersing materials to a certain extent.

[0032] Furthermore, a first roller 1015 is provided on the inner side of the first conveying frame 101 at the side of the second driving roller 1014. The first roller 1015 contacts the second conveying frame 102. When the second conveying frame 102 expands and contracts, the first roller 1015 will roll, improving the stability of the expansion and contraction of the second conveying frame 102.

[0033] Furthermore, a second roller 1023 is provided on the inner side of the second conveying frame 102 at the side of the fourth driving roller 1022. The second roller 1023 contacts the third conveying frame 103. When the third conveying frame 103 expands and contracts, the second roller 1023 will roll, improving the stability of the expansion and contraction of the third conveying frame 103.

[0034] Working principle: During use, by conveying the bulk grain onto the belt 6, and at the same time the belt 6 rotates on the driving roller 1012, the tensioning roller 1013, the first driving roller 1011, the second driving roller 1014, the third driving roller 1021, the fourth driving roller 1022, the fifth driving roller 1031 and the sixth driving roller 1032 to convey the bulk grain. During this process, the driving motor 5 drives the conveying line 1 to rotate. The conveying line 1 uses the first distance sensor 9 and the second distance sensor 10 to detect the distance between the conveying line 1 and the inner wall of the square silo during rotation. When the detected distance reaches the preset value, the first distance sensor 9 and the second distance sensor 10 feedback the information to the control processor 18. When the control processor 18 receives the signals from the first distance sensor 9 and the second distance sensor 10, it will start the driving motor 5 to output in the reverse direction, driving the conveying line 1 to rotate in the reverse direction. Repeating this process makes the driving motor 5 drive the conveying line 1 to rotate back and forth, evenly spreading the bulk grain in the square silo. At the same time, the fourth distance sensor 12 is used to continuously detect the height of the piled bulk grain. When the piled bulk grain reaches the preset value, the fourth distance sensor 12 feeds back the detected information to the control processor 18. The control processor 18 uses this to start the third electric telescopic rod 15, causing the third electric telescopic rod 15 to push the first conveying frame 101, making the first conveying frame 101, the second conveying frame 102 and the third conveying frame 103 tilt up. At the same time, the first conveying frame 101 rotates on the bearing seat 202 to change the feeding height of the conveying frame. And when the height of the bulk material reaches the maximum value, the control processor 18 will start the walking chassis 3, causing the walking chassis 3 to retreat and continue to convey the bulk grain, so as to evenly spread the bulk grain in the square silo.

[0035] The device can also activate the first electric telescopic rod 13 to make the first electric telescopic rod 13 push the second conveyor rack 102, so that the second conveyor rack 102 slides within the first conveyor rack 101, reducing the distance between the second driving roller 1014 and the third driving roller 1021, and at the same time, the conveyor line 1 elongates. Similarly, activate the second electric telescopic rod 14 to make the second electric telescopic rod 14 push the third conveyor rack 103, so that the third conveyor rack 103 slides within the second conveyor rack 102, reducing the distance between the fourth driving roller 1022 and the fifth driving roller 1031, and at the same time, the conveyor line 1 elongates, so as to be applicable to square bins of different specifications. The third sensor 11 provided can detect whether there are obstacles in front of the protective cover 7. If the third detection sensor 11 detects an obstacle in front, the control processor 18 can be used to shorten the length of the conveyor line 1 to prevent the conveyor line 1 from colliding.

[0036] Although the embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention, and the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. Intelligent warehousing robot, characterized in that: It includes a conveyor line (1), a support frame (2), a first electric telescopic rod (13), a second electric telescopic rod (14) and a third electric telescopic rod (15). The conveyor line (1) includes a first conveyor frame (101), a second conveyor frame (102), a third conveyor frame (103) and a belt (6). The second conveyor frame (102) is slidably connected to the inside of the first conveyor frame (101), and the third conveyor frame (103) is slidably connected to the inside of the third conveyor frame (103). Inside the first conveyor frame (101), there are a first driving roller (1011), a second driving roller (1014), a tensioning roller (1013) and a driving roller (1012). The second driving roller (1014) is arranged below the second conveyor frame (102), the first driving roller (1011) is arranged at a position far from the second conveyor frame (102), and the tensioning roller (1013) and the driving roller (1012) are located below the first driving roller (1011); Inside the second conveyor frame (102), there are a third driving roller (1021) and a fourth driving roller (1022). The fourth driving roller (1022) is arranged below the third conveyor frame (103), and the third driving roller (1021) is arranged at a position far from the fourth driving roller (1022); Inside the third conveyor frame (103), there are a fifth driving roller (1031) and a sixth driving roller (1032). The sixth driving roller (1032) is arranged at a position far from the second conveyor frame (102), and the fifth driving roller (1031) is arranged at a position far from the fifth driving roller (1031). The belt (6) is wound around the first driving roller (1011), the tensioning roller (1013), the driving roller (1012), the second driving roller (1014), the third driving roller (1021), the fourth driving roller (1022), the fifth driving roller (1031) and the sixth driving roller (1032); Near the middle of the bottom of the second conveyor frame (102), there is a first connecting plate (1024). Near the middle of the bottom of the third conveyor frame (103), there is a second connecting plate (1033). At the end of the first conveyor frame (101), there is a first electric telescopic rod (13), and the end of the first electric telescopic rod (13) is fixed on the first connecting plate (1024). At the end of the second conveyor frame (102), there is a second electric telescopic rod (14), and the end of the second electric telescopic rod (14) is fixed on the second connecting plate (1033); At the end of the third conveyor frame (103), there is a material retaining cover (7). On the side of the second conveyor frame (102), there is a first distance sensor (9). On the sides of the second conveyor frame (102) and the material retaining cover (7), there are second distance sensors (10). On the side of the material retaining cover (7) far from the third conveyor frame (103), there is a third distance sensor (11). At the bottom of the material retaining cover (7), there is a fourth distance sensor (12); A support frame (2) is provided with a support plate (4) at the bottom. A driving motor (5) is provided on the support plate (4). The driving shaft of the driving motor (5) is connected to the support frame (2). A rotating seat (203) is provided at the end of the support frame (2). A third electric telescopic rod (15) is provided on the rotating seat (203); The end of the third electric telescopic rod (15) is rotatably connected to the rotating seat (203). The other end of the third electric telescopic rod (15) is connected with a connecting block (16). The connecting block (16) is rotatably connected to the first conveying frame (101) through a pin shaft; A control processor (18) is provided on the side of the first conveying frame (101). The control processor (18) is electrically connected to the driving motor (5), the first electric telescopic rod (13), the second electric telescopic rod (14), the third electric telescopic rod (15), the first distance sensor (9), the second distance sensor (10), the third distance sensor (11) and the fourth distance sensor (12); A walking chassis (3) is provided below the support plate (4). The support plate (4) is fixed on the walking chassis (3) through a support column (302). And a guard plate (301) is provided on the outside of the support column (302); A protective cover (8) is provided on the outside of the third electric telescopic rod (15). The protective cover (8) is fixed on the first conveying frame (101). And a through groove is provided on the protective cover (8); A support rod (201) is provided on the side of the support frame (2) far away from the third electric telescopic rod (15). A bearing seat (202) is provided at the end of the support rod (201). The first conveying frame (101) is rotatably connected to the bearing seat (202); Limited material plates (1016) are symmetrically arranged above the first conveying frame (101); A baffle plate (17) is provided at the end of the third conveying frame (103) inside the baffle cover (7); A first roller (1015) is provided on the inside of the first conveying frame (101) on the side of the second driving roller (1014). The first roller (1015) contacts the second conveying frame (102); A second roller (1023) is provided on the inside of the second conveying frame (102) on the side of the fourth driving roller (1022). The second roller (1023) contacts the third conveying frame (103).

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