An automated unmanned loading robot

Abstract

The present invention discloses an automated unmanned loading robot, comprising a chassis, a frame mounted on the chassis, a funnel fixed in the frame, a conveyor frame for continuously collecting accumulated grain particles, a cleaning component mounted in the funnel, receiving the grain particles conveyed by the conveyor frame, and cleaning out debris in the grain particles; the cleaning component comprises an outer shell, a feed box mounted at the front end of the outer shell, a fan component mounted on the top surface of the outer shell, a blowing component mounted on the top of the inner cavity of the outer shell, a conveyor frame and a guide frame mounted at the bottom of the inner cavity of the outer shell, and a discharge hole preset between the conveyor frame and the guide frame; a storage cavity is provided inside the outer shell; a vibration frame is mounted at one end of the conveyor frame; grain particles are added into the outer shell from the feed box and slide downward along the vibration frame, and wind conveyed by the fan component is conveyed to the grain particles through the blowing component, and light impurities in the grain particles are blown into the storage cavity.

Description

Technical Field

[0001] The present invention relates to the field of robotics technology, and in particular to an automated unmanned loading robot. Background Art

[0002] After harvesting, grain is often stored in large quantities in warehouses. The grain is then baled and packaged for transport. However, during the harvesting process, harvesters process both grain stalks and grain pellets simultaneously. This process can result in impurities such as stalks and husks being mixed into the grain pellets, making the grain unclean. Straw and other impurities must be removed from the grain before baling. A loading machine capable of removing straw and other impurities from the grain is needed to facilitate the removal of straw and other impurities before packaging and storage. Summary of the Invention

[0003] The object of the present invention is to provide an automated unmanned loading robot for removing straw debris from grain particles.

[0004] To achieve the above purpose, the technical solution of the present invention is:

[0005] An automated unmanned loading robot comprises a chassis, a frame mounted on the chassis, a funnel fixed in the frame, and a conveyor mounted at the front end of the frame for continuously collecting accumulated grain particles.

[0006] The cleaning component is installed in the funnel, and is used to receive the grain particles conveyed by the conveying rack and clean out the debris in the grain particles;

[0007] The cleaning assembly includes a housing, a feed box connected to the housing is mounted at the front end thereof, a fan assembly is mounted on the top surface of the housing, a blowing assembly is mounted at the top of the inner cavity of the housing along the direction of conveying grain particles, a first conveying frame and a guide frame are mounted in sequence at the bottom of the inner cavity of the housing along the direction of conveying grain particles, and a discharge hole is preset between the first conveying frame and the guide frame; a storage chamber is provided at the end of the interior of the housing away from the feed box;

[0008] A vibration frame is installed at one end of the first conveyor frame close to the feed box, and the top surface of the vibration frame is tilted downward;

[0009] Grain particles are added from the feed box into the housing and vibrate as they slide downward along the vibration frame. The wind delivered by the fan assembly is delivered to the grain particles through the blowing assembly, blowing light impurities in the grain particles into the storage chamber to remove the impurities.

[0010] A triangular rubber strip is embedded in the top of the vibration frame, and a support frame is fixed to the bottom of the vibration frame. The upper part of the support frame is rectangular and the lower part is L-shaped. The rubber strip is used to assist the longitudinal vibration of the particles that impact it, thereby facilitating the separation of grain particles and straw impurities.

[0011] It also includes a base, which includes a support block, and horizontal plates are vertically arranged on both sides of the support block; the support block is longitudinally inserted into the support frame and abuts against the bottom of the vibration frame, and the support frame is pressed against the horizontal plates; the base is used to support the vibration frame and increase the vibration amplitude of the vibration frame to assist in separating grain particles and straw impurities.

[0012] Beneficial effects of the technical solution of the present invention:

[0013] 1. Grain particles are added from the feed box into the housing and vibrate as they slide downward along the vibration frame. The wind delivered by the fan assembly is delivered to the grain particles through the blowing assembly, blowing the light impurities in the grain particles into the storage chamber to remove the impurities.

[0014] The air outlet direction is adjusted through the air outlet pipe so that the air output from the air outlet pipe can be stably blown to a position above the grain particles. Due to the light weight of the straw, the straw mixed in the grain particles is more likely to be bounced to a higher position during the vibration process. Under the blowing force of the wind from the air outlet pipe, the mixed straw is blown away, thereby achieving purification of the grain particles. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a perspective view of the automated unmanned loading robot of the present invention.

[0016] Figure 2 It is a side view of the automated unmanned loading robot of the present invention.

[0017] Figure 3 It is a perspective view of the cleaning assembly of the present invention.

[0018] Figure 4 It is a side view of the cleaning assembly of the present invention after removing the side baffles.

[0019] Figure 5 yes Figure 4 A partial enlarged view corresponding to the reference numeral A in FIG.

[0020] Figure 6 It is a three-dimensional view of the cleaning assembly of the present invention after removing the side baffles.

[0021] Figure 7 yes Figure 6A partial enlarged view corresponding to the reference numeral B.

[0022] Figure 8 It is a perspective view of the output assembly of the present invention.

[0023] Figure 9 is a side view of the output assembly of the present invention.

[0024] 1. Cleaning assembly; 11. Storage cylinder; 12. Housing; 13. Crossbeam; 14. Fan assembly; 15. Feed box; 16. Storage chamber; 17. Guide rack; 18. First conveyor rack;

[0025] 19. Vibration frame; 191. Rubber strip; 192. Support frame;

[0026] 20. Base; 201. Support block; 202. Horizontal plate;

[0027] 21. Blowing assembly; 211. First housing; 212. Air outlet; 213. Air outlet pipe; 214. Connecting pipe;

[0028] 2. Funnel; 3. Camera; 4. Conveyor frame; 41. First motor; 42. Transmission rod; 43. Bucket; 44. Transmission belt; 45. Steel pipe; 46. Telescopic rod; 47. Bracket; 5. Chassis; 6. Wheels; 7. Frame;

[0029] 8. Output assembly; 81. Discharge cylinder; 82. Adding cylinder; 83. Weighing cylinder; 84. Support seat; 85. Mounting frame; 86. Guide plate; 87. Door panel; 88. Feed cylinder; 89. Adjustment plate; 810. Pressure sensor. DETAILED DESCRIPTION

[0030] The following examples are used to illustrate the present invention but are not intended to limit the scope of the present invention.

[0031] Example

[0032] After being harvested, grain is piled up in large quantities in warehouses. The grain is then packaged and transported. However, during the harvesting process, the harvester processes both grain stalks and grain pellets simultaneously. During this extensive operation, the grain pellets obtained may contain impurities such as grain stalks and husks, making the grain unclean. Therefore, the grain needs to be cleaned out of the straw and other debris before packaging.

[0033] This application provides an automated unmanned loading robot, referring to Figure 1 and Figure 2The machine comprises a chassis 5, a frame 7 being fixed to the chassis 5 with bolts, a hopper 2 being detachably mounted within the frame 7 with bolts, and a conveyor frame 4 having an upper end rotatably mounted on the top of the frame 7. The conveyor frame 4 is used to continuously collect accumulated grain particles and convey them to the cleaning assembly 1. The structure of the conveyor frame 4 will be described in detail below.

[0034] The cleaning assembly 1 is bolted into the hopper 2. After receiving the grains delivered by the conveyor frame 4, the cleaning assembly 1 removes the impurities in the grains. Detailed description will be given below.

[0035] Reference Figure 3 The cleaning assembly 1 includes a housing 12, with a feed box 15 welded to the front end of the housing 12. The feed box 15 is connected to the housing 12. A fan assembly 14 is bolted to the top surface of the housing 12, and multiple fans are installed within the housing of the fan assembly 14. A crossbeam 13 is bolted to the top of the housing 12, and both ends of the crossbeam 13 are bolted to the funnel 2.

[0036] Reference Figure 4 A blower assembly 21 is bolted to the top of the inner cavity of the housing 12, along the direction in which the grain particles are conveyed. A first conveyor frame 18 and a guide frame 17 are bolted to the bottom of the inner cavity of the housing 12, along the direction in which the grain particles are conveyed. A discharge hole is defined between the first conveyor frame 18 and the guide frame 17. Purified grain particles are discharged into the feed barrel 88 through the discharge hole.

[0037] A receiving cavity 16 is provided inside the shell 12 at one end away from the feed box 15, and the receiving cavity 16 is communicated with the inner cavity of the shell 12.

[0038] The first conveyor frame 18 is a wedge-shaped structure with a hollow interior. Its top surface is tilted downward. A vibration frame 19 is mounted on the end of the first conveyor frame 18 near the feed box 15. Both ends of the vibration frame 19 are pivotally connected to the first conveyor frame 18. The top surface of the vibration frame 19 tilts downward, aligning with the tilt of the first conveyor frame 18. A rubber seal is used at the interface between the vibration frame 19 and the first conveyor frame 18. The vibration frame 19 is made of spring steel with high elasticity.

[0039] Grain particles are added into the outer shell 12 from the feed box 15 and vibrate while sliding downward along the vibration frame 19. When the grain particles hit the vibration frame 19, the grain particles and impurities such as straw mixed therein are bounced up by the elastic force of the vibration frame 19.

[0040] The wind delivered by the fan assembly 14 is delivered to the grain particles (grain particles, straw) through the blowing assembly 21. Since the mass and density of the straw are smaller than those of the grain particles, and after the straw and grain particles are bounced up, the straw mixed in the grain particles is blown out from the grain particles under the action of the wind, and then the straw is blown into the storage chamber 16 to clean out impurities such as straw, thereby achieving purification of the grain particles.

[0041] Further, refer to Figure 5 and Figure 6 The blowing assembly 21 includes a first shell 211 , and a plurality of air outlets 212 are spaced apart at the bottom of the first shell 211 . The plurality of air outlets 212 are distributed along the length direction of the blowing assembly 21 .

[0042] The air outlet pipe 213 is pivotally connected to the bottom of the first shell 211 , the axial direction of the air outlet pipe 213 is consistent with the width direction of the first shell 211 , and the air outlet of the air outlet pipe 213 is downward toward the vibration frame 19 .

[0043] The air outlet pipe 213 is rotated in the air outlet 212 to adjust the air outlet direction. As the air outlet pipe 213 rotates, the orientation of the air outlet 212 changes, thereby changing the flow direction of the air outlet, so as to adjust the air outlet direction to a direction close to the bottom surface of the first shell 211.

[0044] Under the action of the wind force output by the air outlet pipe 213, small impurities such as straw mixed in the grain particles are separated by the wind and blown into the storage chamber 16 under the blowing action of the wind force, thereby purifying the grain particles.

[0045] Reference Figure 6 and Figure 7 A triangular rubber strip 191 is embedded in the top of the vibration frame 19 and is glued to the frame 19. When grain particles and straw collide with the rubber strip 191, the elastic action of the rubber strip 191 causes the grain particles to vibrate longitudinally, thereby separating the grain particles from the straw impurities.

[0046] Reference Figure 7 A support frame 192 is fixed at the bottom of the vibration frame 19, and the upper part of the support frame 192 is rectangular and the lower part is L-shaped.

[0047] The base 20 includes a support block 201, and horizontal plates 202 are vertically welded on both sides of the support block 201. The support block 201 is longitudinally inserted into the support frame 192 and abuts against the bottom of the vibration frame 19.

[0048] The support frame 192 is pressed on the horizontal plate 202, referring to Figure 5 and Figure 7 Specifically, the L-shaped portion of the lower portion of the support frame 192 is laterally pressed against the horizontal plate 202, forming a vibration structure with the horizontal plate 202 and the support frame 192. Both the horizontal plate 202 and the support frame 192 are made of spring steel with good elasticity, which easily vibrates, thereby causing the vibration frame 19 to vibrate. As the vibration amplitude increases, it helps separate straw impurities from the grain particles.

[0049] Reference Figure 6 A storage cylinder 11 is detachably mounted on the rear end of the housing 12 by bolts, and the storage cylinder 11 is connected to the storage chamber 16. Straw and debris collected in the storage chamber 16 can be stored in the storage cylinder 11.

[0050] Reference Figure 2 The output component 8 is installed at the tail end of the frame 7 with bolts, and one end of the feed of the output component 8 is located inside the funnel 2. The grain particles purified by the cleaning component 1 fall downward into the output component 8.

[0051] Reference Figure 8 and Figure 9 The output assembly 8 includes a feed barrel 88 welded to one side of the mounting frame 85. An outlet on one side of the feed barrel 88 faces the weighing barrel 83. A door panel 87 is pivotally connected to the outlet of the feed barrel 88. The door panel 87 is driven by a first stepper motor. The first stepper motor rotates the door panel 87 to open or close the outlet of the feed barrel 88, thereby controlling the output of grain particles from the feed barrel 88. See below for details.

[0052] A guide plate 86 is welded at the lower edge of the outlet of the feed cylinder 88, and the grain particles output from the outlet of the feed cylinder 88 are sent to the weighing cylinder 83 along the guide plate 86.

[0053] Reference Figure 8 and Figure 9 The output assembly 8 includes a mounting frame 85. A support base 84 is bolted to the bottom of the inner cavity of the mounting frame 85. A circular arc-shaped support groove is defined at the top of the support base 84. A weighing cylinder 83 is rotatably supported on the top surface of the support base 84, with the bottom of the weighing cylinder 83 supported within the support groove.

[0054] An electronic scale is installed within the support base 84, used to weigh the grain within the weighing cylinder 83. To control the weight of the grain packaged in each bag, the feed cylinder 88 first delivers the grain to the weighing cylinder 83, which then weighs the received grain. When the grain reaches the required weight, the main controller sends a command to the controller of the first stepper motor, controlling the first stepper motor to rotate, driving the door panel 87 to rotate, closing the outlet of the feed cylinder 88. The grain weight measured by the weighing cylinder 83 meets the preset weight requirement.

[0055] Among them, the main controller can be implemented by computer programming, or integrated with a single-chip microcomputer and controlled through programming.

[0056] A second stepping motor is axially mounted on one end of the weighing cylinder 83 .

[0057] The second stepper motor drives the weighing cylinder 83 to rotate, pouring the grain stored in the weighing cylinder 83 into the adding cylinder 82, and transporting the grain into the packaging bag through the adding cylinder 82 and the discharging cylinder 81.

[0058] In another embodiment, when it is necessary to weigh grain by controlling its volume, multiple adjustment plates 89 are installed in the weighing cylinder 83 along the horizontal direction. The adjustment plates 89 are arranged in the weighing cylinder 83 along the horizontal direction and can slide in the horizontal direction. The multiple adjustment plates 89 are located at different positions in the vertical direction.

[0059] When the grain needs to be put into a larger grain packaging bag, the adjustment plate 89 located near the bottom of the weighing cylinder 83 can be slid out horizontally to form the bottom of the container, so that the adjustment plate 89 and the weighing cylinder 83 form a container with a large volume, thereby being able to hold a large amount of grain particles at a time to meet the needs of large-volume packaging bags.

[0060] When the grain needs to be put into a smaller grain packaging bag, the adjustment plate 89 located near the top of the weighing cylinder 83 can be slid out horizontally to form the bottom of the container, so that the adjustment plate 89 and the weighing cylinder 83 form a container with a very small volume, thereby being able to hold a small amount of grain particles at a time to meet the needs of a small-volume packaging bag.

[0061] The capacity of the weighing cylinder 83 is adjusted by the adjusting plate 89, and the amount of food packaged each time is controlled by adjusting the capacity.

[0062] Pressure sensors are bolted to the upper edges of the inner sides of each end of the weighing cylinder 83. As grain is added to the weighing cylinder 83, as the amount of grain inside continues to increase, the grain particles exert a compressive force on the pressure sensors 810 located at both ends. When this compressive force reaches a preset pressure value, the main controller sends a command to the controller of the first stepper motor, controlling the first stepper motor to rotate the door panel 87, closing the outlet of the feed cylinder 88. The grain content of the weighing cylinder 83 meets the preset requirements.

[0063] Reference Figure 8 and Figure 9 The output component 8 includes a discharge cylinder 81, which is fixed to the other side of the mounting frame 85 with bolts. An adding cylinder 82 is welded to the top of the discharge cylinder 81, and the packaging bag inlet is placed below the discharge cylinder 81. The weighing cylinder 83 bags and packs the weighed grain particles through the adding cylinder 82 and the discharge cylinder 81.

[0064] The conveyor frame 4 includes a steel pipe 45, and a transmission rod 42 is rotatably installed between the ends of two parallel steel pipes 45. A transmission belt 44 is wrapped around the outside of the transmission rod 42. The first motor 41 drives the transmission rod 42, and the transmission rod 42 drives the transmission belt 44 to move. This is existing technology and will not be elaborated in detail.

[0065] The transmission belt 44 drives the bucket 43, and when the bucket 43 moves to the lower end of the steel pipe 45, it takes away the accumulated grain particles. Then, as the transmission belt 44 moves, the grain particles are transported to the upper end of the steel pipe 45, and the grain particles are dumped into the cleaning component 1 during the tilting process.

[0066] A rectangular bracket 47 is bolted to the bottom of the steel tube 45. A telescopic rod 46 is mounted at the front end of the chassis 5. This rod 46 comprises a circular support tube with a circular support rod extending axially within the tube. The front end of the support rod is pivotally connected to the bracket 47. After the support rod is adjusted axially within the tube to a desired position, the rod and tube are locked in place with bolts.

[0067] The grain particles are transported into the feed box 15 , and the grain particles enter the housing 12 through the feed box 15 .

[0068] The grain particles slide obliquely downward along the vibration frame 19, and the rubber strip 191 assists the grain particles and straw debris that collide therewith to generate vibration.

[0069] The fan assembly 14 delivers wind into the first housing 211 through the connecting pipe 214. The two ends of the connecting pipe 214 are respectively connected to the ends of the fan assembly 14 and the blowing assembly 21 with bolts. The wind is blown onto the grain particles on the vibration frame 19 through the air outlet pipe 213. Under the action of vibration and wind blowing, straw and debris are separated from the grain particles.

[0070] Although the present invention has been described in detail above using general explanations and specific embodiments, it will be apparent to those skilled in the art that modifications or improvements may be made based on the present invention. Therefore, such modifications or improvements, which do not depart from the spirit of the present invention, are within the scope of protection claimed by the present invention.

Claims

1. An automated unmanned loading robot, comprising a chassis (5), a frame (7) mounted on the chassis (5), a funnel (2) fixed in the frame (7), a conveying frame (4) mounted at the front end of the frame (7), and used for continuously collecting accumulated grain particles, characterized in that , The cleaning component (1) is installed in the funnel (2) and is used to receive the grain particles conveyed by the conveying rack (4) and to clean out the debris in the grain particles; The cleaning assembly (1) comprises a housing (12); a connected feed box (15) is mounted at the front end of the housing (12); a fan assembly (14) is mounted on the top surface of the housing (12); a blowing assembly (21) is mounted at the top of the inner cavity of the housing (12) along the direction of conveying grain particles; a first conveying frame (18) and a guide frame (17) are mounted in sequence at the bottom of the inner cavity of the housing (12) along the direction of conveying grain particles; a discharge hole is preset between the first conveying frame (18) and the guide frame (17); and a receiving chamber (16) is provided at the end of the interior of the housing (12) facing away from the feed box (15); A vibration frame (19) is installed at one end of the first conveying frame (18) close to the feed box (15), and the top surface of the vibration frame (19) is tilted downward; Grain particles are added from the feed box (15) into the housing (12), and vibration is generated while sliding downward along the vibration frame (19), and the wind delivered by the fan assembly (14) is delivered to the grain particles through the blowing assembly (21), blowing the light impurities in the grain particles into the storage chamber (16) to clean out the impurities; A triangular rubber strip (191) is embedded in the top of the vibration frame (19), and a support frame (192) is fixed to the bottom of the vibration frame (19). The upper portion of the support frame (192) is rectangular, and the lower portion is L-shaped. The rubber strip (191) is used to assist the longitudinal vibration of particles impacting thereon, thereby facilitating the separation of grain particles and straw impurities. The invention also includes a base (20), the base (20) including a support block (201), and transverse plates (202) are vertically arranged on both sides of the support block (201); the support block (201) is longitudinally inserted into the support frame (192) and contacts the bottom of the vibration frame (19), and the support frame (192) is pressed against the transverse plates (202); the base (20) is used to support the vibration frame (19) and increase the vibration amplitude of the vibration frame (19) to assist in separating grain particles and straw impurities.

2. The automated unmanned loading robot according to claim 1, characterized in that: The blowing assembly (21) comprises a first shell (211), a plurality of air outlets (212) are provided at intervals on the bottom of the first shell (211), an air outlet pipe (213) is installed at the bottom of the first shell (211), and the air outlet pipe (213) rotates within the air outlet (212) to adjust the air outlet direction, blowing air along the upper part of the inner cavity of the shell (12) to separate straw impurities from grain particles and blow the air into the storage cavity (16).

3. The automated unmanned loading robot according to claim 1 is characterized in that , A storage cylinder (11) is installed at the rear of the housing (12), and the storage cylinder (11) is connected to the receiving chamber (16) to receive impurities.

4. The automated unmanned loading robot according to claim 1, characterized in that: It also includes an output assembly (8), which is mounted at the rear of the frame (7) and has one feeding end located inside the funnel (2), and is used to receive the purified grain particles discharged by the cleaning assembly (1).

5. The automated unmanned loading robot according to claim 4, characterized in that: The output assembly (8) includes a mounting frame (85), a support seat (84) is mounted on the bottom of the inner cavity of the mounting frame (85), and a weighing cylinder (83) is rotatably disposed on the top surface of the support seat (84); A pressure sensor (810) is installed in the mounting frame (85); A plurality of adjustment plates (89) are installed in the weighing cylinder (83) along the transverse direction. The adjustment plates (89) are used to adjust the capacity of the weighing cylinder (83), and the amount of grain packaged each time is controlled through capacity adjustment.

6. The automated unmanned loading robot according to claim 5 is characterized in that The output assembly (8) includes a feed cylinder (88), the feed cylinder (88) is fixed to one side of the mounting frame (85), and a door plate (87) is pivotally connected to the outlet of the feed cylinder (88); An electronic scale is provided in the support seat (84); the electronic scale and the door panel (87) are used to control the process of outputting grain particles from the feed cylinder (88) based on weight; A guide plate (86) is fixed at the lower edge of the outlet of the feed cylinder (88) to transport the output grain particles into the weighing cylinder (83).

7. The automated unmanned loading robot according to claim 5 or 6, characterized in that The output assembly (8) includes a discharge cylinder (81), the discharge cylinder (81) being fixed to the other side of the mounting frame (85), a feeding cylinder (82) being mounted on the top end of the discharge cylinder (81), and the weighing cylinder (83) packing the weighed grain particles into bags through the feeding cylinder (82) and the discharge cylinder (81).

8. The automated unmanned loading robot according to claim 7 is characterized in that , The transmission belt (44) in the conveying frame (4) drives the multiple buckets (43) to rotate continuously to dig out the grain particles and convey the grain particles into the feed box (15), and the grain particles enter the housing (12) through the feed box (15); The grain particles slide obliquely downward along the vibration frame (19), and the rubber strip (191) causes the grain particles and straw debris that collide therewith to vibrate; The fan assembly (14) conveys wind into the first housing (211) through the connecting pipe (214), and the wind is blown onto the grain particles on the vibration frame (19) through the air outlet pipe (213); under the action of vibration and wind blowing, straw and debris are separated from the grain particles.

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