An automatic material taking system suitable for ground cylinder mash

Abstract

The application discloses an automatic material taking system suitable for earth cylinder materials, which is high in material taking efficiency and does not need manual finishing. The technical scheme is as follows: a control system can control the connection and disconnection between a walking system, a quick change system and a tool system; a six-claw excavator, tail material cleaning tools and cylinder cleaning tools are movably arranged on the fixed storage positions of the walking system, are driven by the quick change system to be grabbed and replaced through the control system, and are respectively used for earth cylinder material taking, tail material cleaning and cylinder cleaning; the action of a six-axis robot is controlled by the control system, one end of a quick change mechanism is connected with a power execution end of the six-axis robot, the other end of the quick change mechanism is correspondingly connected with the six-claw excavator, the tail material cleaning tools and the cylinder cleaning tools in the tool system, and the quick change of the required tools is realized by controlling the opening and closing of the quick change mechanism. The application mainly applies to the field of earth cylinder material taking.

Description

Technical Field

[0001] The invention relates to an automatic material taking system suitable for ground vat mash materials, belonging to the technical field of ground vat material taking. Background Art

[0002] Fermentation in a ground vat involves burying the fermentation vat underground. This unique process requires significant investment and is both meticulous and complex. Traditionally, after fermentation is complete, the fermented material inside the vat needs to be manually removed, which is laborious and time-consuming.

[0003] With the advancement of technology, mechanical equipment has emerged to replace manual digging of mash. However, this type of equipment does not remove materials cleanly, and manual cleanup operations are required afterwards, which is time-consuming and labor-intensive. Summary of the Invention

[0004] The present invention overcomes the shortcomings of the prior art and provides an automatic material taking system suitable for ground vat mash, which does not require manual finishing and has high material taking efficiency.

[0005] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic material taking system suitable for ground vat mash, including a walking system, a tool system, a quick change system and a control system;

[0006] The tool system, quick-change system and control system are all arranged on the walking system. The execution end of the quick-change system is connected to the tool system. The control system can control the movement of the walking system and the connection and disconnection between the quick-change system and the tool system.

[0007] The tool system includes a six-claw bucket, a tailings cleaning tool, and a cylinder cleaning tool. The six-claw bucket, tailings cleaning tool, and cylinder cleaning tool are movably placed in fixed storage positions fixed on the walking system. The control system drives the quick-change system to grab and replace them, and they are used for extracting materials from the underground cylinder, cleaning tailings, and washing.

[0008] The quick-change system includes a six-axis robot and a quick-change mechanism. The movement of the six-axis robot is controlled by a control system. One end of the quick-change mechanism is connected to the power execution end of the six-axis robot, and the other end of the quick-change mechanism can be correspondingly connected to the six-claw bucket, tailing cleaning tool and cylinder cleaning tool in the tool system. By controlling the opening and closing of the quick-change mechanism, rapid switching of the required tools can be achieved.

[0009] Furthermore, the six-claw bucket includes a bucket cover, a bucket, a rope drum, a cone head, a servo motor and a wire rope assembly. A servo motor is provided on the upper side of the bucket cover, and a bucket is provided on the lower side of the bucket cover. The bucket has a six-petal opening structure, and a rope drum is provided inside the bucket. The upper end of the rope drum is fixed to the bucket cover, and the lower end of the rope drum is provided with a cone head. The power end of the servo motor is connected to the inner side of the bucket through a wire rope assembly.

[0010] Furthermore, the six-turn bucket may be a spiral feeding structure; the structure of the spiral feeding structure is: including a barrel cover, a spiral barrel, a servo motor, a spiral impeller and a spiral impeller drive shaft, a spiral barrel is fixedly provided on the lower side of the barrel cover, a spiral impeller drive shaft is vertically provided in the middle of the spiral barrel, a plurality of spiral impellers are spirally distributed on the lower part of the spiral impeller drive shaft, the upper part of the spiral impeller drive shaft extends through the upper side of the barrel cover or is connected to the lower side of the barrel cover, a servo motor is provided on the upper side of the barrel cover, and the power output end of the servo motor is power-connected to the upper part of the spiral impeller drive shaft.

[0011] Furthermore, the tail material cleaning tool includes a material box, a scraper, a roller brush and a base. The material box is fixed under the base. The material box is a box-shaped body with an opening on one side. The scraper is installed at the lower side and / or side of the material box opening. A driving motor is provided on the upper side of the base. A roller brush is movably provided at the opening of the material box. The roller brush is power-connected to the driving motor. A pen-shaped cylinder is provided on the top of the material box. The pen-shaped cylinder is movably connected to the roller brush through a connecting rod mechanism, and can push the roller brush to adjust the cleaning position.

[0012] Furthermore, the quick-change structure includes a male quick-change chuck and a female quick-change chuck, the male quick-change chuck is fixed on the end flange of the six-axis robot, and the female quick-change chuck is fixed on the tool end flange, the tool end flange is fixed to the connecting piece, a pin sleeve mounting plate is provided at the upper end of the connecting piece, two positioning pin sleeves are installed on the upper side of the pin sleeve mounting plate, a guide support pin is provided on the lower side of the pin sleeve mounting plate, and a support block is fixed to the lower side of the guide support pin.

[0013] Furthermore, both ends of the transmission shaft of the roller brush are movably provided with a first connecting rod through a bearing, the first connecting rod of the roller brush is L-shaped, the lower end of the first connecting rod is provided on the transmission shaft of the roller brush, the lower upper end of the first connecting rod is movably provided on the material box, a second connecting rod is movably provided at the turning point of the first connecting rod, the two ends of the second connecting rod are correspondingly provided on the two first connecting rods, a third connecting rod is movably provided at the middle part of the second connecting rod and the power end of the pen-shaped cylinder, one end of the third connecting rod is movably mounted on the second connecting rod, and the other end of the third connecting rod is connected to the power end of the pen-shaped cylinder.

[0014] Furthermore, the wire rope assembly includes a wire rope drum and a wire rope. The wire rope drum is movably arranged on the upper side of the bucket cover through a bearing. One end of the wire rope is wound around the wire rope drum, and the other end of the wire rope is connected to the inner side of the bucket after passing through the rope drum.

[0015] Furthermore, the upper portion of the bucket is a cylindrical structure, and the upper end of the bucket is fixedly arranged on the bucket cover, and the lower portion of the bucket is a free end and a six-petal arc-shaped bucket piece.

[0016] Furthermore, the servo motor is eccentrically fixed vertically on the upper side of the cylinder cover through a connecting flange, the power output end of the servo motor passes through the interior of the cylinder cover, and the power output end of the servo motor is connected to the upper part of the propeller drive shaft through a belt drive structure.

[0017] Furthermore, the lower end of the spiral impeller transmission shaft is flush with the lower end of the spiral barrel, and the lower end of the spiral impeller rotating surface located at the lowermost side of the spiral impeller transmission shaft is flush with the lower end of the spiral barrel.

[0018] Compared with the prior art, the present invention has the following beneficial effects: the present invention realizes self-propelled movement by controlling the walking system, and then controls the quick-change system to cooperate with the tool system to realize the automated work of material taking and clearing, with high work efficiency, no need for manual finishing, and time and labor saving. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] Figure 1 It is a structural schematic diagram of the present invention.

[0021] Figure 2 It is a structural schematic diagram of the tailing cleaning tool in the present invention.

[0022] Figure 3 It is a side structural schematic diagram of the tailing cleaning tool in the present invention.

[0023] Figure 4 Schematic diagram of the three-dimensional structure of the tailing cleaning tool in the present invention Figure 1 .

[0024] Figure 5 Schematic diagram of the three-dimensional structure of the tailing cleaning tool in the present invention Figure 2 .

[0025] Figure 6 It is a structural schematic diagram of the six-claw bucket in the present invention.

[0026] Figure 7 It is a schematic diagram of the top view of the six-claw bucket in the present invention.

[0027] Figure 8 It is a schematic diagram of the three-dimensional structure of the six-claw bucket in the present invention.

[0028] Figure 9 It is a schematic diagram of the connection structure of the six claws digging through the rope drum in the present invention.

[0029] Figure 10This is a schematic diagram of the power connection structure of the six-claw bucket servo motor and wire rope assembly in the present invention.

[0030] Figure 11 It is a structural schematic diagram of the spiral material taking structure in the present invention.

[0031] Figure 12 It is a schematic diagram of the top view of the spiral material taking structure in the present invention.

[0032] Figure 13 This is a schematic diagram of the power transmission structure of the spiral impeller of the spiral material taking structure in the present invention.

[0033] Figure 14 It is a structural schematic diagram of the quick-change mechanism in the present invention.

[0034] Figure 15 It is a schematic diagram of the local structure of the spiral material taking structure in the present invention.

[0035] In the figure: 1 is the walking system, 2 is the tool system, 21 is the six-claw bucket, 211 is the bucket cover, 212 is the bucket, 213 is the rope drum, 214 is the cone head, 215 is the servo motor, 216 is the wire rope assembly, 2161 is the wire rope drum, 2162 is the wire rope, 217 is the connecting seat, 218 is the 3D camera, 22 is the tailing cleaning tool, 221 is the material box, 222 is the scraper, 223 is the roller brush, 224 is the base, 225 is the drive motor, 226 is the pen-shaped cylinder, 227 is the first connecting rod, 228 is the second connecting rod, 229 is the third connecting rod, 23 is the cylinder cleaning tool , 24 is a spiral feeding structure, 241 is a barrel cover, 242 is a spiral barrel, 243 is a connecting plate, 244 is a servo motor, 245 is a spiral fan wheel, 246 is a spiral fan wheel drive shaft, 247 is a camera mounting plate, 248 is a camera, 3 is a quick-change system, 31 is a six-axis robot, 32 is a quick-change mechanism, 321 is a male quick-change chuck, 322 is a female quick-change chuck, 323 is the end flange of the six-axis robot, 324 is a tool end flange, 325 is a connecting part, 326 is a pin sleeve mounting plate, 327 is a guide support pin, 328 is a support block, 329 is a positioning pin sleeve, and 4 is a control system. DETAILED DESCRIPTION

[0036] The present invention will be further described below with reference to specific embodiments.

[0037] Example 1

[0038] like Figure 1-10 ,14, the present invention is an automatic material taking system suitable for ground cylinder mash material, including a walking system 1, a tool system 2, a quick change system 3 and a control system 4;

[0039] The tool system 2, quick-change system 3 and control system 4 are all arranged on the travel system 1. The execution end of the quick-change system 3 is connected to the tool system 3. The control system 4 can control the movement of the travel system 1 and the connection and disconnection between the quick-change system 3 and the tool system 2.

[0040] The tool system 2 includes a six-claw bucket 21, a tailings cleaning tool 22, and a cylinder cleaning tool 23. The six-claw bucket 21, tailings cleaning tool 22, and cylinder cleaning tool 23 are movably placed in a fixed storage position fixed to the walking system 1. The control system 4 drives the quick-change system 3 to grab and replace them, and they are used for taking materials from the underground cylinder, cleaning tailings, and washing.

[0041] The quick-change system 3 includes a six-axis robot 31 and a quick-change mechanism 32. The movement of the six-axis robot 31 is controlled by the control system 4. One end of the quick-change mechanism 32 is connected to the power execution end of the six-axis robot 31, and the other end of the quick-change mechanism 32 is connected to the six-claw bucket 21, the tailing cleaning tool 22 and the cylinder cleaning tool 23 in the tool system 2. By controlling the opening and closing of the quick-change mechanism 32, the required tools can be quickly switched.

[0042] The six-claw bucket 21 includes a bucket cover 211, a bucket 212, a rope drum 213, a cone head 214, a servo motor 215 and a wire rope assembly 216. The servo motor 215 is provided on the upper side of the bucket cover 211, and the bucket 212 is provided on the lower side of the bucket cover 211. The bucket 212 has a six-petal opening structure. A rope drum 213 is provided in the bucket 212. The upper end of the rope drum 213 is fixed to the bucket cover 211, and the lower end of the rope drum 213 is provided with a cone head 214. The power end of the servo motor 215 is connected to the inner side of the bucket 212 through the wire rope assembly 216. The wire rope assembly 216 includes a wire rope drum 2161 and a wire rope 2162. The wire rope drum 2161 is movably arranged on the upper side of the bucket cover 211 through a bearing. One end of the wire rope 2162 is wound around the wire rope drum 2161, and the other end of the wire rope 2162 passes through the rope drum 213 and is connected to the inner side of each petal of the bucket 212. The upper part of the bucket 212 is a cylindrical structure, and the upper end of the bucket 212 is fixedly arranged on the bucket cover 211. The lower part of the bucket 212 is a free end and is a six-petal arc-shaped bucket piece. A connecting seat 217 is provided on the upper side of the bucket cover 211, and the connecting seat 217 is in a "J"-shaped structure. The servo motor 215 is located in the connecting seat 217. The servo motor 215 is connected to the wire rope drum 2161 through a reducer through mutually meshing gears. A 3D camera 218 is installed on the upper edge of the bucket cover 211 for real-time observation of the excavation situation.

[0043] The working process of the present application: the six-axis robot driving connecting seat 217 drives the excavator 212 to move above the earth cylinder under the control of the robot control system and the auxiliary observation of the 3D camera 218, and then controls the excavator 212 to move downward and insert into the earth cylinder, the tips of the lower side of each petal excavator 212 and the taper head 214 of the rope penetrating cylinder 213 are convenient to insert into the fermented grains in the earth cylinder, wherein the tip of the lower side of each petal excavator 212 is longer than the taper head 214, so that under the control of the robot control system, the tip of the lower side of each petal excavator 212 touches the bottom first, and then the steel wire rope winding drum 2161 is driven to rotate, the tip of the lower side of each petal excavator 212 bends inward under the traction of the steel wire rope 2162, and the fermented grains in the earth cylinder are excavated into the excavator 212, after the tips of the lower side of the six petal excavators 212 bend, an enclosed material excavating cavity is formed on the inner side of the excavator 212, under the control of the robot control system, the excavated fermented grains are transferred, the above-mentioned action is repeated, and continuous automatic material taking is realized. In the present application, the shape of the excavator 212 is adapted to the internal size of the earth cylinder, which is convenient for the excavator 212 to enter and exit the material.

[0044] The tailings cleaning tool 22 comprises a box 221, a scraper 222, a roller brush 223 and a base 224, the box 221 is fixed below the base 224, the box 221 is a box-shaped body with one side open, the lower edge and / or the side edge of the opening of the box 221 is provided with the scraper 222, the upper side of the base 224 is provided with a driving motor 225, the opening of the box 221 is movably provided with the roller brush 223, the roller brush 223 is connected with the driving motor 225, the top of the box 221 is provided with a pen-type cylinder 226, the pen-type cylinder 226 is movably connected with the roller brush 223 through a connecting rod mechanism, and the pen-type cylinder 226 can push the roller brush 223 to adjust the cleaning position. Further, the transmission shaft of the roller brush 223 is movably provided with a first connecting rod 227 at both ends through bearings, the first connecting rod 227 is L-shaped, the lower end of the first connecting rod 227 is arranged on the transmission shaft of the roller brush 223, the upper end of the lower end of the first connecting rod 227 is movably arranged on the box 221, the first connecting rod 227 is movably provided with a second connecting rod 228 at the bend, the two ends of the second connecting rod 228 are correspondingly arranged on the two first connecting rods 227, the middle part of the second connecting rod 228 is movably provided with a third connecting rod 229 with the power end of the pen-type cylinder 226, one end of the third connecting rod 229 is movably sleeved on the second connecting rod 228, and the other end of the third connecting rod 229 is connected with the power end of the pen-type cylinder 226. One end of the transmission shaft of the roller brush 223 is connected with the power output end of the driving motor 225 through a belt drive, the scraper 222 is obliquely arranged on the opening edge of the box 221, which is convenient for collecting materials, and the shape of the box 221 is round or square.

[0045] The present invention utilizes a driving motor 225 to drive the roller brush 223 to rotate, and the bristles on the roller brush 223 will sweep the residual mash in the ground cylinder into the material box 221. A tilted scraper 222 is provided at the entrance of the material box 221, so that the roller brush 223 can more easily collect the residual material into the material box 221. At the same time, the pen-shaped cylinder 226 is used to push the roller brush 223 to adjust its position through a connecting rod mechanism, so that the bristles of the roller brush 223 can clean closely to the wall of the ground cylinder during cleaning. After cleaning, the roller brush 223 can be lifted up again without manual cleaning, which greatly reduces the labor intensity of workers and improves cleaning efficiency.

[0046] The tail material cleaning mechanism of the present invention is connected to the six-axis robot via the base 224 , and the six-axis robots cooperate with each other to realize the residual material cleaning work after the digging of the ground cylinder is completed.

[0047] The quick-change structure 32 includes a male quick-change chuck 321 and a female quick-change chuck 322. The male quick-change chuck 321 is fixed on the end flange 323 of the six-axis robot, and the female quick-change chuck 322 is fixed on the tool end flange 324. The tool end flange 324 is fixed to the connecting piece 325. A pin sleeve mounting plate 326 is provided on the upper end of the connecting piece 325. Two positioning pin sleeves 329 are installed on the upper side of the pin sleeve mounting plate 326. A guide support pin 327 is provided on the lower side of the pin sleeve mounting plate 326. A support block 328 is fixed to the lower side of the guide support pin 327.

[0048] Example 2

[0049] like Figure 1-5, 11-15 The six-turn bucket 21 in the present invention may be a spiral material-taking structure 24; the structure of the spiral material-taking structure 24 is: it includes a barrel cover 241, a spiral barrel 242, a servo motor 244, a spiral fan wheel 245 and a spiral fan wheel drive shaft 246, the lower side of the barrel cover 241 is fixedly provided with a spiral barrel 242, the middle part of the spiral barrel 242 is vertically provided with a spiral fan wheel drive shaft 246, the lower part of the spiral fan wheel drive shaft 246 is spirally distributed with a plurality of spiral fan wheels 245, the upper part of the spiral fan wheel drive shaft 246 extends through the upper side of the barrel cover 241 or is connected to the lower side of the barrel cover 241, the upper side of the barrel cover 241 is provided with a servo motor 244, and the power output end of the servo motor 244 is power-connected to the upper part of the spiral fan wheel drive shaft 246. The servo motor 244 is eccentrically fixed vertically to the upper side of the cylinder cover 241 via a connecting flange. The power output end of the servo motor 244 passes through the interior of the cylinder cover 241. The power output end of the servo motor 244 is connected to the upper part of the spiral impeller drive shaft 246 via a belt drive structure. The lower end of the spiral impeller drive shaft 246 is flush with the lower end of the spiral cylinder 242. The lower end of the rotating surface of the spiral impeller 245 located at the lowermost side of the spiral impeller drive shaft 246 is flush with the lower end of the spiral cylinder 242. A connecting plate 243 is fixedly provided on the upper side of the cylinder cover 241. The connecting plate 243 is used to connect to a camera mounting plate 247 or an external power component. One end of the camera mounting plate 247 is fixed to the upper side of the connecting plate 243 or the cylinder cover 241. A camera 248 is installed on the camera mounting plate 247 to assist the robot or control platform in monitoring the amount of tailings remaining in the cylinder.

[0050] The connecting plate 243 of the present invention is connected to the power end of the six-axis robot, and is correspondingly inserted into the mash in the ground cylinder. The servo motor 244 drives the spiral fan wheel transmission shaft 246 to drive the spiral fan wheel 245 to rotate, and the mash in the ground cylinder is transmitted into the spiral barrel 242. Since the area of ​​the spiral fan wheel 245 is large, and the multiple spirally distributed spiral fan wheels 245 form a continuous shielding in the vertical direction, and there is more moisture in the mash, it is easy to form agglomerates. After the mash is transferred into the spiral barrel 242, the spiral fan wheel 245 stops rotating, and almost no mash is spilled from the bottom of the spiral barrel 242, thereby realizing continuous and automatic material removal.

[0051] The rest of the structure is the same as that of the first embodiment.

[0052] The present invention mainly includes: a walking system 1, a tool system 2, a quick change system 3 and a control system 4.

[0053] Travel system 1 is a tracked vehicle with a track width less than the spacing between the underground cylinders. The tracked vehicle drives the other systems to move and retrieve materials from the underground cylinders throughout the workshop. Tool system 2 consists of a six-claw bucket, a tailings cleaning tool, and a cylinder cleaning tool, used for underground cylinder retrieving, tailings cleaning, and cleaning, respectively. Quick-change system 3 includes a six-axis robot and a quick-change mechanism. By controlling the opening and closing of the quick-change mechanism, the required tools can be quickly switched. The quick-change mechanism is installed at the end of the six-axis robot and is connected to the tool end through the quick-change mechanism. The robot control system controls the six-axis robot's movements.

[0054] The control system 4 controls the movement of the crawler vehicle and the robot, and the pneumatic control component controls the connection and disconnection of the quick change.

[0055] When retrieving materials from the ground cylinder, the crawler vehicle moves to the corresponding position; the robot's quick-change end moves to the top of the retrieving quick-change end, is positioned by pins, and the robot is connected to the six-claw bucket; the robot moves with the six-claw bucket and hovers just above the ground cylinder, and the 3D camera on the six-claw bucket takes pictures to identify the center position of the ground cylinder and the material surface height. The software sends instructions to the robot through calculation, and the robot takes action after reading the instructions, thereby controlling the digging position and digging height of the six-claw bucket. The motor of the six-claw bucket rotates forward, the bucket opens, and the robot carries the six-claw bucket into the ground cylinder and inserts it into the material. The motor of the six-claw bucket reverses, the bucket closes, and the robot moves the six-claw bucket out of the ground cylinder and moves it above the material car to open and complete the digging. After two or three digging operations, the visual system recognizes the position of the center of the material surface in the ground cylinder after digging and the remaining material around it close to the cylinder wall. There is a certain height difference. When this height difference reaches a certain level, the visual system determines that the next action requires a scraping operation and sends an instruction to the robot. The robot moves the six-claw bucket to the top of the ground cylinder. The visual system confirms the position of the ground cylinder and the remaining material on the cylinder wall again to prevent the bucket from being damaged by going too deep into the cylinder. The software sends the instruction to the robot through calculation. After reading the instruction, the robot drives the six-claw bucket to move so that one side is close to the cylinder wall. Finally, the robot rotates the sixth axis to complete the cylinder wall scraping operation. At this time, the height difference between the material surface of the ground cylinder close to the cylinder wall and the material surface in the center of the ground cylinder becomes smaller. The visual system determines that the next action is to perform digging. The above operations are repeated in sequence until the visual system determines that the remaining material in the ground cylinder does not need to be digged anymore, and all digging work of this ground cylinder is completed; when the digging work is completed, the control system determines to perform tail material cleaning. The robot needs to place the six-claw excavator bucket on the quick-change bracket seat on the side of the crawler vehicle. Specifically, insert the tool end support guide pin into the guide hole of the support block on the crawler end, and insert the copper sleeve on the tool end connecting plate into the two positioning pins on the quick-change bracket seat on the crawler vehicle to control the robot to disconnect from the six-claw excavator bucket.

[0056] When the tail cleaning work is performed, the quick-change end of the robot is moved to the top of the tail cleaning tool quick-change end, the robot is connected with the tail cleaning tool through positioning by the pin, the tail cleaning tool is stopped above the ground cylinder, the 3D camera installed at the end of the six-axis robot takes a picture to identify the remaining material at the bottom of the cylinder, the software sends instructions to the robot through calculation, the robot reads the instructions and performs actions, the tail cleaning tool is moved to the bottom of the ground cylinder, the pen-shaped cylinder is continuously extended by air supply to ensure that the front end of the brush is in contact with the bottom and side of the ground cylinder, the motor on the tail cleaning tool is rotated to drive the brush to rotate and sweep the residual material in the ground cylinder into the material box, at the same time, the scraper on the tail cleaning tool is in contact with the cylinder wall, the robot is rotated to scrape the residual material on the cylinder wall, after the material box is filled, the robot moves the tail cleaning tool out of the ground cylinder and to the top of the material car, and the material in the material box is poured into the material car, and the above is the completion of a tail cleaning work, and after the tail cleaning work is completed, the robot is moved to place the tail cleaning tool on the quick-change support seat at the side of the tracked vehicle.

[0057] When the ground cylinder cleaning work is performed, the quick-change end of the robot is moved to the top of the cylinder cleaning tool quick-change end, the robot is connected with the cylinder cleaning tool through positioning by the pin, the robot drives the cleaning brush to dip in the water bucket to take the pepper water into the ground cylinder, the cleaning brush is closely attached to the cylinder wall through the movement of each joint of the robot to clean the inside of the ground cylinder, and finally the cylinder cleaning tool is placed on the quick-change support seat at the side of the tracked vehicle.

[0058] The six-claw excavator is connected with the robot through the quick-change mechanism, and the six-claw excavator and the robot cooperate with each other to realize the functions of material taking and scraping of the ground cylinder. The opening and closing of the six-claw excavator is controlled by a servo motor, the servo motor is connected with a harmonic reducer to drive the driving shaft to rotate, gear one is fixed on the driving shaft and rotates with the driving shaft, gear one is engaged with gear two, gear two rotates with the rotation of gear one, gear two and the steel wire rope reel are fixed on the driven shaft, the rotation of gear two drives the rotation of the driven shaft and the steel wire rope reel, the steel wire rope is loosened and tightened with the rotation of the steel wire rope reel, so that the opening and closing control of the six petals of the excavator is realized.

[0059] When the material in the ground cylinder is taken, the six-claw excavator moves to the top of the ground cylinder with the robot, the 3D camera takes a picture to identify the center position and the height of the material surface of the ground cylinder, the software sends instructions to the robot through calculation, the robot reads the instructions and performs actions to control the digging position and the digging height of the six-claw excavator.

[0060] When the residual material on the cylinder wall is scraped, the six-claw excavator moves to the top of the ground cylinder with the robot, the 3D camera takes a picture to identify the position of the ground cylinder, the height of the material surface and the residual material on the cylinder wall, the software sends instructions to the robot through calculation, the robot reads the instructions and drives the six-claw excavator to move so as to closely attach to the cylinder wall, finally the sixth axis of the robot is rotated to realize the cylinder wall scraping function.

[0061] The tailing cleaning tool is connected to the robot through a quick-change mechanism, and the tailing cleaning tool cooperates with the robot to realize the residual material cleaning work after the six-claw bucket of the ground cylinder completes the digging.

[0062] The quick-change structure is a connection structure used to connect the robot's six-axis end and the tool system and complete the switching between multiple tools.

[0063] The male quick-change chuck is fixed on the robot end flange, the female quick-change chuck is fixed on the tool end flange, the tool end flange is fixed to the connecting piece, two locating pin sleeves are installed on the pin sleeve mounting plate, the pin sleeve mounting plate is fixed to the connecting piece, the guide support pin is fixed on the pin sleeve mounting plate, the diamond pin and the locating pin are fixed on the locating pin mounting block, the proximity switch is installed on the proximity switch mounting block and fixed on the locating pin mounting block, and the support block is fixed on the locating pin mounting block.

[0064] When tool switching needs to be completed, the control system controls the robot to move to the specified position, and the guide support pin acts as a guide and is inserted downward into the coarse guide hole of the support block. At the same time, the positioning pin and the diamond pin are inserted into the positioning pin sleeve to complete accurate positioning, and the end of the robot continues to move downward. When the guide support pin contacts the support surface of the support block and the support surfaces of the pin sleeve mounting plate and the positioning pin mounting block contact each other, the proximity switch has a signal at the same time, the quick change mechanism is put into place, the male quick change chuck is supplied with air, the six-axis end of the robot is lifted up, the female quick change chuck is separated from the male quick change chuck, and the tool end is removed; the six-axis end of the robot moves to the corresponding position of the tool to be replaced, the male quick change chuck and the female quick change chuck are matched in place, the male quick change chuck is ventilated, the two chucks are locked and fixed, the robot is lifted up, the tool leaves the placement position, and the tool switching is completed.

[0065] The embodiments of the present invention are described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the above embodiments. Various changes can be made within the knowledge of ordinary technicians in this field without departing from the scope of the present invention.

Claims

1. An automatic material taking system suitable for ground vat mash, characterized in that: It includes a walking system (1), a tool system (2), a quick-change system (3) and a control system (4); The tool system (2), the quick-change system (3) and the control system (4) are all arranged on the walking system (1); the execution end of the quick-change system (3) is connected to the tool system (2); and the control system (4) can control the walking of the walking system (1) and the connection and disconnection between the quick-change system (3) and the tool system (2); The tool system (2) includes a six-claw bucket (21), a tailing cleaning tool (22) and a cylinder cleaning tool (23). The six-claw bucket (21), the tailing cleaning tool (22) and the cylinder cleaning tool (23) are movably placed in a fixed storage position fixedly set on the walking system (1). The control system (4) drives the quick-change system (3) to grasp and replace them, and are used for taking materials from the ground cylinder, cleaning tailings and washing the cylinder respectively. The quick-change system (3) includes a six-axis robot (31) and a quick-change mechanism (32). The control system (4) controls the movement of the six-axis robot (31). One end of the quick-change mechanism (32) is connected to the power execution end of the six-axis robot (31). The other end of the quick-change mechanism (32) is connected to the six-claw bucket (21), the tailing cleaning tool (22) and the cylinder cleaning tool (23) in the tool system (2) in a corresponding power manner. By controlling the opening and closing of the quick-change mechanism (32), the required tools can be quickly switched. The six-claw bucket (21) comprises a bucket cover (211), a bucket (212), a rope drum (213), a cone head (214), a servo motor (215) and a wire rope assembly (216). The servo motor (215) is provided on the upper side of the bucket cover (211), and the bucket (212) is provided on the lower side of the bucket cover (211). The bucket (212) has a six-petal opening structure. A rope drum (213) is provided in the bucket (212), the upper end of the rope drum (213) is fixed to the bucket cover (211), and the lower end of the rope drum (213) is provided with a cone head (214). The power end of the servo motor (215) is connected to the inner side of the bucket (212) through the wire rope assembly (216).

2. The automatic material taking system for ground-cylinder mash according to claim 1, characterized in that: The six-claw bucket (21) may be a spiral material taking structure (24); the structure of the spiral material taking structure (24) is as follows: it includes a barrel cover (241), a spiral barrel (242), a servo motor (244), a spiral fan wheel (245) and a spiral fan wheel transmission shaft (246), the lower side of the barrel cover (241) is fixedly provided with a spiral barrel (242), the middle part of the spiral barrel (242) is vertically provided with a spiral fan wheel transmission shaft (246), the lower part of the spiral fan wheel transmission shaft (246) is spirally distributed with a plurality of spiral fans (245), the upper part of the spiral fan wheel transmission shaft (246) extends through the upper side of the barrel cover (241) or is connected to the lower side of the barrel cover (241), the upper side of the barrel cover (241) is provided with a servo motor (244), and the power output end of the servo motor (244) is power-connected to the upper part of the spiral fan wheel transmission shaft (246).

3. The automatic material taking system for underground fermented grains according to claim 1 or 2, characterized in that: The tail material cleaning tool (22) comprises a material box (221), a scraper (222), a roller brush (223) and a base (224). The material box (221) is fixed below the base (224). The material box (221) is a box-shaped body with an opening on one side. The scraper (222) is installed at the lower side and / or the side of the opening of the material box (221). A driving motor (225) is provided on the upper side of the base (224). A roller brush (223) is movably provided at the opening of the material box (221). The roller brush (223) is connected to the driving motor (225) by power. A pen-shaped cylinder (226) is provided on the top of the material box (221). The pen-shaped cylinder (226) is movably connected to the roller brush (223) through a connecting rod mechanism and can push the roller brush (223) to adjust the cleaning position.

4. The automatic material taking system for ground-cylinder mash according to claim 3, characterized in that: The quick-change structure (32) comprises a male quick-change chuck (321) and a female quick-change chuck (322), wherein the male quick-change chuck (321) is fixed on a flange (323) at the end of the six-axis robot, and the female quick-change chuck (322) is fixed on a flange (324) at the tool end, wherein the flange (324) at the tool end is fixed to a connecting member (325), and a pin sleeve mounting plate (326) is provided at the upper end of the connecting member (325), and two positioning pin sleeves (329) are installed on the upper side of the pin sleeve mounting plate (326), and a guide support pin (327) is provided on the lower side of the pin sleeve mounting plate (326), and a support block (328) is fixed on the lower side of the guide support pin (327).

5. The automatic material taking system for ground-cylinder mash according to claim 3 is characterized in that: Both ends of the transmission shaft of the roller brush (223) are movably provided with first connecting rods (227) through bearings. The roller brush first connecting rod (227) is L-shaped. The lower end of the first connecting rod (227) is provided on the transmission shaft of the roller brush (223). The lower upper end of the first connecting rod (227) is movably provided on the material box (221). A second connecting rod (228) is movably provided at the turning point of the first connecting rod (227). The two ends of the second connecting rod (228) are correspondingly provided on the two first connecting rods (227). A third connecting rod (229) is movably provided between the middle part of the second connecting rod (228) and the power end of the pen-shaped cylinder (226). One end of the third connecting rod (229) is movably sleeved on the second connecting rod (228), and the other end of the third connecting rod (229) is connected to the power end of the pen-shaped cylinder (226).

6. The automatic material taking system for underground fermented grains according to claim 1, characterized in that: The wire rope assembly (216) includes a wire rope drum 2161 and a wire rope 2162. The wire rope drum 2161 is movably arranged on the upper side of the bucket cover (211) through a bearing. One end of the wire rope 2162 is wound around the wire rope drum 2161, and the other end of the wire rope 2162 passes through the rope threading drum (213) and is connected to the inner side of the bucket (212).

7. The automatic material taking system for underground fermented grains according to claim 1, characterized in that: The upper portion of the bucket (212) is a cylindrical structure, and the upper end of the bucket (212) is fixedly arranged on the bucket cover (211). The lower portion of the bucket (212) is a free end and is a six-petal arc-shaped bucket piece.

8. The automatic material taking system for ground-jar fermented grains according to claim 2, characterized in that: The servo motor (244) is eccentrically fixed vertically on the upper side of the cylinder cover (241) via a connecting flange, the power output end of the servo motor (244) passes through the interior of the cylinder cover (241), and the power output end of the servo motor (244) is connected to the upper part of the propeller drive shaft (246) via a belt drive structure.

9. The automatic material taking system for underground fermented grains according to claim 2, characterized in that: The lower end of the spiral fan wheel transmission shaft (246) is flush with the lower end of the spiral barrel (242), and the lower end of the rotating surface of the spiral fan wheel (245) located at the lowermost side of the spiral fan wheel transmission shaft (246) is flush with the lower end of the spiral barrel (242).

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