Four-foot powder receiving machine with three-stage torque increasing structure

Abstract

The invention discloses a four-foot powder receiving machine with a three-stage torque-increasing structure, which comprises a powder receiving conveyor belt and a three-stage torque-increasing leg-foot mechanism mounted on the powder receiving conveyor belt, the three-stage leg and foot torque-increasing mechanism comprises a double-shaft five-connecting-rod walking leg, a steering driving wheel foot, a double-shaft parallel driving mechanism for driving the double-shaft five-connecting-rod walking leg, a stepping motor, a turning transmission mechanism, a two-stage worm and gear torque-increasing mechanism and a planetary gear torque-increasing mechanism; wherein the steering driving wheel feet are used for steering and walking of the wheel feet, the double-shaft parallel driving mechanism is divided into a gait driving mechanism and a height driving mechanism, the gait driving mechanism is used for driving the powder receiving conveying belt to cross a rail in the process that the whole powder receiving conveying belt moves to a receiving position at the bottom of a train, and the height driving mechanism is used for controlling the height of the legs and the feet. And the height of the split material receiving conveyor belt is further adjusted. The problems that an existing material receiving machine cannot automatically cross over rails and cannot automatically adjust the height are solved.

Description

Technical Field

[0001] The invention relates to a powder receiving machine used in conjunction with a powder transport train. Background Art

[0002] Powder receiving machines are used for receiving materials when powder transport trains are unloading materials, so as to unload powder, especially fertilizer, from train cars to production or storage facilities.

[0003] The powder is discharged from the discharge port at the bottom of the train carriage, and the receiving machine needs to be moved to the discharge port at the bottom of the train to receive the powder. The discharge ports of different types of trains have different heights from the rails. The existing receiving machines do not have the function of adjusting the receiving height, so receiving machines of different heights are needed.

[0004] When the existing material receiving machine reaches the unloading position of the train, the two front wheels need to cross the rails and then cross the rails to ensure that the receiving center of the whole machine is in the middle of the material receiving machine. However, the existing material receiving machine does not have the function of automatic overtracking. When the material receiving machine reaches the material receiving position, it needs to be manually pushed to reach the material receiving position, which results in low unloading efficiency and certain risks. Summary of the invention

[0005] The purpose of the present invention is to provide a four-legged powder receiving machine with a three-stage torque-increasing structure to solve the shortcomings of the existing receiving machines that they cannot automatically cross rails and automatically adjust their height.

[0006] To this end, the present invention provides a four-legged powder receiving machine with a three-stage torque-increasing structure, including a powder receiving conveyor belt, and also including a three-stage torque-increasing leg-foot mechanism installed on the powder receiving conveyor belt, the three-stage leg-foot torque-increasing mechanism including a double-axis five-link walking leg, a steering drive wheel foot, and a double-axis parallel drive mechanism for driving the double-axis five-link walking leg, including a stepping motor, a changing transmission mechanism, a two-stage worm gear torque-increasing mechanism, and a planetary gear torque-increasing mechanism; wherein, the steering drive wheel foot is used for wheel foot steering and walking, and the double-axis parallel drive mechanism is divided into a gait drive mechanism and a height drive mechanism, the gait drive mechanism is used to drive the powder receiving conveyor belt to cross the rails during the process of moving the powder receiving conveyor belt as a whole to the receiving position at the bottom of the train, and the height drive mechanism is used to control the height of the leg foot, thereby adjusting the height of the split receiving conveyor belt.

[0007] The split material receiving machine of the present invention is equipped with a four-legged walking power system, and the two front wheels have an off-track function and are also capable of automatically adjusting the material receiving height.

[0008] The present invention adopts four legs with front knees and rear elbows as the actuator, which can meet the off-track requirements under heavy load conditions and has sufficient mechanical self-locking ability when the power source is suddenly lost, causing the motor to lose its holding torque.

[0009] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] The drawings constituting a part of the present application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings: Figure 1 The three-dimensional structure diagram of the four-legged powder receiving machine with a three-stage torque-increasing structure in a specific embodiment of the present invention is shown. Figure 1 ; Figure 2 The three-dimensional structure diagram of the four-legged powder receiving machine with a three-stage torque-increasing structure in a specific embodiment of the present invention is shown. Figure 2 ; Figure 3 It shows a schematic structural diagram of a conveyor chain 1 in a specific embodiment of the present invention; Figure 4 It shows a schematic structural diagram of a conveyor chain 2 in a specific embodiment of the present invention; Figure 5 A schematic diagram of the chain tensioning mechanism structure in a specific embodiment of the present invention is shown; Figure 6 It shows a schematic structural diagram of a three-stage torsion-increasing leg-foot mechanism in a specific embodiment of the present invention; Figure 7 A top view of a three-stage torsion-increasing leg-foot mechanism in a specific embodiment of the present invention is shown; Figure 8 A front view of a two-stage worm gear reduction mechanism in a specific embodiment of the present invention is shown; Fig. 9 A rear view of a two-stage worm gear reduction mechanism in a specific embodiment of the present invention is shown; Fig.10 A schematic diagram of the three-dimensional structure of a two-stage worm gear reduction mechanism in a specific embodiment of the present invention is shown; Fig.11 The frame structure diagram of the two-stage worm gear reduction mechanism in a specific embodiment of the present invention is shown; Fig.12 It shows the principle diagram of the first stage reduction mechanism of the two-stage worm gear reduction mechanism in a specific embodiment of the present invention; Fig.13 It shows a schematic diagram of the installation of the pinion gear and the planetary gear of the first stage reduction mechanism of the two-stage worm gear reduction mechanism in a specific embodiment of the present invention; Fig.14 The schematic diagram of the structure of the third stage speed reduction mechanism of the three-stage torque increasing leg-foot mechanism in a specific embodiment of the present invention is shown; Fig.15 It shows a schematic structural diagram of a three-stage torsion-increasing leg-foot mechanism in a specific embodiment of the present invention; Fig.16 A schematic diagram showing a four-legged powder receiving machine with a three-stage torque-increasing structure in a specific embodiment of the present invention, with the right front leg crossing the left rail; Fig.17 A schematic diagram showing a four-legged powder receiving machine with a three-stage torque-increasing structure in a specific embodiment of the present invention with its left front leg crossing the left rail; Fig.18 A schematic diagram showing a four-legged powder receiving machine with a three-stage torque-increasing structure in a specific embodiment of the present invention, in which the left front leg and the right front leg cross the right rail and reach the final receiving position. DETAILED DESCRIPTION

[0011] The present invention will be described in detail below with reference to the accompanying drawings and in conjunction with embodiments.

[0012] Combined with reference Figures 1 to 5 The four-legged powder receiving machine with a three-stage torsion-increasing structure of this embodiment includes a powder receiving conveyor belt and four three-stage torsion-increasing leg and foot mechanisms 400 / 401 / 402 / 403.

[0013] The powder receiving conveyor belt includes a left shell 100a, a right shell 100b, a driving device 200, a chain conveying device 300, a chain tensioning mechanism 500a / 500b, a discharge hopper 600, and a hopper cover 610.

[0014] The left housing 100a is divided into a horizontal section 110a and an inclined lifting section 120a, the inclined lifting section 120a is set at an obtuse angle with the horizontal section 110a, the horizontal section 110a and the inclined lifting section 120a are seamlessly connected through a transition section 130a, and the inclined lifting section 120a is set at an acute angle with the horizontal plane. The right housing 100b is also divided into a horizontal section 110b, an inclined lifting section 120b and a transition section 130b, and is symmetrically arranged with the left housing 110a, and its structure is not described here.

[0015] The driving device 200 includes a three-phase motor 210 and a worm gear reducer 220. The three-phase motor 210 is fixed to the outside of the head of the inclined lifting section 120a, and the input end of the worm gear reducer 220 is correspondingly installed on the upper end of the output shaft of the three-phase motor 210. The output end of the worm gear reducer 220 is set at 90 degrees with the input end, and the output end of the worm gear reducer 220 drives the driving shaft.

[0016] The driving sprocket 330a / 330b is arranged at the end of the inclined lifting section 120a / 120b, and the driven sprocket is arranged at the head of the horizontal section 110a / 110b. The driving sprocket 330a / 330b is also installed on the driving shaft 390, and the left and right ends of the driving shaft are supported in a pair of bearing seats.

[0017] The chain guide 320a is arranged inside the left housing 100a, the transmission chain 310a is placed on the guide groove of the chain guide 320a, and the transmission chain 310a is provided with a hanging ear 311a. The chain guide 320b is arranged inside the right housing 100b, the transmission chain 310b is placed on the guide groove of the chain guide 320b, and the transmission chain 310b is provided with a hanging ear 311b.

[0018] The chain plates 350 are fixed to the chain hanging ears 311a and the chain hanging ears 311b at equal intervals, the conveyor belt 380 is fixed above the chain plates 350, and the scrapers 360 are fixed above the conveyor belt 380 at equal intervals.

[0019] The driving sprocket 330a / 330b drives the transmission chain 310a / 310b along the guide groove of the chain guide 320a / 320b to realize the closed-loop movement of the chain.

[0020] The chain tensioning mechanism 500a is arranged on the outside of the tail of the horizontal section 110a, the sliding groove 550a is fixed on the outside of the tail of the horizontal section 110a, the sliding bearing 540a is installed on the sliding groove 550a, one end of the screw 530a is fixed on the sliding bearing 540a, and the other end is connected to the fixed plate 520a through the nut 510a / 511a, and the nut 510a / 511a on the screw is adjusted to make the screw 530a move horizontally forward and backward relative to the fixed plate 520a, and the sliding bearing 540a fixed to the screw 530a moves horizontally forward and backward along the sliding groove 550a. Another chain tensioning mechanism 500b is arranged symmetrically with the chain tensioning mechanism 500a, and will not be described in detail here.

[0021] The three-level twist-increasing leg-foot mechanism 400, the three-level twist-increasing leg-foot mechanism 401, the three-level twist-increasing leg-foot mechanism 402, and the three-level twist-increasing leg-foot mechanism 403 are distributed in a front knee and back elbow style. The three-level twist-increasing leg-foot mechanism 400 and the three-level twist-increasing leg-foot mechanism 401 are in an elbow posture, and the three-level twist-increasing leg-foot mechanism 402 and the three-level twist-increasing leg-foot mechanism 403 are in a knee posture.

[0022] The three-level torsion-enhancing leg-foot mechanism 400 is arranged at the head of the horizontal section 110a, the three-level torsion-enhancing leg-foot mechanism 402 is arranged at the tail of the horizontal section 110a, the three-level torsion-enhancing leg-foot mechanism 401 is arranged at the head of the horizontal section 110b, and the three-level torsion-enhancing leg-foot mechanism 403 is arranged at the tail of the horizontal section 110b.

[0023] Combined with reference Figure 6-Figure 13 The three-stage torsion-increasing leg-foot mechanism includes a frame, a double-axis five-link walking leg, a steering drive wheel foot and a double-axis parallel drive mechanism.

[0024] The rack includes a mounting bracket 1 and a mounting bracket 2, which are installed side by side at the head of the horizontal section 110a. The mounting bracket 1 is composed of a longitudinal mounting plate 470a / 473a and a transverse mounting plate 471a / 472a / 474a / 475a, and the mounting bracket 2 is composed of a longitudinal mounting plate 470b / 473b and a transverse mounting plate 471b / 472b / 474b / 475b. The mounting bracket 1 and the mounting bracket 2 are arranged in a grid shape.

[0025] The dual-axis parallel drive mechanism is divided into a lifting drive mechanism and a gait drive mechanism. The two structures are symmetrically arranged, and include a stepper motor, a two-stage worm gear torque-increasing mechanism, and a planetary gear torque-increasing mechanism. The gait drive mechanism is used to drive the powder receiving conveyor belt to cross the rails when it moves as a whole to the receiving position at the bottom of the train. The lifting drive mechanism is used to control the height of the legs and feet, and then adjust the height of the split receiving conveyor belt. The structure of the lifting drive unit is used as an example for explanation below.

[0026] The lifting stepper motor 410a is installed on the head of the longitudinal mounting plate 470a. A coupling 411a and a pair of meshing bevel gears (composed of a bevel gear 412a and a bevel gear 413a) are arranged in sequence on the power output route of the lifting stepper motor 410a to achieve 90° steering transmission. The bevel gear 412a is fixed to the bevel gear driving shaft 414a, and the bevel gear 413a is fixed to the bevel gear driven shaft 415a.

[0027] The two-stage worm gear torque increasing mechanism includes a first-stage special-shaped worm gear mechanism and a second-stage worm gear mechanism. The first-stage special-shaped worm gear transmission mechanism includes an input mounting flange 426, a special-shaped worm 427, three special-shaped worm wheels 424a / 424b / 424c, and a first-stage retaining frame 421a / 421b / 421c, and the second-stage worm gear mechanism includes a worm 433a / 433b / 433c, a worm wheel 428, a second-stage retaining frame 430a / 430b / 430c, and an output mounting flange 429.

[0028] The worm 427 is set as a large gear, and the worm wheel 424a / 424b / 424c of the first-stage special-shaped worm gear transmission mechanism is set as a small gear, and the worm wheel 424a / 424b / 424c is distributed on the outer periphery of the large gear. Since the small gear 424a / 424b / 424c and the large gear 427 are equivalent to the gear and the rack in the middle plane, the large gear below can be regarded as a worm, and the small gear above can be regarded as a worm wheel. All of the above are helical teeth, so they have self-locking properties, that is, the worm can drive the worm wheel to rotate, but the worm wheel cannot drive the worm to rotate.

[0029] The tail of the bevel gear driven shaft 415a is correspondingly mounted to the special-shaped worm 427, and the special-shaped worm wheels 424a / 424b / 424c are installed at equal angles on the outside of the special-shaped worm 427.

[0030] The special-shaped worm gear 424a is fixed to the first-stage shaft 435a, and the first-stage shaft 435a is set on the first-stage retaining frame 421a and the first-stage retaining frame 421c. The special-shaped worm gear 424b is fixed to the first-stage shaft 435b, and the first-stage shaft 435b is set on the first-stage retaining frame 421a and the first-stage retaining frame 421b. The special-shaped worm gear 424c is fixed to the first-stage shaft 435c, and the first-stage shaft 435c is set on the first-stage retaining frame 421b and the first-stage retaining frame 421c.

[0031] First-stage gears 423a / 425a are provided at both ends of the special-shaped worm gear 424a, and the first-stage gears 423a / 425a are fixed on both sides of the first-stage shaft 435a. First-stage gears 423b / 425b are provided at both ends of the special-shaped worm gear 424b, and the first-stage gears 423b / 425b are fixed on both sides of the first-stage shaft 435b. First-stage gears 423c / 425c are provided at both ends of the special-shaped worm gear 424c, and the first-stage gears 423c / 425c are fixed on both sides of the first-stage shaft 435c.

[0032] The first stage gear 423a is mounted corresponding to the second stage gear 432a, the first stage gear 423b is mounted corresponding to the second stage gear 432b, and the first stage gear 423c is mounted corresponding to the second stage gear 432c. The first stage gear 425a is mounted corresponding to the second stage gear 434a, the first stage gear 425b is mounted corresponding to the second stage gear 434b, and the first stage gear 425c is mounted corresponding to the second stage gear 434c.

[0033] A square block is provided inside the second-stage gear 432a and the second-stage gear 434a, and square slots are provided on both sides of the worm 433a of the second-stage worm gear transmission mechanism. The second-stage gear 432a and the second-stage gear 434a are installed and fixed by the protruding square blocks and the square slots on both sides of the worm 433a. The second-stage gear 432b and the second-stage gear 434b and the worm 433b, and the second-stage gear 432c and the second-stage gear 434c and the worm 433c are installed and fixed in the same way.

[0034] The worm 433a is fixed to the second-stage shaft 436a, and the second-stage shaft 436a is disposed between the second-stage retaining frame 430a and the second-stage retaining frame 430c. The worm 433b is fixed to the second-stage shaft 436b, and the second-stage shaft 436b is disposed between the second-stage retaining frame 430a and the second-stage retaining frame 430b. The worm 433c is fixed to the second-stage shaft 436c, and the second-stage shaft 436c is disposed between the second-stage retaining frame 430b and the second-stage retaining frame 430c.

[0035] The worms 433a / 433b / 433c are distributed at equal angles on the outside of the worm wheel 428 of the second-stage worm gear transmission mechanism. The unfolded helix angle of the worms 433a / 433b / 433c is smaller than the friction angle of contact between the worm wheel 428 and the worms 433a / 433b / 433c. Therefore, they have self-locking properties, that is, the worm can drive the worm wheel to rotate, but the worm wheel cannot drive the worm to rotate.

[0036] The input mounting flange 426 is mounted on the secondary torque increasing mounting plate 472a, and the output mounting flange 429 is mounted on the secondary torque increasing mounting plate 474a.

[0037] The third stage speed reduction mechanism 460a is a planetary gear torque increasing mechanism, which includes a planetary gear input stepped shaft 461, planetary gears 463a / 463b / 463c / 463d, a sun gear 462, a gear ring 466, a retainer 465a / 465b / 465c / 465d, planetary gear shafts 463a / 463b / 463c / 463d and a main retainer 467. The planetary gear input stepped shaft 461 is provided at the output end of the worm gear 428, and the sun gear 462 is provided at the output end of the input stepped shaft 461.

[0038] In the above-mentioned four-legged powder receiving machine with a three-stage torque-increasing structure, the lifting stepper motor 410a, the coupling 411a, the bevel gear 412a, the bevel gear 413a, the secondary worm gear reduction mechanism 420, and the third-stage reduction mechanism 460a constitute a single-axis drive mechanism, and the lifting stepper motor 410b, the coupling 411b, the bevel gear 412b, the bevel gear 413b, the secondary worm gear reduction mechanism 440 and the third-stage reduction mechanism 460b constitute another single-axis drive mechanism, which are arranged in parallel to jointly drive the dual-axis five-link walking legs.

[0039] The double-axis five-link walking leg includes a first rod group and a second rod group, the first rod group includes a first driving shaft 451, a first driving rod 455, and a first connecting rod 457 hinged to the end of the first driving rod 455 through a lower axis 453, the second rod group includes a second driving shaft 452, a second driving rod 456 and a second connecting rod 458 hinged to the end of the second driving rod 456 through a lower axis 454, wherein the end of the first connecting rod 457 is hinged to the lower part of the second connecting rod 458 through a lower axis 459, the first driving rod 451 is driven by a third-stage reduction mechanism 460a, and the second driving rod 452 is driven by a third-stage reduction mechanism 460b.

[0040] The first drive shaft 451 and the second drive shaft 452 are both installed between the output hole end of the main retaining frame 467 and the mounting plate 475a / 475b, the first drive rod 455 and the second drive rod 456 are short push rods, and the first connecting rod 457 and the second connecting rod 458 are long push rods.

[0041] The wheel mounting plate 481 is arranged at the end of the shank 458, and the wheel output flange 489 is located at the bottom of the wheel mounting plate 481. The wheel output flange 489 can rotate relative to the wheel bogie 487. The wheel steering gear 482 is fixedly mounted on the outside of the wheel output flange 489, the wheel steering pinion 483 is externally meshed with the wheel steering gear 482, the steering stepper motor output shaft 484 is correspondingly mounted on the wheel steering pinion 483, and the steering stepper motor 488 is mounted on the wheel bogie 487. The steering stepper motor 488 rotates to drive the wheel steering pinion 483 to rotate, and the wheel steering pinion 483 rotates the wheel steering gear 482 to rotate, so as to realize the rotation of the wheel output flange 489 and realize the wheel steering.

[0042] In one embodiment, the rated speed of the lifting stepper motor 1 410a and the lifting stepper motor 2 410b is 3600 r / min, and reaches 2 r / min after three-stage deceleration and torque increase.

[0043] The walking stepper motor 486 is arranged on the side of the wheel bogie 487, and the output shaft of the walking stepper motor 486 is correspondingly installed on the rotating shaft of the wheel 485. The walking stepper motor 486 drives the wheel 485 to rotate to realize the rolling function.

[0044] The powder receiving conveyor belt is a bilaterally symmetrical structure with a symmetrical center line. The left shell 100a and the right shell 100b, the three-level torsion-increasing leg-foot mechanism 400 and the three-level torsion-increasing leg-foot mechanism 401, the three-level torsion-increasing leg-foot mechanism 402 and the three-level torsion-increasing leg-foot mechanism 403 are all arranged bilaterally symmetrically about the symmetrical center line.

[0045] The three-level torsion-increasing leg-foot mechanism 400, the three-level torsion-increasing leg-foot mechanism 401, the three-level torsion-increasing leg-foot mechanism 402, and the three-level torsion-increasing leg-foot mechanism 403 work together to realize complex actions such as walking, turning, and lifting of the powder feeder under heavy load conditions.

[0046] The four three-level torsion-increasing leg and foot mechanisms 400 / 401 / 401 / 402 / 403 are in the front knee and rear elbow type. The train 800 is set on the left rail 700 and the right rail 701, and the train unloading port 801 is set at the bottom of the train 800.

[0047] The order of the three-stage torsion-increasing structure four-legged powder material receiving machine crossing the rail is that the three-stage torsion-increasing leg and foot mechanism 402 (right front leg) and the three-stage torsion-increasing leg and foot mechanism 403 (left front leg) have the bottom wheels drive the whole body to move to the appropriate position in front of the left rail 700, the right front leg crosses the left rail 700, and then the left front leg crosses forward the left rail 701. The bottom wheels of the right front leg and the left front leg drive the whole body to move to the appropriate position in front of the right rail 701, the right front leg crosses the right rail 701, and the left front leg crosses forward the right rail 701, and the three-stage torsion-increasing structure four-legged powder material receiving machine crossing the rail is completed.

[0048] The above description is only an embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A four-legged powder receiving machine with a three-stage torsion-increasing structure, comprising a powder receiving conveyor belt, characterized in that: It also includes a three-stage torsion-enhancing leg-foot mechanism installed on the powder receiving conveyor belt. The three-stage leg-foot torque-increasing mechanism includes a double-axis five-link walking leg, a steering drive wheel foot, and a double-axis parallel drive mechanism for driving the double-axis five-link walking leg. The double-axis parallel drive mechanism includes a stepping motor, a two-stage worm gear torque-increasing mechanism, and a planetary gear torque-increasing mechanism. Among them, the steering drive wheel foot is used for wheel foot steering and walking, the dual-axis parallel drive mechanism is divided into a gait drive mechanism and a lifting drive mechanism, the gait drive mechanism is used to drive the powder material receiving conveyor belt to cross the rails during the process of moving the powder material receiving conveyor belt as a whole to the material receiving position at the bottom of the train, and the lifting drive mechanism is used to control the height of the leg foot, thereby adjusting the height of the split material receiving conveyor belt.

2. The four-legged powder receiving machine with a three-stage torsion-increasing structure according to claim 1 is characterized in that: The two-stage worm gear torque increasing mechanism includes a first-stage special-shaped worm gear transmission mechanism and a second-stage worm gear transmission mechanism, wherein the first-stage worm gear transmission mechanism includes a wheel-shaped special-shaped worm, a plurality of rod-shaped special-shaped worm wheels arranged around the special-shaped worm, and a special-shaped worm wheel retainer, and the second-stage worm gear transmission mechanism includes a worm wheel, a plurality of worms arranged around the worm wheel, and a worm retainer, the special-shaped worm and the worm wheel are coaxially arranged, wherein the special-shaped worm wheel is provided with a first transmission gear, and the plurality of worms are provided with a second transmission gear, and the first transmission gear and the second transmission gear are meshed for transmission.

3. The four-legged powder receiving machine with a three-stage torsion-increasing structure according to claim 1 is characterized in that: The transmission ratio of the three-stage leg-foot torque-increasing mechanism is 1000-1800, and the rotation speed of the stepping motor is 3600r / min.

4. The four-legged powder receiving machine with a three-stage torsion-increasing structure according to claim 1 is characterized in that: The dual-axis five-link walking leg includes a first rod group and a second rod group, the first rod group includes a first driving rod and a first link hinged to the end of the first driving rod, the second rod group includes a second driving rod and a second link hinged to the end of the second driving rod, wherein the end of the first link is hinged to the lower part of the second link, and the first driving rod and the second driving rod are driven by the dual-axis parallel driving mechanism.

5. The four-legged powder receiving machine with a three-stage torsion-increasing structure according to claim 1 is characterized in that: The powder receiving conveyor belt includes a pair of shells arranged symmetrically on the left and right, a chain conveyor device, a discharge funnel, and a hopper cover, wherein the chain conveyor device includes a driving sprocket, a driven sprocket, a pair of conveying chains arranged symmetrically on the left and right, a conveyor belt fixedly connected to a pair of transmission chains, a partition plate fixedly connected to the transmission belt, a chain tensioning mechanism, and a power device for driving the driving sprocket, wherein the pair of shells include a horizontal section and an inclined lifting section, and the pair of shells are provided with chain guides to constrain the pair of conveying chains respectively in the chain guides of the pair of shells.

6. The four-legged powder receiving machine with a three-stage torsion-increasing structure according to claim 1 is characterized in that: A total of four three-stage torsion-increasing leg-foot mechanisms are installed on the powder receiving conveyor belt in the front, back, left and right directions, wherein the four three-stage torsion-increasing leg-foot mechanisms are arranged in a front knee and a rear elbow manner.

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