Material mixing and turning device and method

Abstract

The invention relates to a material mixing, turning and throwing device and method, belongs to the technical field of turning and throwing equipment, is used for deep material mixing, and comprises a turning and throwing mechanism arranged at the front end of the device and used for turning and throwing materials through a three-section type opening and closing drill bit at the front end; the raking claw mechanism is arranged at the rear end of the turning and throwing mechanism, a half sole, used for clearing materials, at the front end of the raking claw mechanism is arranged on the outer side of the turning and throwing mechanism, and in the material clearing state, the half sole extends into stacked materials to be unfolded outwards for clearing the materials; in addition, the device further comprises a spatial three-dimensional parallel crawler propelling mechanism for propelling the device to advance and a ventilation mechanism for providing oxygen for aerobic fermentation strains in materials. And the power system provides power for the turning mechanism, the raking claw mechanism, the spatial three-dimensional parallel crawler propulsion mechanism and the ventilation mechanism. The mechanical raking claw with a bionic mole forelimb structure is adopted for raking operation, material particles hindering advancing of the turner can be removed in time, and the working efficiency of the turner is further improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of turning and tossing equipment, and in particular relates to a material mixing turning and tossing device and method for deep material mixing. Background Art

[0002] Aerobic sludge treatment is a biotechnology that uses microorganisms to decompose organic waste into carbon dioxide, water, and energy under aerobic conditions. This process effectively treats the large amounts of sludge generated in daily life and reduces the environmental impact of its final treatment and disposal. Aerobic sludge treatment can recycle waste into resources, reduce environmental pressure, lower carbon dioxide emissions, and improve energy efficiency. It also helps communities and cities implement low-carbon development strategies, develop a circular economy, and achieve energy conservation and emission reduction goals. Material turning technology is primarily used to turn the material during the aerobic fermentation process, allowing it to fully contact the oxygen in the air, promoting microbial activity and accelerating the degradation of organic matter. Material turning also helps regulate the temperature and humidity of the material, improving the environmental conditions for aerobic fermentation.

[0003] In the mid-20th century, developed Western countries, led by the United States and Germany, began research on organic fertilizer fermentation turning machines. Japan is also relatively advanced in turning machine research, with research primarily focusing on the interaction between turning blades and materials. Related turning equipment only began to appear in my country after 1970, a late start, but most research focused on structural improvements and process improvements to turning equipment. This shows that foreign turning equipment has been widely used, but most of it is large-scale mechanized operation, which is difficult for small domestic composting plants to learn from and apply. Furthermore, if the large-scale turning equipment of many composting plants malfunctions, the lack of relevant emergency equipment will cause the composting plant to stop operating for a long time, greatly affecting the company's profits.

[0004] The mole's forefoot consists of the scapula, humerus, radius, ulna, and palm. When the forelimb's skeletal structure moves, the scapula drives the humerus, which, using the principle of leverage, transmits force step by step downward, ultimately acting on the palm to generate digging force. The mole's front paws are essentially parallel to the body, and its movement during soil excavation resembles swimming, peeling away layers of soil and using the paws to push soil to the sides and back. The physical structure of the mole's forelimbs has implications for many excavation machines, but this design concept has rarely been applied to the research of diggers. Summary of the Invention

[0005] In view of the shortcomings of the existing technology, the present invention provides a material mixing and turning device and method, which has a bionic mole forelimb structure design, scientific design, reasonable structure, simple operation and convenient control.

[0006] A material mixing and turning device comprises a turning mechanism (3) arranged at the front end of the device, which turns the material through a three-stage opening and closing drill bit at the front end; a claw mechanism (2) arranged at the rear end of the turning mechanism (3); a front palm of the claw mechanism (2) for clearing the material is arranged outside the turning mechanism (3); in the material clearing state, the front palm extends into the accumulated material and expands outward to clear the material; a power system (6) provides power for the turning mechanism (3) and the claw mechanism (2).

[0007] The device also includes a main frame (1) of the turning machine, which is cylindrical and plays the role of fixing, connecting and protecting.

[0008] The claw mechanism (2) comprises a structural sleeve (9), a parallel movable frame (10) is axially arranged on the structural sleeve (9), the parallel movable frame (10) is arranged in the middle of the main frame (1) of the turning machine, and multiple groups of mole claw assemblies are evenly distributed on the parallel movable frame (10) along the circumference of the parallel movable frame (10) through a screw mechanism and move axially along the structural sleeve (9).

[0009] A main gear (13) is provided at the end of the structural sleeve (9), and the screw mechanism includes a plurality of screws which are axially parallel to the parallel movable bracket (10) and uniformly distributed along the circumference of the parallel movable bracket (10); one end of the screw (7) is connected to the front end of the structural sleeve (9), and the other end is welded and fixed to the shaft gear (11), and the shaft gear (11) is meshed with the main gear (13).

[0010] The mole claw assembly includes a micro electric push rod (14), which is arranged on the outer surface of the parallel movable frame (10), and a push rod connector (15) is arranged at the push rod front end of the micro electric push rod (14), driving the forefoot transition piece (16) to be placed front and back along the central axis of the micro electric push rod (14), with the rear end hinged on the push rod connector (15), the front end hinged on the middle part of the forefoot (17), and the rear end of the forefoot (17) hinged on the parallel movable frame (10); the extension and contraction of the micro electric push rod (14) drives the forefoot (17) to rotate around the hinge point between it and the parallel movable frame (10), thereby realizing the conversion of the contraction and opening states of the mole claw assembly.

[0011] The turning mechanism (3) is fixedly connected to the claw mechanism (2), and includes a drill shaft (18) driven by a power system (6). The drill shaft (18) is sleeved inside a structural sleeve (9) and connected to the turning machine main frame (1) through a diamond-shaped seat bearing (8) sleeved outside the drill shaft (18). A three-stage opening and closing drill bit is arranged at the front end of the drill shaft (18).

[0012] The three-section opening and closing drill bit comprises, in order from front to back, a first section drill bit, a second section drill bit and a third section drill bit. The first section drill bit comprises a tapered positioning drill tip (20) with a larger rear end and a smaller front end. The bucket tooth (21) is arranged at the rear end edge of the second section drill bit. The third section drill bit is provided with a sawtooth cutter head limiting ring (22), a sawtooth cutter head connecting ring (23), a control magnet sheet (25) and an electromagnet structure collar (28) in order from front to back along the axial direction. The front end of the sawtooth cutter head limiting ring (22) is threadedly connected to the first section drill bit and the second section drill bit as a whole, and is welded and fixed to the front end of the drill shaft (18). The sawtooth cutter head connecting ring (23) and the sawtooth cutter head limiting ring (22) are connected to the front end of the drill shaft (18). The serrated cutter head (24) is connected by mortise and tenon joints, one end of the serrated cutter head (24) is matched with the serrated cutter head connecting ring (23) axis system, and multiple serrated cutter heads (24) are evenly distributed along the circumference of the serrated cutter head connecting ring (23); the control magnet sheet (25) is fixed to the rear side surface of the serrated cutter head connecting ring (23); the front end of the umbrella-shaped structure connecting member (26) is hinged to the rear side surface of the serrated cutter head connecting ring (23), and the rear end is hinged to the electromagnet structure collar (28); the electromagnet structure collar (28) is fitted on the drill shaft (18); the two ends of the reset spring (27) are respectively connected to the electromagnet structure collar (28) and the serrated cutter head connecting ring (23); the surface of the bucket tooth (21) is provided with a tooth-shaped blade surface.

[0013] The device also includes a spatial three-dimensional parallel crawler propulsion mechanism (4), which includes a propulsion body (29) and a plurality of tank chain propulsion assemblies. The propulsion body (29) includes a connector (30) and an even number of matching connecting plates (31). The connector (30) is connected to the main frame (1) of the turning machine. The matching connecting plates (31) are arranged in pairs and are evenly distributed on the propulsion body (29). The tank chain propulsion assembly is installed between each pair of matching connecting plates (31) of the propulsion body. Each tank chain propulsion assembly includes a tank chain track (32), two sets of guards, and a plurality of tank chain propulsion assemblies. The invention relates to a plate assembly, four pulleys (34) and a stepper motor driving wheel (35), each set of guard plate assemblies includes two guard plates (33), and the angle with the vertical plane is (45) degrees. The two sets of guard plate assemblies are respectively placed at the two ends of the connecting body (30). The outer side of each guard plate assembly is fixedly matched with two matching connecting plates (31), and the inner side is matched with two pulleys (34) in the shaft system. The pulleys (34) are engaged with the tank chain track (32); the stepper motor driving wheel (35) is fixed on the matching connecting plate (31), engaged with the tank chain track (32), and driven by the power system (6).

[0014] The device also includes a ventilation mechanism (5), which includes a ventilation protection plate (36) and a fan (37). The ventilation protection plate (36) is coaxially fixed to the tail of the spatial three-dimensional parallel crawler propulsion mechanism (4), and the fan (37) is installed and placed in the ventilation protection plate (36).

[0015] A method for mixing and turning a material using a material mixing and turning device, using the above-mentioned material mixing and turning device, comprises the following steps:

[0016] S1: The flipping mechanism (3) performs initial flipping. When the material resistance is too great and hinders the flipping mechanism from moving forward, the flipping stops;

[0017] S2: The claw mechanism (2) supports the material at the edge of the hole wall;

[0018] S3: The claw mechanism (2) cleans the material;

[0019] S4: When the material resistance allows the flipping device to move forward, the claw mechanism (2) retreats;

[0020] S5: the flipping mechanism (3) flips again until the material resistance is too great again to prevent the flipping mechanism from moving forward;

[0021] S6: Repeat S2 to S4 and use the claw mechanism (2) to clean the material again, and then repeat S5 to flip it again;

[0022] S7: Repeat this process several times until the flipping is completed.

[0023] During this working process, the ventilation mechanism (5) remains in working state to ventilate and supply oxygen to the fermentation bacteria in the material;

[0024] During this working process, when the material resistance is greater than the power provided by the spatial three-dimensional parallel crawler propulsion mechanism (4), the flipping device stops working; otherwise, during the flipping process, the spatial three-dimensional parallel crawler propulsion mechanism (4) works normally and continuously pushes the flipping device forward;

[0025] The turning function of the flipping device is realized by differential rotation of the parallel tank chain crawlers (32) in the spatial three-dimensional parallel crawler propulsion mechanism (4).

[0026] The beneficial effects of the present invention are:

[0027] The present invention adopts a three-stage opening and closing drill bit that integrates crushing and mixing to perform flipping operations. It can effectively crush material particles layer by layer in a scanning manner, deeply crush the material, comprehensively mix it, flip it carefully, and provide sufficient oxygen supply. It has a scientific design, reasonable structure, lightweight and miniaturization.

[0028] The present invention is easy to control and highly efficient, can operate flexibly in a variety of working environments, greatly reduces the blind area of ​​composting, can be used for emergency use in the event of failure of large-scale composting equipment, and significantly improves the working efficiency of the composting plant.

[0029] The present invention adopts a mechanical claw with a bionic mole forelimb structure to perform soil digging operations, which can promptly remove material particles that hinder the advance of the soil turning machine, further improving the working efficiency of the soil turning machine. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is an axonometric diagram of the material mixing and turning device provided by the present invention;

[0031] Figure 2 This is a front view of the material mixing and turning device provided by the present invention;

[0032] Figure 3 yes Figure 2 Left view of;

[0033] Figure 4 This is a top view of the material mixing and turning device provided by the present invention;

[0034] Figure 5 yes Figure 1 A partial enlarged view of the middle claw mechanism;

[0035] Figure 6 yes Figure 1 A partial enlarged view of the middle material turning mechanism;

[0036] Figure 7 It is a partial enlarged view of the spatial three-dimensional parallel crawler propulsion mechanism in the material mixing and turning device of the present invention;

[0037] Figure 8 It is a partial enlarged view of the ventilation mechanism in the material mixing and turning device of the present invention;

[0038] in,

[0039] 1 Main frame of the flipping machine, 2 Claw mechanism, 3 Flipping mechanism, 4 Three-dimensional parallel crawler propulsion mechanism, 5 Ventilation mechanism, 6 Power system, 7 Lead screw, 8 Diamond seat bearing, 9 Structural sleeve, 10 Parallel mobile frame, 11 Shaft gear, 12 Screw locking retaining ring, 13 Main gear, 14 Micro electric push rod, 15 Push rod connector, 16 Drive forefoot transition piece, 17 Forefoot, 18 Drill shaft, 19 Coupling, 20 Positioning drill tip, 21 Bucket tooth, 22 Sawtooth cutter head limiting ring, 23 Sawtooth cutter head connecting ring, 24 Sawtooth cutter head, 25 Control magnet sheet, 26 Umbrella structure connector, 27 Return spring, 28 Electromagnet structure collar, 29 Propulsion body, 30 Connector, 31 Matching connecting plate, 32 Tank chain track, 33 Guard plate, 34 Pulley, 35 Stepper motor drive wheel, 36 Ventilation protective plate, 37 Fan, 38-Stepper motor II. DETAILED DESCRIPTION

[0040] In order to better explain the present invention and facilitate understanding, the technical solutions and effects of the present invention are described in detail below with reference to the accompanying drawings through specific implementation methods.

[0041] like Figures 1-8As shown, a material mixing and turning device comprises a turning machine main frame 1, a claw mechanism 2, a turning mechanism 3, a spatial three-dimensional parallel track propulsion mechanism 4, a ventilation mechanism 5, and a power system 6. The turning machine main frame 1 is cylindrical and serves as a fixation, connection, and protection mechanism. The claw mechanism 2 is connected to the interior of the turning machine main frame 1, with its front end extending beyond the end of the turning machine main frame 1 and enabling telescopic movement via a screw mechanism. The front end of the claw mechanism 2 is located outside the turning mechanism 3. The turning mechanism 3 is fixed to the front end of the turning machine main frame 1. The spatial three-dimensional parallel track propulsion mechanism 4 is disposed at the rear end of the turning machine main frame 1 and is bolted to a rear drive connecting plate (not shown) at the end of the turning machine main frame 1. The ventilation mechanism 5 is disposed at the rear end of the spatial three-dimensional parallel track propulsion mechanism 4, at the rear end of the entire device. The power system 6 is disposed on the turning machine main frame 1 and provides power to the spatial three-dimensional parallel track propulsion mechanism 4, the turning mechanism 3, and the claw mechanism 2 through a motor drive, while also providing energy support for the ventilation mechanism 5.

[0042] The claw mechanism 2 includes a structural sleeve 9, which is arranged along the front-to-back direction of the main frame 1 of the turning machine. The bottom of the structural sleeve 9 is fixed to the bottom plate of the main frame 1 of the turning machine by a mortise and tenon connection. A main gear 13 is provided at the end of the structural sleeve 9, and the main gear 13 is driven by a stepper motor 1 (not shown in the figure) of the power system 6. A parallel moving frame 10 is provided on the outside of the structural sleeve 9, and three groups of mole claw assemblies are evenly distributed on the parallel moving frame 10 along the circumference of the parallel moving frame 10. Three groups of lead screws 7 are threadedly connected to the parallel moving frame 10, axially parallel to the parallel moving frame 10, and evenly distributed along the circumference of the parallel moving frame 10; the parallel moving frame 10 rotates along the axial direction of the structural sleeve 9 by cooperating with the lead screw 7. One end of the lead screw 7 is connected to the front end of the structural sleeve 9, and the other end is welded and fixed to the shaft gear 11. At the same time, two screw locking rings 12 are arranged in front and behind the shaft gear 11 to further strengthen its axial positioning; the shaft gears 11 connected by the three lead screws are symmetrically arranged at 120 degrees about the center of the main frame 1 of the flipping machine and are engaged with the main gear 13.

[0043] The three groups of mole claw assemblies have the same structure and are symmetrically arranged at 120 degrees about the center of the flipping machine. Each group of mole claw assemblies includes a micro electric push rod 14, a push rod connector 15, a driving forefoot transition piece 16, and a forefoot 17. The micro electric push rod 14 is arranged on the outer surface of the parallel moving frame 10 and is fixed to the parallel moving frame 10 by screws and nuts; the push rod connector 15 is arranged at the front end of the push rod of the micro electric push rod 14 and is fixed to the top of the micro electric push rod 14 by screws and nuts; the driving forefoot transition piece 16 is placed front and back along the central axis of the micro electric push rod 14, the rear end is hinged on the push rod connector 15, the front end is hinged to the middle part of the forefoot 17, and the rear end of the forefoot 17 is hinged on the parallel moving frame 10; the front end of the forefoot 17 extends out of the end of the main frame 1 of the flipping machine. The extension and contraction of the micro electric push rod 14 drives the forefoot 17 to rotate around the hinge point between the forefoot 17 and the parallel movable frame 10, thereby realizing the conversion of the mole claw assembly between the contraction and expansion states.

[0044] The turning mechanism 3 includes a drill shaft 18, which is sleeved within a structural sleeve 9. A diamond-shaped bearing 8 is secured to the drill shaft 18, securing it to the main frame 1 of the turning machine. A three-stage opening and closing drill bit is located at the front end of the drill shaft 18. The turning mechanism 3 is secured relative to the structural sleeve 9 by the diamond-shaped bearing 8 and a motor bracket. The diamond-shaped bearing 8 and the motor bracket for the stepper motor 11 38 are also secured to the structural sleeve 9.

[0045] The three-stage opening and closing drill bit includes a positioning drill tip 20, bucket teeth 21, a serrated cutter head limiting ring 22, a serrated cutter head connecting ring 23, a serrated cutter head 24, a control magnet sheet 25, an umbrella-shaped structure connecting member 26, a return spring 27, and an electromagnet structure collar 28. The drill shaft 18 is a hollow stepped shaft. The three-stage opening and closing drill bit is divided into three sections from front to back: the first section drill bit, the second section drill bit, and the third section drill bit. The first section drill bit includes a positioning drill tip 20, which serves as the main body for positioning. The positioning drill tip 20 is a tapered positioning tip that is larger at the rear and smaller at the front. The bucket teeth 21 are arranged at the rear end edge of the second section drill bit and have a tooth-shaped cutting edge on the surface. The third section drill bit is provided with a serrated cutter head limiting ring 22, a serrated cutter head connecting ring 23, a serrated cutter head 24, a control magnet sheet 25, an umbrella-shaped structure connecting part 26, a reset spring 27 and an electromagnet structure collar 28 in sequence along the axial direction from front to back. The front end of the serrated cutter head limiting ring 22 is threadedly connected to the first section drill bit and the second section drill bit as a whole, the serrated cutter head limiting ring 22 and the serrated cutter head connecting ring 23 are connected by mortise and tenon, one end of the serrated cutter head 24 is matched with the axial system of the serrated cutter head connecting ring 23, and multiple serrated cutter heads 24 are evenly distributed along the circumference of the serrated cutter head connecting ring 23. The circumferential diameter of the outer circle formed by the unfolding of the serrated cutter head 24 is larger than the circumferential diameter of the outer circle of the contour of the first section drill bit and the second section drill bit. The control magnet sheet 25 is fixed to the rear surface of the serrated cutter head connecting ring 23. The front end of the umbrella-shaped connecting member 26 is hinged to the rear surface of the serrated cutter head connecting ring 23, and the rear end is hinged to the electromagnet structure collar 28. The electromagnet structure collar 28 is fitted onto the drill shaft 18. The two ends of the return spring 27 are respectively connected to the electromagnet structure collar 28 and the serrated cutter head connecting ring 23. When the electromagnet structure collar 28 is energized, the control magnet sheet 25 attracts the electromagnet structure collar 28 and brings them closer together, causing the serrated cutter head 24 to expand outward under the push of the umbrella-shaped connecting member 26, converting the serrated cutter head 24 from a retracted state to an extended state. When the electromagnet structure collar 28 is de-energized, it is moved away from the control magnet sheet 25 under the action of the return spring 27, and the serrated cutter head 24 is retracted and converted to a retracted state. The front end of the drill shaft 18 is welded to the serrated cutter head limiting ring 22, and the rear end is connected to the output shaft of the stepper motor II 38 of the power system 6 through the coupling 19 and is driven by the stepper motor II 38.

[0046] The three-dimensional parallel track propulsion mechanism 4 comprises a propulsion body 29 and three tank chain propulsion assemblies. The propulsion body 29 comprises a connector 30 and six mating connecting plates 31. The connector 30 is bolted to the rear drive connecting plate (not shown) at the end of the main frame 1 of the flipper. The six mating connecting plates 31 are arranged in pairs, evenly distributed on the propulsion body 29 and welded to the propulsion body 29. The three tank chain propulsion assemblies are identical in structure and symmetrically arranged 120° about the center of the flipper. They are mounted between each pair of mating connecting plates 31 of the propulsion body. Each tank chain propulsion assembly comprises a set of tank chain tracks 32, two sets of guard plate assemblies, four pulleys 34, and a stepper motor drive wheel 35. Each guard plate assembly includes two guard plates 33, arranged at a 45° angle to the vertical. The two guard plate assemblies are placed at either end of the connector 30. Each guard plate assembly is fixedly mated to the two mating connecting plates 31 on the outside and shafted to the two pulleys 34 on the inside. The pulleys 34 mesh with the tank chain tracks 32. The stepper motor driving wheel 35 is fixed on the matching connecting plate 31, engaged with the tank chain track 32, and driven by the stepper motor III (not shown in the figure) of the power system 6.

[0047] The ventilation mechanism 5 includes a ventilation protective plate 36 and a fan 37. The ventilation protective plate 36 is coaxially fixed to the tail of the three-dimensional parallel crawler propulsion mechanism 4 in space through mortise and tenon joints. The fan 37 is installed in the ventilation protective plate 36. The DC motor (not shown in the figure) in the fan 37 is part of the power system 6, which drives the fan blades to rotate, thereby achieving the effect of ventilation and oxygenation for the aerobic fermentation bacteria in the material.

[0048] The power system 6, lead screw 7, diamond seat bearing 8, screw locking ring 12, micro electric push rod 14, coupling 19, positioning drill tip 20, tank chain track 32, fan 37, stepper motor, and DC motor used in this embodiment are all conventional technologies, and their specific structure and working principle are not repeated here. The electronic control unit, battery, and communication wires connected thereto are not shown in the figure.

[0049] The power system 6 includes an electronic control unit, a stepper motor, a DC motor, a battery, and a communication wire. The output shaft of the stepper motor drives the drill shaft 18 of the turning mechanism 3, the main gear 13 of the claw mechanism 2, and the stepper motor drive wheel 35 of the spatial three-dimensional parallel crawler propulsion mechanism 4 respectively. The output shaft of the DC motor drives the fan blades of the ventilation mechanism 5. This is a conventional mechanical power technology, and the specific working principle will not be repeated here. It is commonly seen in the power transmission process of small machinery.

[0050] The method for mixing and tossing the material mixing and tossing device is as follows:

[0051] S1: Initial Turning of the Material Mixing and Turning Mechanism 3: Initially, the turning mechanism 3 and the claw mechanism 2 are both retracted, and the three-dimensional parallel track propulsion mechanism 4 and the ventilation mechanism 5 are both inactive. The operator moves the material mixing and turning device near the material pile and energizes the power system 6, activating the turning device. The power system 6 powers the fan 37 in the ventilation mechanism 5. Once energized, the electromagnet ring 28, under the attraction of the control magnet 25, approaches the control magnet 25, causing the serrated blade 24 to expand outward, transitioning from a retracted state to an open state, thereby maximizing the turning area of ​​the device. Then, the stepper motor II 38 is energized, driving the drill shaft 18 and the three-stage opening and closing drill bit to begin rotation. The power system then energizes the three-dimensional parallel track propulsion mechanism 4. Energizing the three stepper motors III, they drive the parallel tank chain tracks 32, thereby driving the entire turning device into motion, allowing the turning device to penetrate the material and achieve initial turning of the material. When the material resistance is too great and hinders the turning mechanism 3 from moving forward, the turning is stopped.

[0052] S2: The claw mechanism 2 supports the material at the edge of the hole wall: After the flipping device advances a certain distance, that is, when the forward resistance of the flipping device is greater than the forward power of the flipping device, the stepper motor II 38 stops, the three-stage opening and closing drill bit of the flipping device stops rotating, and the spatial three-dimensional parallel crawler propulsion mechanism 4 stops working. At this time, the power system 6 supplies power to the drive motor of the main gear 13 in the claw mechanism 2 of the flipping device, namely the stepper motor I. The stepper motor I drives the main gear 13 to rotate, and at the same time drives the three shaft gears 11 to realize the overall rotation of the three parallel screws 7. The three screws 7 rotate synchronously, pushing the parallel movable frame 10 to move axially along the structural sleeve 9, move toward the inside of the material, and finally insert into the material hole formed by the flipping mechanism 3, realizing the support of the material at the edge of the hole wall.

[0053] S3: The claw mechanism 2 cleans the material: the power system 6 energizes the micro electric push rod 14 of the claw mechanism 2, and the three parallel micro electric push rods 14 shrink and retreat synchronously, driving the push rod connector 15 to move axially backward, and the driving forefoot transition piece 16 connected to the push rod connector 15 pulls the forefoot 17 to open, realizing a movement trajectory similar to that of a mole's forelimbs, thereby digging up the soil that hinders the advancement of the turning and throwing device. After the action is completed, the three parallel micro electric push rods 14 of the claw mechanism 2 of the turning and throwing device are pushed forward synchronously, driving the push rod connector 15 to move axially toward the front, and the driving forefoot transition piece 16 connected to the push rod connector 15 pulls the forefoot 17 to retract, completing the material cleaning work.

[0054] S4: The claw mechanism 2 retreats: When the material resistance allows the flipping device to move forward, the power system 6 supplies power to the driving motor of the main gear 13 in the claw mechanism 2 of the flipping device, namely the stepper motor 1. The stepper motor 1 drives the main gear 13 to rotate in the reverse direction, and at the same time drives the three shaft gears 11 to rotate, realizing the overall reverse rotation of the parallel screw 7. The three screws 7 rotate synchronously to push the parallel movable frame 10 to move axially along the structural sleeve 9 and retreat to the outside of the material.

[0055] S5: The flipping mechanism 3 flips again: The power system 6 continues to supply power to the flipping mechanism 3, and the stepper motor II 38 drives the drill shaft 18 and the three-stage opening and closing drill bit to start rotating again. At the same time, it supplies power to the spatial three-dimensional parallel crawler propulsion mechanism 4 to push the flipping device to continue moving forward, flipping the material again until the material resistance is too large again to hinder the flipping mechanism 3 from moving forward.

[0056] S6: Repeat S2 to S4 to use the claw mechanism 2 to clean the material again: when the forward flipping and throwing device moves forward for a certain distance, that is, when the forward resistance of the flipping and throwing device is greater than the forward power of the flipping and throwing device, the claw mechanism 2 will again perform the process of supporting the material at the edge of the hole wall, clearing the material, and retreating; then repeat S5 to flip and throw again;

[0057] S7: Repeat this process several times until the flipping is completed.

[0058] During this working process, the ventilation mechanism 5 is always powered by the power system, and the fan 37 is always kept in working state to ventilate and supply oxygen to the fermentation bacteria in the material.

[0059] During this working process, when the material resistance is greater than the power provided by the spatial three-dimensional parallel crawler propulsion mechanism 4, the flipping device stops working. Otherwise, during the flipping process, the spatial three-dimensional parallel crawler propulsion mechanism 4 works normally and continues to push the flipping device forward.

[0060] The turning function of the flipping device can be achieved by the differential rotation of the parallel tank chain tracks 32 in the spatial three-dimensional parallel track propulsion mechanism 4. When turning is required, the speed of the stepper motor III of the three driving stepper motor drive wheels is changed to enable the entire device to turn.

Claims

1. A material mixing and turning device, characterized in that: The device comprises a flipping mechanism (3) arranged at the front end of the device, which flips the material through a three-stage opening and closing drill bit at the front end; a claw mechanism (2) arranged at the rear end of the flipping mechanism (3); a front palm of the claw mechanism (2) for cleaning the material is arranged outside the flipping mechanism (3); in the material cleaning state, the front palm extends into the accumulated material and expands outward to clean the material; and a power system (6) provides power for the flipping mechanism (3) and the claw mechanism (2).

2. A material mixing and turning device according to claim 1, characterized in that: The device also comprises a main frame (1) of the turning machine, which is cylindrical and plays the role of fixing, connecting and protecting.

3. A material mixing and turning device according to claim 2, characterized in that: The claw mechanism (2) comprises a structural sleeve (9), a parallel movable frame (10) is axially arranged on the structural sleeve (9), the parallel movable frame (10) is arranged in the middle of the main frame (1) of the turning machine, and a plurality of groups of mole claw assemblies are evenly distributed on the parallel movable frame (10) along the circumference of the parallel movable frame (10) through a screw mechanism, and move axially along the structural sleeve (9).

4. A material mixing and turning device according to claim 3, characterized in that: A main gear (13) is provided at the end of the structural sleeve (9), and the screw mechanism includes a plurality of screws which are axially parallel to the parallel movable bracket (10) and uniformly distributed along the circumference of the parallel movable bracket (10); one end of the screw (7) is connected to the front end of the structural sleeve (9), and the other end is welded and fixed to the shaft gear (11), and the shaft gear (11) is meshed with the main gear (13).

5. A material mixing and turning device according to claim 3, characterized in that: The mole claw assembly comprises a micro electric push rod (14), wherein the micro electric push rod (14) is arranged on the outer surface of the parallel movable frame (10), and a push rod connecting piece (15) is arranged at the push rod front end of the micro electric push rod (14), driving the forefoot transition piece (16) to be placed front and rear along the central axis of the micro electric push rod (14), the rear end of which is hinged on the push rod connecting piece (15), the front end of which is hinged on the middle part of the forefoot (17), and the rear end of the forefoot (17) is hinged on the parallel movable frame (10); the extension and contraction of the micro electric push rod (14) drives the forefoot (17) to rotate around the hinge point between the forefoot (17) and the parallel movable frame (10), thereby realizing the conversion of the contraction and opening states of the mole claw assembly.

6. A material mixing and turning device according to claim 3, characterized in that: The turning mechanism (3) is connected and fixed to the claw mechanism (2), and comprises a drill shaft (18) driven by a power system (6); the drill shaft (18) is sleeved inside a structural sleeve (9) and connected to a main frame (1) of the turning machine through a diamond-shaped seat bearing (8) sleeved outside the drill shaft (18); and a three-stage opening and closing drill bit is arranged at the front end of the drill shaft (18).

7. A material mixing and turning device according to claim 6, characterized in that: The three-stage opening and closing drill bit comprises, from front to back, a first-stage drill bit, a second-stage drill bit and a third-stage drill bit. The first-stage drill bit comprises a tapered positioning drill tip (20) which is larger at the back and smaller at the front. The bucket tooth (21) is arranged at the rear end edge of the second-stage drill bit. The third-stage drill bit is provided with a sawtooth cutter head limiting ring (22), a sawtooth cutter head connecting ring (23), a control magnet sheet (25) and an electromagnet structure sleeve ring (28) in sequence from front to back along the axial direction. The front end of the sawtooth cutter head limiting ring (22) is threadedly connected to the first-stage drill bit and the second-stage drill bit as a whole, and is welded and fixed to the front end of the drill shaft (18). The sawtooth cutter head connecting ring (23) and the sawtooth cutter head limiting ring (22) are connected to the sawtooth cutter head connecting ring (23). The sawtooth cutter head (24) is connected by mortise and tenon joints, one end of the sawtooth cutter head (24) is matched with the sawtooth cutter head connecting ring (23) axis system, and a plurality of sawtooth cutter heads (24) are evenly distributed along the circumference of the sawtooth cutter head connecting ring (23); the control magnet sheet (25) is fixed to the rear side surface of the sawtooth cutter head connecting ring (23); the front end of the umbrella-shaped structure connecting piece (26) is hinged to the rear side surface of the sawtooth cutter head connecting ring (23), and the rear end is hinged to the electromagnet structure collar (28); the electromagnet structure collar (28) is sleeved on the drill shaft (18); the two ends of the reset spring (27) are respectively connected to the electromagnet structure collar (28) and the sawtooth cutter head connecting ring (23); the surface of the bucket tooth (21) is provided with a toothed cutter surface.

8. A material mixing and turning device according to claim 1, characterized in that: The device also includes a spatial three-dimensional parallel track propulsion mechanism (4), which includes a propulsion body (29) and a plurality of tank chain propulsion assemblies. The propulsion body (29) includes a connector (30) and an even number of matching connecting plates (31). The connector (30) is connected to the main frame (1) of the turner. The matching connecting plates (31) are arranged in pairs and are evenly distributed on the propulsion body (29). The tank chain propulsion assemblies are installed between each pair of matching connecting plates (31) of the propulsion body. Each tank chain propulsion assembly includes a tank chain track (32), two sets of guard rails, and a plurality of tank chain propulsion assemblies. The invention relates to a plate assembly, four pulleys (34) and a stepper motor driving wheel (35), each set of guard plate assemblies comprises two guard plates (33), the angle between which and the vertical plane is (45) degrees, the two sets of guard plate assemblies are respectively placed at the two ends of the connecting body (30), the outer side of each set of guard plate assemblies is fixedly matched with two matching connecting plates (31), and the inner side is shaft-matched with two pulleys (34), and the pulleys (34) are meshed with the tank chain track (32); the stepper motor driving wheel (35) is fixed on the matching connecting plate (31), meshed with the tank chain track (32), and driven by the power system (6).

9. A material mixing and turning device according to claim 7, characterized in that: The device also includes a ventilation mechanism (5), which includes a ventilation protection plate (36) and a fan (37). The ventilation protection plate (36) is coaxially fixed to the tail of the spatial three-dimensional parallel crawler propulsion mechanism (4), and the fan (37) is installed and placed in the ventilation protection plate (36).

10. A method for mixing and turning a material using a material mixing and turning device, using the material mixing and turning device according to claim 9, characterized in that: The steps include: S1: The flipping mechanism (3) performs initial flipping. When the material resistance is too great to prevent the flipping mechanism from moving forward, the flipping stops. S2: The claw mechanism (2) supports the material at the edge of the hole wall; S3: The claw mechanism (2) cleans the material; S4: When the material resistance allows the flipping device to move forward, the claw mechanism (2) retreats; S5: the flipping mechanism (3) flips again until the material resistance is too great to prevent the flipping mechanism from moving forward; S6: Repeat S2 to S4 and use the claw mechanism (2) to clean the material again, and then repeat S5 to flip it again; S7: Repeat this process several times until the flipping is completed; During this working process, the ventilation mechanism (5) remains in working state to ventilate and supply oxygen to the fermentation bacteria in the material; During this working process, when the material resistance is greater than the power provided by the three-dimensional parallel crawler propulsion mechanism (4), the flipping device stops working; otherwise, during the flipping process, the three-dimensional parallel crawler propulsion mechanism (4) works normally and continuously pushes the flipping device forward; The turning function of the flipping device is realized by differential rotation of the parallel tank chain tracks (32) in the spatial three-dimensional parallel track propulsion mechanism (4).

Images