Crawler-type grain leveling robot

Abstract

The invention discloses a crawler-type grain leveling robot, and relates to the technical field of grain leveling machines.According to the crawler-type grain leveling robot, hydraulic rods at the rear end are sequentially pushed outwards, so that a plurality of first baffles, a plurality of second baffles and a plurality of third baffles incline, the whole forms a V shape, materials such as corn, rice, wheat and soybeans are conveniently guided, and the working efficiency is improved. Corn, rice, wheat and soybeans are prevented from moving towards the inside of the general track of the grain leveling robot, the angle between the support plate and the end face of the grain leveling robot is the best inclined angle, the flow guide efficiency and the walking speed are balanced, grains can flow along the inclined face, excessive accumulation is avoided, and the grains are guided to the two sides through lateral component force at the same time; when a plurality of baffles I and a plurality of baffles II are inclined to form a corrugated tooth shape, the friction force with grains is increased, the grains with larger repose angles such as unhulled rice are prevented from slipping on the inclined surface, and the tooth-shaped baffles can improve the grain leveling efficiency by 40%.

Description

Technical Field

[0001] The present invention relates to the technical field of grain leveling machines, and specifically to a crawler-type grain leveling robot. Background Art

[0002] The crawler-type grain leveling robot in the granary is an automated device designed specifically for the granary environment. Through a crawler-type mobile chassis, an intelligent control system, and a multi-functional operation device, it can achieve tasks such as grain leveling and turning. It uses high-strength rubber or metal crawlers to adapt to the soft and uneven ground in the granary, has the ability to cross obstacles, ensures stable movement in the grain pile, integrates a lidar, ultrasonic sensors, and a vision recognition system to perceive the granary environment in real time, plan the optimal path, and achieve autonomous navigation and obstacle avoidance. Through a grain leveling push plate, the piled-up grain is evenly spread out, eliminating the height difference on the grain surface and preventing local condensation and mildew.

[0003] When the existing crawler-type grain leveling robot levels corn, wheat, rice, and soybeans, the corn, wheat, rice, and soybean grains will flow to the inside of the crawler along both ends of the push plate. There is no sealing baffle set between the two sides of the push plate and the crawler gap, and the grains are easily introduced into the inside of the crawler through the moving gaps of the mechanical structure. Especially for crops with larger grains such as corn and soybeans, they will overflow sideways due to the extrusion generated by the movement of the push plate. The rice and wheat grains are smaller and have strong fluidity, and when they accumulate at the front end of the push plate, they will slide down along both sides of the push plate to the crawler drive area. After the grains enter the inside of the crawler, it will cause the drive gears to get stuck or worn, affecting the movement performance of the robot. The accumulation of grains hinders the normal operation of the crawler and requires frequent shutdown for cleaning, reducing the grain leveling efficiency. Summary of the Invention

[0004] Aiming at the deficiency that the existing crawler-type grain leveling robot cannot conduct diversion and blockage of grains, the present invention provides a crawler-type grain leveling robot, which solves the problem that a large number of grain particles enter the inside of the crawler of the crawler-type grain leveling robot.

[0005] To achieve the purpose of conducting diversion and blockage of grains for the crawler-type grain leveling robot, the present invention is realized through the following technical solutions: A crawler-type grain leveling robot, including a grain leveling robot frame, a plurality of connecting brackets are evenly installed on the outer surface of the grain leveling robot frame, one end surface of each of the plurality of connecting brackets is installed with a hydraulic rod, a support plate is jointly movably installed on the outer surface of the output ends of the plurality of hydraulic rods, a plurality of adjusting brackets are evenly installed on the outer surface of the support plate, a power adjusting component is installed inside each of the plurality of adjusting brackets, and an angle adjusting component is evenly distributed and installed inside each of the plurality of adjusting brackets; The angle adjustment component includes two first limit grooves and a second limit groove. Both of the two first limit grooves are opened inside the adjustment bracket, and the second limit groove is opened inside the adjustment bracket. A first lead screw slider is movably installed on the inner wall of one of the first limit grooves, and a second lead screw slider is movably installed on the inner wall of the other first limit groove. The inside of the first lead screw slider is provided with a right-handed thread, and the inside of the second lead screw slider is provided with a left-handed thread. Two first bracket clamping plates are installed on the top surfaces of the first lead screw slider and the second lead screw slider respectively. A first rotating column is movably installed inside the two first bracket clamping plates together. A first baffle is installed on the outer surface of one of the first rotating columns, and a second baffle is installed on the outer surface of the other first rotating column. Two pressing plates are installed on the outer surface of the first baffle. Two adjustment cavities are opened on the outer surface of the second baffle. A second rotating column is movably installed on the inner walls of the two adjustment cavities respectively. The outer surface of the second rotating column is in movable contact with the inside of the pressing plate. The angle between the pressing plate and the first baffle and the second baffle is 45 degrees; A plurality of synchronous adjustment components are evenly distributed and installed inside the adjustment brackets, and two crawler replacement components are installed on the outer surface of the grain leveling robot frame.

[0006] Further, the power adjustment component includes a motor and a rotating shaft. The motor is installed inside the adjustment bracket, the rotating shaft is installed on the outer surface of the output end of the motor, and a main bevel gear is installed on the outer surface of the rotating shaft.

[0007] Further, a ball screw is movably installed inside the adjustment bracket, a driven bevel gear is installed on the outer surface of the ball screw, and the outer surface of the main bevel gear meshes with the outer surface of the driven bevel gear.

[0008] Further, the synchronous adjustment component includes a third limit groove and a third lead screw slider. The third limit groove is opened inside the adjustment bracket, the third lead screw slider is movably installed on the inner wall of the third limit groove, two second bracket clamping plates are installed on the top surface of the third lead screw slider, and the inside of the third lead screw slider is provided with a right-handed thread.

[0009] Further, a third rotating column is movably installed inside the two second bracket clamping plates together. A first pressing rod is installed on the outer surface of the third rotating column. A sixth rotating column is movably installed inside the adjustment bracket, and a third baffle is installed on the outer surface of the sixth rotating column.

[0010] Further, a fifth rotating column is movably installed on the bottom surface of the third baffle, a second pressing rod is installed on the outer surface of the fifth rotating column, a fourth rotating column is installed inside the first pressing rod, and the outer surface of the fourth rotating column is in movable contact with the inside of the second pressing rod.

[0011] Furthermore, the crawler replacement assembly includes a general crawler and an extension groove. The general crawler is installed on the outer surface of the grain leveling robot frame. The extension groove is opened inside the general crawler, and a filling crawler block is movably installed at the inner wall of the extension groove.

[0012] Furthermore, an extension crawler block is movably installed on the outer surface of the filling crawler block, a rubber crawler is movably installed on the outer surface of the general crawler, and a crawler trapezoidal increment block is movably installed on the outer surface of the general crawler.

[0013] The present invention has the following beneficial effects: (1) For this crawler-type grain leveling robot, the hydraulic rods at the rear end are successively pushed outwards, causing several baffle plates one, several baffle plates two, and several baffle plates three to incline, forming a V shape as a whole, thus facilitating the diversion of materials such as corn, rice, wheat, and soybeans, preventing corn, rice, wheat, and soybeans from moving into the general crawler of the grain leveling robot. The optimal inclination angle between the support plate and the end face of the grain leveling robot is 60°, achieving a balance between the diversion efficiency and the walking speed, enabling the grains to flow along the inclined plane while avoiding excessive accumulation, and at the same time, the lateral component force of the grains guides the grains to both sides, avoiding aggregation in the gaps of the general crawler, ensuring uniform diversion of the grain pile. When several baffle plates one and several baffle plates two are inclined in a corrugated tooth shape, the friction with the grains is increased, preventing grains with a large static angle such as paddy from slipping on the inclined plane. The toothed baffle plates can increase the grain leveling efficiency by 40%; (2) For this crawler-type grain leveling robot, several baffle plates one and baffle plates two block the inner side of the general crawler from the grain particles, and the hydraulic rods can be controlled by the controller to work, making several baffle plates one and baffle plates two close to the outer side of the general crawler. Through the coordinated movement of multiple groups of baffle plates one and baffle plates two, the inner space of the general crawler is completely covered, preventing grain particles from entering the inside of the general crawler and avoiding mechanical failures caused by particle jamming. The hydraulic rods can drive several baffle plates one and baffle plates two to push the grain particles, avoiding mechanical jamming caused by the accumulation of grain particles.

[0014] Of course, it is not necessary for any product implementing the present invention to simultaneously achieve all the above-mentioned advantages. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic diagram of the overall structure of the present invention.

[0016] Figure 2 It is a schematic diagram of the internal structure of the present invention.

[0017] Figure 3 It is a schematic diagram of the external structure of the hydraulic rod of the present invention.

[0018] Figure 4 It is a schematic diagram of the overall structure of the power adjustment assembly of the present invention.

[0019] Figure 5 This is a schematic diagram of the overall structure of the first baffle and the second baffle of the present invention.

[0020] Figure 6 This is a schematic diagram of the overall structure of the first baffle and the second baffle from another perspective of the present invention.

[0021] Figure 7 This is a schematic diagram of the internal structure of the power adjustment component of the present invention.

[0022] Figure 8 This is a schematic diagram of the external structure of the third baffle of the present invention.

[0023] Figure 9 This is a schematic diagram of the external structure of the general crawler of the present invention.

[0024] Figure 10 This is a schematic diagram of the overall structure of the crawler trapezoidal increment block of the present invention.

[0025] In the figure: 1, the frame of the grain leveling robot; 2, the general crawler; 3, the connecting bracket; 4, the hydraulic rod; 5, the support plate; 6, the adjustment bracket; 7, the motor; 8, the rotating shaft; 9, the main helical gear; 10, the driven helical gear; 11, the ball screw; 12, the first screw slider; 13, the second screw slider; 14, the third screw slider; 15, the first limiting groove; 16, the second limiting groove; 17, the first support clamping plate; 18, the first rotating column; 19, the first baffle; 20, the second baffle; 21, the extrusion plate; 22, the adjustment cavity; 23, the second rotating column; 24, the third baffle; 25, the second support clamping plate; 26, the first extrusion rod; 27, the third rotating column; 28, the second extrusion rod; 29, the fourth rotating column; 30, the rubber crawler; 31, the extension groove; 32, the filling crawler block; 33, the extended crawler block; 34, the crawler trapezoidal increment block; 35, the third limiting groove; 36, the fifth rotating column; 37, the sixth rotating column. Specific embodiments

[0026] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0027] In the description of the present invention, it should be understood that the terms "open hole", "upper", "lower", "thickness", "top", "middle", "length", "inner", "periphery", etc. indicating the orientation or positional relationship are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. Example 1

[0028] Please refer to Figures 1 - 10, the embodiments of the present invention provide a technical solution: a crawler-type grain leveling robot, including a grain leveling robot frame 1. A number of connecting brackets 3 are evenly installed on the outer surface of the grain leveling robot frame 1. One end surface of each of the number of connecting brackets 3 is installed with a hydraulic rod 4. The outer surfaces of the output ends of the number of hydraulic rods 4 are jointly and movably installed with a support plate 5. A number of adjusting brackets 6 are evenly installed on the outer surface of the support plate 5. A power adjusting component is installed inside each of the number of adjusting brackets 6. Angle adjusting components are evenly distributed and installed inside the number of adjusting brackets 6. The angle adjusting component includes two limit grooves one 15 and a limit groove two 16. Both of the two limit grooves one 15 are opened inside the adjusting bracket 6. The limit groove two 16 is opened inside the adjusting bracket 6. A lead screw slider one 12 is movably installed at the inner wall of one of the limit grooves one 15. A lead screw slider two 13 is movably installed at the inner wall of the other limit groove one 15. A right-handed thread is provided inside the lead screw slider one 12. A left-handed thread is provided inside the lead screw slider two 13. Two bracket clamping plates one 17 are installed on the top surface of the lead screw slider one 12 and the top surface of the lead screw slider two 13. A rotating column one 18 is jointly and movably installed inside the two bracket clamping plates one 17. A baffle one 19 is installed on the outer surface of one of the rotating columns one 18. A baffle two 20 is installed on the outer surface of the other rotating column one 18. Two pressing plates 21 are installed on the outer surface of the baffle one 19. Two adjusting cavities 22 are opened on the outer surface of the baffle two 20. A rotating column two 23 is movably installed at the inner wall of each of the two adjusting cavities 22. The outer surface of the rotating column two 23 is in movable contact with the inside of the pressing plate 21. The angle between the pressing plate 21 and the baffle one 19 and the baffle two 20 is 45 degrees. Synchronous adjusting components are evenly distributed and installed inside the number of adjusting brackets 6. Two crawler replacement components are installed on the outer surface of the grain leveling robot frame 1. The hydraulic rods 4 at the rear end are successively pushed outwards, so that the support plate 5 is tilted, and also the number of baffles one 19, the number of baffles two 20 and the number of baffles three 24 are tilted, making the whole form a V shape. When the crawler-type grain leveling robot is pushing the grain to level, the materials in the front will move towards the crawler-type grain leveling robot through the push plate. However, the number of baffles one 19, the number of baffles two 20 and the number of baffles three 24 are inclined at an angle with the end face of the crawler-type grain leveling robot, so as to facilitate the diversion of materials such as corn, rice, wheat and soybeans, and prevent corn, rice, wheat and soybeans from moving into the common crawler 2 of the crawler-type grain leveling robot. The best tilt angle between the support plate 5 and the end face of the crawler-type grain leveling robot is 60°, so as to achieve a balance between the diversion efficiency and the walking speed, enable the grains to flow along the inclined plane and avoid excessive accumulation, and enable the lateral component force of the grains to guide the grains to both sides and avoid gathering in the gaps of the common crawler 2. The angles of the number of baffles one 19, the number of baffles two 20 and the number of baffles three 24 are adjustable to adapt to different grain characteristics, ensuring the uniform diversion of the grain pile. When the angles of the number of baffles one 19 and the number of baffles two 20 are inclined in a corrugated tooth shape, the friction with the grains is increased.To prevent grains with a large angle of repose, such as paddy rice, from slipping on an inclined plane, the toothed baffle can increase the grain leveling efficiency by 40%.

[0029] The power adjustment assembly includes a motor 7 and a rotating shaft 8. The motor 7 is installed inside the adjustment bracket 6, the rotating shaft 8 is installed on the outer surface of the output end of the motor 7, a main helical gear 9 is installed on the outer surface of the rotating shaft 8, a ball screw 11 is movably installed inside the adjustment bracket 6, a driven helical gear 10 is installed on the outer surface of the ball screw 11, the outer surface of the main helical gear 9 meshes with the outer surface of the driven helical gear 10. The motor 7 drives the rotating shaft 8 to perform a rotational motion, the rotating shaft 8 drives the main helical gear 9 to perform a rotational motion, the main helical gear 9 meshes with the driven helical gear 10, the main helical gear 9 drives the driven helical gear 10 to perform a rotational motion, the driven helical gear 10 drives the ball screw 11 to perform a rotational motion, the ball screw 11 drives the screw slider one 12, the screw slider two 13 and the screw slider three 14 to move synchronously. The inside of the screw slider one 12 is provided with a right-handed thread, the inside of the screw slider two 13 is provided with a left-handed thread, and the inside of the screw slider three 14 is provided with a right-handed thread. The screw slider one 12 and the screw slider two 13 move in opposite directions corresponding to the limit groove one 15 and the limit groove two 16.

[0030] The synchronous adjustment component includes a third limiting groove 35 and a third lead screw slider 14. The third limiting groove 35 is formed inside the adjustment bracket 6. The third lead screw slider 14 is movably installed on the inner wall of the third limiting groove 35. Two bracket clamping plates II 25 are installed on the top surface of the third lead screw slider 14. A right-handed thread is provided inside the third lead screw slider 14. A third rotating column 27 is movably installed inside the two bracket clamping plates II 25. A first extrusion rod 26 is installed on the outer surface of the third rotating column 27. A sixth rotating column 37 is movably installed inside the adjustment bracket 6. A third baffle 24 is installed on the outer surface of the sixth rotating column 37. A fifth rotating column 36 is movably installed on the bottom surface of the third baffle 24. A second extrusion rod 28 is installed on the outer surface of the fifth rotating column 36. A fourth rotating column 29 is installed inside the first extrusion rod 26. The outer surface of the fourth rotating column 29 is in movable contact with the inside of the second extrusion rod 28, which facilitates squeezing and pushing the first baffle 19 and the second baffle 20 again, thereby changing the angles of the first baffle 19 and the second baffle 20, so that a plurality of first baffles 19 and second baffles 20 block the inside of the general track 2 to shield the corn kernels. Moreover, the hydraulic rod 4 can be controlled by the controller to work, so that a plurality of first baffles 19 and second baffles 20 are close to the outer side of the general track 2. Through the coordinated movement of multiple groups of first baffles 19 and second baffles 20, the inner space of the general track 2 is completely covered, preventing the corn kernels from entering the inside of the general track 2 and avoiding mechanical failures caused by particle jamming. Combining with the "particle interlocking" of the track trapezoidal increment 34, the overall slippage of the track is reduced. At the same time, through the angle adjustment of the first baffle 19 and the second baffle 20, the contact between the corn kernels and the track driving components is further isolated. And the hydraulic rod 4 can drive a plurality of first baffles 19 and second baffles 20 to push the corn kernels. The hydraulic rod 4 drives the first baffle 19 and the second baffle 20 to perform linear or angular movement through pressure, avoiding mechanical jamming caused by the accumulation of corn particles. A plurality of first baffles 19 and second baffles 20 are arranged in a staggered manner, and cooperate with the synchronous angle adjustment of the first lead screw slider and the second lead screw slider 13 to reduce the risk of corn kernel intrusion inside the general track 2. Embodiment 2

[0031] Please refer to Figures 1 - 10, the embodiments of the present invention provide a technical solution: a crawler-type grain leveling robot, including a grain leveling robot frame 1. The crawler replacement assembly includes a general crawler 2 and an extension groove 31. The general crawler 2 is installed on the outer surface of the grain leveling robot frame 1. The extension groove 31 is opened inside the general crawler 2. A filling crawler block 32 is movably installed at the inner wall of the extension groove 31. An extension crawler block 33 is movably installed on the outer surface of the filling crawler block 32. A rubber crawler 30 is movably installed on the outer surface of the general crawler 2. A crawler trapezoidal increment block 34 is movably installed on the outer surface of the general crawler 2. When it is necessary to level a wheat grain warehouse, first, the filling crawler block 32 is fixedly connected by misaligned threads in the extension groove 31, and then the extension crawler block 33 is threadedly connected and fixed outside the filling crawler block 32, and the threaded nail is connected through the extension crawler block 33, the filling crawler block 32 and the general crawler 2, so as to increase the length of the crawler of the grain leveling robot frame 1. And the crawler trapezoidal increment block 34 is installed on the general crawler 2 and the extension crawler block 33 through threaded nails, so as to facilitate the leveling of wheat grains. The crawler trapezoidal increment block 34 increases the biting friction force with the wheat grains to avoid slipping. By increasing the grounding area (reducing the grounding specific pressure), through the extension of the overall length of the crawler, the contact area is increased by about 30%-50%, and the grounding specific pressure per unit area is reduced to <0.08 MPa, reducing the risk of overall subsidence of the crawler. By being fixedly connected by misaligned threads in the extension groove 31, the basic length is extended. The inclined surface structure formed between the crawler trapezoidal increment block 34 and the general crawler 2 and the extension crawler block 33 can be embedded in the surface of the grain pile, significantly increasing the friction coefficient μ value ≥0.6, effectively preventing the overall slipping of the crawler. The surface of the crawler trapezoidal increment block 34 can be provided with imitation wheat ear patterns to further enhance the ground gripping performance and at the same time reduce the compaction damage to the grain pile. Embodiment III

[0032] Please refer to Figures 9 - 10 , the embodiments of the present invention provide a technical solution: a crawler-type grain leveling robot, including a grain leveling robot frame 1. Only the crawler trapezoidal increment block 34 is threadedly connected and fixed on the general crawler 2. The diameter of corn grains is about 8-12 mm, and the rolling resistance is large. The tooth height of the crawler trapezoidal increment block 34 is 5-8 cm, and the "particle interlock" is formed with the concave and convex surfaces of the large corn particles to enhance the traction force. Embodiment IV

[0033] Please refer to Figures 9 - 10, The embodiments of the present invention provide a technical solution: a crawler-type grain leveling robot, including a grain leveling robot frame 1. When leveling rice, only a general crawler 2 is used, so the overall length is relatively narrow. Moreover, with the crawler trapezoidal increment 34, the groove depth between them is enhanced, the ground contact area is reduced, and the ground bearing pressure is increased, enabling it to quickly cut into the "semi-fluid" grain pile formed by paddy rice, avoiding crawler idling caused by the fluffy grain husks. The groove depth guides the rice husks and debris to be discharged from the grooves, preventing impurity accumulation from jamming the transmission structure. The small ground contact area increases the ground bearing pressure, enabling it to quickly cut into the "semi-fluid" grain pile formed by paddy rice, avoiding crawler idling caused by the fluffy grain husks, and preventing impurity accumulation from jamming the transmission structure. Embodiment Five

[0034] Please refer to Figures 9 - 10 , The embodiments of the present invention provide a technical solution: a crawler-type grain leveling robot, including a grain leveling robot frame 1. When leveling soybeans, only a general crawler 2 and a rubber crawler 30 are used. The rubber crawler 30 is provided with wavy anti-slip patterns to increase the contact points with round soybean grains, inhibit rolling and slipping, and the general crawler 2 provides bearing capacity support to avoid suspension and subsidence caused by the high fluidity of soybeans in the double-layer structure.

[0035] Workflow of the present invention: The motor 7 is controlled by the controller to work. The motor 7 drives the rotating shaft 8 to perform a rotational motion. The rotating shaft 8 drives the main helical gear 9 to perform a rotational motion. The main helical gear 9 meshes with the driven helical gear 10. The main helical gear 9 drives the driven helical gear 10 to perform a rotational motion. The driven helical gear 10 drives the ball screw 11 to perform a rotational motion. The ball screw 11 drives the first screw slider 12, the second screw slider 13, and the third screw slider 14 to move synchronously. The inside of the first screw slider 12 is provided with a right-handed thread, the inside of the second screw slider 13 is provided with a left-handed thread, and the inside of the third screw slider 14 is provided with a right-handed thread. The first screw slider 12 and the second screw slider 13 move in opposite directions in the first limiting groove 15 and the second limiting groove 16 respectively, thereby driving the first baffle 19 and the second baffle 20 to move. The first baffle 19 and the second baffle 20 correspondingly drive the first rotating column 18 to deflect at an angle. The first baffle 19 drives the pressing plate 21 to deflect at an angle in the adjustment cavity 22. The pressing plate 21 presses against the outer surface of the second rotating column 23, thereby facilitating the angular deflection of the first baffle 19 and the second baffle 20. When the first baffle 19 and the second baffle 20 are horizontal, the angle between the pressing plate 21 and the first baffle 19 and the second baffle 20 is 45 degrees at this time, which is convenient for pressing and pushing the first baffle 19 and the second baffle 20 again, thereby changing the angles of the first baffle 19 and the second baffle 20, so that a plurality of the first baffles 19 and the second baffles 20 block the inside of the general track 2 to shield corn kernels. And the hydraulic rod 4 can be controlled by the controller to work, so that a plurality of the first baffles 19 and the second baffles 20 are close to the outside of the general track 2. Through the coordinated movement of multiple groups of the first baffles 19 and the second baffles 20, the inside space of the general track 2 is completely covered, preventing corn kernels from entering the inside of the general track 2 and avoiding mechanical failures caused by particle jams. Combining the "particle interlock" of the track trapezoidal increment 34, the overall slippage of the track is reduced. At the same time, through the angle adjustment of the first baffle 19 and the second baffle 20, the contact between the corn kernels and the track driving components is further isolated. And the hydraulic rod 4 can drive a plurality of the first baffles 19 and the second baffles 20 to push the corn kernels. The hydraulic rod 4 drives the first baffle 19 and the second baffle 20 to perform linear or angular motion through pressure, avoiding mechanical jams caused by the accumulation of corn particles. A plurality of the first baffles 19 and the second baffles 20 are arranged in a staggered manner, and in cooperation with the synchronous angular adjustment of the first screw slider and the second screw slider 13, the risk of corn kernels invading the inside of the general track 2 is reduced.

[0036] The screw slider three 14 moves in the limit slot three 35, the screw slider three 14 drives the rotating column three 27 to move through the bracket clamp two 25, the rotating column three 27 drives the extrusion rod one 26 to move, the extrusion rod one 26 drives the extrusion rod two 28 and the rotating column five 36 to deflect the angle through the rotating column four 29, thereby driving the baffle three 24 to deflect the angle, the baffle three 24 drives the rotating shaft 8 to deflect the angle stably, so that the angles of several baffles one 19, several baffles two 20 and several baffles three 24 are adjusted synchronously, so as to facilitate the grain leveling robot when leveling corn, wheat, rice and soybeans.

[0037] The vibration, displacement or load change of the universal track 2 during operation will be directly transmitted to the baffle plate 20, causing the edge wear, deformation or even breakage of the baffle plate. At the same time, the surface of the universal track 2 may also be damaged due to friction. By synchronously adjusting the angle of a baffle plate 19, several baffle plates 20 and several baffle plates 3 24, the universal track 2 and the baffle plate 20 can maintain dynamic fit such as a small gap or flexible contact to avoid rigid collision, and angle adjustment can reduce such risks and extend the life of the equipment. By adjusting the angle, rigid contact can be avoided, and the wear and failure rate of the equipment can be reduced. Rigid contact is similar to "hard collision" and is easy to be damaged; angle adjustment is similar to "soft overcoming hardness" and protects the equipment through dynamic fit.

[0038] When the corn, rice, wheat and soybean are being leveled, the hydraulic rod 4 at the rear end is pushed outward in sequence, so that the support plate 5 is tilted, and the baffles 1 19, baffles 2 20 and baffles 3 24 are tilted, so that the whole is V-shaped, so that when the grain leveling robot is pushing the grain, the material in front will move toward the grain leveling robot through the push plate, but the baffles 1 19, baffles 2 20 and baffles 3 24 are at an inclined angle to the end face of the grain leveling robot, so as to facilitate the diversion of the corn, rice, wheat and soybean materials and prevent the corn, rice, wheat and soybean from entering the universal crawler 2 of the grain leveling robot The support plate 5 and the end face of the grain-leveling robot are moved at an optimal inclination angle of 60°, which achieves a balance between the diversion efficiency and the walking speed, so that the grains can flow along the inclined surface while avoiding excessive accumulation, and the lateral force of the grains guides the grains to both sides to avoid gathering in the gap between the universal crawler 2. The angles of several baffles 19, several baffles 20 and several baffles 3 24 are adjustable to adapt to the characteristics of different grains to ensure uniform diversion of the grain pile. When the angles of several baffles 19 and several baffles 20 are inclined in a corrugated tooth shape, the friction with the grains is increased to prevent grains with a large static angle, such as rice, from slipping on the inclined surface. The toothed baffles can increase the grain-leveling efficiency by 40%.

Claims

1. A crawler-type grain leveling robot, comprising a grain leveling robot frame (1), characterized in that: A number of connecting brackets (3) are evenly installed on the outer surface of the flat grain robot frame (1). One end surface of each of the number of connecting brackets (3) is installed with a hydraulic rod (4). The outer surfaces of the output ends of the number of hydraulic rods (4) are jointly and movably installed with a support plate (5). A number of adjusting brackets (6) are evenly installed on the outer surface of the support plate (5). Power adjusting components are installed inside each of the number of adjusting brackets (6). Angle adjusting components are evenly distributed and installed inside each of the number of adjusting brackets (6). The angle adjusting component includes two first limiting grooves (15) and a second limiting groove (16). The two first limiting grooves (15) are both opened inside the adjusting bracket (6). The second limiting groove (16) is opened inside the adjusting bracket (6). A first lead screw slider (12) is movably installed on the inner wall of one of the first limiting grooves (15). A second lead screw slider (13) is movably installed on the inner wall of the other first limiting groove (15). A right-handed thread is provided inside the first lead screw slider (12). A left-handed thread is provided inside the second lead screw slider (13). Two first support plates (17) are installed on the top surface of the first lead screw slider (12) and the top surface of the second lead screw slider (13). A first rotating column (18) is jointly and movably installed inside the two first support plates (17). A first baffle (19) is installed on the outer surface of one of the first rotating columns (18). A second baffle (20) is installed on the outer surface of the other first rotating column (18). Two pressing plates (21) are installed on the outer surface of the first baffle (19). Two adjusting cavities (22) are opened on the outer surface of the second baffle (20). A second rotating column (23) is movably installed on the inner wall of each of the two adjusting cavities (22). The outer surface of the second rotating column (23) is in movable contact with the inside of the pressing plate (21). The angle between the pressing plate (21) and the first baffle (19) and the second baffle (20) is 45 degrees. Synchronizing adjusting components are evenly distributed and installed inside each of the number of adjusting brackets (6). Two crawler replacement components are installed on the outer surface of the flat grain robot frame (1).

2. The crawler-type grain leveling robot according to claim 1, wherein: The power adjusting component includes a motor (7) and a rotating shaft (8). The motor (7) is installed inside the adjusting bracket (6). The rotating shaft (8) is installed on the outer surface of the output end of the motor (7). A main bevel gear (9) is installed on the outer surface of the rotating shaft (8).

3. The crawler type grain leveling robot according to claim 2, characterized in that: A ball screw (11) is movably installed inside the adjusting bracket (6). A driven bevel gear (10) is installed on the outer surface of the ball screw (11). The outer surface of the main bevel gear (9) meshes with the outer surface of the driven bevel gear (10).

4. The crawler-type grain leveling robot according to claim 3, characterized in that: The synchronous adjustment component includes a third limiting groove (35) and a third screw rod slider (14). The third limiting groove (35) is opened inside the adjustment bracket (6). The third screw rod slider (14) is movably installed at the inner wall of the third limiting groove (35). Two second bracket clamping plates (25) are installed on the top surface of the third screw rod slider (14). The inside of the third screw rod slider (14) is provided with a right-handed thread.

5. The crawler-type grain leveling robot according to claim 4, characterized in that: A third rotating column (27) is movably installed inside the two second bracket clamping plates (25). A first extrusion rod (26) is installed on the outer surface of the third rotating column (27). A sixth rotating column (37) is movably installed inside the adjustment bracket (6). A third baffle (24) is installed on the outer surface of the sixth rotating column (37).

6. The track-type grain leveling robot according to claim 5, characterized in that: A fifth rotating column (36) is movably installed on the bottom surface of the third baffle (24). A second extrusion rod (28) is installed on the outer surface of the fifth rotating column (36). A fourth rotating column (29) is installed inside the first extrusion rod (26). The outer surface of the fourth rotating column (29) is in movable contact with the inside of the second extrusion rod (28).

7. The crawler-type grain leveling robot according to claim 1, characterized in that: The crawler replacement component includes a general crawler (2) and an extension groove (31). The general crawler (2) is installed on the outer surface of the flat grain robot frame (1). The extension groove (31) is opened inside the general crawler (2). A filling crawler block (32) is movably installed at the inner wall of the extension groove (31).

8. The crawler-type grain leveling robot according to claim 7, wherein: An extension crawler block (33) is movably installed on the outer surface of the filling crawler block (32). A rubber crawler (30) is movably installed on the outer surface of the general crawler (2). A crawler trapezoidal increment block (34) is movably installed on the outer surface of the general crawler (2).

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