A grain unloader, grain unloader device and grain transfer equipment

Abstract

This application relates to the field of grain transfer technology, and in particular to a grain unloader, grain unloader device, and grain transfer equipment. The grain unloader includes a housing, a first conveying assembly, and a collision detection assembly. A first grain inlet is formed at one end of the housing, and a first grain outlet is formed at the other end. The end of the housing with the first grain inlet is capable of swinging. The first conveying assembly is disposed within the housing and is used to transfer grain from the first grain inlet to the first grain outlet. The collision detection assembly is installed at the first grain inlet and is used to detect whether the end of the housing with the first grain inlet encounters an obstacle. By adding a collision detection assembly, it is possible to effectively sense whether the end of the housing with the first grain inlet encounters a ventilation cage or other ground obstacles during its swinging motion. This facilitates automatic position relocation of the grain unloader, eliminating the need for manual relocation and improving operational efficiency.

Description

Technical Field

[0001] This application relates to the field of grain transfer technology, and in particular to a grain unloader, grain unloader device and grain transfer equipment. Background Technology

[0002] Bulk grains are stored in grain storage silos. Transferring bulk grains from the silos to transport vehicles often requires the use of unloaders. To improve ventilation, ventilation cages are typically laid on the floor of the grain storage silos. There are also other obstacles on the ground.

[0003] Existing grain unloaders are forced to stop working when they encounter ventilation cages or other obstacles on the ground while moving and operating inside grain storage silos.

[0004] The existing technical solutions mentioned above have the following drawbacks: when existing grain unloaders encounter ventilation cages or other obstacles on the ground, they are forced to stop working, resulting in low operating efficiency. Summary of the Invention

[0005] In order to improve the operating efficiency of existing grain unloaders, this application provides a grain unloader, a grain unloader device, and a grain transfer device.

[0006] The primary objective of this application is to provide a grain unloader, employing the following technical solution:

[0007] A grain unloader, comprising:

[0008] The shell has a first grain inlet at one end and a first grain outlet at the other end, and is capable of swinging.

[0009] A first conveying assembly, disposed within the housing, is used to transfer grain from a first grain inlet to a first grain outlet;

[0010] A collision detection component, installed at the first grain inlet, is used to detect whether the end of the shell where the first grain inlet is formed encounters an obstacle.

[0011] By adopting the above technical solution, the first conveying component is disposed within the housing and is used to transfer grain from the first grain inlet to the first grain outlet. A collision detection component is installed at the first grain inlet to detect whether the end of the housing with the first grain inlet encounters an obstacle. By adding the collision detection component, it is possible to effectively sense whether the end of the housing with the first grain inlet encounters a ventilation cage or other ground obstacles during its swinging motion. This facilitates automatic position relocation of the grain unloader, eliminating the need for manual relocation and improving operational efficiency.

[0012] This application further specifies that there are two collision detection components, which are respectively installed on the two opposite outer walls of the housing.

[0013] By adopting the above technical solution, it is possible to detect obstacles on both sides of the ground.

[0014] This application further specifies that each collision detection component includes:

[0015] The mounting base is mounted on the outer side wall of the housing at one end.

[0016] The cylindrical body is mounted at one end to the end face of the mounting base away from the housing.

[0017] The pressure sensor is installed inside the cylinder;

[0018] An elastic element is installed inside the cylinder, with one end fixedly connected to the end face of the mounting base away from the housing, and the other end fixedly connected to the pressure sensor.

[0019] The pressure bar can be slidably installed along the axial direction of the cylinder at the end of the cylinder away from the mounting base, and one end can press against the pressure sensor;

[0020] The collision detection head is installed at the end of the pressure bar furthest from the pressure sensor.

[0021] By adopting the above technical solution, when the collision detection head encounters a ground obstacle, it moves towards the pressure sensor and applies pressure to the sensor via the pressure bar. When the pressure value detected by the pressure sensor exceeds a preset pressure value, the industrial control computer determines that the grain unloader has encountered a ground obstacle. When the collision detection head encounters a pile of grain, it moves towards the pressure sensor and applies pressure to the sensor via the pressure bar. Because the elastic element acts as a buffer, the maximum detected pressure value will never exceed the preset pressure value, preventing false judgments and extending the service life of the pressure sensor.

[0022] This application further specifies that the compression bar includes:

[0023] The first transmission section is fixedly connected at one end to the collision detection head;

[0024] One end of the stiffness adjustment section is fixedly connected to the end of the first transmission section away from the collision detection head;

[0025] The second transmission section has one end fixedly connected to the end of the stiffness adjustment section away from the first transmission section, and the other end can press against the pressure sensor.

[0026] By adopting the above technical solution, both elastic elements are used for buffering, and stiffness adjustment sections are used to adjust the stiffness of the middle section of the pressure bar, so as to meet diverse testing needs, ensure the accuracy of diverse testing, and minimize the possibility of misjudgment.

[0027] This application further specifies that the first conveying component includes:

[0028] The drive roller is rotatably mounted at the first grain outlet.

[0029] The driven roller is rotatably mounted at the first grain inlet, and collecting blades are formed on the outer walls at opposite ends;

[0030] The conveyor belt is wound around the drive roller and the driven roller, and multiple grain interception plates are evenly formed on its outer side along the circumference.

[0031] The first driver, mounted on the housing, has its output end connected to one end of the drive roller, and is used to drive the drive roller, driven roller, and conveyor belt.

[0032] By adopting the above technical solution, the first drive can drive the driving wheel to rotate, which in turn drives the driven wheel to rotate via the synchronous belt, thereby driving the driving roller, driven roller, and conveyor belt to operate. During the rotation of the driven roller, the collecting blades at both ends can facilitate the movement of grain along the axial direction of the driven roller from both ends to the middle of the driven roller, thereby improving grain inflow efficiency. Moreover, the synchronous belt drive method offers smoother operation, lower noise, and lower maintenance costs, making it suitable for long-distance power transmission.

[0033] This application further specifies that the grain unloader also includes:

[0034] The first negative pressure generating component is installed inside the housing and is used to extract dust from inside the housing.

[0035] By adopting the above technical solution, the first negative pressure generating component can perform preliminary dust removal treatment on the grain, reducing the amount of dust emitted.

[0036] This application further specifies that the grain unloader also includes:

[0037] The decision module is mounted on the housing and connected to the collision detection components.

[0038] The perception module is mounted on the housing and connected to the decision-making module.

[0039] The execution module is mounted on the housing and connected to the decision module.

[0040] By adopting the above technical solution, the sensing module is installed in the housing to collect environmental data and sends the collected data to the decision module for processing. The decision module controls the execution module 160 to perform its work, realizing action control and safety assurance.

[0041] The second objective of this application is to provide a grain-harvesting device, which adopts the following technical solution:

[0042] A grain-removing device includes a first conveyor and a grain-removing machine;

[0043] The first conveyor includes:

[0044] The first vehicle, capable of movement;

[0045] The second conveying assembly is hinged at one end to the first carrier and can move up and down at the other end; the second conveying assembly has a second grain inlet at one end hinged to the first carrier and a second grain outlet at the other end.

[0046] The second driver is mounted on the first vehicle and its output end is connected to the second conveying assembly, which is used to drive the other end of the second conveying assembly to move up and down.

[0047] The housing of the grain unloader is rotatably mounted on the first carrier at one end, which forms the first grain outlet, so that the first grain outlet is located above the second grain inlet;

[0048] The grain can flow out from the second grain outlet after passing through the first grain inlet, the inside of the shell, the first grain outlet, the second grain inlet, and the inside of the second conveying assembly in sequence.

[0049] By adopting the above technical solution, the first carrier can drive the second conveying component and the grain unloader to move significantly. On the one hand, the first conveyor and the grain unloader work together to flexibly move grain piles in various locations within the grain storage silo. On the other hand, by adding a collision detection component, it can effectively sense whether the end of the shell with the first grain inlet encounters a ventilation cage or other ground obstacles during its swing, automatically achieving position relocation without the need for manual relocation of the grain unloader, thus improving operational efficiency.

[0050] This application further includes:

[0051] The second negative pressure generating component is installed inside the second conveying component and is used to extract dust from the second conveying component.

[0052] By adopting the above technical solution, the second negative pressure generating component can perform a second dust removal process on the grain, further reducing dust emissions.

[0053] The third objective of this application is to provide a grain transfer device, which adopts the following technical solution:

[0054] A grain transfer device, comprising a grain unloader or grain unloader assembly;

[0055] Also includes:

[0056] Second conveyor;

[0057] The second conveyor includes:

[0058] The second vehicle is capable of movement;

[0059] The third conveying assembly is installed on the second vehicle;

[0060] The fourth conveying component is slidably mounted on the third conveying component along the length of the third conveying component;

[0061] The grain can be transferred to the transport vehicle in sequence via the fourth and third conveying components.

[0062] By adopting the above technical solution, the fourth conveying component can be slidably installed on the third conveying component along the length of the third conveying component, which can extend the transfer distance and realize long-distance transfer, which is conducive to the grain unloader reaching various positions in the grain storage warehouse for operation.

[0063] In summary, the beneficial technical effects of this application are as follows:

[0064] 1. A collision detection component is installed at the first grain inlet to detect whether the end of the casing with the first grain inlet encounters an obstacle during its swing. When an obstacle is encountered, the unloader can automatically reposition itself, eliminating the need for manual repositioning and improving operational efficiency.

[0065] 2. The first drive unit can rotate the drive wheel, which in turn drives the driven wheel to rotate via the synchronous belt, thereby driving the drive roller, driven roller, and conveyor belt. During the rotation of the driven roller, the grain can be moved along the axial direction of the driven roller from both ends to the middle of the driven roller by the collecting blades at both ends, thereby improving the grain inflow efficiency.

[0066] 3. It utilizes both elastic elements for buffering and stiffness adjustment sections to regulate the stiffness of the middle section of the pressure bar, in order to meet diverse testing needs, ensure the accuracy of diverse testing, and minimize the possibility of misjudgment.

[0067] 4. A first negative pressure generating component is installed inside the shell. The first negative pressure generating component is used to extract dust inside the shell, which can perform preliminary dust removal treatment on the grain and reduce the amount of dust emitted. Attached Figure Description

[0068] Figure 1 This is a structural schematic diagram of an embodiment of a grain unloader;

[0069] Figure 2 yes Figure 1 The diagram shown is a structural schematic of the casing of the grain unloader.

[0070] Figure 3 yes Figure 1 The diagram shown is a structural schematic of the first conveying component in the grain unloader.

[0071] Figure 4yes Figure 1 A cross-sectional view of an embodiment of a collision detection component in a grain unloader shown;

[0072] Figure 5 yes Figure 1 A cross-sectional view of another embodiment of the collision detection component in the grain unloader shown;

[0073] Figure 6 yes Figure 5 A magnified view of a portion of region A in the middle;

[0074] Figure 7 yes Figure 1 A magnified view of a section of the grain unloader shown;

[0075] Figure 8 yes Figure 1 The diagram shown illustrates the working principle of the modules in the grain unloader.

[0076] Figure 9 yes Figure 1 The diagram shown illustrates the working principle of the electrical components in the grain unloader.

[0077] Figure 10 This is a schematic diagram of one embodiment of the grain-harvesting device;

[0078] Figure 11 This is a schematic diagram of an embodiment of a grain transfer device.

[0079] Reference numerals: 110, housing; 111, first grain inlet; 112, first grain outlet; 120, first conveying assembly; 121, driving roller; 122, driven roller; 1221, collecting blade; 123, conveyor belt; 1231, grain intercepting plate; 124, first driver; 125, driving wheel; 126, driven wheel; 127, synchronous belt; 130, collision detection assembly; 131, mounting base; 132, cylinder; 133, pressure sensor; 134, elastic element; 135, pressure bar; 1351, first transmission section; 1352, stiffness adjustment section; 13521, first connecting seat; 13522, second connecting seat; 13523, airbag; 13524, spring; 1353, second transmission section; 136, collision detection head. ; 140. Decision module; 141. Industrial computer; 150. Sensing module; 151. LiDAR; 152. Millimeter-wave radar; 153. Inertial measurement unit; 154. Remote controller; 160. Execution module; 161. Differential drive dual servo motor; 162. Execution calculator; 163. Alarm module; 200. First conveyor; 210. First carrier; 211. Fixed seat; 212. Rotating seat; 220. Second conveying assembly; 221. Second grain inlet; 222. Second grain outlet; 223. Conveyor frame; 224. Protective cover; 230. Second driver; 300. Second conveyor; 310. Second carrier; 320. Third conveying assembly; 321. Horizontal conveying section; 322. Inclined conveying section; 330. Fourth conveying assembly. Detailed Implementation

[0080] The following is in conjunction with the appendix Figure 1-11 This application will be described in further detail.

[0081] It should be noted that grains can be rice, wheat, corn, oats, sorghum, etc.

[0082] Reference Figure 1 , Figure 2 and Figure 3 This application discloses a grain unloader, including a housing 110, a first conveying assembly 120, and a collision detection assembly 130. A first grain inlet 111 is formed at one end of the housing 110, and a first grain outlet 112 is formed at the other end. The end of the housing 110 with the first grain inlet 111 is capable of swinging, the swing direction being as follows... Figure 1As indicated by the middle arrow, the first conveying assembly 120 is disposed within the housing 110 and is used to transfer grain from the first grain inlet 111 to the first grain outlet 112. When the grain unloader is in use, its axis is tilted, and the first grain outlet 112 should be higher than the first grain inlet 111 in the vertical direction. The collision detection assembly 130 is installed at the first grain inlet 111 and is used to detect whether the end of the housing 110 with the first grain inlet 111 encounters an obstacle. By adding the collision detection assembly 130, it is possible to effectively sense whether the end of the housing 110 with the first grain inlet 111 encounters a ventilation cage or other ground obstacles during its swing, which is beneficial for the grain unloader to automatically move its position without the need for manual repositioning, thus improving operating efficiency.

[0083] In one embodiment, the collision detection component 130 is a single unit mounted on one of the outer side walls of the end of the housing 110 where the first grain inlet 111 is formed. This enables unilateral ground obstacle detection.

[0084] In another embodiment, there are two collision detection components 130, which are respectively installed on opposite outer side walls of the end of the housing 110 where the first grain inlet 111 is formed. In this way, bilateral ground obstacle detection can be achieved.

[0085] In another embodiment, the collision detection component 130 is a single unit installed in the middle of the end of the housing 110 where the first grain inlet 111 is formed. This also enables ground obstacle detection.

[0086] In one embodiment, reference is made to Figure 1 and Figure 4Each collision detection assembly 130 includes a mounting base 131, a cylinder 132, a pressure sensor 133, an elastic element 134, a pressure rod 135, and a collision detection head 136. One end face of the mounting base 131 is mounted on the outer wall of the housing 110. One end of the cylinder 132 is mounted on the end face of the mounting base 131 away from the housing 110. The pressure sensor 133 is disposed inside the cylinder 132. The elastic element 134 is disposed inside the cylinder 132, with one end fixedly connected to the end face of the mounting base 131 away from the housing 110, and the other end fixedly connected to the pressure sensor 133. The pressure rod 135 is slidably mounted along the axial direction of the cylinder 132 at the end of the cylinder 132 away from the mounting base 131. One end of the pressure rod 135 can press against the pressure sensor 133. The collision detection head 136 is mounted on the end of the pressure rod 135 away from the pressure sensor 133. The pressure rod 135 is a rigid round rod. Each collision detection component 130 swings along with the housing 110. When the collision detection head 136 encounters a ground obstacle, it moves towards the pressure sensor 133 and applies pressure to the sensor via the pressure bar 135. When the pressure value detected by the pressure sensor 133 exceeds a preset pressure value, the industrial control computer 141 determines that the grain unloader has encountered a ground obstacle. When the collision detection head 136 encounters a pile of grain, it moves towards the pressure sensor 133 and applies pressure to the sensor via the pressure bar 135. Because the elastic element 134 acts as a buffer, the maximum detected pressure value will never exceed the preset pressure value, preventing false judgments and extending the service life of the pressure sensor 133.

[0087] In another embodiment, each collision detection assembly 130 includes a mounting base 131, a cylinder 132, a pressure sensor 133, a pressure rod 135, and a collision detection head 136. One end face of the mounting base 131 is mounted on the outer wall of the housing 110. One end of the cylinder 132 is mounted on the end face of the mounting base 131 away from the housing 110. The pressure sensor 133 is fixed inside the cylinder 132. The pressure rod 135 is slidably mounted on the end of the cylinder 132 away from the mounting base 131 along the axial direction of the cylinder 132. One end of the pressure rod 135 can press against the pressure sensor 133. The collision detection head 136 is mounted on the end of the pressure rod 135 away from the pressure sensor 133. The pressure rod 135 is a rigid round rod. Each collision detection assembly 130 as a whole swings with the housing 110. When the collision detection head 136 encounters a ground obstacle, it moves towards the pressure sensor 133 and applies pressure to the pressure sensor 133 via the pressure bar 135. When the pressure value detected by the pressure sensor 133 is greater than a preset pressure value, the industrial control computer 141 determines that the grain unloader has encountered a ground obstacle. There is a probability of false detection when the collision detection head 136 encounters a pile of grain.

[0088] In yet another embodiment, reference is made to... Figure 1 , Figure 5 and Figure 6 Each collision detection assembly 130 includes a mounting base 131, a cylinder 132, a pressure sensor 133, an elastic element 134, a pressure rod 135, and a collision detection head 136. One end face of the mounting base 131 is mounted on the outer wall of the housing 110. One end of the cylinder 132 is mounted on the end face of the mounting base 131 away from the housing 110. The pressure sensor 133 is disposed within the cylinder 132. The elastic element 134 is disposed within the cylinder 132, with one end fixedly connected to the end face of the mounting base 131 away from the housing 110, and the other end fixedly connected to the pressure sensor 133. The pressure rod 135 is slidably mounted along the axial direction of the cylinder 132 at the end of the cylinder 132 away from the mounting base 131. One end of the pressure rod 135 can press against the pressure sensor 133. The collision detection head 136 is mounted on the end of the pressure rod 135 away from the pressure sensor 133. The pressure bar 135 includes a first transmission section 1351, a stiffness adjustment section 1352, and a second transmission section 1353. One end of the first transmission section 1351 is fixedly connected to the collision detection head 136. One end of the stiffness adjustment section 1352 is fixedly connected to the end of the first transmission section 1351 away from the collision detection head 136. One end of the second transmission section 1353 is fixedly connected to the end of the stiffness adjustment section 1352 away from the first transmission section 1351, and the other end can press against the pressure sensor 133. When the collision detection head 136 encounters a ground obstacle, the collision detection head 136 moves towards the pressure sensor 133 and applies pressure to the pressure sensor 133 through the pressure bar 135. When the pressure value detected by the pressure sensor 133 is greater than the preset pressure value, the industrial control computer 141 determines that the grain unloader has encountered a ground obstacle. It should be noted that the bulk density of different grains is not the same, therefore, the maximum pressure value applied to the pressure sensor 133 will also vary considerably. Other obstacles on the ground may have different stiffness than the ventilation cage, and the maximum pressure applied to the pressure sensor 133 may also differ significantly from the maximum pressure applied to the pressure sensor 133 by the ventilation cage. Therefore, both the elastic element 134 is used for buffering, and the stiffness adjustment section 1352 is used to adjust the stiffness of the middle section of the pressure bar 135 to meet diverse detection needs, ensure the accuracy of diverse detections, and minimize the possibility of misjudgment.

[0089] Preferably, the stiffness adjustment section 1352 includes a first connecting seat 13521, a second connecting seat 13522, an airbag 13523, and a spring 13524. The first connecting seat 13521 is fixedly connected to the end of the first transmission section 1351 near the second transmission section 1353. The second connecting seat 13522 is fixedly connected to the end of the second transmission section 1353 near the first transmission section 1351. The inner wall of one end of the airbag 13523 is fixedly connected to the outer wall of the first connecting seat 13521, and the inner wall of the other end is fixedly connected to the outer wall of the second connecting seat 13522. A vent is formed on the airbag 13523 for gas input and output. The spring 13524 is disposed between the first connecting seat 13521 and the second connecting seat 13522. By controlling the amount of gas input into the airbag 13523, the stiffness of the stiffness adjustment section 1352 can be effectively adjusted. Spring 13524 serves both as a buffer and as a support.

[0090] Preferably, the elastic element 134 can be a metal elastic element such as a coil spring or leaf spring, which has high strength and good high temperature resistance. The elastic element 134 can also be a non-metallic elastic element such as rubber or plastic, which has good elasticity, wear resistance, and sound insulation. The elastic element 134 can also be a metal-rubber composite elastic element, balancing strength and elasticity.

[0091] Preferably, the side of the collision detection head 136 away from the pressure bar 135 is curved, which makes it easier to penetrate the grain pile and prevents false detection. In addition, the side of the collision detection head 136 away from the pressure bar 135 has a certain area to prevent it from piercing the side wall of the ventilation cage.

[0092] Preferably, a limiting protrusion is provided on the side wall of the end of the pressing rod 135 away from the collision detection head 136 to prevent the pressing rod 135 from slipping out of the cylinder 132.

[0093] Preferably, the mounting base 131 can be detachably connected to the housing 110 and the cylinder 132 by means of screws or other methods to facilitate disassembly, replacement, and installation. The mounting base 131 can also be non-detachably connected to the housing 110 and the cylinder 132 by means of welding or other methods to improve the stability of the connection.

[0094] Preferably, the pressure rod 135 is connected to the cylinder 132 through a sliding bushing to reduce the wear of the pressure rod 135 during sliding and improve the smoothness of sliding.

[0095] In one embodiment, reference is made to Figure 1 , Figure 3 and Figure 7The first conveying assembly 120 includes a drive roller 121, a driven roller 122, a conveyor belt 123, a first driver 124, a drive wheel 125, a driven wheel 126, and a synchronous belt 127. The drive roller 121 is rotatably mounted at the first grain outlet 112 about its own axis. The driven roller 122 is rotatably mounted at the first grain inlet 111 about its own axis, and collecting blades 1221 are formed on the outer walls at opposite ends. The conveyor belt 123 is wound around the drive roller 121 and the driven roller 122, and a plurality of grain intercepting plates 1231 are uniformly formed circumferentially on its outer side. The grain intercepting plates 1231 allow the grain to be stably retained on the conveyor belt 123, preventing the grain from sliding down the belt. The first driver 124 is mounted on the housing 110. The drive wheel 125 is sleeved on the output end of the first driver 124. The driven wheel 126 is sleeved on one end of the drive roller 121. A synchronous belt 127 is wound around the drive pulley 125 and the driven pulley 126. The first driver 124 can drive the drive pulley 125 to rotate, which in turn drives the driven pulley 126 to rotate via the synchronous belt 127, thereby driving the drive roller 121, the driven roller 122, and the conveyor belt 123 to operate. During the rotation of the driven roller 122, the grain can be moved along the axial direction of the driven roller 122 from both ends to the middle of the driven roller 122 by means of the collecting blades 1221 at both ends, thereby improving the grain inflow efficiency. Moreover, the synchronous belt 127 drive method results in smoother operation, lower noise, and lower maintenance costs, making it suitable for long-distance power transmission.

[0096] In another embodiment, the first conveying assembly 120 includes a drive roller 121, a driven roller 122, a conveyor belt 123, a first driver 124, a drive sprocket, a driven sprocket, and a synchronizing chain. The drive roller 121 is rotatably mounted on its own axis at the first grain outlet 112. The driven roller 122 is rotatably mounted on its own axis at the first grain inlet 111, and collecting blades 1221 are formed on the outer walls at opposite ends. The conveyor belt 123 is wound around the drive roller 121 and the driven roller 122, and a plurality of grain intercepting plates 1231 are uniformly formed circumferentially on its outer side. The grain intercepting plates 1231 can stably retain the grain on the conveyor belt 123, preventing the grain from sliding down the conveyor belt. The first driver 124 is mounted on the housing 110. The drive sprocket is sleeved on the output end of the first driver 124. The driven sprocket is sleeved on one end of the drive roller 121. The synchronizing chain is wound around the drive sprocket and the driven sprocket. The first drive 124 can drive the drive sprocket to rotate, which in turn drives the driven sprocket to rotate via a synchronous chain, thereby driving the drive roller 121, the driven roller 122, and the conveyor belt 123 to operate. During the rotation of the driven roller 122, the collecting blades 1221 at both ends can facilitate the movement of grain along the axial direction of the driven roller 122 from both ends to the middle of the driven roller 122, thus improving grain inflow efficiency. Furthermore, the synchronous chain drive method offers strong wear resistance and high transmission efficiency.

[0097] Preferably, the first driver 124 can be a servo motor, which offers high control precision. Alternatively, the first driver 124 can be a stepper motor, which offers lower cost.

[0098] In one embodiment, the grain unloader further includes a first negative pressure generating component (not shown in the figure). The first negative pressure generating component is installed inside the housing 110 and is used to extract dust from the housing 110, enabling preliminary dust removal of the grain and reducing dust emissions. The first negative pressure generating component includes a dust collector and a filter screen. The dust collector is installed inside the housing 110 and is capable of generating negative pressure. The filter screen is installed at the exhaust port of the dust collector to intercept dust.

[0099] In one embodiment, reference is made to Figure 8 The grain unloader also includes a decision module 140, a sensing module 150, and an execution module 160. The decision module 140 is mounted on the housing 110 and electrically connected to the collision detection component 130. The sensing module 150 is mounted on the housing 110 and electrically connected to the decision module 140, used to collect environmental data and send the collected data to the decision module 140 for processing. The execution module 160 is mounted on the housing 110 and electrically connected to the decision module 140. The decision module 140 controls the execution module 160 to perform its work, achieving motion control and safety assurance.

[0100] Specifically, such as Figure 9 As shown, the decision-making module 140 includes an industrial control computer 141. The industrial control computer 141 integrates SLAM algorithms and task scheduling. The perception module 150 includes a lidar 151, a millimeter-wave radar 152, an inertial measurement unit 153, and a remote controller 154. The industrial control computer 141 is electrically connected to the pressure sensor 133, lidar 151, millimeter-wave radar 152, and inertial measurement unit 153 of each collision detection component 130. The industrial control computer 141 and the remote controller 154 are wirelessly connected via WiFi or 4G / 5G cellular communication. The lidar 151 scans the environment with laser pulses and uses the industrial control computer 141 to generate a 3D point cloud map with centimeter-level accuracy. The millimeter-wave radar 152 can emit 30GHz-300GHz radio waves and detect the motion state of objects through the Doppler effect. The inertial measurement unit 153 integrates a gyroscope and accelerometer to provide attitude and angular velocity data of the harvester. The remote controller 154 enables remote manual control. The execution module 160 includes a differential-drive dual servo motor 161, an execution calculator 162, and an alarm module 163. The industrial control computer 141 is electrically connected to the differential-drive dual servo motor 161, the execution calculator 162, and the alarm module 163, and can control their operation. The differential-drive dual servo motor 161 helps the grain unloader achieve zero turning radius, providing high maneuverability in confined spaces. The execution calculator 162 helps reduce path tracking errors to within 3cm. The alarm module 163 can be an audible and visual alarm. When encountering ground obstacles, the industrial control computer 141 can control the differential-drive dual servo motor 161 and the alarm module 163 to move the grain unloader's wheels, thereby automatically relocating the grain unloader and alerting the operator.

[0101] The implementation principle of this embodiment is as follows: The first driver 124 can drive the drive wheel 125 to rotate, which in turn drives the driven wheel 126 to rotate via the synchronous belt 127, thereby driving the drive roller 121, the driven roller 122, and the conveyor belt 123 to operate. During the rotation of the driven roller 122, the grain can be moved along the axial direction of the driven roller 122 from both ends to the middle of the driven roller 122 by the collecting blades 1221 at both ends, thereby improving the grain inflow efficiency. The collision detection component 130 is installed at the first grain inlet 111 to detect whether the end of the housing 110 with the first grain inlet 111 encounters an obstacle during its swing. When an obstacle is encountered on the ground, the industrial control computer 141 can control the differential drive dual servo motors 161 and the alarm module 163 to work, causing the walking wheels of the grain unloader to move, thereby enabling the grain unloader to automatically change position and alerting the operator, eliminating the need for manual relocation of the grain unloader and improving work efficiency. The system utilizes both an elastic element 134 for cushioning and a stiffness adjustment section 1352 to adjust the stiffness of the middle section of the pressure rod 135, thereby meeting diverse testing needs, ensuring the accuracy of diverse testing, and minimizing the possibility of misjudgment. A first negative pressure generating component is installed inside the housing 110. This component is used to extract dust from the housing 110 for preliminary dust removal of the grains, reducing dust emissions.

[0102] Reference Figure 1 and Figure 10This application also discloses a grain-removing device, including a first conveyor 200 and a grain-removing machine. The first conveyor 200 includes a first carrier 210, a second conveying assembly 220, and a second driver 230. The first carrier 210 is movable. One end of the second conveying assembly 220 is hinged to the first carrier 210, and the other end is movable up and down. The second conveying assembly 220 has a second grain inlet 221 at one end hinged to the first carrier 210, and a second grain outlet 222 at the other end. The fixed end of the second driver 230 is hinged to the top surface mounted on the first carrier 210, and the output end is hinged to the middle of the bottom surface of the second conveying assembly 220, for driving the other end of the second conveying assembly 220 to move up and down. The housing 110 of the grain-removing machine, with one end having a first grain outlet 112, is rotatably mounted on the first carrier 210, such that the first grain outlet 112 is located above the second grain inlet 221. Grain flows sequentially through the first grain inlet 111, the interior of the shell 110, the first grain outlet 112, the second grain inlet 221, and the interior of the second conveying assembly 220, before exiting from the second grain outlet 222. The first carrier 210 can drive the second conveying assembly 220 and the grain unloader to move significantly. On one hand, the first conveyor 200, working in conjunction with the grain unloader, can flexibly transfer grain piles at various locations within the grain storage silo. On the other hand, by adding a collision detection assembly 130, it can effectively detect whether the end of the shell 110 containing the first grain inlet 111 encounters a ventilation cage or other ground obstacles during its swing, automatically repositioning the grain unloader without requiring manual repositioning, thus improving operational efficiency.

[0103] Preferably, the first vehicle 210 can be a hydraulic vehicle, a tracked vehicle, or a car.

[0104] Preferably, a fixed base 211 is fixedly installed on the first carrier 210, and a rotating base 212 that can rotate about its own axis is installed on the top of the fixed base 211. The bottom of the end of the grain unloader housing 110 that forms the first grain outlet 112 is fixedly installed on the top of the rotating base 212.

[0105] Preferably, the second conveying assembly 220 includes a conveyor frame 223 and a protective cover 224. One end of the conveyor frame 223 is hinged to the top surface of the first carrier 210. The middle portion of the bottom surface of the protective cover 224 is hinged to the output end of the second driver 230. The protective cover 224 covers the outside of the conveyor frame 223, providing protection for the conveyor frame 223, reducing dust dispersion, and improving the working environment.

[0106] Preferably, the second actuator 230 is a linear actuator; specifically, the second actuator 230 can be a hydraulic cylinder or a pneumatic cylinder, providing high control precision. The second actuator 230 can also be an electric actuator, which does not require hydraulic oil or other working media, making it more environmentally friendly.

[0107] In one embodiment, the grain-removing device further includes a second negative pressure generating component (not shown in the figure). The second negative pressure generating component is installed inside the protective cover 224 of the second conveying component 220 and is used to extract dust from the protective cover 224 of the second conveying component 220, enabling further dust removal of the grain and further reducing dust emissions. The second negative pressure generating component includes a dust collector and a filter. The dust collector is installed inside the protective cover 224 and is capable of generating negative pressure. The filter is installed at the exhaust port of the dust collector to intercept dust.

[0108] The implementation principle of this embodiment is as follows: The first conveyor 200 works in conjunction with the grain unloader, enabling more flexible transfer of grain piles at various locations within the grain storage silo. The grain unloader, equipped with a collision detection component 130, can effectively detect whether the end of the housing 110 with the first grain inlet 111 encounters a ventilation cage or other ground obstacles during its swing, automatically relocating it without the need for manual relocation, thus improving operational efficiency. A second negative pressure generating component further removes dust from the grain, further reducing dust emissions.

[0109] Reference Figure 1 , Figure 10 and Figure 11 This application also discloses a grain transfer device, including a grain unloader or grain unloader device. The grain transfer device further includes a second conveyor 300. The second conveyor 300 includes a second carrier 310, a third conveying assembly 320, and a fourth conveying assembly 330. The second carrier 310 is movable. The third conveying assembly 320 is mounted on the second carrier 310 and can move significantly with the second carrier 310. The fourth conveying assembly 330 is slidably mounted on the third conveying assembly 320 along its length, which can extend the transfer distance and realize long-distance transfer. Grain can be sequentially transferred to a transport vehicle via the fourth conveying assembly 330 and the third conveying assembly 320.

[0110] Preferably, the second vehicle 310 can be a hydraulic vehicle, a tracked vehicle, or a car.

[0111] Preferably, the fourth conveying assembly 330 and the third conveying assembly 320 are slidably connected by a slide rail and a slide groove.

[0112] Preferably, the third conveying assembly 320 includes a horizontal conveying section 321 and an inclined conveying section 322. The fourth conveying assembly 330 has a linear structure and is slidably mounted on top of the horizontal conveying section 321 of the third conveying assembly 320.

[0113] Preferably, the means of transport can be a car, truck, van, or boat, etc.

[0114] The implementation principle of this embodiment is as follows: the fourth conveying component 330 can be slidably installed on the third conveying component 320 along the length of the third conveying component 320, which can extend the transfer distance and realize long-distance transfer, which is beneficial for the grain unloader to reach various positions in the grain storage warehouse for operation.

[0115] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A grain unloader, characterized in that, include: The shell (110) has a first grain inlet (111) at one end and a first grain outlet (112) at the other end, and is capable of swinging. A first conveying assembly (120) is disposed within the housing (110) for transferring grain from the first grain inlet (111) to the first grain outlet (112); A collision detection assembly (130) is installed at the first grain inlet (111) to detect whether the end of the housing (110) with the first grain inlet (111) encounters an obstacle; there are two collision detection assemblies (130), which are respectively installed on the opposite two outer side walls of the housing (110); each collision detection assembly (130) includes: a cylinder (132); a pressure sensor (133) disposed in the cylinder (132); an elastic element (134) disposed in the cylinder (132), one end of which is fixedly connected to the end face of the mounting base (131) away from the housing (110), and the other end of which is fixedly connected to the pressure sensor (133); a pressure rod (135) which is slidably installed along the axial direction of the cylinder (132) at the end of the cylinder (132) away from the mounting base (131), and one end of which can press against the pressure sensor (133); Each of the collision detection components (130) further includes: The mounting base (131) is mounted on the outer side wall of the housing (110) at one end; The cylindrical body (132) is mounted at one end on the end face of the mounting base (131) away from the housing (110); A collision detection head (136) is installed at the end of the pressure bar (135) away from the pressure sensor (133); The pressure bar (135) includes: The first transmission section (1351) is fixedly connected at one end to the collision detection head (136); The stiffness adjustment section (1352) is fixedly connected at one end to the end of the first transmission section (1351) away from the collision detection head (136); The second transmission section (1353) is fixedly connected at one end to the end of the stiffness adjustment section (1352) away from the first transmission section (1351), and the other end can press against the pressure sensor (133).

2. The grain unloader according to claim 1, characterized in that, The first conveying assembly (120) includes: The drive roller (121) is rotatably mounted at the first grain outlet (112) about its own axis; The driven roller (122) is rotatably mounted at the first grain inlet (111) and has collecting blades (1221) formed on the outer walls at opposite ends. A conveyor belt (123) is wound around the driving roller (121) and the driven roller (122), and a plurality of grain intercepting plates (1231) are uniformly formed on its outer side along the circumferential direction; The first driver (124) is mounted on the housing (110) and its output end is connected to one end of the drive roller (121) to drive the drive roller (121), the driven roller (122) and the conveyor belt (123) to operate.

3. The grain unloader according to claim 1, characterized in that, The grain unloader also includes: The first negative pressure generating component is installed inside the housing (110) and is used to extract dust from the housing (110).

4. The grain unloader according to claim 1, characterized in that, The grain unloader also includes: The decision module (140) is mounted on the housing (110) and connected to the collision detection component (130); A sensing module (150) is installed on the housing (110) and connected to the decision module (140); An execution module (160) is mounted on the housing (110) and connected to the decision module (140).

5. A grain-harvesting device, characterized in that, Includes a first conveyor (200) and a grain unloader as described in any one of claims 1 to 4; The first conveyor (200) includes: The first vehicle (210) is capable of movement; The second conveying assembly (220) is hinged at one end to the first carrier (210) and can move up and down at the other end; the second conveying assembly (220) is hinged to the first carrier (210) at one end and has a second grain inlet (221) at the other end; The second driver (230) is mounted on the first carrier (210) and its output end is connected to the second conveying assembly (220) for driving the other end of the second conveying assembly (220) to move up and down. The housing (110) of the grain unloader is rotatably mounted on the first carrier (210) at one end where the first grain outlet (112) is formed, such that the first grain outlet (112) is located above the second grain inlet (221). The grain can flow out from the second grain outlet (222) after passing through the first grain inlet (111), the interior of the shell (110), the first grain outlet (112), the second grain inlet (221), and the interior of the second conveying assembly (220) in sequence.

6. The grain-harvesting device according to claim 5, characterized in that, Also includes: The second negative pressure generating component is installed inside the second conveying component (220) and is used to extract dust from the second conveying component (220).

7. A grain transfer device, characterized in that, Includes the grain unloader as described in any one of claims 1 to 4 or the grain unloader device as described in any one of claims 5 to 6; Also includes: Second conveyor (300); The second conveyor (300) includes: The second vehicle (310) is capable of movement; The third conveying assembly (320) is mounted on the second carrier (310); The fourth conveying assembly (330) is slidably mounted on the third conveying assembly (320) along the length of the third conveying assembly (320); The grain can be transferred to the transport vehicle in sequence via the fourth conveying assembly (330) and the third conveying assembly (320).

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