Pit mud pit opening equipment and use method thereof

Abstract

The invention discloses pit mud pit opening equipment and a using method. The pit mud pit opening equipment comprises a movable positioning mechanism, a pit mud excavating mechanism, a bran shell cleaning mechanism, a conveying mechanism and a control unit. The equipment is positioned to a target position through the movable positioning mechanism, the pit mud excavating mechanism executes cutting-fixing-separating operation, the bran shell cleaning mechanism removes residual bran shells, the conveying mechanism conveys cleaned pit mud, and the control unit dynamically adjusts parameters of all assemblies and system operation of all the mechanisms. The full-process automatic cellar opening operation of moving positioning, cutting, fixing, separating, bran removing and conveying and discharging is achieved, operation is easy, the construction efficiency of cellar opening operation is remarkably improved, and manual labor and manual labor cost are greatly saved.

Description

Technical Field

[0001] This invention relates to the field of pit opening equipment technology, specifically to a pit mud opening equipment and its usage method. Background Technology

[0002] In traditional industries such as brewing and bio-fermentation, fermentation pit mud serves as the core fermentation medium, and its quality directly affects the flavor and quality stability of the product. Fermentation pits require regular opening and maintenance to remove aged pit mud and residual chaff (such as rice husks and wheat husks) from the bottom, ensuring the even distribution of new pit mud and a clean fermentation environment. Currently, pit opening operations mainly rely on manual labor or semi-mechanized equipment, presenting the following significant technical bottlenecks: Manual operation is inefficient: Workers use shovels, brooms and other tools to manually dig the pit mud and clean the rice husks. The labor intensity is high and the operation cycle is long (the time for a single pit is >8 hours). It is also difficult to completely remove the rice husks embedded in the pit mud crevices (the residual rate is >20%), which can easily lead to the growth of miscellaneous bacteria and fermentation failure.

[0003] Existing equipment functions are fragmented: Insufficient positioning accuracy: Simple excavation machinery lacks high-precision positioning capabilities, resulting in uneven control of the cutting depth and range of the pit mud, which can easily damage the pit base structure; Poor cleaning effect: Traditional single-layer roller 35 brush or scraper device has blind spots when facing the uneven surface of pit mud, and the brush is easily entangled and blocked by rice husks, resulting in a short lifespan. Lack of coordination: The excavation, shaping, and separation processes operate independently, resulting in poor workflow integration and low operational efficiency; Therefore, there is an urgent need for a pit mud opening equipment that integrates high-precision positioning, adaptive operation, and intelligent control. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention provides a pit mud opening device and its usage method.

[0005] The technical solution of the present invention to solve the above-mentioned technical problems is as follows: a pit mud opening device, comprising: The mobile positioning mechanism is used to drive the equipment to move and accurately position within the pit area, and includes a walking unit, a support frame and a dual-axis moving module. The silt excavation mechanism is installed at the end of the dual-axis moving module and includes a silt excavation bucket assembly, a silt shaping assembly, and a silt separation assembly. The chaff cleaning mechanism is located downstream of the pit mud excavation mechanism and includes a box, a brush assembly, and a collection trough. A conveying mechanism is used to transport the cleaned pit mud to the outside. The control unit integrates a controller module, a sensor module, and a human-machine interface, and communicates with the mobile positioning mechanism, the pit mud digging mechanism, the chaff sweeping mechanism, and the conveying mechanism. The equipment is positioned to the target location via a mobile positioning mechanism, the pit mud excavation mechanism performs cutting-fixing-separation operations, the chaff cleaning mechanism removes residual chaff, the conveying mechanism transports the cleaned pit mud, and the control unit dynamically adjusts the parameters of each component to achieve fully automated pit opening operations.

[0006] Furthermore, the dual-axis moving module includes: a Y-axis moving module, which is disposed above the support frame and configured as a base for the mud digging mechanism to move along the Y-axis direction; The X-axis moving module is slidably mounted on the Y-axis moving module, and the mud digging mechanism is slidably mounted on the X-axis moving module to achieve movement along the X-axis direction; Furthermore, the Y-axis movement module includes: The first servo motor is mounted on the support frame, and its output axis is at 90° to the movement direction of the X-axis moving module. The first worm gear transmission assembly is connected to the output shaft of the first servo motor to convert the rotational motion of the first servo motor into power output in the Y-axis direction. The first ball screw is coaxially connected to the output end of the first worm gear transmission assembly; The first guide rail and the slide are arranged along the Y-axis on the upper surface of the support frame. The slide is fitted on the first guide rail, and the slide is provided with a nut that mates with the first ball screw; Furthermore, the X-axis movement module includes: The main support is mounted on the slide of the Y-axis moving module; The second servo motor is mounted on the support body; The second worm gear transmission assembly is connected to the output shaft of the second servo motor to convert the rotational motion of the second servo motor into power output in the X-axis direction. The second ball screw is coaxially connected to the output end of the second worm gear transmission assembly; The second guide rail and the mounting slide are mounted on the support body. The mounting slide is slidably mounted on the second guide rail and is equipped with a nut that mates with the first ball screw. The silt excavation unit is mounted on the mounting slide. The second servo motor is communicatively connected to the control unit.

[0007] Furthermore, the silt excavator assembly includes a first drive electric cylinder, a top plate disposed on the telescopic end of the first drive electric cylinder, and excavation plates disposed on adjacent sides of the top plate. A silt-receiving cavity is formed between two adjacent excavation plates, and the first drive electric cylinder is communicatively connected to the control unit.

[0008] Furthermore, the sludge shaping assembly includes a second drive electric cylinder and a shaping pin assembly disposed at the output end of the second drive electric cylinder via a hinge assembly. The shaping pin assembly is located on the side of the sludge bucket assembly and is adjacent to one of the digging plates. The second drive electric cylinder is communicatively connected to the control unit.

[0009] Furthermore, the sludge separation assembly includes a third drive electric cylinder mounted on the top plate and a scraper mounted on the telescopic end of the third drive electric cylinder. The scraper is located inside the sludge bucket assembly and adjacent to the shaping pin assembly. The third drive electric cylinder is communicatively connected to the control unit. The scraper blade is parallel to the top plate, and in the initial state, the scraper blade is in contact with the lower surface of the top plate.

[0010] Furthermore, the brush assembly includes multiple brush units, with the brush units of adjacent brush assemblies arranged in a staggered manner along the circumference of the roller. The Nth brush unit of the brush assembly and the N+1th brush unit of the adjacent brush assembly extend along the axial direction in a spiral trajectory to form a continuous spiral cleaning trajectory, where N is a natural number.

[0011] Furthermore, the brush unit includes multiple brush strips, the height of which increases sequentially from the drive end to the driven end of the roller.

[0012] Furthermore, the conveying mechanism includes a first conveyor belt structure and a second conveyor belt structure located at the outlet end of the first conveyor belt structure, with the first conveyor belt structure and the second conveyor belt structure being perpendicular to each other.

[0013] This invention also provides a method for using a pit mud opening device, characterized by comprising the following steps: S1: Mobile Positioning The equipment is moved to the target area of ​​the pit by the walking unit of the mobile positioning mechanism, and the pit mud excavation device is driven by the dual-axis moving module to reach the designated coordinates, with the positioning accuracy controlled within ±0.5mm. Step S2: Excavation of pit mud The bucket assembly of the pit mud excavation device is activated to cut the pit mud, and the cutting depth is adaptively adjusted according to the hardness of the pit mud. Then, the pin unit of the pit mud shaping assembly is inserted into both sides of the pit mud to apply pressure and fix the shape of the pit mud. Then, the scraper of the pit mud separation assembly is driven to slide along the inner wall of the bucket to push the pit mud to the designated area. S3: Rice husk cleaning The stepped spiral brush assembly of the rice husk cleaning device is activated and rotates at a speed of 30-150 rpm. The spiral trajectory covers the surface of the pit mud, and the peeled rice husks are thrown into the collection tank by centrifugal force, thus separating the rice husks from the pit mud. S4: Dynamic Adjustment The control unit receives feedback data from the humidity sensor, pressure sensor, and position encoder in real time. Based on the moisture content, viscosity, and positioning deviation of the pit mud, the cutting depth, brush speed, and extrusion pressure parameters are dynamically adjusted to adapt the equipment to different working conditions. S5: Cyclic Operation After completing a single-point operation, the mobile positioning mechanism drives the equipment to move to the next target location, repeating steps S2 to S4 until the entire pit area is covered.

[0014] The present invention has the following beneficial effects: The present invention provides a pit mud opening device and its usage method: (1) The device is driven to the designated position by the walking unit, and then the excavation unit is precisely moved and positioned by the X-axis / Y-axis moving module to achieve a reliable and accurate moving and positioning effect. At the same time, the seamless connection of the X / Y axis movement sequence can effectively avoid path conflicts and ensure the speed and accuracy of two-dimensional positioning. In addition, the orthogonal layout of the X-axis moving module and the Y-axis moving module saves space and adapts to the narrow pit environment, laying a solid foundation for the efficiency, accuracy and safety of pit mud excavation operations; (2) This device integrates pit mud excavation, shape fixation and separation. Through multi-component collaboration and intelligent control, it realizes full-process automation of pit mud "cutting-fixing-separation", which significantly improves the efficiency, accuracy and reliability of pit mud excavation operations, shortens the operation cycle and significantly improves excavation efficiency. In addition, the multi-point pin fixing and low-resistance separation design reduces pit mud damage or loosening, improves the integrity rate of pit mud shape, and meets the high standard requirements of fermentation process for raw materials. (3) By using the circumferential misalignment, spiral and axial stepped arrangement of the brush assembly on the roller 35, a progressive cleaning from the outside to the inside is formed, which effectively improves the cleaning effect on the chaff on the pit mud. (4) The control unit dynamically adjusts the parameters of each component to realize fully automated cellar opening operation. Attached Figure Description

[0015] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the mobile positioning mechanism structure in this invention; Figure 3 This is a schematic diagram of the X-axis / Y-axis movement module structure in this invention; Figure 4 This is a schematic diagram of the installation structure of the mud excavation mechanism in this invention; Figure 5 This is a schematic diagram of the mud excavation mechanism in this invention; Figure 6 This is a schematic diagram of the excavation plate, the shaping pin assembly, and the mud scraper in this invention; Figure 7This is a schematic diagram of the excavation plate structure in this invention; Figure 8 This is a schematic diagram of the shaped insert assembly structure in this invention; Figure 9 This is a schematic diagram of the scraper structure in this invention; Figure 10 This is a schematic diagram of the chaff cleaning mechanism in this invention. Figure 1 ; Figure 11 This is a schematic diagram of the chaff cleaning mechanism in this invention. Figure 2 ; Figure 12 This is an isometric view of the roller 35 and the brush assembly in this invention; Figure 13 This is a front view of the roller 35 and brush assembly in this invention; Figures 1 to 13 The reference numerals in the accompanying drawings are respectively: 1-moving positioning mechanism, 10-walking unit, 11-support frame, 12-Y-axis moving module, 13-X-axis moving module, 110-walking wheel, 111-drive wheel, 112-drive component, 120-first servo motor, 121-first worm gear transmission assembly, 122-first guide rail, 123-slide block, 130-support body, 131-second servo motor, 132-second worm gear transmission assembly, 133-second guide rail, 134-mounting slide; 2-Sludge excavation mechanism, 20-Sludge bucket assembly, 21-Sludge shaping assembly, 22-Sludge separation assembly, 200-First drive electric cylinder, 201-Top plate, 202-Excavation plate, 210-Second drive electric cylinder, 211-Shaping pin assembly, 220-Third drive electric cylinder, 221-Scraper plate, 2020-Cutting plate, 2021-Connecting rod, 2110-T-shaped rod, 2111-Pin, 205-Positioning seat, 206-Connecting plate; 3-Bran and chaff cleaning mechanism, 30-Box body, 31-Brush assembly, 32-Collection trough, 33-Drive motor, 35-Roller, 310-Brush unit, 3100-Brush strip; 4-Transmission mechanism, 5-Control unit. Detailed Implementation

[0016] The principles and features of the present invention are described below with reference to the accompanying drawings. The examples given are only for explaining the present invention and are not intended to limit the scope of the present invention.

[0017] like Figure 1As shown, a pit mud opening device includes a mobile positioning mechanism 1, a pit mud digging mechanism 2, a chaff cleaning mechanism 3, a conveying mechanism 4, and a control unit 5. The device is positioned to the target location by the mobile positioning mechanism 1, the pit mud digging mechanism 2 performs cutting-fixing-separation operations, the chaff cleaning mechanism 3 removes residual chaff, the conveying mechanism 4 transports the cleaned pit mud, and the control unit 5 dynamically adjusts the parameters of each component to achieve fully automated pit opening operations.

[0018] like Figures 2 to 3 As shown, the mobile positioning mechanism 1 is used to drive the equipment to move and accurately position within the pit area. In this embodiment, the mobile positioning mechanism 1 includes a walking unit 10, a support frame 11, and a dual-axis moving module. The dual-axis moving module includes a Y-axis moving module 12 and an X-axis moving module 13. The Y-axis moving module 12 is disposed above the support frame 11 and is configured as the base for the pit mud excavation mechanism 2 to move along the Y-axis direction. The X-axis moving module 13 is slidably disposed on the Y-axis moving module 12, and the pit mud excavation mechanism 2 is slidably disposed on the X-axis moving module 13 to achieve movement along the X-axis direction.

[0019] The support frame 11 serves as the basic skeleton of the equipment, integrating key components such as the walking unit 10, the Y-axis / X-axis moving module 13, and the digging unit into a unified whole, ensuring the stable connection and coordinated operation of each functional unit. Its high structural strength allows it to withstand the static and dynamic operating loads of the walking unit 10, the moving module, and the digging unit, preventing structural deformation caused by uneven stress. The design of the support frame 11 in conjunction with the walking unit 10 allows it to adapt to uneven or complex terrain in the pit, ensuring smooth equipment movement.

[0020] In this embodiment, the walking unit 10 is located below the support frame 11 and is used to drive the entire device to a designated position in the pit. Preferably, the walking unit 10 includes walking wheels 110, drive wheels 111, and a drive component 112 for driving the drive wheels 111, respectively located at the lower end of the support frame 11. The drive component is driven by a servo motor or a DC geared motor, supports frequency conversion speed regulation, provides active driving force, and realizes the linear movement, turning, and speed control of the equipment in the pit area. The walking wheels are designed as omnidirectional wheels with built-in bearings to ensure flexible steering, and are equipped with mechanical or electromagnetic brakes for locking when the equipment is stationary. The drive component is communicatively connected to the control unit 5. The control unit 5 receives commands and adjusts the speed and direction of the electric wheels, providing real-time feedback on wheel speed and steering angle to form a closed-loop control. In addition, the walking unit 10 may also be equipped with a lidar or ultrasonic sensor to detect obstacles around the pit and trigger emergency stop or path correction.

[0021] In this embodiment, the Y-axis moving module 12 is disposed above the support frame 11 and configured as the base for the mud digging mechanism 2 to move along the Y-axis direction. Preferably, the Y-axis moving module 12 includes a first servo motor 120, a first worm gear transmission assembly 121, a first ball screw, a first guide rail 122, and a slide 123.

[0022] The first servo motor 120 is mounted on the support frame 111, with its output axis at a 90° angle to the movement direction of the X-axis moving module 13. As a power source, the first servo motor 120 provides precise rotary motion, with its output axis at a 90° angle to the movement direction of the X-axis moving module 13. This orthogonal layout saves space and supports high-precision speed regulation, such as through pulse control or frequency conversion drive, ensuring the positioning accuracy of the Y-axis movement. The first servo motor communicates with the control unit 5, receiving commands and providing real-time feedback on its operating status, forming a closed-loop control. The control unit 5 sends commands via a PLC to adjust the speed, direction, and start / stop of the first servo motor 120.

[0023] The first worm gear transmission assembly 121 is connected to the output shaft of the first servo motor 120 to convert the rotational motion of the first servo motor 120 into power output in the Y-axis direction. The first ball screw is coaxially connected to the output end of the first worm gear transmission assembly 121. The meshing of the worm and worm wheel rotates the axial direction by 90°, adapting to the space-constrained environment of the pit. The helix angle design of the worm wheel and worm gear gives it a self-locking function to prevent the slide 123 from retracting due to gravity or load when the equipment is powered off or stopped. The first ball screw converts the rotational motion output by the worm wheel and worm gear into the linear motion of the slide 123 and is coaxially connected to the output end of the worm wheel and worm gear to reduce intermediate transmission errors.

[0024] The first guide rail 122 is disposed on the upper surface of the support frame 11 along the Y-axis. The slide block 123 is slidably fitted on the first guide rail 122, and a nut that cooperates with the first ball screw is provided on the slide block 123. The X-axis moving module 13 is disposed on the slide block 123, and the first servo motor 120 is communicatively connected to the control unit 5. The first guide rail 122 is a high-rigidity linear guide rail. The bottom of the slide block 123 integrates a slider, which forms a low-resistance sliding pair with the guide rail. The top fixing nut cooperates with the ball screw to convert the rotational motion into linear motion, thereby driving the X-axis moving module 13 to move along the Y-axis.

[0025] Specifically, when the Y-axis moving module 12 is working, the control unit 5 sends a command to the first servo motor 120, and the motor rotates at a preset speed and direction. The rotational power of the servo motor is transmitted to the worm wheel through the worm gear. The output end of the worm wheel is coaxially connected to the first ball screw. The screw rotates synchronously with the worm wheel. The nut of the first ball screw is fixed on the slide 123. When the first ball screw rotates, the nut drives the slide 123 to move along the Y-axis direction, which in turn drives the X-axis moving module 13 to move along the Y-axis direction.

[0026] In this embodiment, the X-axis moving module 13 is slidably mounted on the Y-axis moving module 12, and the mud digging mechanism 2 is slidably mounted on the X-axis moving module 13 to achieve movement along the X-axis direction. The structure of the X-axis moving module 13 is largely the same as that of the Y-axis moving module 12, but the orientation is different. Specifically, the X-axis moving module 13 includes a support body 130, a second servo motor 131, a second worm gear transmission assembly 132, a second ball screw, a second guide rail 133, and a mounting slide 134.

[0027] The support body 130 is mounted on the slide 123 of the Y-axis moving module 12, and the second servo motor 131 is mounted on the support body 130. The support body 130 serves as the mounting base for the X-axis moving module 13, fixed on the slide 123 of the Y-axis module, and supports components such as the second servo motor 131, the worm gear transmission assembly, the ball screw, and the guide rail. The second servo motor 131 is the power source for driving the X-axis direction. After receiving commands from the control unit 5, it outputs precise rotational motion. The output axis direction is orthogonal to the servo motor of the Y-axis moving module 12, adapting to the two-dimensional planar layout.

[0028] The second worm gear transmission assembly 132 is connected to the output shaft of the second servo motor 131 to convert the rotational motion of the second servo motor 131 into power output in the X-axis direction. The second ball screw is coaxially connected to the output end of the second worm gear transmission assembly 132. The second worm gear transmission assembly 132 converts the rotational motion of the servo motor into power output in the X-axis direction, and the second ball screw converts the rotational motion output by the worm gear into linear displacement of the mounting slide 134.

[0029] The second guide rail 133 and the mounting slide 134 are mounted on the support body 130. The mounting slide 134 is slidably mounted on the second guide rail 133 and has a nut that mates with the first ball screw. The mud digging mechanism 2 is mounted on the slide. The second servo motor 131 is communicatively connected to the control unit 5. The slider at the bottom of the mounting slide 134 mates with the guide rail to ensure smooth linear motion. The ball screw nut is fixed at the top to support the mud digging mechanism 2 and withstand dynamic digging loads.

[0030] When the X-axis moving module 13 is working, the control unit 5 sends a command, the second servo motor 131 starts, the output shaft rotates along the X-axis direction, the second worm gear transmission assembly 132 converts the rotation direction of the motor into a power output parallel to the X-axis, the second ball screw rotates synchronously with the worm gear, and the nut drives the mounting slide 134 to move linearly along the X-axis guide rail.

[0031] Overall, two-dimensional collaborative positioning is achieved through the Y-axis moving module 12 and the X-axis moving module 13. The control unit 5 generates motion commands based on the target coordinates X and Y. The Y-axis slide 123 moves to the target Y position first, and then the X-axis mounting slide 134 moves to the target X position. The X / Y axis motion sequence is seamlessly connected to avoid path intersection conflicts.

[0032] like Figures 4 to 9 As shown, in this embodiment, the silt digging mechanism 2 is installed at the end of the dual-axis moving module, including a silt digging bucket assembly 20, a silt shaping assembly 21, and a silt separation assembly 22. Through the coordinated action of the silt digging bucket assembly 20, the silt shaping assembly 21, and the silt separation assembly 22, the silt is cut, fixed, and separated.

[0033] Preferably, the silo mud excavator assembly 20 includes a first drive electric cylinder 200, a top plate 201 disposed on the telescopic end of the first drive electric cylinder 200, and digging plates 202 disposed on adjacent sides of the top plate 201, forming a silo mud receiving cavity between two adjacent digging plates 202. The top plate 201 is used to transmit power and form the initial receiving space for the silo mud. Its surface is coated with a wear-resistant coating such as tungsten carbide to reduce frictional loss with the silo mud, and it is made of high-strength steel plate (such as Q345B) with strong deformation resistance. The digging plates 202 directly cut into the silo mud layer, completing the cutting and forming a temporary receiving cavity for the silo mud. The first drive electric cylinder 200 is disposed on the moving positioning mechanism, which serves as the core power source. It drives the top plate 201 and digging plates 202 to complete the cutting of the silo mud through telescopic movement, and the cut silo mud is stored in the receiving cavity. The first drive electric cylinder 200 is communicatively connected to the control unit 5. The control unit 5 issues commands to adjust the telescopic speed and stroke to match silo mud layers of different hardness, thereby improving the silo mud excavation effect.

[0034] In addition, the excavation plate 202 includes a cutting plate 2020 with a tapered bottom structure and multiple connecting rods 2021 evenly distributed on the cutting plate. The ends of the connecting rods 2021 furthest from the cutting plate are mounted on the top plate 201. The tapered structure of the cutting plate is designed with an inclination angle (20°-25°) to reduce cutting resistance, utilizes the stress concentration effect at the tip to quickly divide the pit mud, and the tapered slope guides the pit mud to slide to both sides, reducing the contact area with the cutting plate and reducing the risk of adhesion. The connecting rods evenly transmit the thrust of the top plate 201 to the cutting plate, ensuring the synchronicity and stability of the cutting action. The multiple connecting rods (usually 6-8) are distributed radially or in a grid pattern to form a truss structure, resisting lateral forces and torques during the cutting process.

[0035] In this embodiment, the silt shaping component 21 is disposed inside or on the side of the silt bucket assembly 20. It applies pressure to the silt via a power drive to fix its shape and secure it within the bucket. Preferably, the silt shaping component 21 includes a second drive electric cylinder 210 disposed on the top plate 201 and a shaping pin assembly 211 disposed at the output end of the second drive electric cylinder 210 via a hinge assembly. The shaping pin assembly 211 is located on the side of the silt bucket assembly 20 and adjacent to one of the digging plates 202. The second drive electric cylinder 210 drives the shaping pin assembly 211 to insert into the silt and apply pressure via a telescopic movement, fixing the shape of the silt. The hinge assembly provides freedom for the shaping pin assembly 211 to swing, thereby compressing the silt within the bucket's receiving cavity and achieving shaping. The second drive electric cylinder 210 is communicatively connected to the control unit 5, dynamically adjusting the thrust (e.g., 300-800N) and stroke speed (0.05-0.2m / s) according to the silt hardness. When the mud digging bucket assembly 20 cuts into the mud, the control unit 5 sends a command to start the second drive electric cylinder 210. The second drive electric cylinder 210 pushes the pin assembly to insert into the mud. The hinge assembly adaptively adjusts the angle to ensure that the pin is squeezed against the mud. The pin maintains pressure until the mud is transferred to the separation stage to prevent loosening.

[0036] Preferably, the shaping pin assembly 211 includes a T-shaped rod 2110 and multiple pins 2111 evenly distributed on the T-shaped rod 2110, with gaps between adjacent pins. The upper end of the T-shaped rod 2110 penetrates the top plate 201 and is connected to the hinge assembly. The T-shaped rod, as the core skeleton of the shaping pin assembly 211, transmits the power of the second drive electric cylinder 210 to the pins through the hinge assembly, ensuring a uniform distribution of extrusion pressure. The uniform distribution of the multiple pins 2111 forms a distributed support network after insertion into the pit mud, preventing the pit mud from loosening due to localized stress concentration. The gaps between the pins allow some pit mud to pass through, reducing insertion resistance while maintaining sufficient structural strength to preserve the overall shape.

[0037] The hinge assembly includes a positioning seat 205 mounted on the top plate 201 and a connecting plate 206 movably mounted on the telescopic end of the second drive electric cylinder 20. The upper end of the T-shaped rod 2110 is movably mounted on the positioning seat 205, and the end of the connecting plate 206 away from the second drive electric cylinder 210 is connected to the top of the T-shaped rod 2110. In use, the second drive electric cylinder 210 is activated, and the telescopic end extends outward, pushing the connecting plate 206 to move away from the electric cylinder. The connecting plate 206 pulls the top of the T-shaped rod 2110, causing it to rotate clockwise or counterclockwise around the positioning seat 205. The pin at the lower end of the T-shaped rod 2110 then swings downward, inserting into the pit mud and applying pressure to fix the shape of the pit mud. After the pit mud is shaped, the second drive electric cylinder 210 retracts, and the telescopic end retracts inward, driving the connecting plate 206 to move in the direction of the electric cylinder. The connecting plate 206 pushes the top of the T-shaped rod 2110, causing it to rotate in the opposite direction around the positioning seat 205. The pin at the lower end of the T-shaped rod 2110 swings upward, exiting the pit mud and completing one work cycle.

[0038] In this embodiment, the silt separation component 22 slides along the inner wall of the silt bucket assembly 20 to separate and discharge the fixed silt from the inner wall of the silt bucket assembly 20. Preferably, the silt separation component 22 includes a third drive electric cylinder 220 disposed on the top plate 201 and a scraper 221 disposed on the telescopic end of the third drive electric cylinder 220. The scraper 221 is located inside the silt bucket assembly 20 and adjacent to the shaping pin assembly 211. The scraper 221 is parallel to the top plate 201. In the initial state, the scraper 221 is in contact with the lower surface of the top plate 201, saving space and avoiding interference with the operation of other components. The third drive electric cylinder 220 drives the scraper 221 to slide along the inner wall of the bucket through telescopic movement, providing the thrust required to separate the silt. The working surface of the scraper 221 slides in close contact with the inner wall of the bucket, and the mechanical thrust provided by the third drive electric cylinder 220 peels the fixed silt from the inner wall and pushes it to the discharge port. The third drive electric cylinder 220 is communicatively connected to the control unit 5, and dynamically adjusts the thrust (e.g., 100-300N) and moving speed according to the viscosity of the pit mud. After the pit mud is shaped, the control unit 5 starts the third drive electric cylinder 220, which pushes the scraper 221 from the attached state to slide down to the surface of the pit mud. The scraper 221 moves at a constant speed along the inner wall of the bucket, thereby breaking the adhesion layer between the pit mud and the inner wall. The thrust pushes the pit mud out as a whole. After separation, the third drive electric cylinder 220 retracts, and the scraper 221 returns to the initial attached position, preparing for the next cycle.

[0039] like Figures 10 to 13As shown, in this embodiment, the rice husk cleaning mechanism 3 is located downstream of the pit mud excavation mechanism 2, and includes a housing 30, a brush assembly 31, a drive motor 33, and a collection trough 32. The drive motor 33 provides rotational power to the roller 35. The collection trough 32 is located at the bottom of the housing 30 and is used to receive the rice husks cleaned from the pit mud. The bottom surface of the collection trough 32 is an inclined surface that slopes towards the discharge port to facilitate the sliding of the rice husks.

[0040] The brush assembly 31 removes and cleans the chaff on the surface of the pit mud. Multiple sets of brush assemblies 31 are evenly arranged along the circumference of the roller 35, and the brush assemblies 31 are distributed in a stepped manner along the axial direction of the roller 35. Each brush assembly 31 includes multiple brush units 310. The brush units 310 of adjacent brush assemblies 31 are staggered along the circumference of the roller 35. The Nth brush unit 310 of the brush assembly 31 and the N+1th brush unit 310 of the adjacent brush assembly 31 extend along the axial direction in a spiral trajectory to form a continuous spiral cleaning trajectory, where N is a natural number. For example, the first brush unit 310 of the first brush assembly 31 and the second brush unit 310 of the second brush assembly 31 form a spiral structure. The Nth and N+1th units of adjacent brush groups are circumferentially staggered with an offset angle of 10°-30°, extending along the axial direction to form a spiral trajectory, ensuring seamless connection of the cleaning path and a coverage rate of over 95%. In addition, the spiral trajectory, in conjunction with the rotation of the roller 35, pushes the rice husks to move along the axial direction to the collection trough 32, avoiding material rollback or secondary adhesion.

[0041] The brush unit 310 includes multiple brush strips 3100, the height of which increases sequentially from the driving end to the driven end of the roller 35. Brush units 310 of different heights are arranged along the axial direction of the roller 35. The higher-level brushes preferentially peel off the surface chaff, while the lower-level brushes penetrate deep into the crevices of the pit mud to clean deeper residues, forming a progressive cleaning process from the surface inwards, thus improving the cleaning effect.

[0042] In general, the drive unit drives the roller 35 to rotate, and the stepped brushes contact the surface of the pit mud in sequence. The high-level brushes first peel off the surface chaff, and the low-level brushes clean the deep residue. Centrifugal force throws the swept-off chaff towards the inner wall of the box 30, and the chaff slides down the inclined surface of the box 30 to the collection trough 32.

[0043] In this embodiment, the conveying mechanism 4 is used to transport the cleaned silt to the outside. The conveying mechanism 4 includes a first conveyor belt structure 40 and a second conveyor belt structure 41 located at the outlet end of the first conveyor belt structure 40. The first conveyor belt structure and the second conveyor belt structure 41 are perpendicular to each other.

[0044] In this embodiment, the control unit 5 integrates a controller module, a sensor module, and a human-machine interface, and is communicatively connected to the mobile positioning mechanism 1, the silt excavation mechanism 2, the chaff removal mechanism 3, and the conveying mechanism 4. The sensor unit mainly includes a humidity sensor, a viscosity sensor, or a density sensor. The controller module uses an STM32 chip. The control chip receives the silt physical property data (humidity, viscosity, and density) collected by the sensor unit, and generates dynamic control commands through existing preset algorithms within the controller module. This coordinates the timing of the actions of each mechanism, ensuring seamless connection of the "mobile positioning - cutting - fixing - separation - chaff removal - conveying and discharge" process.

[0045] This invention also provides a method for using a pit mud opening device, comprising the following steps: S1: Mobile Positioning The device is moved to the target area of ​​the pit by the walking unit 10 of the mobile positioning mechanism 1, and the pit mud excavation device is driven by the dual-axis moving module to reach the designated coordinates, with the positioning accuracy controlled within ±0.5mm. S2: Pit mud excavation The bucket assembly of the pit mud excavation device is activated to cut the pit mud, and the cutting depth is adaptively adjusted according to the hardness of the pit mud. Then, the pin unit of the pit mud shaping assembly 21 is inserted into both sides of the pit mud to apply pressure and fix the shape of the pit mud. Then, the scraper 221 of the pit mud separation assembly 22 is driven to slide along the inner wall of the bucket to push the pit mud to the designated area. S3: Rice husk cleaning The brush assembly 31 of the rice husk cleaning device is activated and rotates at a speed of 30-150 rpm. The spiral trajectory covers the surface of the pit mud, and the peeled rice husks are thrown into the collection tank 32 by centrifugal force, thereby achieving the separation of rice husks from pit mud. S4: Dynamic Adjustment The control unit 5 receives feedback data from the humidity sensor, pressure sensor and position encoder in real time; Based on the moisture content, viscosity, and positioning deviation of the pit mud, the cutting depth, brush speed, and extrusion pressure parameters are dynamically adjusted to adapt the equipment to different working conditions. S5: Cyclic Operation After completing a single-point operation, the mobile positioning mechanism 1 drives the device to the next target location, repeating steps S2 to S4 until the entire pit area is covered.

[0046] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pit opening device for pit mud, characterized by, The device comprises a mobile positioning mechanism (1) for driving the device to move and accurately position in the pit area, a walking unit (10), a support frame (11) and a double-shaft mobile module; a pit mud digging mechanism (2) installed at the end of the double-shaft mobile module, comprising a pit mud bucket assembly (20), a pit mud shaping assembly (21) and a pit mud separating assembly (22); a chaff cleaning mechanism (3) arranged downstream of the pit mud digging mechanism (2), comprising a box body (30), a brush assembly (31) and a collection groove (32); a conveying mechanism (4) for conveying the cleaned pit mud to the outside; a control unit (5) integrated with a controller module, a sensor module and a human-computer interaction interface, which is in communication connection with the mobile positioning mechanism (1), the pit mud digging mechanism (2), the chaff cleaning mechanism (3) and the conveying mechanism (4); wherein the device is positioned to the target position by the mobile positioning mechanism (1), the pit mud digging mechanism (2) performs cutting-fixing-separating operation, the chaff cleaning mechanism (3) removes the residual chaff, the conveying mechanism (4) conveys the cleaned pit mud, and the control unit (5) dynamically adjusts the parameters of each assembly to realize automatic opening of the whole process. The double-shaft mobile module comprises a Y-axis mobile module (12) arranged above the support frame (11) and configured as a base for the pit mud digging mechanism (2) to move along the Y-axis direction; 2. The pit-uncovering device according to claim 1, characterized in that, an X-axis mobile module (13) slidingly arranged on the Y-axis mobile module (12), and the pit mud digging mechanism (2) slidingly arranged on the X-axis mobile module (13) to realize movement along the X-axis direction. The Y-axis mobile module (12) comprises:

3. The pit-uncovering device according to claim 2, characterized in that, a first servo motor (120) arranged on the support frame (11), the output shaft direction of which is 90° to the moving direction of the X-axis mobile module (13); a first worm gear transmission assembly (121) connected with the output shaft of the first servo motor (120) for converting the rotary motion of the first servo motor (120) into power output in the Y-axis direction; a first ball screw coaxially connected with the output end of the first worm gear transmission assembly (121); a first guide rail (122) arranged on the upper surface of the support frame (11) along the Y-axis direction and a sliding seat (123) slidingly fitted on the first guide rail (122), and the sliding seat (123) is provided with a nut matched with the first ball screw. The X-axis mobile module (13) comprises:

4. The pit-uncovering device according to claim 3, characterized in that a support body (130) arranged on the sliding seat (123) of the Y-axis mobile module (12); a second servo motor (131) arranged on the support body (130); a second worm gear transmission assembly (132) connected with the output shaft of the second servo motor (131) for converting the rotary motion of the second servo motor (131) into power output in the X-axis direction; a second ball screw coaxially connected with the output end of the second worm gear transmission assembly (132). ​ A second guide rail (133) is arranged on the support body (130), and a mounting sliding table (134) is slidingly arranged on the second guide rail (133), and a nut cooperating with the first ball screw is arranged on the mounting sliding table (134), and the cellar mud digging mechanism (2) is arranged on the mounting sliding table (134), and the second servo motor (131) is in communication connection with the control unit (5).

5. The crock opening device of claim 1, wherein The cellar mud digging assembly (20) comprises a first driving electric cylinder (200), a top plate (201) arranged on the telescopic end of the first driving electric cylinder (200), and digging plates (202) arranged on the adjacent two sides of the top plate (201), and a cellar mud containing cavity is formed between the two adjacent digging plates (202), and the first driving electric cylinder (200) is in communication connection with the control unit (5).

6. The pit-uncovering device according to claim 5, characterized in that The cellar mud shaping assembly (21) comprises a second driving electric cylinder (210) and a shaping needle assembly (211) arranged on the output end of the second driving electric cylinder (210) through a hinged assembly, the shaping needle assembly (211) is located on the side of the cellar mud digging assembly (20) and adjacent to one of the digging plates (202), and the second driving electric cylinder (210) is in communication connection with the control unit (5).

7. The pit-uncovering device according to claim 5, characterized by The cellar mud separating assembly (22) comprises a third driving electric cylinder (220) arranged on the top plate (201) and a mud scraping plate (221) arranged on the telescopic end of the third driving electric cylinder (220), the mud scraping plate (221) is located in the cellar mud digging assembly (20) and adjacent to the shaping needle assembly (211), and the third driving electric cylinder (220) is in communication connection with the control unit (5). The mud scraping plate (221) is parallel to the top plate (201), and in the initial state, the mud scraping plate (221) is attached to the lower surface of the top plate (201).

8. The crock opening device of claim 1, wherein The brush assembly (31) comprises a plurality of brush units (310), the brush units (310) between adjacent brush assemblies (31) are arranged in a circumferential direction of the roller 35, and the Nth brush unit (310) of the brush assembly (31) and the N+1th brush unit (310) of the adjacent brush assembly (31) extend in a spiral trajectory along the axial direction, forming a continuous spiral cleaning trajectory, wherein N is a natural number. The brush unit (310) comprises a plurality of brush strips (3100), and the heights of the brush strips (3100) are sequentially increased from the driving end to the driven end of the roller 35.

9. The crock opening device of claim 1, wherein The conveying mechanism (4) comprises a first conveying belt structure (40) and a second conveying belt structure (41) located at the outlet end of the first conveying belt structure (40), and the first conveying belt structure and the second conveying belt structure (41) are perpendicular to each other.

10. A method of using a pit opening device according to any one of claims 1 to 9, characterized in that, The method comprises the following steps: S1: moving positioning The device is moved to the target area of the pit by the walking unit (10) of the mobile positioning mechanism (1), and the pit mud digging device is driven to the specified coordinates by the double-axis mobile module, with a positioning accuracy controlled within ±0.5mm; S2: pit mud digging The bucket assembly of the pit mud digging device is started to cut the pit mud, and the cutting depth is self-adaptively adjusted according to the hardness of the pit mud; then the pin unit of the pit mud shaping assembly (21) is inserted into the pit mud on both sides to apply extrusion force, fixing the shape of the pit mud; and the mud scraping plate (221) of the pit mud separating assembly (22) is driven to slide along the inner wall of the bucket, pushing the pit mud out to the specified area; S3: bran cleaning The brush assembly (31) of the bran cleaning device is activated to rotate at a speed of 30-150rpm, with a spiral trajectory covering the surface of the pit mud, and the peeled bran is thrown into the collecting groove (32) by centrifugal force, realizing the separation of the bran and the pit mud; S4: dynamic adjustment The control unit (5) receives feedback data of the humidity sensor, the pressure sensor and the position encoder in real time; and based on the pit mud humidity, viscosity and positioning deviation, the cutting depth, brush speed and extrusion force parameters are dynamically adjusted to adapt the device to different working conditions; S5: cyclic operation After completing the single-point operation, the mobile positioning mechanism (1) drives the device to move to the next target position, and the steps S2 to S4 are repeated until the entire pit area is covered.

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