Intelligent grain suction machine

Abstract

This invention relates to an intelligent grain suction machine, comprising: a suction nozzle, a suction head, a front turning joint, a sealing sleeve, a rear turning joint, a three-way pipe, the top side of which is fixedly connected to the bottom side of the rear turning joint, the bottom side of which is connected downwards, and the front side of which is connected forwards; a dust collector, fixedly connected to the front side of the three-way pipe, forming a front filter layer of the three-way pipe; an airlock, fixedly connected to the bottom side of the three-way pipe; a fan assembly, fixedly connected to the dust collector; a belt conveyor, spaced below the airlock; a support frame, which serves as a support frame for the rear turning joint; a flat mounting frame, on which the support frame for the dust collector and the fan assembly is mounted; a frame, on which the flat mounting frame is mounted, and the bottom surface of which has multiple support legs; casters, mounted on the bottom surface of the support legs of the frame; and a power supply, mounted on the bottom surface of the frame. This invention utilizes the characteristics of light dust and heavy grains, allowing grains to separate downwards and dust to separate laterally, thus improving efficiency.

Description

Technical Field

[0001] This invention relates to the field of grain suction machines, and more particularly to an intelligent grain suction machine. Background Technology

[0002] For example, Chinese Utility Model Patent Publication No. CN 216225311 U discloses a grain suction machine with dust filtration function, including a base, a grain storage bin installed on one side of the top of the base, and an exhaust fan installed on the top of the grain storage bin. A dust collection box is installed on the side of the top of the base away from the grain storage bin, and a sealing sleeve connects the dust collection box and the grain storage bin. A grain suction pipe is installed on the top of the side of the dust collection box away from the sealing sleeve. The machine first allows the grain grains to pass through the dust collection box, and then transports the grain horizontally by a shaking screen plate, while vertically separating the dust. Since the dust itself is light, its position in the airflow should be higher than that of the heavier grain grains. If there are too many grain grains, they can easily clog the shaking screen plate. The grain grains are transported too slowly by shaking the screen plate, which can easily lead to grain accumulation on the screen plate, reducing the effectiveness of the exhaust fan below the screen plate and making it difficult to solve the dust removal problem. Summary of the Invention

[0003] The purpose of this invention is to provide an intelligent grain suction machine that addresses the issue of dust and grains easily separating into upper and lower layers in an airflow. The upper layer of dust is sucked away by a fan, while the lower layer of grains is unloaded by a closed air valve and transported away on a belt conveyor. Based on the characteristics of dust being lighter and grains being heavier, the grains are separated downwards while the dust is separated laterally, which is more efficient and can effectively improve the transport efficiency of grains.

[0004] To achieve the above objectives, an intelligent grain suction machine is employed, comprising: Suction nozzle; The grain suction head is fixedly connected to the rear side of the grain suction nozzle; The front turning joint is fixedly connected to the rear side of the suction head, and it has a front inlet section fixedly connected to the suction head and a rear outlet section that extends rearward. A sealing sleeve is fixedly connected to the rear outlet section of the front turning joint; The rear turning joint is fixedly connected to the rear side of the sealing sleeve; The top side of the three-way pipe is fixedly connected to the bottom side of the rear turning joint, the bottom side is connected downwards, and the front side is connected forwards. The dust collector is fixedly connected to the front side of the three-way pipe, forming the front filter layer of the three-way pipe; The airlock is fixedly connected to the bottom side of the tee pipe; The fan assembly is fixedly connected to the dust collector; The belt conveyor is spaced below the airlock; The support frame is installed as a support frame for the rear turning joint; A flat mounting frame on which the support frame for mounting the dust collector and fan assembly, as well as the support frame, are mounted; A frame on which the flat mounting bracket is mounted, the bottom surface of which has multiple legs; The casters are mounted on the bottom of the support legs of the vehicle frame.

[0005] The power supply is installed on the bottom of the frame.

[0006] With this structure, grains and dust share a common path: suction nozzle → suction head → front turning joint → sealing sleeve → rear turning joint → T-junction. Through this path of rising, moving laterally, and finally sinking, grains and dust of varying weights can undergo a process similar to being tossed up and falling, thus achieving stratification. Finally, the dust collector forms a filter layer to trap larger grain particles, allowing the upper dust to pass horizontally while the grain particles move downwards. The closed-circuit valve quickly unloads the grains, improving separation and grain collection efficiency. This way, the grain particles, after being quickly unloaded by the closed-circuit valve, will not clog the filter layer formed by the dust collector. Moreover, after the grain particles and dust are separated into layers, the grain particles will not completely clog the filter layer formed by the dust collector. This also ensures that the upper dust has sufficient airflow, and the lower grain particles, after being affected by the airflow, can fall more easily, thus effectively separating the grain particles and dust.

[0007] This invention addresses the issue of dust and grains easily separating into upper and lower layers in airflow. The upper layer of dust is sucked away by a fan, while the lower layer of grains is unloaded by a closed-loop device and transported away on a belt conveyor. Based on the characteristics of dust being lighter and grains being heavier, the grains are separated downwards, while the dust is separated laterally, which is more efficient and can effectively improve the transport efficiency of grains. Attached Figure Description

[0008] Figure 1 This is a schematic diagram of the structure of an embodiment.

[0009] Figure 2 This is a schematic diagram of the first joint.

[0010] Figure 3 This is a schematic diagram of the external structure of the front turning joint.

[0011] Figure 4 This is a schematic diagram of the internal structure of the front turning joint.

[0012] Figure 5 This is a schematic diagram of the structure after removing the second hydraulic cylinder sleeve.

[0013] Figure 6 This is a schematic diagram of the vehicle frame structure.

[0014] Figure 7 This is a magnified schematic diagram of a portion of the guide rail.

[0015] Figure 8 This is a schematic diagram of the installation structure of the airlock.

[0016] Figure 9 This is a schematic diagram of the installation structure of a Roots blower.

[0017] Figure 10 This is a schematic diagram of the omnidirectional wheel.

[0018] Figure 11 This is a schematic diagram of the installation structure of a tee pipe.

[0019] Figure 12 This is a schematic diagram of the grain suction machine in a non-working state.

[0020] Figure 13 This is a schematic diagram showing the installation locations of the first camera and the lidar.

[0021] Figure 14 This is a schematic diagram of the initial state of the guide rail.

[0022] Figure 15 This is a schematic diagram of the final state.

[0023] Figure 16 This is a schematic diagram of another working state of the grain suction machine.

[0024] Figure 17 This is a schematic diagram of the grain suction machine in the pitching state.

[0025] Figure 18 This is a schematic diagram of the sealing sleeve under tension.

[0026] Figure 19 This is a schematic diagram of the front turning joint rotating counterclockwise.

[0027] Figure 20 This is a schematic diagram of the forward turning joint rotating clockwise.

[0028] Figure 21 This is a schematic diagram of the structure at the inlet of the dust collector.

[0029] Figure 22 A schematic diagram of a structure for installing a filter screen at the inlet of a dust collector.

[0030] Figure 23 This is a schematic diagram illustrating the adjustment principle of the suction nozzle when the grain is placed in a ground-level cage.

[0031] Figure 24 This is a schematic diagram showing the location distribution of the independent compartments.

[0032] Figure 25 This is a schematic diagram showing the state without an air compressor installed.

[0033] Figure 26This is a schematic diagram showing the state after the air compressor is installed.

[0034] Figure 27 This is a schematic diagram of the installation of a hydraulic cylinder plunger.

[0035] Figure 28 This is a structural diagram of an independent compartment.

[0036] Figure 29 This is a schematic diagram of the hydraulic cylinder plunger in the retracted state.

[0037] Figure 30 This is a schematic diagram showing the installation location of the ash discharge pipe.

[0038] Figure 31 To and Figure 15 The corresponding front view.

[0039] Figure label: 1.1 Suction nozzle; 1.2 Suction head; 1.3 Front turning joint; 1.4 Sealing sleeve; 1.5 First hydraulic cylinder; 1.6 Second joint; 1.7 First joint; 1.8 Casters; 1.9 Second hydraulic cylinder sleeve; 1.10 Rear turning joint; 1.11 Support frame; 1.12 Flat mounting bracket; 1.13 Frame; 1.14 Joint support; 1.15 Third joint; 1.16 Guide wheel assembly; 1.17 Power supply; 2.1 First valve flow passage of hydraulic motor; 2.2 Second valve flow passage of hydraulic motor; 2.3 Hydraulic motor; 2.4 First worm gear reducer; 2.5 First articulated worm; 2.6 First articulated worm gear; 3.1 First camera; 3.2 Second camera; 3.3 Laser rangefinder; 3.4 LiDAR; 3.5 Third camera; 4.1 Second worm gear reducer; 4.2 First electric motor; 4.3 Worm gear; 4.4 Fixed plate radial stiffener; 4.5 Moving plate radial stiffener; 4.6 Fixed plate; 4.7 Moving plate; 4.8 Fixed plate inner mounting groove; 4.9 Moving plate outer grain suction channel; 4.10 Moving plate inner mounting groove; 4.11 Fixed plate outer grain suction channel; 5.1, First valve passage of the second hydraulic cylinder; 5.2, Second hydraulic cylinder; 5.3, Second valve passage of the second hydraulic cylinder; 5.4, Piston rod of the second hydraulic cylinder; 5.5, Piston rod of the first hydraulic cylinder; 5.6, First valve passage of the first hydraulic cylinder; 5.7, Second valve passage of the first hydraulic cylinder; 6.1 Guide rail; 7.1 Belt conveyor; 7.2 Third hydraulic cylinder; 8.1 Piston rod of the third hydraulic cylinder; 8.2 Flow passage of the first valve of the third hydraulic cylinder; 8.3 Flow passage of the second valve of the third hydraulic cylinder; 8.4 Airlock; 9.1 Dust collector; 9.2 Roots blower; 9.3 Belt drive motor; 10.1 Steering motor for the caster wheel; 10.2 Travel motor for the caster wheel; 11.1 Hydraulic pump; 11.2 T-pipe; 12.1 Conveyor belt docking nozzle; 13.1 Independent cabins; 14.1 Air compressor; 14.2 Hydraulic cylinder plunger; 14.3 Airflow piping with solenoid valve and check valve; 15.1 Lower deck compartments; 15.2 Ventilation ducts; 16.1 Ash discharge pipe; 16.2 Elevated floor. Detailed Implementation

[0040] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0041] In the description of this invention, it should be noted that the terms "center," "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. The terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance. Furthermore, unless otherwise explicitly specified and limited, the terms "installed," "connected," and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal communication of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0042] Example 1 like Figures 1-23 As shown, an intelligent grain suction machine includes: Suction nozzle 1.1; The grain suction head 1.2 is fixedly connected to the rear side of the grain suction nozzle 1.1; The front turning joint 1.3 is fixedly connected to the rear side of the grain suction head 1.2, and has a front inlet section fixedly connected to the grain suction head 1.2 and a rearwardly extended outlet section; The sealing sleeve 1.4 is fixedly connected to the rear outlet section of the front turning joint 1.3; The rear turning joint 1.10 is fixedly connected to the rear side of the sealing sleeve 1.4; The top side of the three-way pipe 11.2 is fixedly connected to the bottom side of the rear turning joint 1.10, the bottom side is connected downwards, and the front side is connected forwards; Dust collector 9.1 is fixedly connected to the front side of the three-way pipe 11.2, forming the front filter layer of the three-way pipe 11.2; The airlock device 8.4 is fixedly connected to the bottom side of the tee pipe 11.2; The fan assembly is fixedly connected to the dust collector 9.1; The belt conveyor 7.1 is spaced below the airlock 8.4; Support frame 1.11, which is installed as a support frame for the rear turning joint 1.10; A planar mounting bracket 1.12 on which the dust collector 9.1 and the fan assembly are mounted, along with the support bracket 1.11; The frame 1.13, on which the flat mounting bracket 1.12 is mounted, has multiple legs on its bottom surface; The 1.8 swivel wheel is mounted on the bottom of the support legs of the frame 1.13.

[0043] Power supply 1.17 is mounted on the bottom surface of frame 1.13.

[0044] With this structure, grains and dust share a common path: suction nozzle 1.1 → suction head 1.2 → front turning joint 1.3 → sealing sleeve 1.4 → rear turning joint 1.10 → three-way pipe 11.2; Through this path of rising, moving laterally, and finally sinking, grains and dust of varying weights can undergo a process similar to being tossed up and falling, thus achieving stratification. Finally, the dust collector 9.1 forms a filter layer to block larger grain particles, allowing the upper dust to pass horizontally while the grain particles move downwards. The closed air valve 8.4 quickly discharges the grain particles, improving separation and grain particle collection efficiency. In this way, after the grain particles are quickly discharged by the closed air valve 8.4, they will not clog the filter layer formed by the dust collector 9.1. Moreover, after the grain particles and dust are separated into layers, the grain particles will not completely clog the filter layer formed by the dust collector 9.1. This ensures that the upper dust has sufficient airflow, and the lower grain particles, affected by the airflow, also facilitate the downward movement of the grain particles, thus effectively separating the grain particles and dust.

[0045] Among them, the 1.8 omnidirectional wheels can turn around on the spot with zero radius, making the machine more flexible and saving space; Among them, the rear turning joint 1.10 can rotate 270°; In this embodiment, the blower assembly includes: a Roots blower 9.2 and a belt drive 9.3 that drives the Roots blower 9.2 via a transmission belt.

[0046] With this structure, the Roots blower 9.2 is driven by a belt drive 9.3. The belt drive has less impact on the blower, less noise, and makes belt maintenance and replacement convenient.

[0047] In this embodiment, the sealing sleeve 1.4 is in the form of a telescopic joint. Its front movable section is fixedly connected to the rear outlet section of the front turning joint 1.3, and its rear fixed section is connected to the rear turning joint 1.10. A leather sleeve 12.2 is provided between the rear fixed section of the sealing sleeve 1.4 and the rear turning joint 1.10. The rear outlet of the leather sleeve 12.2 is sealed to the rear of the rear turning joint 1.10, and the rear end of the rear fixed section of the sealing sleeve 1.4 is sealed to the front inlet of the leather sleeve 12.2. The leather sleeve 12.2 is made of cowhide and has a certain degree of tightness.

[0048] A second hydraulic cylinder sleeve 1.9 is provided parallel to and spaced below the sealing sleeve 1.4. The second hydraulic cylinder sleeve 1.9 is in the form of a telescopic joint. A support plate is installed on its front movable section and fixed to the section plate fixedly sleeved on the rear outlet section of the front turning joint 1.3. A support plate is installed on its rear fixed section and fixed to the section plate fixedly sleeved on the rear fixed section of the sealing sleeve 1.4. The support plate on the rear fixed section of the second hydraulic cylinder sleeve 1.9 is hinged to the joint support 1.14, which is fixed to the rear turning joint 1.10. The joint support 1.14 has a second joint 1.6 located above and a third joint 1.15 located below. The second joint 1.6 is hinged to the support plate on the rear fixed section of the second hydraulic cylinder sleeve 1.9. The support plate on the rear fixed section of the second hydraulic cylinder sleeve 1.9 is fixed with a second hydraulic cylinder 5.2, which is built into the second hydraulic cylinder sleeve 1.9. The end of the second hydraulic cylinder piston rod 5.4 of the second hydraulic cylinder 5.2 is fixed in the front movable section of the second hydraulic cylinder sleeve 1.9.

[0049] With this structure, the leather sleeve can adapt to deformation after sealing, without affecting the up and down rotation of the fixed section after the sealing sleeve 1.4, and can also ensure the seal. The second hydraulic cylinder sleeve 1.9 is driven to extend and retract by the second hydraulic cylinder 5.2, which in turn drives the sealing sleeve 1.4 to extend and retract, so as to extend the grain suction path and expand the grain suction range.

[0050] In this embodiment, a guide wheel assembly 1.16 is installed at the rear fixed section end of the second hydraulic cylinder sleeve tube 1.9. The guide wheel assembly 1.16 extends forward and a guide wheel pad is provided at the bottom of the extension section on the bottom surface of the front movable section of the second hydraulic cylinder sleeve tube 1.9.

[0051] With this structure, the rear fixed section end of the guide wheel assembly 1.16 and the second hydraulic cylinder sleeve tube 1.9 forms a double support for the front movable section of the second hydraulic cylinder sleeve tube 1.9, so that the front movable section of the second hydraulic cylinder sleeve tube 1.9 remains stable during extension and retraction.

[0052] In this embodiment, a first joint 1.7 is installed on the support frame 1.11. The first joint 1.7 includes a joint base and a first worm gear reducer 2.4 installed on the joint base. The bottom side of the rear turning joint 1.10 has a lower section tube that is fitted into the hollow output shaft of the first worm gear reducer 2.4 and then fixedly connected to the top side of the three-way pipe 11.2. A hydraulic motor 2.3 is installed at the input end of the first worm gear reducer 2.4.

[0053] With this structure, the first worm gear reducer 2.4 of the first joint 1.7 can drive the rear turning joint 1.10 to rotate, thereby adjusting the angle of the grain suction path.

[0054] In this embodiment, the base end of the first hydraulic cylinder 1.5 is hinged to the third joint 1.15; the output end of the first hydraulic cylinder 1.5 is hinged to the bottom node plate of the fixed section of the second hydraulic cylinder sleeve 1.9.

[0055] With this structure, the first hydraulic cylinder 1.5 raises the sealing sleeve 1.4 by raising the second hydraulic cylinder sleeve 1.9, thereby controlling the lifting and lowering of the grain suction path.

[0056] In this embodiment, the front turning joint 1.3 is a disc-shaped joint, comprising a fixed disc 4.6 and a movable disc 4.7, which are slidably sealed together with a sealing ring between them. The fixed disc 4.6 has an external suction channel 4.11 and an internal mounting groove 4.8. The movable disc 4.7 has an external suction channel 4.9 and an internal mounting groove 4.10. One end of the external suction channel 4.9 is connected to the front outlet section of the front turning joint 1.3, and the other end is connected to the external suction channel 4.11 of the fixed disc. The outlet end of the grain channel 4.11 is connected to the rear outlet section of the front turning joint 1.3; a radial fixed plate radial stiffener 4.4 is installed in the mounting groove 4.8 of the fixed plate, and a second worm gear reducer 4.1 and a first motor 4.2 are installed on the radial stiffener 4.4. The output end of the first motor 4.2 is connected to the input end of the second worm gear reducer 4.1, and the output end of the second worm gear reducer 4.1 is fixed on the radial moving plate radial stiffener 4.5. The moving plate radial stiffener 4.5 is installed in the mounting groove 4.10 of the moving plate.

[0057] With this structure, after the moving plate external suction channel 4.9 and the fixed plate external suction channel 4.11 are connected, the moving plate 4.7 can also feed grain to the fixed plate external suction channel 4.11 during rotation, without affecting the adjustment of the angle of the suction nozzle 1.1 and the suction head 1.2. Since the grain pile is piled on the ground cage, there will be corners where the airflow is difficult to reach or has a relatively small impact after the suction head 1.2 intersects with the ground cage. The first motor 4.2 and the second worm gear reducer 4.1 drive the moving plate 4.7 to rotate, which can ensure the airflow within the airflow range and make it easier to suck up the grains scattered in the angle range between the ground cage and the ground.

[0058] In this embodiment, a first camera 3.1 is installed at the rear end of the frame 1.13, a second camera 3.2 is installed at the front of the moving plate 4.7 of the front turning joint 1.3; a laser rangefinder 3.3 is installed on the side of the grain suction head 1.2, a lidar 3.4 is installed on the top of the dust collector 9.1; and a third camera 3.5 is installed on the side of the frame 1.13.

[0059] With this structure, lidar and cameras are used to collect scene information, and laser rangefinders are used to measure distances, providing sufficient information for the grain suction machine to determine whether the angle and distance of the grain suction path should be adjusted.

[0060] In this embodiment, a third hydraulic cylinder 7.2 and a belt conveyor 7.1 are installed in the middle of the frame 1.13. The rear base end of the third hydraulic cylinder 7.2 is fixed to the rear side of the frame 1.13, and the front output end of the third hydraulic cylinder 7.2 is fixed to the flat mounting bracket 1.12. The side plate of the belt conveyor 7.1 is mounted with a hanging rod that is attached to the bottom of the frame 1.13. A guide rail 6.1 is installed on the frame 1.13, and the guide rail 6.1 is slidably adapted to the flat mounting bracket 1.12.

[0061] With this structure, the third hydraulic cylinder 7.2 can push the planar mounting frame 1.12 to move as a whole, further expanding the grain suction range of the grain suction path.

[0062] In this embodiment, a conveyor belt docking nozzle 12.1 is installed on the rear side of the belt conveyor 7.1, and the conveyor belt docking nozzle 12.1 is connected to the tail end of the frame 1.13 by a hanger.

[0063] With this structure, the belt conveyor 7.1 connects to the conveyor belt of the corresponding fixed conveyor via the conveyor belt docking nozzle 12.1 to transfer grain grains to the conveyor line outside the grain suction machine.

[0064] In this embodiment, the dust collector 9.1 has four parallel independent compartments 13.1 at its top. A bottom compartment 15.1 is located below the portion of each independent compartment 13.1 near the Roots blower 9.2. The bottom compartment 15.1 spans across the independent compartments 13.1 and has a connecting hole between it and the independent compartments 13.1. A hydraulic cylinder plunger 14.2 is installed at the bottom of the bottom compartment 15.1 corresponding to the hole, allowing the plunger to extend into and retract to open the hole. A ventilation pipe 15.2 is also connected to the bottom compartment 15.1, and its bottom is connected to the Roots blower 9.2. A valve equipped with a solenoid valve and a check valve extends into each independent compartment 13.1. The airflow duct 14.3, equipped with a solenoid valve and a check valve, is connected to the air compressor 14.1 via a main pipe and multiple branch pipes (not shown in the figure) connected in parallel to the main pipe. The main pipe is connected to the air compressor 14.1, and the branch pipes are connected to the airflow duct 14.3 equipped with a solenoid valve and a check valve. The air compressor 14.1 is installed on the top of the belt drive motor 9.3. The independent compartment 13.1 has multiple through holes that connect to the filter element in the middle of the dust collector 9.1. The through holes are designed to match the tubular filter element (not shown in the figure). The dust collector 9.1 has a dust collection pipe 16.1 at the bottom. The dust collection pipe 16.1 is located in the overhead layer 16.2 and is connected to the upper edge of the dust collection pipe 16.1 by a funnel-shaped sloping panel (not shown in the figure) laid on the overhead layer.

[0065] With this structure, an air compressor 13.1 is installed above the belt drive 9.3 to provide pulse backflushing cleaning air source for the filter element of the dust collector 9.1; the Roots blower 9.2 serves as the power source for grain suction, creating a stable negative pressure in the grain suction channel composed of the grain suction head 1.2, the front turn switch 1.3, the sealing sleeve 1.4, the three-way pipe 11.2, the dust collector 9.1, and the Roots blower 9.2, causing dust to accumulate in the filter element of the dust collector 9.1. The filter element can be tubular or box-type. The tubular type consists of multiple elements, which are vertically mounted inside the dust collector 9.1, while the box-type type is arranged in layers inside the dust collector 9.1. The dust collector 9.1 has four independent sealed compartments 14.1. Each independent sealed compartment 14.1 is equipped with a hydraulic cylinder plunger 13.2 and an airflow pipeline 13.3 with a solenoid valve and a check valve on the negative pressure side near the Roots blower. The hydraulic cylinder plunger 13.2 is used to control the opening and closing of the communication channel between the Roots blower 9.2 and each compartment of the dust collector 9.1. One end of the airflow pipeline 13.3 with the solenoid valve and the check valve is connected to the air compressor 13.1, and the other end is directly connected to the corresponding independent compartment 13.1. The opening and closing of the solenoid valve is used to control the unidirectional flow and on / off control of the backflushing airflow.

[0066] Dust removal airflow path and working process: When the grain suction machine is working, the negative pressure airflow generated by the Roots blower 9.2 flows through the grain suction head 1.2, the front turning joint 1.3, the sealing sleeve 1.4, the three-way pipe 11.2, and the various compartments of the dust collector 9.1 before converging into the blower inlet, causing the dust to be longitudinally separated from the negative pressure airflow in the filter element. Simultaneously, the four hydraulic cylinder plungers 13.2 close each compartment sequentially (only one compartment closes at a time) at a certain extension and retraction frequency and timing, and are linked to the corresponding compartment's airflow pipeline 13.3 equipped with solenoid valves and check valves for coordinated control: when the hydraulic cylinder plunger 13.2 of a certain compartment extends and closes the compartment, that compartment is isolated from the negative pressure side of the Roots blower 9.2, and its corresponding airflow pipeline 13.3 equipped with solenoid valves and check valves opens synchronously, allowing the high-pressure airflow from the air compressor to flow smoothly. The compressed airflow is introduced into the independent compartment 13.1 in pulse form to perform back-blowing cleaning of the filter element in the middle of the dust collector 9.1. This causes the dust adhering to the filter element to settle into the funnel-shaped sloping panel laid on the bottom of the dust collector 9.1 and be discharged through the dust discharge pipe 16.2, avoiding filter element clogging and frequent replacement. The other three hydraulic cylinder plungers 13.2 in the bottom compartment 15.1 retract to keep the independent compartment 13.1 connected to the negative pressure side of the Roots blower 9.2, and the corresponding airflow pipeline 13.3 with solenoid valves and check valves is closed. This maintains the continuous operation of the negative pressure airflow of the Roots blower 9.2 and the material conveying system, realizing the synchronous operation of grain suction and dust removal, ensuring the continuous and stable operation of the dust removal system, and facilitating periodic manual dust removal and transfer.

[0067] in, Figure 12This is a non-working state, which helps save space. Figure 14 In the initial state of the guide rail, the upper part of the grain suction machine moves to... Figure 14 Once the robot is in the correct position, rotate it 180 degrees to begin operation. Figure 15 This is the final state, which allows the grain suction machine to suck up grain from a greater distance. This invention addresses the issue of dust and grains easily separating into upper and lower layers in airflow. The upper layer of dust is sucked away by a fan, while the lower layer of grains is unloaded by a closed-loop device and transported away on a belt conveyor. Based on the characteristics of dust being lighter and grains being heavier, the grains are separated downwards, while the dust is separated laterally, which is more efficient and can effectively improve the transport efficiency of grains.

[0068] Example 2 S1: Construct a vehicle-mounted grain suction channel that contains at least an upward path and a downward path, with the upward path preceding the downward path; S2: Construct a transverse diversion channel along the descending channel, and add a filter layer between the diversion channel and the descending channel to separate grain particles and dust, allowing dust particles to pass through the filter layer into the diversion channel; allowing grain particles to still pass through the descending channel; install a fan assembly at the end of the diversion channel; S3: A discharge airlock layer is added at the end of the descent channel for grain to pass through. The end of the descent channel is below the diversion channel. S4: A vehicle-mounted transport machine is installed below the unloading airlock layer to receive the falling grains; S5: The vehicle-mounted transport aircraft docks with the external fixed transport aircraft to transfer grains to the transport line constructed by the external fixed transport aircraft; The food intake channels in S1 that contain at least an upward path and a downward path include: Suction nozzle; The grain suction head is fixedly connected to the rear side of the grain suction nozzle; The front turning joint is fixedly connected to the rear side of the suction head, and it has a front inlet section fixedly connected to the suction head and a rear outlet section that extends rearward. A sealing sleeve is fixedly connected to the rear outlet section of the front turning joint; The rear turning joint is fixedly connected to the rear side of the sealing sleeve; The top side of the three-way pipe is fixedly connected to the bottom side of the rear turning joint, the bottom side is connected downwards, and the front side is connected forwards. The suction nozzle, suction head, and front turning joint form an upward path; the sealing sleeve forms a lateral movement path; and the rear turning joint and T-joint form a downward path. The diversion channels in S2 include: The dust collector is fixedly connected to the front side of the three-way pipe, forming a filter layer on the front side of the three-way pipe; the fan assembly is installed at the outlet of the dust collector. The unloading airlock layer in S3 is an airlock device, which is fixedly connected to the bottom side of the tee pipe; The vehicle-mounted transport in S4 is a belt conveyor attached to the vehicle frame, with intervals set below the airlock.

[0069] Example 3 After the grain suction machine enters the grain silo, it first collects environmental information through the first camera 3.1 and the lidar 3.4 to identify the distribution of the grain pile, determine the starting position of the grain suction and the overall operating range, and plan a continuous operating path from one end of the grain pile to the other. The grain suction machine is driven by the universal wheel steering motor 10.1 and the universal wheel travel motor 10.2 to move to one end of the grain pile and connect with the external fixed conveyor belt to form a grain transport channel.

[0070] The grain suction machine consists of a grain suction head, a sealing sleeve, a dust collector, an airlock, and a belt conveyor, among other conveying components, forming a grain suction channel.

[0071] When the grain suction machine sucks up grain, the Roots blower creates a pressure difference to generate power. The airlock opens and closes at a high frequency, causing the grain to be sucked in, pass through the suction head and the sealing sleeve, and finally fall onto the belt conveyor at the bottom of the grain suction machine.

[0072] When the airlock is closed, the pressure difference generated by the Roots blower creates the power to suck up the grain. Outside air is forced into the grain suction head, and then passes through the grain suction head, the sealing sleeve, and the dust collector.

[0073] When the airlock is opened, the sucked-in grain will fall downwards due to gravity and land on the belt conveyor at the bottom of the grain suction machine.

[0074] At the beginning of the grain suction operation, the grain suction machine analyzes the data collected by the first camera 3.1, the second camera 3.2, the third camera 3.5, the laser rangefinder 3.3, and the lidar 3.4, and sends control signals to the hydraulic pump to operate each hydraulic cylinder and the worm gear reducer to achieve precise positioning and attitude adjustment of the grain suction head.

[0075] Specifically, it includes: The hydraulic pump controls the inlet and outlet oil flow of the first valve channel 2.1 and the first distribution channel of the hydraulic motor, as well as the second valve channel 2.2 and the second distribution channel of the hydraulic motor, so that the hydraulic oil drives the hydraulic motor 2.3, thereby causing the first worm gear reducer 2.4 to drive the rear turning joint 1.10 to rotate around the first joint 1.7 in the horizontal plane, so that the grain suction head is aligned with the approximate location of the grain pile.

[0076] The hydraulic pump controls the inlet and outlet oil flow of the first valve flow channel 5.1 of the second hydraulic cylinder and the first distribution channel of the second hydraulic cylinder, as well as the inlet and outlet oil flow of the second valve flow channel 5.3 of the second hydraulic cylinder and the second distribution channel of the second hydraulic cylinder, driving the second hydraulic cylinder 5.2 to push the second hydraulic cylinder sleeve 1.9 to extend and retract, adjusting the distance between the grain suction head and the machine body.

[0077] The hydraulic pump controls the inlet and outlet oil flow of the first hydraulic cylinder's first valve flow channel 5.6 and the first hydraulic cylinder's first distribution channel; as well as the inlet and outlet oil flow of the first hydraulic cylinder's second valve flow channel 5.7 and the first hydraulic cylinder's second distribution channel; drives the first hydraulic cylinder 1.5 to rotate the second hydraulic cylinder sleeve 1.9 around the second joint 1.6 in pitch. Simultaneously, the first electric motor 4.2 drives the second worm gear reducer 4.1 to rotate the grain suction head around the disc-shaped joint. Through the coordinated movement of the above motions, the grain suction head is inserted into the grain pile at the predetermined depth with the optimal posture at an angle α to the vertical direction, and the Roots blower is started to begin the grain suction operation.

[0078] During the grain suction process, without moving the machine body, the grain suction machine coordinates the control of each hydraulic cylinder and the first joint 1.7 to make the grain suction head cover the cross section of the grain pile in front of the current station along an "S" shaped path.

[0079] The specific implementation method is as follows: The hydraulic pump alternately controls the inlet and outlet oil flow of the first valve channel 2.1 and the first distribution channel of the hydraulic motor, as well as the inlet and outlet oil flow of the second valve channel 2.2 and the second distribution channel of the hydraulic motor. This causes the hydraulic oil to drive the hydraulic motor to drive the first worm gear reducer 2.4, which in turn drives the rear turning joint 1.10 to reciprocate around the first joint 1.7, thus realizing the scanning motion of the grain suction head in the horizontal direction. At the same time, the hydraulic pump controls the first distribution channel of the second hydraulic cylinder and the first valve channel 5.1 of the second hydraulic cylinder, as well as the second distribution channel of the second hydraulic cylinder and the second hydraulic cylinder... The oil inlet and outlet of the second valve channel 5.3 of the pressure cylinder causes the second hydraulic cylinder 5.2 to push the second hydraulic cylinder sleeve 1.9 to extend and retract accordingly, coordinating with the horizontal rotational movement to cover a wider range; the hydraulic pump controls the oil inlet and outlet of the first hydraulic cylinder's first distribution channel and the first hydraulic cylinder's first valve channel 5.6; and the first hydraulic cylinder's second distribution channel and the first hydraulic cylinder's second valve channel 5.7, and through the first motor 4.2 controls the second worm gear reducer 4.1, to achieve fine-tuning of the pitch of the sealing sleeve and the grain suction head; maintaining the optimal insertion depth and posture of the grain suction head in the grain pile. Through the coordinated operation of the above movements, the grain suction head can efficiently clean the front fan-shaped area along an "S" shaped path while the machine body remains stationary.

[0080] After completing the operation at the current station, the grain suction machine controls the oil inlet and outlet of the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder, as well as the oil inlet and outlet of the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder, through the hydraulic pump. This drives the third hydraulic cylinder 7.2 to push the machine body along the guide rail relative to the base, moving it to the next station. At the new station, the above "S"-shaped path grain suction process is repeated until a full-coverage continuous operation from one end of the grain pile to the other is completed. During the operation, the system continuously analyzes the real-time data collected by each sensor and dynamically adjusts the motion parameters of each hydraulic cylinder, the first motor 4.2, and the first joint 1.7 to maintain the highest grain suction efficiency. For special angled areas such as corners and the base of the cage on the ground, the movement of each hydraulic cylinder, the first motor 4.2, and the first joint 1.7 is further coordinated to make the grain suction head close to the ground and move along the wall to suction grain, achieving thorough cleaning without dead angles.

[0081] This embodiment achieves full automation, high efficiency, and intelligence in the grain suction process through intelligent analysis of information collected by sensors, multi-joint collaborative motion control, and autonomous path planning, significantly improving operational efficiency and adaptability.

[0082] This grain suction machine's suction method is based on autonomous path planning. Without human intervention, it can identify the working environment in real time using a camera and laser rangefinder, autonomously determining a continuous operating strategy from one end of the grain pile to the other. The machine can flexibly and autonomously control the opening and closing of the hydraulic pump and valves, enabling the rotation and extension of the second hydraulic cylinder sleeve 1.9. It can also control the connection and return of oil in the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder, as well as the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder. This allows the machine body to move back and forth relative to the base through the force generated by the extension and retraction of the third hydraulic cylinder 7.2. Furthermore, it controls the universal wheel steering motor 10.1 and the universal wheel travel motor 10.2, allowing the entire grain suction machine to be adjusted via the universal wheels to connect with a fixed conveyor.

[0083] In non-operating mode, the sealing sleeve is retracted above the machine body. When needed by the operator, the processor of the grain suction machine analyzes the information collected in real time by various sensors and controls the hydraulic pump and the oil inlet and outlet of each valve. This controls the third hydraulic cylinder 7.2 and the first worm gear reducer 2.4 to translate the machine body and rotate the turning joint 1.10. Under the action of the second hydraulic cylinder 5.2, the second hydraulic cylinder sleeve 1.9 is extended and retracted to send the grain suction head to the approximate position. At the same time, the second worm gear reducer 4.1 and the first hydraulic cylinder 1.5 cause the grain suction head and the second hydraulic cylinder sleeve 1.9 to rotate up and down, adjusting the grain suction head to the appropriate angle and height obtained from the data collected by the second camera 3.2 and the laser rangefinder 3.3, thereby achieving the purpose of efficient grain suction.

[0084] In practical operation, the grain suction machine's suction method achieves coordinated movement of each hydraulic cylinder, the first electric motor 4.2, and the first joint 1.7 through precise control of the hydraulic and motor systems. This allows the suction head to thoroughly clean the area ahead along an "S"-shaped path without moving the machine body. After completing the work at one station, it is moved horizontally via the planar mounting frame 1.12 or connected to a fixed conveyor section by extending it to switch to the next station, forming a continuous operation cycle. To achieve thorough cleaning of corners and edges, this embodiment further utilizes sensors for real-time monitoring and linkage control with each hydraulic cylinder, the first electric motor 4.2, and the first joint 1.7, enabling the suction head to move close to the ground and avoid obstacles. This grain suction method integrates environmental perception, path planning, posture adjustment, motion execution, and working condition optimization into a closed-loop control system, achieving full-process intelligent operation of grain suction, significantly improving operational efficiency and adaptability, reducing manual labor intensity, and providing an efficient and reliable solution for modern grain warehouse cleaning.

[0085] Example 4 An intelligent grain suction machine, depending on the requirements of the grain suction situation, its system operation program can be divided into two situations: 1. When the grain suction machine enters the grain bin and begins to suction grain, due to the obstruction of the ground cage, the suction head should be more than 50 cm off the ground and kept at an angle α with the vertical direction for suction. The specific operation is as follows: Step 1: When the grain suction machine enters the grain silo, it first collects environmental information through the first camera 3.1, the third camera 3.5, and the lidar 3.4 to identify the distribution of the grain pile, determine the starting position of the grain suction and the overall operating range, and plan a continuous operating path from one end of the grain pile to the other. After the grain suction machine reaches the designated starting position, such as about 2 meters in front of the left corner of the wall, it docks with the external fixed conveyor via the tail conveyor belt and begins the grain suction operation. Step 2: The third camera 3.5 and the lidar 3.3 acquire the three-dimensional distribution information of the grain pile in front of the grain suction truck from the side, identify that there is a lot of grain piled up on the left side of the area on one side of the grain suction machine, and adjust the starting position of the turning joint 1.10 to the side of the left half of the grain suction machine. Subsequently, the processor issues an instruction: the hydraulic pump receives a signal, the first distribution channel and the first valve channel 2.1 of the hydraulic motor are connected to the oil inlet, and the second distribution channel and the second valve channel 2.2 of the hydraulic motor are connected to the oil return, so that the hydraulic oil drives the hydraulic motor to drive the first worm gear reducer 2.4 to rotate the second hydraulic cylinder sleeve 1.9 counterclockwise about 30 degrees around the first joint 1.7, still located in the left half, so that the entire sealing sleeve faces the left side of the grain pile; at the same time, the hydraulic pump controls the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder to be connected to the oil inlet, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to be connected to the oil return, and the piston rod 5.4 of the second hydraulic cylinder 5.2 extends outward, pushing the sealing sleeve to extend by about 1.2 meters, so that the grain suction head initially approaches the edge of the grain pile; Step 3: The hydraulic pump controls the first hydraulic cylinder's first distribution channel and the first valve flow channel 5.6 to connect to the return oil supply; the first hydraulic cylinder's second distribution channel and the second valve flow channel 5.7 are connected to the inlet oil supply, driving the piston rod 5.5 of the first hydraulic cylinder 1.5 to extend outward, causing the second hydraulic cylinder sleeve 1.9 to rise approximately 15 degrees around the second joint 1.6. Simultaneously, the first motor 4.1 drives the second worm gear reducer 4.1 to rotate the grain suction head downward around the disc-shaped joint, adjusting its angle α with the vertical direction to approximately 60 degrees. At this point, the grain suction head is suspended above the grain pile, ready for insertion. Step Four: The suction head begins to penetrate the grain pile: The hydraulic pump controls the first hydraulic cylinder's first distribution channel and first valve flow channel 5.6 to connect to the oil inlet, and the first hydraulic cylinder's second distribution channel and second valve flow channel to connect to the oil return, causing the piston rod 5.5 of the first hydraulic cylinder 1.5 to retract inward, and the second hydraulic cylinder sleeve 1.9 to slowly rotate downward around the second joint 1.6; simultaneously, the first electric motor 4.2 drives the second worm gear reducer 4.1 to fine-tune the angle of the suction head, and the laser rangefinder 3.3 provides real-time feedback on the distance between the suction head and the grain surface. When the tip of the suction head penetrates the grain pile to a depth of approximately 40 cm, the Roots blower and airlock start, and the grain suction begins; Step 5: In the initial grain suction stage, the system analyzes the grain suction efficiency through flow and pressure sensors and makes dynamic adjustments. For example, to increase output, the processor determines that the insertion depth needs to be slightly increased and the angle adjusted. Therefore, the hydraulic pump controls the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder to connect to the oil inlet, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to connect to the oil return, causing the piston rod 5.4 of the second hydraulic cylinder to extend another 0.1 meters. Simultaneously, the oil inlet and return of the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder, as well as the oil inlet and return of the second distribution channel and the second valve channel 5.7 of the first hydraulic cylinder, are alternately fine-tuned, adjusting the downward pressure position of the sealing sleeve. The first motor 4.2 also adjusts the angle of the grain suction head, ultimately maintaining the grain suction head at the "maximum output state," for example, an insertion depth of 45 cm and an angle of 55 degrees with the vertical direction, continuously operating.

[0086] Step Six: After completing the grain suction at the current position, the suction head needs to move horizontally to clean the adjacent area. At this time, without moving the machine body, an "S" shaped path cleaning is performed: the hydraulic pump controls the return oil of the first distribution channel and the first valve channel 2.1 of the hydraulic motor; the second distribution channel and the second valve channel 2.2 of the hydraulic motor are filled with oil, so that the hydraulic oil drives the hydraulic motor to drive the first worm gear reducer 2.4 to drive the rear turning joint 1.10 to rotate slowly counterclockwise about 15 degrees around the first joint 1.7, so that the rear turning joint 1.10 swings horizontally to the right; at the same time, in order to maintain the contact between the suction head and the grain pile, the hydraulic pump controls the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder; the oil inlet and return actions of the first hydraulic cylinder second distribution channel and the second valve channel 5.7 alternate, so that the second hydraulic cylinder sleeve 1.9 makes a small up and down compensation movement around the second joint 1.6, and the first motor 4.2 adjusts the angle of the suction head to maintain the optimal posture. During horizontal movement, if the laser rangefinder 3.3 detects a decrease in the height of the grain pile ahead, the hydraulic pump controls the first distribution channel of the second hydraulic cylinder and the first valve channel 5.1 of the second hydraulic cylinder to receive oil, while the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder return oil, causing the sealing sleeve to extend to compensate for the distance. If the height of the grain pile increases, the opposite operation is performed. In this way, under the coordinated control of the first hydraulic cylinder 1.5, the second hydraulic cylinder 5.2, the first worm gear reducer 2.4, and the first electric motor 4.2, the grain suction head traces a continuous "S" shaped trajectory on the surface of the grain pile, cleaning the grain in a fan-shaped area of ​​approximately 120 degrees in front of one side of the machine body.

[0087] Step 7: After completing all the grain suction tasks that the current grain suction machine can perform, the grain suction machine drives the universal wheels to the next work point through the universal wheel steering motor 10.1 and the universal wheel travel motor 10.2, and repeats steps 2 to 6 until the initial grain suction of the entire work area is completed.

[0088] Example 5 2. After the ground cage is manually removed, the grain suction head of the grain suction machine should be positioned close to and perpendicular to the ground to suction the grain. The specific operation is as follows: Step 1: After the manual removal of the ground cage in the work area, the grain suction machine needs to switch to ground-level cleaning mode to remove any remaining grain at the bottom. At this time, the second camera 3.2 and the laser rangefinder 3.3 capture ground information. The processor issues a command: the hydraulic pump receives the signal, the second distribution channel and the second valve flow channel 5.7 of the first hydraulic cylinder are connected to return oil, and the first distribution channel and the first valve flow channel 5.6 of the first hydraulic cylinder are connected to inlet oil, driving the piston rod 5.5 of the first hydraulic cylinder 1.5 to retract rapidly inward, causing the sleeve 1.9 of the second hydraulic cylinder to rotate significantly downward around the second joint 1.6 until the suction nozzle is nearly parallel to the ground; simultaneously, the first motor 4.2 drives the second worm gear reducer 4.1 to rotate the suction head to a state nearly perpendicular to the ground. Step Two: The suction head begins to insert into the grain pile close to the ground: The hydraulic pump controls the first distribution channel of the second hydraulic cylinder and the first valve channel 5.1 of the second hydraulic cylinder to be connected to the oil inlet, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to be connected to the oil return, so that the sealing sleeve is slightly extended, sending the suction head to the ground. Then, the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder and the second distribution channel and the second valve channel 5.7 of the first hydraulic cylinder are adjusted by the oil inlet and return to make the suction head insert into the shallow surface of the grain pile, for example, to a depth of 10 cm, in an attitude parallel to the ground. Step 3: As the ground sweeping nears completion, the grain suction machine begins its fine-tuning operation along the corner of the wall. Taking the left corner as an example: The hydraulic pump controls the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder to connect to the return oil, and the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder to connect to the inlet oil, driving the piston rod 8.1 of the third hydraulic cylinder 7.2 to extend outward, causing the flat mounting bracket 1.12 to slide forward about 0.5 meters along the guide rail relative to the frame, bringing the suction head closer to the corner; simultaneously, the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder connect to the inlet oil, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder connect to the return oil, causing the sealing sleeve to extend about 0.8 meters, delivering the suction head to the base of the corner.

[0089] Step Four: The suction head begins to move along the wall for cleaning: The hydraulic pump controls the first distribution channel and the first valve channel 2.1 of the hydraulic motor to be connected to the oil inlet, and the second distribution channel and the second valve channel 2.2 of the hydraulic motor to be connected to the oil return. This causes the hydraulic oil to drive the hydraulic motor, which in turn drives the first worm gear reducer 2.4 to slowly rotate the second hydraulic cylinder sleeve 1.9 counterclockwise around the first joint 1.7. This causes the second hydraulic cylinder sleeve 1.9 to move the suction head along the wall, for example, from north to south. During the movement, the laser rangefinder 3.3 uses a two-dimensional dual-laser rangefinder to monitor the distance between the suction head and the wall in real time. The rotation speed is controlled by fine-tuning the oil inlet and return speeds of the first distribution channel and the first valve channel 2.1 of the hydraulic motor, as well as the oil inlet and return speeds of the second distribution channel and the second valve channel 2.2 of the hydraulic motor, maintaining a distance of approximately 5 cm between the suction head and the wall. Meanwhile, in order to adapt to possible ground undulations, the hydraulic pump controls the first hydraulic cylinder's first distribution channel and the first hydraulic cylinder's first valve flow channel 5.6 to alternately operate with the first hydraulic cylinder's second distribution channel and the first hydraulic cylinder's second valve flow channel 5.7, causing the second hydraulic cylinder sleeve 1.9 to move up and down slightly around the second joint 1.6, ensuring that the grain suction nozzle is always almost touching the ground; the first motor 4.2 also simultaneously fine-tunes the angle of the grain suction head to maintain the optimal posture. Step 5: After cleaning a section of the wall corner, for example, 2 meters, the hydraulic pump controls the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder to connect for oil inlet, and the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder to connect for oil return, causing the piston rod 8.1 of the third hydraulic cylinder to retract and the machine body to slide backward. At the same time, the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder connect for oil return, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder connect for oil inlet, causing the sealing sleeve to contract and pulling the grain suction head back, preparing for the next round of cleaning.

[0090] Step Six: Through a cyclical coordination of "sliding the machine body forward and backward → extending and retracting the sealing sleeve → horizontal rotation of the rear turning joint and pitch fine adjustment of the second hydraulic cylinder sleeve," the grain suction head can create a ground-hugging cleaning path along the corner of the wall, covering the entire wall area, ensuring no grain residue remains. During the entire process, if the camera detects a thick layer of grain in a particular area, the processor will issue instructions to adjust the cleaning speed or repeat the cleaning cycle in that area until it is completely clean.

[0091] The intelligent grain suction method provided in this embodiment organically combines multi-sensor data fusion technology with the coordinated control of the rear turning joint and the second hydraulic cylinder sleeve, realizing a complete, efficient, and highly adaptable autonomous operation solution. This solution can automatically plan the operation path according to the grain silo environment. By precisely controlling the coordinated actions of each hydraulic cylinder and worm gear reducer, the grain suction head can complete a wide-area, continuous cleaning operation without moving the main body of the machine. During the specific operation of the grain suction machine, the hydraulic pump controls the connection of the first distribution channel and the first valve channel 2.1 of the hydraulic motor, and the connection of the second distribution channel and the second valve channel 2.2 of the hydraulic motor for oil inlet and outlet. This allows the hydraulic oil to drive the hydraulic motor, which in turn drives the first worm gear reducer 2.4 to move the first joint 1.7, achieving the horizontal rotation of the second hydraulic cylinder sleeve 1.9, enabling the grain suction head to cover a wide operating range in the plane. The hydraulic pump controls the connection of the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder for oil inlet and outlet, and the connection of the second distribution channel and the second valve channel 5.2 of the second hydraulic cylinder for oil inlet and outlet. The hydraulic cylinder's second valve channel 5.3 is connected to allow oil to enter and exit, and the second hydraulic cylinder 5.2 drives the sealing sleeve to achieve precise extension and retraction, adjusting the working distance of the suction head. The hydraulic pump controls the connection of the first hydraulic cylinder's first distribution channel and the first hydraulic cylinder's first valve channel 5.6 to allow oil to enter and exit, as well as the connection of the first hydraulic cylinder's second distribution channel and the first hydraulic cylinder's second valve channel 5.7 to allow oil to enter and exit. The first hydraulic cylinder 1.5 drives the second joint 1.6 to achieve the pitching movement of the second hydraulic cylinder sleeve 1.9, adjusting the suction height. The first electric motor 4.2 drives the second worm gear reducer 4.1 to achieve independent adjustment of the suction head's own angle. This precise coordination of joint movements allows the suction head to insert into the grain pile with an optimized posture and depth, always maintaining the best suction efficiency.

[0092] More importantly, the grain suction method proposed in this embodiment realizes an "S"-shaped path cleaning strategy under a fixed station position. By alternately controlling the oil inlet and return of the first distribution channel and the first valve channel 2.1 of the hydraulic motor, as well as the oil inlet and return of the second distribution channel and the second valve channel 2.2 of the hydraulic motor, the second hydraulic cylinder sleeve 1.9 rotates horizontally back and forth. This, combined with the oil inlet and return of the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder, as well as the oil inlet and return of the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder, controls the extension and retraction of the sealing sleeve, as well as the oil inlet and return of the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder, and the oil inlet and return of the first valve channel and the second valve channel 5.7 of the first hydraulic cylinder. This controls the fine adjustment of the pitch movement of the second hydraulic cylinder sleeve 1.9, allowing the grain suction head to complete the full coverage of the front fan-shaped area without moving the machine body. After cleaning a station is completed, the oil inlet and return of the third hydraulic cylinder 7.2 are controlled by the first distribution channel and the first valve flow channel 8.2 of the third hydraulic cylinder, as well as the oil inlet and return of the third hydraulic cylinder 7.3, thereby controlling the sliding of the machine body along the guide rail by the first distribution channel and the first valve flow channel 8.2 of the third hydraulic cylinder, or by controlling the rotation of the universal wheel by the universal wheel steering motor 10.1 and the universal wheel travel motor 10.2, so as to achieve smooth switching of work stations and form a continuous work cycle.

[0093] When cleaning corners and edge areas, the method of this invention demonstrates excellent adaptability. Oil return is connected through the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder; oil inlet is connected through the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder, causing the machine body to slide forward. Oil inlet is connected through the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder, and oil return is connected through the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder, causing the sealing sleeve to extend and deliver the grain suction head to the base of the corner; this is further coordinated with the first distribution channel and the first valve channel 2 of the hydraulic motor. 1. Connect the inlet and outlet oil, as well as the second distribution channel and the second valve channel of the hydraulic motor. 2.2 Connect the inlet and outlet oil to control the horizontal rotation of the second hydraulic cylinder sleeve 1.9; the first distribution channel and the first valve channel of the first hydraulic cylinder. 5.6 Connect the inlet and outlet oil, the second distribution channel and the second valve channel of the first hydraulic cylinder. 5.7 Control the pitch movement of the second hydraulic cylinder sleeve 1.9, and the first motor 4.2 controls the angle adjustment of the grain suction head, realizing the grain suction head moving along the wall and close to the ground, completely eliminating the blind spot of the traditional grain suction machine.

[0094] Compared to traditional grain suction methods, this embodiment offers significant advantages: intelligent path planning and multi-joint collaborative control achieve full automation of the grain suction process, greatly reducing the intensity of manual intervention; the "S"-shaped cleaning strategy at fixed positions and the continuous position switching mechanism improve operational efficiency and coverage; precise control over corner areas enables thorough cleaning without blind spots; and real-time sensor monitoring and dynamic parameter adjustment ensure the safety and stability of the operation. These technological advantages collectively constitute the core value of this invention in practical applications: saving labor costs, improving operational efficiency, and expanding the scope of application.

[0095] Example 6 Automated cleaning operations in standard grain silos: Taking a standard rectangular grain silo as an example, the grain is mainly piled up in the middle of the silo, with some residual grain in the corners and edges, and initially there are ground-level cleaning cages. This embodiment specifically describes how the grain suction machine can achieve the complete cleaning process from one side of the silo to the completion of the entire silo cleaning.

[0096] The grain suction machine first moves autonomously to the entrance of the grain silo using its casters. Then, the system scans and analyzes the silo environment using first camera 3.1, second camera 3.2, third camera 3.5, and LiDAR 3.4 to obtain three-dimensional information about the grain distribution. Based on the scan results, the system plans a cleaning path that starts from the left side of the grain silo and gradually advances along the wall to the right. The grain suction machine, driven by the caster steering motor 10.1 and caster travel motor 10.2, moves its casters to the starting point on the left side of the grain silo, where it connects with the external fixed conveyor to form a continuous conveying channel.

[0097] Phase 1: Cleaning operations while the cage is on the ground; Once the grain suction machine is in position, the hydraulic pump receives a control signal and begins to execute the pre-positioning action. First, the hydraulic pump controls the first distribution channel and the first valve passage 2.1 of the hydraulic motor to connect to the return oil, and the second distribution channel and the second valve passage 2.2 of the hydraulic motor to connect to the inlet oil. This causes the hydraulic oil to drive the hydraulic motor, which in turn drives the first worm gear reducer to rotate the first joint 1.7 clockwise by 40 degrees, so that the sealing sleeve faces the center area of ​​the grain pile. Simultaneously, the hydraulic pump controls the first distribution channel and the first valve passage 5.1 of the second hydraulic cylinder to connect to the inlet oil, and the second distribution channel and the second valve passage 5.3 of the second hydraulic cylinder to connect to the return oil. This drives the piston rod 5.4 of the second hydraulic cylinder 5.2 to extend outward by 1.5 meters, so that the sealing sleeve extends to its maximum working length. Next, the hydraulic pump controls the first hydraulic cylinder's first distribution channel and the first hydraulic cylinder's first valve flow channel 5.6 to connect to return oil, and the first hydraulic cylinder's second distribution channel and the first hydraulic cylinder's second valve flow channel 5.7 to connect to inlet oil, driving the first hydraulic cylinder piston rod 5.5 in the first hydraulic cylinder 1.5 to extend outward, causing the second hydraulic cylinder sleeve 1.9 to lift upward by 20 degrees around the second joint 1.6; at the same time, the first motor 4.2 drives the second worm gear reducer 4.1 to make the grain suction head rotate downward around the disc-shaped joint, adjusting its angle α with the vertical direction to 55 degrees.

[0098] When the suction head is suspended approximately 60 cm above the grain pile, the downward insertion process begins. The hydraulic pump controls the first hydraulic cylinder's first distribution channel and first valve passage 5.6 to slowly introduce oil, while the first hydraulic cylinder's second distribution channel and second valve passage 5.7 slowly return oil, causing the piston rod 5.5 of the first hydraulic cylinder 1.5 to gradually retract, and the second joint 1.6 of the second hydraulic cylinder sleeve to slowly rotate downwards. Simultaneously, the first electric motor 4.2 fine-tunes the suction head angle, and the laser rangefinder 3.3 monitors the insertion depth in real time. When the suction head has inserted 35 cm into the grain pile, the Roots blower starts to begin the suction operation.

[0099] During the grain suction process, flow and pressure sensors continuously monitor the operating status. When the processor detects a decrease in suction efficiency, it automatically adjusts the operating parameters. For example, when the suction head needs to penetrate deeper into the grain pile, the hydraulic pump controls the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder to connect to the oil inlet, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to connect to the oil return, causing the piston rod 5.4 of the second hydraulic cylinder to extend another 0.2 meters; simultaneously, the hydraulic pump controls the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder to alternate with the second distribution channel of the first hydraulic cylinder, causing the sleeve 1.9 of the second hydraulic cylinder to slightly depress; the first motor 4.2 coordinates to adjust the angle of the suction head to 50 degrees. Through this dynamic adjustment, the suction head is always maintained in the optimal working state.

[0100] After completing the cleaning of the current position, the suction head begins to move horizontally. The hydraulic pump controls the hydraulic motor's first distribution channel and first valve channel 2.1 to connect to the inlet oil supply, and the hydraulic motor's second distribution channel and second valve channel 2.2 to connect to the return oil supply. The hydraulic oil drives the hydraulic motor, thereby driving the first worm gear reducer 2.4 to rotate the first joint 1.7 clockwise by 10 degrees, causing the second hydraulic cylinder sleeve 1.9 to swing to the left. During the swinging process, the hydraulic pump controls the first distribution channel and first valve channel 5.6 of the first hydraulic cylinder to connect to the inlet and return oil supply, and the second distribution channel and second valve channel 5.7 of the first hydraulic cylinder to connect to the inlet and return oil supply alternately for height compensation. The hydraulic pump controls the first distribution channel and second valve channel 5.1 of the second hydraulic cylinder to connect to the inlet and return oil supply, and the second distribution channel and second valve channel 5.3 of the second hydraulic cylinder to connect to the inlet and return oil supply, coordinating to adjust the length and form a complete "S"-shaped cleaning path. When the rotation angle of the second hydraulic cylinder sleeve 1.9 reaches its limit, the hydraulic pump controls the first distribution channel and the first valve flow channel 8.2 of the third hydraulic cylinder to connect to return oil; the second distribution channel and the second valve flow channel 8.3 of the third hydraulic cylinder connect to supply oil, driving the piston rod 8.1 of the third hydraulic cylinder 7.2 to extend outward by 0.8 meters, so that the flat mounting bracket slides forward along the guide rail, expanding the working range.

[0101] Phase Two: Thorough cleaning after the removal of the floor cage; After the ground cage is manually removed, the system switches to ground-level cleaning mode. The hydraulic pump controls the second distribution channel and the second valve flow channel 5.7 of the first hydraulic cylinder to connect to the return oil; the first distribution channel and the first valve flow channel 5.6 of the first hydraulic cylinder are connected to the inlet oil, driving the piston rod 5.5 of the first hydraulic cylinder 1.5 to retract rapidly, causing the sleeve of the second hydraulic cylinder to rotate significantly downward to a horizontal position. At the same time, the first motor 4.2 drives the second worm gear reducer 4.1 to rotate the grain suction head to a vertical position. After the grain suction head is close to the ground and inserted into the shallow layer of the grain pile, it begins to perform fine cleaning along the corners of the wall.

[0102] During the corner cleaning process, the hydraulic pump controls the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder to connect to the return oil, and the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder to connect to the inlet oil, causing the machine body to slide forward. At the same time, it controls the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder to connect to the inlet oil, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to connect to the return oil, causing the sealing sleeve to extend and sending the grain suction head to the root of the corner. The hydraulic pump controls the first distribution channel and the first valve channel 2.1 of the hydraulic motor to connect to the inlet and return oil, and the second distribution channel and the second valve channel 2.2 of the hydraulic motor to connect to the inlet and return oil, causing the sleeve (1.9) of the second hydraulic cylinder to move slowly along the wall. The laser rangefinder 3.3 adopts a two-dimensional laser rangefinder with an additional laser head to monitor the distance between the grain suction head and the wall in real time and adjust automatically. After cleaning a section of the wall, the hydraulic pump controls the first distribution channel and the first valve channel 8.2 of the third hydraulic cylinder to connect to the oil inlet, and the second distribution channel and the second valve channel 8.3 of the third hydraulic cylinder to connect to the oil return, causing the machine body to slide backward. At the same time, it controls the first distribution channel and the first valve channel 5.1 of the second hydraulic cylinder to connect to the oil return, and the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder to connect to the oil inlet, causing the sealing sleeve to contract, preparing for the next cleaning cycle.

[0103] Example 7 Adaptive cleaning operation for irregular grain piles: In grain silos with uneven grain distribution, the intelligent grain suction method in this embodiment demonstrates stronger adaptability. After the grain suction machine enters the grain silo, it uses multi-sensor fusion technology to create a three-dimensional model of the grain pile, identifying high-density and low-density areas. Based on the model, the system plans an optimized path that prioritizes cleaning the high-density areas.

[0104] When cleaning high-density areas, the system automatically adjusts its operating parameters: the hydraulic pump controls the first distribution channel and the first valve passage 5.1 of the second hydraulic cylinder to be connected to the inlet oil supply, and the second distribution channel and the second valve passage 5.3 of the second hydraulic cylinder to be connected to the return oil supply, causing the sealing sleeve to extend to its maximum length; the hydraulic pump controls the first distribution channel and the first valve passage 5.6 of the first hydraulic cylinder to be connected to the return oil supply, and the second distribution channel and the second valve passage 5.7 of the first hydraulic cylinder to be connected to the inlet oil supply, causing the second hydraulic cylinder sleeve to be raised to a higher position; the first motor 4.2 drives the second worm gear reducer 4.1 to adjust the grain suction head to the optimal angle. When cleaning low-density areas, the system correspondingly reduces its workload and lowers energy consumption.

[0105] Especially when encountering voids or gaps in the grain pile, the laser rangefinder 3.3 will detect depth changes in advance, and the processor will immediately adjust its strategy: the hydraulic pump controls the first hydraulic cylinder's first distribution channel and the first hydraulic cylinder's first valve flow channel 5.6 to connect to the oil inlet, and the first hydraulic cylinder's second distribution channel and the first hydraulic cylinder's second valve flow channel 5.7 to connect to the oil return, causing the second hydraulic cylinder's sleeve to quickly descend; simultaneously, the hydraulic pump controls the second hydraulic cylinder's first distribution channel and the second hydraulic cylinder's first distribution channel 5.1 to connect to the oil return, and the second hydraulic cylinder's second distribution channel and the second hydraulic cylinder's second valve flow channel 5.3 to connect to the oil inlet, causing the sealing sleeve to contract and preventing the grain suction head from hitting the bottom of the silo. This rapid response mechanism ensures the safety and continuity of operations.

[0106] Example 8 When operating in confined spaces such as corners of grain silos or narrow passages, the grain suction machine activates a special operating mode. First, the hydraulic pump controls the first distribution channel and the first valve passage 8.2 of the third hydraulic cylinder to connect to return oil, and the second distribution channel and the second valve passage 8.3 of the third hydraulic cylinder to connect to inlet oil, allowing the flat mounting bracket to slide forward to its maximum extent so that the second hydraulic cylinder sleeve can reach a further position. Next, the hydraulic pump controls the first distribution channel and the first valve passage 5.1 of the second hydraulic cylinder to connect to inlet oil, and the second distribution channel and the second valve passage 5.3 of the second hydraulic cylinder to connect to return oil, causing the sealing sleeve to extend. The hydraulic pump also controls the first distribution channel and the first valve passage 2.1 of the hydraulic motor to connect to both inlet and return oil, and the second distribution channel and the second valve passage 2.2 of the hydraulic motor to connect to both inlet and return oil, causing the second hydraulic cylinder sleeve to rotate to the appropriate angle.

[0107] In confined spaces, the suction head employs a small-amplitude reciprocating motion mode: the hydraulic pump controls the oil inlet and return of the first distribution channel and the first valve channel 2.1 of the hydraulic motor, as well as the oil inlet and return of the second distribution channel and the second valve channel 2.2 of the hydraulic motor, causing the second hydraulic cylinder sleeve to rotate reciprocally within a small angle range; simultaneously, the hydraulic pump controls the oil inlet and return of the first distribution channel and the first valve channel of the second hydraulic cylinder, as well as the oil inlet and return of the second distribution channel and the second valve channel 5.3 of the second hydraulic cylinder, to fine-tune the extension and retraction length of the sealing sleeve; the hydraulic pump controls the oil inlet and return of the first distribution channel and the first valve channel 5.6 of the first hydraulic cylinder, as well as the oil inlet and return of the second distribution channel and the second valve channel 5.7 of the first hydraulic cylinder, thereby controlling the pitch angle of the second hydraulic cylinder sleeve. This precise control mode ensures operational efficiency and safety within confined spaces.

[0108] As can be seen from the above embodiments, the intelligent grain suction method of the present invention can adapt to various operating environments and conditions. Whether it is automated cleaning of standard grain silos, adaptive operation of irregular grain piles, or special operations in confined spaces, the system can achieve efficient, safe, and intelligent grain suction operations through multi-sensor data fusion and multi-joint collaborative control. Technicians can adjust control parameters and operating strategies according to actual needs to fully leverage the technical advantages of the present invention, achieving the technical effects of saving manpower, improving efficiency, and expanding the operating range.

[0109] Example 9 The guide rail structure between the machine body and the base is driven by a hydraulic cylinder, allowing the machine body to move horizontally forward or backward relative to the base while the base remains stationary, thereby expanding the grain suction range. When the hydraulic pump receives a signal, the first distribution channel and the first valve passage 8.2 of the third hydraulic cylinder are connected to return oil, and the second distribution channel and the second valve passage 8.3 of the third hydraulic cylinder are connected to inlet oil. This pushes the piston rod 8.1 of the third hydraulic cylinder outward, causing the upper part of the machine to translate relative to the bottom of the machine along the direction of movement of the piston rod 8.1. Conversely, the first distribution channel and the first valve passage 8.2 of the third hydraulic cylinder are connected to inlet oil, and the second distribution channel and the second valve passage 8.3 of the third hydraulic cylinder are connected to return oil, thus pressing the piston rod 8.1 of the third hydraulic cylinder inward, causing the upper part of the machine to translate relative to the frame along the direction of movement of the piston rod 8.1. The second hydraulic cylinder sleeve can rotate via the first joint 1.7 connected to the rear turning joint, allowing for flexible adjustment of the grain suction head position during operation and retraction above the machine body to save space during non-operational periods. The hydraulic pump receives a signal, connecting the first distribution channel and the first valve passage 2.1 of the hydraulic motor to return oil, and the second distribution channel and the second valve passage 2.2 of the hydraulic motor to receive oil. The hydraulic oil drives the hydraulic motor to rotate clockwise, thereby causing the first worm gear reducer 2.4 to drive the first joint 1.7 to rotate clockwise. Alternatively, the first distribution channel and the first valve passage 2.1 of the hydraulic motor can be connected to receive oil, while the second distribution channel and the second valve passage 2.2 of the hydraulic motor can be connected to return oil. The hydraulic oil drives the motor to rotate, thereby causing the first worm gear reducer 2.4 to drive the first joint 1.7 to rotate counterclockwise. The middle section of the second hydraulic cylinder sleeve can be rotated up and down via the second joint 1.6 to change the angle and distance from the ground of the suction nozzle. The hydraulic pump receives a signal, the first distribution channel and the first valve passage 5.6 of the first hydraulic cylinder are connected to return oil, and the second distribution channel and the second valve passage 5.7 of the first hydraulic cylinder are connected to inlet oil. The liquid pushes the piston rod 5.5 of the first hydraulic cylinder outward, thereby pushing the second hydraulic cylinder sleeve 1.9 upward to rotate around the second joint 1.6; the first distribution channel and the first valve passage 5.6 of the first hydraulic cylinder are connected to inlet oil, and the second distribution channel and the second valve passage 5.7 of the first hydraulic cylinder are connected to return oil. The liquid presses the piston rod of the first hydraulic cylinder inward, thereby causing the second hydraulic cylinder sleeve to rotate downward around the second joint 1.6. The sealing sleeve can be extended or retracted via a hydraulic cylinder, thereby changing the distance of the grain suction nozzle. When the hydraulic pump receives a signal, the first distribution channel and the first valve passage 5.1 of the second hydraulic cylinder are connected to the oil inlet, and the second distribution channel and the second valve passage 5.3 of the second hydraulic cylinder are connected to the oil return. The fluid pushes the piston rod 5.4 of the second hydraulic cylinder outward, causing the movable section in the sealing sleeve to begin axial movement outward, thus elongating the sealing sleeve. Conversely, when the first distribution channel and the first valve passage 5.1 of the second hydraulic cylinder are connected to the oil return, and the second distribution channel and the second valve passage 5.3 of the second hydraulic cylinder are connected to the oil inlet, the fluid pushes the piston rod 5.4 of the second hydraulic cylinder inward, causing the movable section of the sealing sleeve to begin axial movement inward, thus contracting the sealing sleeve. The suction nozzle can rotate up and down via a disc-shaped joint to change its angle with the vertical direction. This joint consists of two main parts: a fixed disc fixedly connected to the sealing sleeve, and a movable disc fixedly connected to the suction head. The two rotate relative to each other via a second worm gear reducer 4.1 driven by a first electric motor 4.2. The motor is fixed to the fixed disc, and the axis of the worm it drives is parallel to the axis of the sealing sleeve. The worm gear output shaft, meshing with the worm, is fixedly connected to the movable disc. Therefore, when the first electric motor 4.2 starts, its rotational motion is converted into the pitching and oscillation of the movable disc, along with the suction head and the suction channel passing through it, relative to the fixed disc through the worm gear transmission, thereby precisely controlling the angle α between the suction nozzle and the vertical direction. Throughout the process, the motor, worm, and its supporting housing remain stationary on the fixed disc side; only the worm gear output shaft and the movable disc side rotate.

[0110] In the caster wheel, the caster wheel steering motor 10.1 can control the direction of the caster wheel by changing the rotation direction and angle and by meshing the gears; the caster wheel travel motor 10.2 can control the travel of the caster wheel.

[0111] The above description, in conjunction with specific preferred embodiments, provides a further detailed explanation of the present invention. It should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, several equivalent substitutions or obvious modifications can be made without departing from the concept of the present invention, and all such modifications, achieving the same performance or purpose, should be considered within the scope of protection of the present invention.

Claims

1. An intelligent grain suction machine, characterized in that... include: Suction nozzle (1.1); The grain suction head (1.2) is fixedly connected to the rear side of the grain suction nozzle (1.1); The front turning joint (1.3) is fixedly connected to the rear side of the suction head (1.2), and has a front inlet section fixedly connected to the suction head (1.2) and a rearwardly extended outlet section; A sealing sleeve (1.4) is fixedly connected to the rear outlet section of the front turning joint (1.3); The rear turning joint (1.10) is fixedly connected to the rear side of the sealing sleeve (1.4); The top side of the three-way pipe (11.2) is fixedly connected to the bottom side of the rear turning joint (1.10), the bottom side is connected downwards, and the front side is connected forwards; The dust collector (9.1) is fixedly connected to the front side of the three-way pipe (11.2) to form the front filter layer of the three-way pipe (11.2); The airlock (8.4) is fixedly connected to the bottom side of the tee pipe (11.2); The fan assembly is fixedly connected to the dust collector (9.1); The belt conveyor (7.1) is spaced below the airlock (8.4); Support frame (1.11), which is installed as a support frame for the rear turning joint (1.10); A flat mounting bracket (1.12) on which the dust collector (9.1) and the fan assembly are mounted, as well as the support bracket (1.11). A frame (1.13) on which the flat mounting bracket (1.12) is mounted, the bottom surface of which has multiple legs; The caster wheel (1.8) is mounted on the bottom of the support legs of the frame (1.13); The power supply (1.17) is mounted on the bottom of the frame (1.13).

2. The intelligent grain suction machine according to claim 1, characterized in that... The blower assembly includes: a Roots blower (9.2) and a belt drive (9.3) that drives the Roots blower (9.2) via a transmission belt.

3. The intelligent grain suction machine according to claim 1, characterized in that... The sealing sleeve (1.4) is in the form of a telescopic joint. Its front movable section is fixedly connected to the rear inlet section of the front turning joint (1.3), and its rear fixed section is connected to the rear turning joint (1.10). A leather sleeve (12.2) is provided between the rear fixed section of the sealing sleeve (1.4) and the rear turning joint (1.10). The front inlet of the rear turning joint (1.10) is sealed and connected to the rear outlet of the leather sleeve (12.2). The rear end of the rear fixed section of the sealing sleeve (1.4) is sealed and connected to the front inlet of the leather sleeve (12.2). A second hydraulic cylinder sleeve (1.9) is provided parallel to and spaced below the sealing sleeve (1.4). The second hydraulic cylinder sleeve (1.9) is in the form of a telescopic joint. A support plate is installed on its front movable section and fixed to the section plate fixedly sleeved on the rear outlet section of the front turning joint (1.3). A support plate is installed on its rear fixed section and fixed to the section plate fixedly sleeved on the rear fixed section of the sealing sleeve (1.4). The support plate on the rear fixed section of the second hydraulic cylinder sleeve (1.9) is hinged to the joint support (1.14), which is fixed to the rear turning joint (1.10). The joint support (1.14) has a second joint (1.6) located above and a third joint (1.15) located below. The second joint (1.6) is hinged to the support plate on the rear fixed section of the second hydraulic cylinder sleeve (1.9). The support plate on the rear fixed section of the second hydraulic cylinder sleeve (1.9) is fixed with a second hydraulic cylinder (5.2). The second hydraulic cylinder (5.2) is built into the second hydraulic cylinder sleeve (1.9). The end of the second hydraulic cylinder piston rod (5.4) of the second hydraulic cylinder (5.2) is fixed in the front movable section of the second hydraulic cylinder sleeve (1.9).

4. The intelligent grain suction machine according to claim 3, characterized in that... The rear fixed section of the second hydraulic cylinder sleeve (1.9) is equipped with a guide wheel assembly (1.16), which extends forward and has a guide wheel pad at the bottom of the extension section on the bottom surface of the front movable section of the second hydraulic cylinder sleeve (1.9).

5. The intelligent grain suction machine according to claim 1, characterized in that... The support frame (1.11) is equipped with a first joint (1.7). The first joint (1.7) includes a joint base and a first worm gear reducer (2.4) mounted on the joint base. The bottom side of the rear turning joint (1.10) has a lower section tube assembled in the hollow output shaft of the first worm gear reducer (2.4), and is then fixedly connected to the top side of the three-way pipe (11.2). The input end of the first worm gear reducer (2.4) is equipped with a hydraulic motor (2.3).

6. The intelligent grain suction machine according to claim 3, characterized in that... The base end of the first hydraulic cylinder (1.5) is hinged to the third joint (1.15); the output end of the first hydraulic cylinder (1.5) is hinged to the bottom node plate of the fixed section of the second hydraulic cylinder sleeve (1.9).

7. The intelligent grain suction machine according to claim 1, characterized in that... The front turning joint (1.3) is a disc-shaped joint, comprising a fixed disc (4.6) and a movable disc (4.7), which are slidably and sealingly mounted. The fixed disc (4.6) has an external suction channel (4.11) and an internal mounting groove (4.8). The movable disc (4.7) has an external suction channel (4.9) and an internal mounting groove (4.10). One end of the external suction channel (4.9) is connected to the front outlet section of the front turning joint (1.3), and the other end is connected to the external suction channel (4.11) of the fixed disc. The outlet end is connected to the rear outlet section of the front turning joint (1.3); the fixed plate inner mounting groove (4.8) is equipped with a radial fixed plate radial stiffener (4.4), the fixed plate radial stiffener (4.4) is equipped with a second worm gear reducer (4.1) and a first motor (4.2), the output end of the first motor (4.2) is connected to the input end of the second worm gear reducer (4.1), the output end of the second worm gear reducer (4.1) is fixed on the radial moving plate radial stiffener (4.5), the moving plate radial stiffener (4.5) is installed in the moving plate inner mounting groove (4.10).

8. The intelligent grain suction machine according to claim 7, characterized in that... A first camera (3.1) is installed at the rear end of the frame (1.13), and a second camera (3.2) is installed at the front of the moving plate (4.7) of the front turning joint (1.3); a laser rangefinder (3.3) is installed on the side of the grain suction head (1.2), and a lidar (3.4) is installed on the top of the dust collector (9.1); a third camera (3.5) is installed on the side of the frame (1.13).

9. The intelligent grain suction machine according to claim 1, characterized in that... The frame (1.13) has a reserved space in the middle for installing a third hydraulic cylinder (7.2) and a belt conveyor (7.1). The rear base end of the third hydraulic cylinder (7.2) is fixed to the rear side of the frame (1.13), and the front output end of the third hydraulic cylinder (7.2) is fixed to the flat mounting bracket (1.12). The side plate of the belt conveyor (7.1) is mounted with a hanging rod that is attached to the bottom of the frame (1.13). A guide rail (6.1) is installed on the frame (1.13), and the guide rail (6.1) is slidably adapted to the flat mounting bracket (1.12). The belt conveyor (7.1) is equipped with a conveyor belt docking nozzle (12.1) on the rear side, and the conveyor belt docking nozzle (12.1) is connected to the rear end of the frame (1.13) by a hanger.

10. The intelligent grain suction machine according to claim 1, characterized in that... The dust collector (9.1) has multiple parallel independent compartments (13.1) at its top. Below the portion of each independent compartment (13.1) near the Roots blower (9.2), a bottom compartment (15.1) is located. The bottom compartment (15.1) spans the multiple independent compartments (13.1), and a connecting hole is provided between the bottom compartment (15.1) and the independent compartments (13.1). A hydraulic cylinder plunger (14.2) is installed at the bottom of the bottom compartment (15.1) at a position corresponding to the hole, allowing the plunger (14.2) to extend into and fill or retract to open the hole. A ventilation pipe (15.2) is also connected to the bottom compartment (15.1). 15.2) The bottom is connected to the Roots blower (9.2); an airflow pipe (14.3) with a solenoid valve and a one-way valve extends into the independent compartment (13.1), the lower end of the airflow pipe (14.3) with the solenoid valve and the one-way valve is connected to the air compressor (14.1), the air compressor (14.1) is installed on the top of the belt drive (9.3), the independent compartment (13.1) has multiple through holes for connecting the filter element in the middle of the dust collector (9.1), the bottom of the dust collector (9.1) is provided with a dust collection pipe (16.1), the dust collection pipe (16.1) is located in the overhead layer (16.2), and is connected to the upper edge of the dust collection pipe (16.1) by a funnel-shaped sloping panel laid on the overhead layer.

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