Granary surface leveling and impurity removing robot

Abstract

The application discloses a warehouse surface flat warehouse impurity removing robot and relates to the technical field of agricultural grain machinery. The warehouse surface flat warehouse impurity removing robot comprises a bottom plate, a supporting column fixedly installed on the bottom plate, a grain shoveling tunnel hingedly installed on the supporting column, a screening tunnel fixedly installed on the bottom plate, a humidity adjusting device cooperatively installed on one side of the screening tunnel, a movable support, a flat rake fixedly installed on the movable support, a dehumidification pipe fixedly installed on one side of the flat rake, a plurality of dehumidification grooves formed in the flat rake, the dehumidification grooves in communication with the dehumidification pipe and a dehumidification pump fixedly installed on the screening tunnel. The warehouse surface flat warehouse impurity removing robot can complete the arrangement and screening operation of the surface of a warehouse at one time, greatly improves the operation efficiency, reduces the labor intensity, can self-adaptively adjust the humidity of grain, improves the safety of stored grain and fully meets the automatic operation demand of modern large-scale warehouses.

Description

Technical Field

[0001] This invention relates to the field of agricultural machinery technology, specifically a grain storage surface leveling and cleaning robot. Background Technology

[0002] In large-scale grain storage operations, the surface of newly stored grain is often uneven and mixed with a large amount of dust, grass seeds, straw fragments, and other impurities. This not only affects the effectiveness of subsequent storage operations such as ventilation, cooling, fumigation, and pest control, but also easily leads to localized condensation and heating, causing grain mold and posing a threat to storage safety. Traditional manual leveling and impurity removal operations are extremely inefficient, labor-intensive, and the confined space inside large grain silos presents a high safety risk.

[0003] However, most existing automated equipment only has the function of leveling the grain surface and cannot simultaneously complete the grading and screening of impurities and the adjustment of grain moisture. The operation process is scattered and it is difficult to meet the needs of modern grain warehouse one-stop operation. Summary of the Invention

[0004] To address the problem mentioned in the background art that the cleaning robot cannot regulate the humidity of grain, the present invention aims to provide a grain warehouse surface leveling and cleaning robot.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a grain silo surface leveling and impurity removal robot, comprising a base plate, a support column fixedly installed on the base plate, a grain-digging tunnel hinged to the support column, a grain-collecting hopper installed at one end of the grain-digging tunnel, two rotating shafts installed inside the grain-digging tunnel, chains installed on the rotating shafts, a plurality of grain-digging plates installed on the chains, and a screening tunnel fixedly installed on the base plate; A humidity adjustment device is installed on one side of the screening tunnel. The humidity adjustment device includes a movable bracket, which is hinged to the screening tunnel. A flat material rake is fixedly installed on the movable bracket. A dehumidification pipe is fixed on one side of the flat material rake, and several moisture absorption grooves are opened on the flat material rake. The moisture absorption grooves are connected to the dehumidification pipe. A dehumidification pump is fixedly installed on the screening tunnel. A water tank is provided on the upper side of the screening tunnel. The return water port of the dehumidification pump is connected to the water tank pipe through the return water pipe. The air inlet of the dehumidification pump is connected to the dehumidification pipe through the first connecting pipe.

[0006] Preferably, two symmetrically arranged tracks are installed on the underside of the base plate, and a first electric lifting cylinder is hinged to the base plate. The other end of the grain-hauling tunnel is hinged to the piston rod of the first electric lifting cylinder.

[0007] Preferably, a servo motor is fixedly installed on the grain-tapping tunnel, and the servo motor is connected to the corresponding rotating shaft through a belt and a pulley. A discharge hopper is also installed on the grain-tapping tunnel.

[0008] Preferably, the upper end of the screening tunnel is connected to the discharge hopper via a rubber guide pipe. The screening tunnel has a first screening channel and a second screening channel, which are connected end to end. A first screening screen is embedded in the screening tunnel and is located in the first screening channel. A collection trough is installed on the screening tunnel and is correspondingly arranged with the first screening screen. A small particle dust collection box is fixedly installed on the bottom plate, and the lower end of the collection trough is connected to the inside of the small particle dust collection box. A second screening mesh is installed inside the screening tunnel. The second screening mesh divides the second screening channel into a grain channel and a large particle impurity collection bin. The lower side of the large particle impurity collection bin is blocked, and the grain channel is located below the large particle impurity collection bin.

[0009] Preferably, the flat material rake has several notches.

[0010] Preferably, a humidification box is fixedly installed on both sides of the screening tunnel, and a plurality of humidification pipes are fixed between two opposite humidification boxes. The humidification pipes are connected to the inside of the humidification box, pass through the screening tunnel, are located inside the grain channel, and are distributed at the exit of the grain channel.

[0011] Preferably, a miniature water pump is installed on one side of the water tank, and the outlet of the miniature water pump is connected to the humidification box through a water supply pipe. A one-way valve is installed on the water supply pipe, and the one-way valve is connected from the miniature water pump to the humidification box.

[0012] Preferably, a pressurizing pump is fixedly installed on the screening tunnel, and the pressurizing port of the pressurizing pump is connected to the humidification box pipe through a pressurizing pipe, and the humidification box and the humidification pipe are connected.

[0013] Preferably, a beam frame is fixedly installed on the water tank, and two symmetrically arranged cameras are installed on the beam frame.

[0014] Compared with the prior art, the beneficial effects of the present invention are as follows: This invention employs a dual-layer grading and screening structure, which can separate small particles of dust and debris from large particles of straw and clumps of impurities mixed in with grain in one go. This significantly improves the cleanliness of the surface grain after leveling, avoids localized heating and mold caused by impurity residue, and improves the grain storage environment from the root.

[0015] The humidity adjustment device integrated in this invention can dynamically adjust the humidity of the grain being transported during the leveling process. When the grain humidity is too high, it can start the dehumidification operation to remove excess water vapor, and when the humidity is too low, it can uniformly replenish humidity. There is no need to set up a separate humidity adjustment station. It can quickly bring the grain humidity to the preset standard for safe storage and effectively extend the storage period of the grain. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the basic structure of the grain silo surface leveling and cleaning robot of the present invention. Figure 1 .

[0017] Figure 2 This is a schematic diagram of the basic structure of the grain silo surface leveling and cleaning robot of the present invention. Figure 2 .

[0018] Figure 3 This is a schematic diagram of the basic structure of the grain silo surface leveling and cleaning robot of the present invention. Figure 3 .

[0019] Figure 4 This is a schematic diagram of the basic structure of the grain silo surface leveling and cleaning robot of the present invention. Figure 4 .

[0020] Figure 5 This is a schematic diagram of the internal structure of the grain warehouse surface leveling and cleaning robot of the present invention.

[0021] Figure 6 This is a schematic diagram of the internal structure of the screening tunnel of the grain silo surface leveling and impurity removal robot of the present invention.

[0022] Figure 7 The grain silo surface leveling and cleaning robot of the present invention Figure 5 Enlarged view of part A.

[0023] Figure 8 This is a schematic diagram of the internal structure of the humidification box of the grain silo surface leveling and cleaning robot of the present invention.

[0024] Figure 9 This is a schematic diagram of the basic structure of the leveling rake of the grain silo surface leveling and impurity removal robot of the present invention. Figure 1 .

[0025] Figure 10 This is a schematic diagram of the basic structure of the leveling rake of the grain silo surface leveling and impurity removal robot of the present invention. Figure 2 .

[0026] In the picture: 101. Base plate; 102. Track; 103. Support column; 104. Grain feeding tunnel; 105. First electric lifting cylinder; 106. Grain collection hopper; 107. Chain; 108. Grain feeding plate; 109. Servo motor; 110. Discharge hopper; 201. Screening tunnel; 2011. First screening channel; 2012. Second screening channel; 2013. Grain channel; 2014. Large particle impurity collection bin; 202. Rubber guide pipe; 203. First screening screen; 204. Collection trough; 2041. Small particles 206. Particulate dust collection box; 300. Second screening screen; 301. Humidity adjustment device; 302. Movable support; 303. Flat material rake; 304. Dehumidification pipe; 305. Notch; 306. Dehumidification tank; 307. First connecting pipe; 308. Dehumidification pump; 309. Return water pipe; 310. Water tank; 311. Humidification box; 311. Water supply pipe; 312. Pressure pump; 313. Pressure pipe; 404. One-way valve; 405. Beam frame; 406. Camera. Detailed Implementation

[0027] 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.

[0028] like Figures 1-10 As shown, the grain silo surface leveling and cleaning robot provided in this embodiment includes a rectangular base plate 101. The base plate 101 serves as the mounting and bearing foundation for all functional modules. Two sets of walking tracks 102 are symmetrically installed on the lower side of the base plate. The tracked walking mechanism can adapt to loose and uneven grain surfaces, provide sufficient grip, and prevent the robot from slipping and getting stuck during operation. It can move smoothly along the grain surface to complete the leveling operation of the entire silo. A corresponding drive motor (which integrates a remote control system for convenient remote control of this embodiment) is installed on the lower side of the base plate 101 to provide power support for the tracks 102.

[0029] A vertically arranged support column 103 is fixedly installed on the upper side of the base plate 101. An inclined grain-digging tunnel 104 is hinged to the top of the support column 103. A first electric lifting cylinder 105 is also hinged to the base plate 101. The other end of the grain-digging tunnel 104 away from the hinge point of the support column 103 is hinged to the end of the piston rod of the first electric lifting cylinder 105. By extending and retracting the first electric lifting cylinder 105, the inclination angle and insertion depth of the grain-digging tunnel 104 can be flexibly adjusted to adapt to different grain surface heights and leveling operation requirements: when it is necessary to clean surface impurities, the grain-digging tunnel 104 can be lowered to grab only the surface grain; when it is necessary to clean the deep grain surface, the angle can be lowered to increase the grabbing depth.

[0030] At the lower front end of the grain-collecting tunnel 104, an open-type grain-collecting hopper 106 is installed. The opening of the grain-collecting hopper 106 faces the direction of the robot's movement, allowing it to gather surface grain and guide it into the grain-collecting tunnel 104 during movement. A drive shaft is rotatably mounted at both the front and rear ends inside the grain-collecting tunnel 104. A drive chain 107 is tensioned and fitted onto the two shafts. Several steel grain-collecting plates 108 are evenly fixed to the outer side of the chain 107. A servo motor 109 is fixedly mounted on the outer side of the grain-collecting tunnel 104. 109 drives the front shaft to rotate via a belt and pulley transmission structure, which in turn drives the chain 107 and the grain-eating plate 108 to rotate in a cycle, conveying the grain introduced by the grain collection hopper 106 upward to the higher end of the grain-eating tunnel 104. Two symmetrically arranged spiral feeding plates are also installed at the shaft position, which can gather the grain towards the grain-eating plate 108. A discharge hopper 110 is installed below the end of the grain-eating tunnel 104. The grain conveyed here falls into the discharge hopper 110 under the action of gravity, completing the initial grain-eating and conveying.

[0031] A horizontally arranged screening tunnel 201 is fixedly installed on the upper side of the base plate 101. The upper end of the screening tunnel 201 is sealed to the discharge hopper 110 of the grain-digging tunnel 104 through a flexible rubber guide pipe 202. The rubber guide pipe 202 has a certain ability to expand and contract, which can adapt to the positional changes caused by the angle adjustment of the grain-digging tunnel 104, and always maintain a sealed material guide to avoid grain spillage.

[0032] The screening tunnel 201 has two interconnected screening channels, a first screening channel 2011 and a second screening channel 2012. Grain enters the first screening channel 2011 from the discharge hopper 110 and flows downwards into the second screening channel 2012 by gravity. A first screening mesh 203 is embedded inside the first screening channel 2011. The first screening mesh 203 is made of stainless steel woven mesh with a custom mesh size, and the mesh openings are smaller than the diameter of the grain particles. This allows it to filter and separate small particles of dust, debris, grass seeds, and other fine impurities from the grain. The fine impurities pass through the mesh openings. As the grain falls, it flows along the mesh surface to the second screening channel 2012. On the outside of the screening tunnel 201, below the first screening mesh 203, there is an inclined collection trough 204. The collection trough 204 collects the small impurities falling from the first screening mesh 203. A small particle dust collection box 2041 is fixedly installed on the bottom plate 101. The lower end of the collection trough 204 is connected to the inside of the small particle dust collection box 2041. The filtered small impurities flow into the collection box along the collection trough 204 for centralized storage. After the operation is completed, they are cleaned up to prevent the impurities from falling back onto the grain surface.

[0033] After passing through the first screening, the grain enters the second screening channel 2012. Inside the second screening channel 2012, a second screening mesh 206 is installed at an angle. The mesh size of the second screening mesh 206 is larger than the diameter of the grain particles, allowing qualified grain to pass through while trapping large particles such as straw, rope ends, and large clumps. The second screening mesh 206 divides the second screening channel 2012 into two independent areas: the upper area is a large particle impurity collection chamber 2014, which is sealed at the bottom, and the trapped large particles flow into the collection chamber for temporary storage along the inclined mesh surface; the lower area is the grain channel 2013, where qualified grain that has passed through the second screening mesh enters the grain channel 2013 and flows downward to complete the screening. Through the two-stage stepped screening, both large and small impurities can be separated simultaneously, and the impurity removal efficiency is much higher than that of the traditional single-layer screen structure. Moreover, the two types of impurities can be stored separately.

[0034] An integrated humidity adjustment device 300 is installed on the side of the screening tunnel 201 near the discharge end. Based on the detected grain humidity (humidity monitoring is performed by humidity sensors installed in the grain-digging tunnel 104, with at least three sensors evenly distributed within the tunnel), the device adaptively performs dehumidification or replenishment operations to ensure the humidity of the grain after discharge and backfilling is within a reasonable range, guaranteeing grain storage safety. The humidity adjustment device 300 includes a movable support 301, which is hinged to the side wall of the screening tunnel 201. Gravity allows the movable support 301 to naturally rest on the grain surface (the tilt angle can also be adjusted via an electric push rod). A horizontally arranged leveling rake 302 is fixedly installed on the side of the movable support 301 facing the discharge end. The bottom of the leveling rake 302 has several evenly distributed notches 304. After the screened grain flows out from the grain channel 2013, it is combed by the leveling rake 302 and evenly spread on the grain surface, completing the leveling operation. The notches 304 design prevent grain accumulation and result in a smoother grain surface.

[0035] For grains with excessive moisture, a dehumidifying pipe 303 is fixedly installed on the side of the flat harrow 302 facing the grain discharge. Several evenly distributed dehumidifying grooves 305 are opened on the side of the flat harrow 302 facing the grain surface, and the rear ends of the dehumidifying grooves 305 are all connected to the inside of the dehumidifying pipe 303. A dehumidifying pump 307 is fixedly installed on the outside of the grain-digging tunnel 104, and a sealed water tank 308 is fixedly installed on the upper side of the small particle dust collection box 2041. The air inlet of the dehumidifying pump 307 is connected to the first connecting pipe. 306 is connected to the dehumidification pipe 303, and the return water port of the dehumidification pump 307 is connected to the inside of the water tank 308 through the return water pipe 3071 (the dehumidification pump 307 is a pump with integrated condensation function, which can condense the extracted moisture into condensate); when the grain humidity is detected to be too high, the dehumidification pump 307 starts, and draws the excess water vapor on the surface of the grain into the dehumidification pipe 303 through the dehumidification tank 305. After condensation treatment, it flows into the water tank 308 for storage, reducing the grain humidity and preventing high humidity grain from causing mold.

[0036] For grains with excessively low humidity, humidification boxes 309 are fixedly installed on the inner walls of both sides of the exit section of the screening tunnel 201. Several horizontally arranged humidification pipes 310 are fixedly connected between two opposing humidification boxes 309. The two ends of each humidification pipe 310 are connected to the interior of the humidification boxes 309 on both sides. The humidification pipes 310 penetrate the grain channel 2013 and are evenly distributed at the exit position of the grain channel 2013. Numerous fine atomizing nozzles are formed on the surface of each humidification pipe 310. A miniature water pump 312 is fixedly installed on one side of the water tank 308. The outlet of the miniature water pump 312 is connected to the humidification box 309 through a water supply pipe 3091. A one-way valve 313 is installed on the water supply pipe 3091 to allow water to flow only from the miniature water pump 312 to the humidification box 309, preventing backflow. A pressure pump 311 is fixedly installed on the outside of the screening tunnel 201. The pressure port of the pressure pump 311 is connected to the humidification box 309 through the pressure pipe 3111. When the grain humidity is detected to be too low, the micro water pump 312 delivers water from the water tank 308 to the humidification box 309. The pressure pump 311 pressurizes the inside of the humidification box 309, so that the water is evenly sprayed out from the atomizing nozzle of the humidification pipe 310, and evenly humidifies the grain that is about to flow out, so that the grain humidity reaches the safe storage range.

[0037] A beam 401 extending upwards is fixedly installed on the upper side of the water tank 308. Two high-definition explosion-proof cameras 402 are symmetrically installed on the top of the beam 401. The cameras 402 can collect the operation video inside the warehouse in real time and transmit it back to the remote control terminal. Operators can monitor the progress of leveling and cleaning the warehouse and observe the condition of the grain surface through video in real time. The operation can be scheduled without entering the warehouse, which improves the safety of the operation.

[0038] This invention integrates multiple functions such as surface grain grabbing, two-stage impurity removal and screening, adaptive humidity adjustment, and leveling and spreading into a single mobile robot. It can complete the surface preparation of the grain warehouse in one go, which greatly improves the efficiency of operation and reduces the intensity of manual labor. At the same time, it can adaptively adjust the humidity of the grain, improve the safety of grain storage, and fully meet the automated operation requirements of modern large-scale grain warehouses.

[0039] It should be further noted that the above embodiments further include an intelligent control system linked to the equipment. The system uses a programmable logic controller (PLC) as the core control unit, and the controller is fixedly installed on the base plate 101. This PLC control system precisely regulates and controls the operating parameters of each execution component in the production process through preset programs, including but not limited to: timing control of equipment start-up and shutdown, gradient adjustment of motor speed, and dynamic matching of material conveying rate. It should be noted that the PLC control system and its supporting industrial control protocol and signal acquisition module all adopt mature technical solutions in the field of mechanical automation. Its specific circuit topology and programming method are common knowledge to those skilled in the art, so this specification will not elaborate on its basic implementation details.

[0040] In this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, without necessarily requiring or implying any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0041] Although embodiments of the invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the appended claims and their equivalents.

Claims

1. A grain silo surface leveling and cleaning robot, characterized in that, Includes a base plate (101), on which a support column (103) is fixedly installed, and a grain-digging tunnel (104) is hingedly installed on the support column (103). A grain-collecting hopper (106) is installed at one end of the grain-digging tunnel (104). Two rotating shafts are installed inside the grain-digging tunnel (104), and a chain (107) is installed on the rotating shafts. Several grain-digging plates (108) are installed on the chain (107). A screening tunnel (201) is fixedly installed on the base plate (101). A humidity adjustment device (300) is installed on one side of the screening tunnel (201). The humidity adjustment device (300) includes a movable bracket (301), which is hinged to the screening tunnel (201). A flat material rake (302) is fixedly installed on the movable bracket (301). A dehumidifying pipe (303) is fixed on one side of the flat material rake (302). Several moisture-absorbing grooves (305) are opened on the flat material rake (302). The moisture-absorbing grooves (305) are connected to the dehumidifying pipe (303). A dehumidifying pump (307) is fixedly installed on the screening tunnel (201). A water tank (308) is provided on the upper side of the screening tunnel (201). The return water port of the dehumidifying pump (307) is connected to the water tank (308) through the return water pipe (3071). The air inlet of the dehumidifying pump (307) is connected to the dehumidifying pipe (303) through the first connecting pipe (306).

2. The grain silo surface leveling and cleaning robot according to claim 1, characterized in that, Two symmetrically arranged tracks (102) are installed on the underside of the base plate (101). A first electric lifting cylinder (105) is hinged on the base plate (101). The other end of the grain-digging tunnel (104) is hinged on the piston rod of the first electric lifting cylinder (105).

3. The grain silo surface leveling and cleaning robot according to claim 2, characterized in that, A servo motor (109) is fixedly installed on the grain-digging tunnel (104). The servo motor (109) is connected to the corresponding rotating shaft through a belt and a pulley. A discharge hopper (110) is installed on the grain-digging tunnel (104).

4. The grain silo surface leveling and cleaning robot according to claim 1, characterized in that, The upper end of the screening tunnel (201) is connected to the discharge hopper (110) by a rubber guide pipe (202). The screening tunnel (201) is provided with a first screening channel (2011) and a second screening channel (2012). The first screening channel (2011) and the second screening channel (2012) are connected end to end. A first screening mesh (203) is embedded in the screening tunnel (201). The first screening mesh (203) is located in the first screening channel (2011). A collection trough (204) is installed on the screening tunnel (201). The collection trough (204) is correspondingly arranged with the first screening mesh (203). A small particle dust collection box (2041) is fixedly installed on the bottom plate (101). The lower end of the collection trough (204) is connected to the inside of the small particle dust collection box (2041). A second screening mesh (206) is installed inside the screening tunnel (201). The second screening mesh (206) divides the second screening channel (2012) into a grain channel (2013) and a large particle impurity collection bin (2014). The lower side of the large particle impurity collection bin (2014) is blocked, and the grain channel (2013) is located below the large particle impurity collection bin (2014).

5. The grain silo surface leveling and cleaning robot according to claim 1, characterized in that, The flat material rake (302) has several notches (304).

6. The grain silo surface leveling and cleaning robot according to claim 1, characterized in that, Humidification boxes (309) are fixedly installed on both sides of the screening tunnel (201). Several humidification pipes (310) are fixed between two opposite humidification boxes (309). The humidification pipes (310) are connected to the humidification boxes (309). The humidification pipes (310) pass through the screening tunnel (201). The humidification pipes (310) are located in the grain channel (2013). The humidification pipes (310) are distributed at the exit of the grain channel (2013).

7. The grain silo surface leveling and cleaning robot according to claim 6, characterized in that, A miniature water pump (312) is installed on one side of the water tank (308). The outlet of the miniature water pump (312) is connected to the humidification box (309) through a water supply pipe (3091). A one-way valve (313) is installed on the water supply pipe (3091). The one-way valve (313) is connected from the miniature water pump (312) to the humidification box (309).

8. The grain silo surface leveling and impurity removal robot according to claim 7, characterized in that, A pressurizing pump (311) is fixedly installed on the screening tunnel (201). The pressurizing port of the pressurizing pump (311) is connected to the humidification box (309) through the pressurizing pipe (3111). The humidification box (309) is connected to the humidification pipe (310).

9. The grain silo surface leveling and cleaning robot according to claim 8, characterized in that, A beam frame (401) is fixedly installed on the water tank (308), and two symmetrically arranged cameras (402) are installed on the beam frame (401).

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