Intelligent medicine feeding and automatic medicine residue recycling device for granary

Abstract

The utility model discloses an intelligent medicine feeding and automatic medicine residue recovery device for a granary. The device comprises a medicine feeding mechanism and a quantitative medicine discharging mechanism, the dosing mechanism comprises a vertical lead screw seat, a lifting seat matched with a screw rod in the vertical lead screw seat, a horizontal lead screw seat fixed on the side surface of the lifting seat, a support arm matched with a screw rod in the horizontal lead screw seat through a connecting block, and a mechanical clamping jaw fixed at the end part of the support arm; the quantitative medicine feeding mechanism comprises a medicine barrel, a medicine distributor arranged in the medicine barrel and a medicine weighing tray arranged at the bottom of the medicine barrel. According to the utility model, the functions of automatic dosing and medicine residue recovery in the granary are realized, and the efficiency and safety of pest control in the granary are improved.

Description

Technical Field

[0001] The utility model belongs to the technical field of pest control in granaries, and particularly relates to an intelligent drug feeding and automatic drug residue recovery device for granaries. Background Art

[0002] During the grain storage process, there is a certain grain grading phenomenon due to the differences in grain types, grain temperatures, grain feeding methods and impurities, which in turn causes the grain pile to heat up, mold and breed pests.

[0003] At present, conventional pest control measures before grain is stored in warehouses generally take the form of phosphine circulating fumigation. Phosphine fumigation operations usually involve placing a certain amount of aluminum phosphide and other agents on the grain surface under closed conditions. The agents react chemically with the air flowing in the gaps between the grain piles to release highly toxic phosphine gas, thereby killing the adult or larvae of various pests in the grain pile. Fumigation mainly uses phosphine as the agent, and the main fumigation methods used include direct application of pesticides with manual application trays in the warehouse, application of pesticides with small cloth bags, and circulating fumigation outside the warehouse. Among them, the application of pesticides with circulating fumigation outside the warehouse requires that the storage personnel must have professional theoretical knowledge and practical skills, and circulating fumigation often requires the use of supporting carbon dioxide gas. The conditions at the grassroots grain warehouses are limited, which brings inconvenience to use. The small cloth bags used for small cloth bag application have limited capacity, which will result in multiple replacements and additions of pesticides during application, increasing the complexity and time cost of the operation. Direct application of pesticides with application trays in the warehouse requires operators to enter the warehouse directly. Aluminum phosphide tablets or powders are manually placed into the application tray, and phosphine gas is produced by natural deliquesce of aluminum phosphide tablets or powders. Applicators are required to wear protective equipment during operation. This method is simple to operate, but there is a risk of operators being exposed to harmful gases, which will cause unforeseen harm to the human body. In addition, the application of pesticides through the application tray in the warehouse is to put a sufficient amount of the agent in at one time, and the warehouse door must be closed after the application. Therefore, the phosphine concentration in the warehouse will be higher at the beginning of the application, and then gradually decrease during the entire fumigation period. It is difficult to maintain a balanced concentration, and manual entry into the warehouse is required to supplement the application, which poses operational risks.

[0004] To this end, the utility model proposes an intelligent grain storage and medicine residue automatic recovery device to replace the manual fumigation and medicine feeding operation, thereby improving the efficiency and safety of grain storage pest control. Utility Model Content

[0005] In order to solve the above technical problems, the utility model is realized by the following technical solutions:

[0006] The utility model is an intelligent medicine dispensing and automatic medicine residue recovery device for a granary, comprising a medicine dispensing mechanism and a quantitative medicine dispensing mechanism; the medicine dispensing mechanism comprises a machine base, a turntable arranged on the upper side of the machine base via a ball movement, a servo motor arranged inside the turntable, a vertical lead screw seat matched with the output shaft of the servo motor, a lifting seat matched with the screw inside the vertical lead screw seat, a horizontal lead screw seat fixed to the side of the lifting seat, a support arm matched with the screw inside the horizontal lead screw seat via a connecting block, and a mechanical clamp fixed to the end of the support arm; the quantitative medicine dispensing mechanism comprises a frame, a medicine barrel fixed to the top of the frame, a medicine distributor arranged inside the medicine barrel, a medicine weighing plate arranged at the bottom of the medicine barrel, a micro motor matched with the medicine distributor and the medicine weighing plate, and a medicine supporting plate located below the medicine outlet end of the medicine barrel.

[0007] A device for intelligent drug dispensing and automatic drug residue recovery in a granary based on a visual sensor also includes a walking mechanism, wherein the drug dispensing mechanism and a quantitative drug dispensing mechanism are mounted on the upper part of the walking mechanism, and the walking mechanism includes a base, a bracket fixed at the corner of the lower side of the base, a drive motor fixed on the inner side of the bracket, a drive wheel matched with the output shaft of the drive motor, a crawler track matched with the drive wheel, and a power supply fixed at the middle position of the lower side of the base.

[0008] The utility model is further configured that a plurality of the medicine trays are stacked vertically, the frame is fixed to the upper side of the base, and the medicine trays are linked to the mechanical clamps.

[0009] The utility model is further configured that a steering motor is fixed to the front portion of the lower side surface of the base, and the output shaft of the steering motor passes through the base and the machine base to connect the turntable.

[0010] The utility model is further configured that an obstacle avoidance component is fixed to the front portion of the lower side surface of the base, and an ultrasonic transmitter and a receiver are arranged inside the obstacle avoidance component.

[0011] The utility model is further configured such that the vertical screw seat is fixed on the side surface of the turntable, the output shaft of the servo motor is connected to the screw inside the vertical screw seat, and a visual sensor is arranged on the top of the vertical screw seat.

[0012] The utility model is further configured that a control box is fixed on the middle part of the upper side surface of the base.

[0013] The utility model is further configured that a medicine residue recovery mechanism is provided at the tail of the upper side surface of the base, and the medicine residue recovery mechanism comprises a bracket fixed to the tail of the upper side surface of the base, and a medicine residue bin fixed to the upper side surface of the bracket.

[0014] The utility model is further configured such that the mechanical clamp includes a clamp body fixed to the bottom of the support arm, a stepper motor fixed to the edge of the clamp body, a clamp arm movably arranged at the end of the clamp body via a guide light rod, and a threaded rod for driving the clamp arm to open and close.

[0015] The utility model is further configured such that the end of the threaded rod is threadably adapted to the clamp arm, the threads at both ends of the threaded rod are arranged in opposite directions, the middle position of the threaded rod is matched with the output shaft of the stepping motor via a transmission structure, and a rubber anti-slip textured pad is arranged on the inner side of the clamp arm.

[0016] The utility model realizes the automatic dosing of medicine and recovery of medicine residues in the granary, and its integrated system design improves the efficiency and safety of pest control in the granary.

[0017] Of course, any product implementing the present invention does not necessarily need to achieve all of the advantages described above at the same time. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a schematic diagram of one side of the overall structure of the utility model.

[0019] Figure 2 It is a schematic diagram of another side of the utility model.

[0020] Figure 3 It is a schematic diagram of the upper part of the walking mechanism in the utility model.

[0021] Figure 4 It is a schematic diagram of the lower part of the walking mechanism in the utility model.

[0022] Figure 5 It is a schematic diagram of the drug dispensing mechanism in the utility model.

[0023] Figure 6 It is a schematic diagram of the quantitative medication dispensing mechanism in the present utility model.

[0024] Figure 7 It is a schematic diagram of the structure of the medicine distributor and the medicine weighing plate in the utility model.

[0025] Figure 8 for Figure 5 A schematic diagram of the structure enlargement in the middle;

[0026] Fig. 9 It is a schematic diagram of the workflow of the utility model.

[0027] Figure numerals: 1. walking mechanism; 11. base; 12. bracket; 13. driving motor; 14. driving wheel; 15. crawler track; 16. power supply; 2. control box; 3. dosing mechanism; 31. machine base; 32. turntable; 33. servo motor; 34. vertical screw seat; 35. lifting seat; 36. horizontal screw seat; 37. support arm; 38. mechanical clamp; 381. clamp arm; 382. clamp body; 383. threaded rod; 384. guide light rod; 385. stepping motor; 39. steering motor; 4. quantitative drug dispensing mechanism; 41. frame; 42. medicine barrel; 43. medicine dispenser; 44. weighing tray; 45. micro motor; 46. medicine tray; 5. medicine residue recovery mechanism; 51. bracket; 52. medicine residue bin; 6. obstacle avoidance component; 7. visual sensor. DETAILED DESCRIPTION

[0028] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0029] Example

[0030] See also Figure 1-8 The utility model is a device for dosing and recovering medicine residues in a granary, comprising a dosing mechanism 3 and a quantitative dosing mechanism 4; the dosing mechanism 3 comprises a machine base 31, a turntable 32 arranged on the upper side of the machine base 31 through ball movement, a servo motor 33 arranged inside the turntable 32, a vertical screw seat 34 matched with the output shaft of the servo motor 33, a lifting seat 35 matched with the internal screw of the vertical screw seat 34, a horizontal screw seat 36 fixed to the side of the lifting seat 35, a support arm 37 matched with the internal screw of the horizontal screw seat 36 through a connecting block, and a mechanical clamp 38 fixed to the end of the support arm 37.

[0031] The dosing mechanism 3 uses a high-precision ball screw as a driving element. The rotation of the vertical screw seat 34, the horizontal screw seat 36 and the turntable 32 forms a three-dimensional motion system, which drives the mechanical clamp 38 to operate, ensuring that the mechanical clamp 38 remains stable and accurate during the subsequent clamping and movement of the medicine tray 46, and accurately captures the image of the medicine tray through the visual sensor 7. The main control system issues precise instructions based on these image data to guide the above-mentioned transmission structure to drive the mechanical clamp 38 to accurately reach the delivery position, thereby improving the safety and efficiency of the operation. Among them, the vertical screw seat 34 and the horizontal screw seat 36 are both relatively mature and common structures at present, and their detailed structures and principles are not further restrictively described here.

[0032] The quantitative drug dispensing mechanism 4 includes a frame 41, a medicine barrel 42 fixed to the top of the frame 41, a medicine distributor 43 arranged inside the medicine barrel 42, a medicine weighing plate 44 arranged at the bottom of the medicine barrel 42, a micro motor 45 matched with the medicine distributor 43 and the medicine weighing plate 44, and a medicine tray 46 located below the medicine outlet end of the medicine barrel 42; wherein the medicine barrel 42 is used to store and supply the medicine to be administered, the medicine distributor 43 is responsible for accurately dispensing the medicine in the medicine barrel 42 according to the set dosage, and the medicine weighing plate 44 is used to monitor and distribute the weight of the medicine There is a pressure sensor under the medicine weighing tray 44. When the weight of the medicine reaches the specified value, the pressure sensor feeds back information to the main control system to control the medicine dispenser 43 to stop dispensing the medicine. The servo motor 33 drives the medicine weighing tray 44 to tilt, and the medicine falls into the medicine supporting tray 46. The medicine weighing tray 44 can control the weight of the medicine delivered by working in coordination with the medicine dispenser 43, and adjust it as needed to ensure the accuracy and reliability of the medicine delivery process. These three parts work together to achieve accurate and efficient drug delivery to meet the needs of different application scenarios.

[0033] A device for intelligent dosing and automatic recovery of drug residues in a granary based on a visual sensor also includes a walking mechanism 1, a dosing mechanism 3 and a quantitative dosing mechanism 4 are mounted on the upper part of the walking mechanism 1, the walking mechanism 1 includes a base 11, a bracket 12 fixed at the corner of the lower side of the base 11, a drive motor 13 fixed on the inner side of the bracket 12, a drive wheel 14 matched with the output shaft of the drive motor 13, a crawler 15 matched with the drive wheel 14, and a power supply 16 fixed in the middle position of the lower side of the base 11, wherein the walking mechanism 1 adopts a crawler 15 structure, and the drive motor 13 model is MG540, with a rated load of 30KG, which can move smoothly on various irregular terrains and ground, ensuring that the equipment can operate smoothly and efficiently inside tall flat warehouses and shallow round warehouses.

[0034] Further description of the above structure is as follows:

[0035] The mechanical clamp 38 includes a clamp body 382 fixed to the bottom of the support arm 37, a stepper motor 385 fixed to the edge of the clamp body 382, ​​a clamp arm 381 movably arranged at the end of the clamp body 382 via a guide light rod 384, and a threaded rod 383 for driving the clamp arm 381 to open and close; the end of the threaded rod 383 is threadedly adapted and installed with the clamp arm 381, the threads at both ends of the threaded rod 383 are arranged in opposite directions, the middle position of the threaded rod 383 is matched with the output shaft of the stepper motor 385 via a transmission structure, and a rubber anti-skid texture pad is arranged on the inner side of the clamp arm 381. The mechanical clamp 38 meets the requirements of clamping medicine trays of different sizes and types, and the guide light rod 384 can be used to guide the clamp arm 381. Lever 384 is used to ensure the stability and accuracy of the clamping arm 381 during the clamping action, ensuring that the clamping arm 381 will not deviate or shake during the clamping process; the threaded rod 383 is a key component for actually performing the clamping task. The two ends of the threaded rod 383 are two sections of spiral lines with opposite rotation directions, which generate linear motion through rotation, thereby driving the clamping arm 381 to close or open; the threaded rod 383 rotates through the gear transmission system, thereby controlling the synchronous closing or opening of the clamping arms 381 on both sides. In addition, the surface of the clamping arm 381 is designed with a rubber anti-slip texture pad to help enhance the clamping effect and reduce the risk of the medicine tray 46 slipping.

[0036] A plurality of medicine trays 46 are stacked vertically, and the frame 41 is fixed to the upper side of the base 11 . The medicine trays 46 are linked with the mechanical clamps 38 . A steering motor 39 is fixed to the front of the lower side of the base 11 , and the output shaft of the steering motor 39 passes through the base 11 and the machine base 31 to connect the turntable 32 .

[0037] An obstacle avoidance component 6 is fixed to the front of the lower side of the base 11, and an ultrasonic transmitter and a receiver are arranged inside the obstacle avoidance component 6; a vertical screw seat 34 is fixed to the upper side of the turntable 32, and the output shaft of the servo motor 33 is connected to the screw inside the vertical screw seat 34, and a visual sensor 7 is arranged on the top of the vertical screw seat 34; a control box 2 is fixed to the middle of the upper side of the base 11, and the control box 2 is provided with: a data processing module, which uses an stm32 single-chip microcomputer to analyze and process data; a GPS module, which locates the position of the device, plans the walking route of the intelligent dosing device and navigation guidance, etc., to achieve precise positioning of the equipment; an Internet of Things module, which is based on a wireless network to connect to the grain control system cloud platform; an information acquisition module, which connects the obstacle avoidance component 6 and the visual sensor 7, and transmits the collected information to the data processing module.

[0038] A medicine residue recovery mechanism 5 is provided at the tail of the upper side surface of the base 11 . The medicine residue recovery mechanism 5 includes a bracket 51 fixed to the tail of the upper side surface of the base 11 , and a medicine residue bin 52 fixed to the upper side surface of the bracket 51 .

[0039] The obstacle avoidance component 6 is an important component to ensure the safe and accurate operation of the intelligent drug collection and delivery device in the granary. The overall device uses an ultrasonic transmitter to send ultrasonic signals, receives the reflected signals through a receiver, and calculates the round-trip time and distance to detect obstacles. When the device is close to the granary wall or other important facilities, the ultrasonic obstacle avoidance module will promptly feed back information to the main control system, issue an early warning to the trolley, and prevent collision accidents.

[0040] The visual sensor 7 uses high-precision image acquisition technology recognition and intelligent analysis algorithms to accurately locate the location information of drug administration and recovery and verify the amount of drug administration in real time. It can also automatically capture and record grain conditions such as grain insects inside the granary, providing strong technical support for subsequent intelligent drug administration, supplementary drug administration and drug residue recovery.

[0041] The Internet of Things module is the information transmission channel of this device. Through the wireless network, the image information in the warehouse collected by the visual sensor 7 during the process of drug addition, drug supplementation and drug residue recovery is uploaded to the grain condition control system cloud platform in real time through the wireless Internet of Things module, and statistical analysis and regulation are carried out in time. This module not only improves the intelligence level of the system, but also ensures the accuracy and efficiency of the drug addition, drug supplementation and drug residue recovery process, and provides technical support for the information management of grain warehouses.

[0042] In summary, when the device is in use, after entering the granary, the visual sensor 7 scans the internal environment of the granary, identifies the pre-laid road signs, and ensures that the car is walking on the road; the GPS module locates the current position of the car, and plans the delivery path in combination with the map information of the granary; the car drives autonomously along the route, and during the driving process, the visual sensor 7 continuously monitors and adjusts the route to ensure that it reaches the delivery location accurately; after arriving at the delivery location, the control system controls the actuator to complete the drug delivery task, and at the same time records the location and quantity of the delivered drugs, and the delivery data location, quantity, etc. are uploaded to the cloud server in real time, and the cloud performs data storage and analysis to provide data support for subsequent drug delivery and replenishment management; the visual sensor 7 confirms the location of the drug tray 46 again to ensure that all drugs have been delivered and the car returns to the pending position; regular inspections are carried out on the volatilization of drugs in the warehouse, and when the grain condition monitoring system detects that the drug concentration in the warehouse is reduced, the device promptly replenishes the drugs at each application point;

[0043] Wait until the medicine in the granary has evaporated naturally; start to recover the medicine tray 46, and automatically collect the medicine tray 46 from the delivery position; ensure that all medicine trays 46 are completely collected, and deliver the collected medicine trays 46 to the designated recovery position, and upload the data to the cloud; the medicine delivery vehicle ends the current work and waits for the next instruction or performs other tasks.

[0044] It should be noted that the control examples described above are all based on existing technologies, and this application does not involve improvements to the program itself. At the same time, the improvements to the hardware structure involved in the above embodiments are not limited to the above control algorithms. There are many control methods in the existing technology that can be used for the present invention.

Claims

1. An intelligent drug feeding and automatic drug residue recovery device for granary, characterized in that: It includes a drug delivery mechanism (3) and a quantitative drug delivery mechanism (4); The drug dispensing mechanism (3) comprises a machine base (31), a turntable (32) movably arranged on the upper side of the machine base (31) via a ball bearing, a servo motor (33) arranged inside the turntable (32), a vertical screw seat (34) matched with the output shaft of the servo motor (33), a lifting seat (35) matched with the screw inside the vertical screw seat (34), a horizontal screw seat (36) fixed to the side of the lifting seat (35), a support arm (37) matched with the screw inside the horizontal screw seat (36) via a connecting block, and a mechanical clamp (38) fixed to the end of the support arm (37); The quantitative drug dispensing mechanism (4) comprises a frame (41), a medicine barrel (42) fixed to the top of the frame (41), a medicine distributor (43) arranged inside the medicine barrel (42), a medicine weighing plate (44) arranged at the bottom of the medicine barrel (42), a micro motor (45) matched with the medicine distributor (43) and the medicine weighing plate (44), and a medicine supporting plate (46) located below the medicine dispensing end of the medicine barrel (42).

2. According to claim 1, a device for intelligent dosing and automatic recovery of drug residues in a granary further comprises a walking mechanism (1), wherein the dosing mechanism (3) and the quantitative dosing mechanism (4) are mounted on the upper part of the walking mechanism (1), and the walking mechanism (1) comprises a base (11), a bracket (12) fixed at the corner of the lower side of the base (11), a driving motor (13) fixed on the inner side of the bracket (12), a driving wheel (14) matched with the output shaft of the driving motor (13), a crawler (15) matched with the driving wheel (14), and a power supply (16) fixed at the middle position of the lower side of the base (11).

3. The intelligent drug dispensing and automatic drug residue recovery device for granary according to claim 1 is characterized in that: A plurality of medicine trays (46) are stacked vertically, the frame (41) is fixed to the upper side of the base (11), and the medicine trays (46) are linked to the mechanical clamping claws (38).

4. The intelligent drug dispensing and drug residue automatic recovery device for granary according to claim 2 is characterized in that: A steering motor (39) is fixed to the front portion of the lower side of the base (11), and an output shaft of the steering motor (39) passes through the base (11) and the machine base (31) to connect to the turntable (32).

5. The intelligent drug dispensing and automatic drug residue recovery device for granary according to claim 1 is characterized in that: An obstacle avoidance component (6) is fixed to the front portion of the lower side surface of the base (11), and an ultrasonic transmitter and a receiver are arranged inside the obstacle avoidance component (6).

6. The intelligent drug dispensing and automatic drug residue recovery device for granary according to claim 1 is characterized in that: The vertical screw seat (34) is fixed to the upper side of the turntable (32), the output shaft of the servo motor (33) is connected to the internal screw of the vertical screw seat (34), and a visual sensor (7) is arranged on the top of the vertical screw seat (34).

7. The intelligent drug dispensing and drug residue automatic recovery device for granary according to claim 2 is characterized in that: A control box (2) is fixed to the middle of the upper side of the base (11).

8. The intelligent drug dispensing and drug residue automatic recovery device for granary according to claim 2 is characterized in that: A medicine residue recovery mechanism (5) is provided at the tail of the upper side surface of the base (11), and the medicine residue recovery mechanism (5) comprises a bracket (51) fixed to the tail of the upper side surface of the base (11), and a medicine residue bin (52) fixed to the upper side surface of the bracket (51).

9. The intelligent drug dispensing and drug residue automatic recovery device for granary according to claim 1 is characterized in that: The mechanical clamp (38) comprises a clamp body (382) fixed to the bottom of the support arm (37), a stepping motor (385) fixed to the edge of the clamp body (382), a clamp arm (381) movably arranged at the end of the clamp body (382) via a guide light rod (384), and a threaded rod (383) used for opening and closing driving of the clamp arm (381).

10. The intelligent drug dispensing and automatic drug residue recovery device for granary according to claim 9 is characterized in that: The ends of the threaded rod (383) are threadably adapted to be installed with the clamp arm (381), the threads at both ends of the threaded rod (383) are arranged in opposite directions, the middle position of the threaded rod (383) is matched with the output shaft of the stepping motor (385) via a transmission structure, and a rubber anti-skid texture pad is arranged on the inner side of the clamp arm (381).

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