Grain flour fine leveling operation robot

Abstract

The utility model discloses a grain flour fine leveling operation robot which comprises a machine frame. The driving devices are arranged on the left side, the right side and the rear end of the rack respectively; the two pairs of double-helix blade wheels are arranged on the left side and the right side of the rack respectively; the two fine flattening wheels are arranged perpendicular to the double-helix blade wheel; the spiral directions of the double-spiral blade wheels on the same side are the same, and the spiral directions of the double-spiral blade wheels on the two sides are in mirror symmetry about the rack. The two pairs of double-spiral-blade wheels and the two fine-flattening wheels are connected with the multiple sets of driving devices in a one-to-one correspondence mode through transmission shafts. Tool bits of the plurality of rotary flattening tools are right-angle-shaped; the plurality of rotary flattening cutters are uniformly distributed on two spiral lines of a rotary flattening shaft of the fine flattening wheel, and the spiral directions of the two spiral lines are consistent. The grain surface fine leveling operation robot provided by the utility model is simple in structure, and the grain surface reaches the flatness required by storage after being leveled.

Description

Technical Field

[0001] The utility model relates to the technical field of grain storage mechanical equipment, and in particular to a grain surface fine-leveling operation robot. Background Art

[0002] Grain leveling is a basic requirement for storage and preservation. After the grain is received by each grain depot, the grain surface needs to be leveled in time. The grain leveling work is divided into two stages: rough leveling and fine leveling. The working effect of the grain surface fine leveling robot is to make the grain as level as a mirror. The quality of the grain surface leveling effect greatly affects the subsequent standardized management and the application of new scientific and technological grain storage technologies.

[0003] At present, there are few machines and equipment used for grain surface leveling at home and abroad, which are mainly divided into fixed grain leveling machines and movable grain leveling machines; fixed grain leveling machines generally fix non-grain leveling parts on the top of the granary, and the grain leveling parts are suspended above the grain surface to perform grain leveling work. This type of grain leveling machine can generally only work in one direction, and it needs to return to the starting point after one grain leveling is completed, thereby generating empty grain leveling strokes during the grain leveling work, which greatly reduces the efficiency of grain leveling, and due to structural limitations, it is very time-consuming and low-precision to level grain in large granaries; movable grain leveling machines are generally driven by crawlers as the chassis. This type of grain surface robot has the problems of large size, heavy weight, and grain damage, the traveling mechanism is easy to sink and slip, the grain surface traffic capacity is insufficient, and the grain leveling parts are generally limited to scrapers such as concave push plates, which encounter large resistance when leveling grain and have poor effect of fine grain leveling.

[0004] Existing fixed grain leveling robots have the limitation of working in one direction, resulting in empty travel for grain leveling; tracks need to be laid in advance for leveling work, which has high investment cost and long installation period; there are many repetitive work times, high operation difficulty and low grain leveling efficiency; grain leveling plates are mostly suspended, with poor grain leveling effect. Existing mobile grain leveling robots' traction devices mostly use crawlers as chassis, which are unstable when walking and easy to tilt, thus affecting the efficiency of grain leveling, and the gaps between crawlers will damage grain. The scraper-type grain leveling mechanism encounters large resistance when working, and continuous work will cause grain blockage to varying degrees. Utility Model Content

[0005] The utility model aims to solve the defects of the current grain surface leveling technology and provides a grain surface fine leveling operation robot with a simple structure, which can make the grain surface reach the flatness required for storage after leveling.

[0006] The technical solution provided by the utility model is:

[0007] A grain surface fine-leveling operation robot, comprising:

[0008] frame;

[0009] A plurality of drive devices are respectively arranged on the left and right sides and the rear end of the frame;

[0010] Two pairs of double-helical blade wheels, which are respectively arranged on the left and right sides of the frame;

[0011] Two fine-leveling wheels, which are arranged perpendicular to the double-helical blade wheel;

[0012] The spiral directions of the double helical blade wheels on the same side are the same, and the spiral directions of the double helical blade wheels on both sides are mirror-symmetrical about the frame; the two pairs of double helical blade wheels and the two fine-leveling wheels are connected to the multiple sets of driving devices one by one through transmission shafts;

[0013] A plurality of rotary flattening knives, whose knife heads are right-angled; the plurality of rotary flattening knives are evenly distributed on two spiral lines of the rotary flattening shaft of the fine flattening wheel, and the two spiral lines have the same rotation direction.

[0014] Preferably, the multiple sets of driving devices all adopt a two-way output power device and a hole output method; the multiple sets of driving devices are divided into a first driving device, a second driving device, and a third driving device; the first driving device and the second driving device are respectively fixedly connected to the left and right sides of the frame; the third driving device is connected to the rear end of the frame through a connecting plate.

[0015] Preferably, the two pairs of double-helical blade wheels are two left-handed wheels and two right-handed wheels respectively; the two left-handed wheels are arranged on one side of the frame and have the same rotation direction, and the two right-handed wheels are arranged on the other side of the frame and have the same rotation direction; the rotation directions of the left-handed wheels and the right-handed wheels are mirror-symmetrical about the frame.

[0016] Preferably, the transmission shaft is divided into a first transmission shaft, a second transmission shaft, and a third transmission shaft; the two left-hand wheels are connected to the first drive device via the first transmission shaft; the two right-hand wheels are connected to the second drive device via the second transmission shaft; and the two finishing wheels are connected to the third drive device via the third transmission shaft.

[0017] Preferably, the outer wall of the transmission shaft, the inner walls of the two pairs of double helical blade wheels and the two fine-leveling wheels are all provided with long key grooves, and the two pairs of double helical blade wheels and the two fine-leveling wheels are connected to the corresponding transmission shafts by long keys.

[0018] Preferably, a connecting portion is provided at the rear end of the frame, and a fixed point hole and a plurality of height adjustment holes are provided on the connecting portion, and the positions of the plurality of height adjustment holes are a circular array centered on the fixed point hole; holes corresponding to the connecting portion one by one are provided on the connecting plate, and the connecting portion is fixedly connected to the connecting plate through the holes.

[0019] Preferably, the flattening blades on each of the flattening shaft spiral lines face the same direction, wherein a reverse flattening blade is provided at the end of each of the flattening shaft spiral lines, and the reverse flattening blade changes direction to face the inner side of the shaft.

[0020] Preferably, the height of the spiral line of the flattening shaft is the axial length of the flattening shaft, and the number of turns is 0.5 turns; the angle between two adjacent flattening knives is 36°, and 5 flattening knives are evenly distributed on each spiral line of the flattening shaft.

[0021] The beneficial effects of the utility model are as follows: the grain surface fine-leveling operation robot provided by the utility model has a simple structure and can make the grain surface reach the flatness required for storage after being leveled. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 The utility model is a schematic diagram of the overall structure of the grain surface fine-leveling operation robot.

[0023] Figure 2 It is a top view of the grain surface leveling robot described in the utility model.

[0024] Figure 3 It is a schematic diagram of the fine leveling mechanism described in the utility model.

[0025] Figure 4 It is a schematic diagram of the connection between the main machine and the precision leveling mechanism described in the utility model.

[0026] Figure 5 It is a front view of the fine leveling wheel described in the utility model.

[0027] Figure 6 It is a left side view of the fine leveling mechanism described in the utility model. DETAILED DESCRIPTION

[0028] The present invention will be further described in detail below in conjunction with the accompanying drawings so that those skilled in the art can implement the invention with reference to the description.

[0029] like Figure 1 As shown, the utility model provides a grain surface fine-leveling operation robot, which comprises: a host mechanism 100 and a fine-leveling mechanism 200. The host mechanism 100 provides a traction function, and the fine-leveling mechanism 200 provides a grain surface flattening function.

[0030] The host mechanism 100 includes: a frame 110; two sets of drive devices 120, which are divided into a first drive device 121 and a second drive device 122; the first drive device 121 and the second drive device 122 are respectively fixedly connected to the left and right sides of the frame 110; the two sets of drive devices 120 adopt a two-way output power device, and the drive device 120 is composed of a motor connected to a worm gear reducer, and the worm gear reducer adopts a hole output method; two pairs of double helical blade wheels 140, which are two left-handed wheels 141 and two right-hand wheels 142; the two left-hand wheels 141 and the two right-hand wheels 142 are respectively arranged on the left and right sides of the frame 110, the two left-hand wheels 141 are arranged on one side of the frame 110 and have the same rotation direction, and the two right-hand wheels 142 are arranged on the other side of the frame 110 and have the same rotation direction; the rotation directions of the left-hand wheels 141 and the right-hand wheels 142 are mirror-symmetrical about the frame 110; the two pairs of double helical blades 140 are connected to the two sets of driving devices 120 one by one through the transmission shaft 130; the two The left-handed wheel 141 is connected to the first driving device 121 through the first transmission shaft 131; the two right-handed wheels 142 are connected to the second driving device 122 through the second transmission shaft 132; the outer wall of the transmission shaft 130 and the inner wall of the two pairs of double-helical blade wheels 140 are provided with long key grooves, the transmission shaft 130 passes through the through hole below the driving device 120, and the two ends of the transmission shaft 130 are connected to each of the double-helical blade wheels 140 by a long key connection method, so that the double-helical blade wheels 140 and the transmission shaft 130 are connected to each other. It is easy to install and disassemble, and can effectively transmit the torque of the shaft. After the double helical blade wheel 140 is installed on the transmission shaft 130, the double helical blade wheel limiting bolts 150 are connected at the ends of the transmission shaft 130 to prevent the double helical blade wheel 140 from rotating or slipping, so that the double helical blade wheel 140 is fixedly connected to the transmission shaft 130. When the driving device 120 outputs power to drive the transmission shaft 130, the transmission shaft 130 can drive the correspondingly connected double helical blade wheel 140 to rotate, thereby driving the robot to travel.

[0031] The host mechanism 100 utilizes the spiral drive principle and adopts the two pairs of double spiral blade wheels 140 as the walking mechanism. Compared with the crawler track, the robot has a larger contact area with the grain when walking. The robot can obtain greater driving force when traveling, and has a strong ability to pass through the grain surface. The working movement direction can be changed at any time according to actual conditions. There is no limitation of unidirectional work, and there will be no flat grain vacuum period. The hardware system and structure are simple in composition, low in cost, and easy to operate.

[0032] like Figure 2As shown, the first left-hand wheel 141a and the second left-hand wheel 141b are arranged on the left side of the frame 110 and have the same rotation direction and the same direction of rotation; the first left-hand wheel 141a and the second left-hand wheel 141b are connected to the first driving device 121 through a first transmission shaft 131, and the first left-hand wheel 141a and the second left-hand wheel 141b are respectively arranged on both sides of the first driving device 121; the first transmission shaft 131 is arranged along the forward direction; the first right-hand wheel 142a and the second right-hand wheel 142b are arranged on the right side of the frame 110 and have the same rotation direction and the same direction of rotation; the first right-hand wheel 142a and the second right-hand wheel 142b are connected to the second driving device 122 through a second transmission shaft 132, and the first right-hand wheel 142a and the second right-hand wheel 142b are respectively arranged on both sides of the second driving device 122; the second transmission shaft 132 is arranged along the forward direction; the rotation directions of the left-hand wheel 141 and the right-hand wheel 142 are mirror-symmetrical about the frame 110.

[0033] like Figure 3 As shown, the fine-leveling mechanism 200 includes: a third driving device 123, which is connected to the rear end of the frame 110 through a connecting plate 112; the third driving device 123 is composed of a motor connected to a worm gear reducer, the worm gear reducer adopts a hole output method, and the third driving device 123 adopts a bidirectional output power device; two fine-leveling wheels 210, which are arranged at the rear end of the frame 110 perpendicular to the double helical blade wheel 140; the two fine-leveling wheels 210 are connected to the third driving device 123 through a third transmission shaft 133; the third transmission shaft 133 is in a vertical relationship with the first transmission shaft 131 and the second transmission shaft 132 in terms of spatial position; the outer wall of the third transmission shaft 133 and the inner wall of the two fine-leveling wheels 210 are provided with a long keyway 222, and the third transmission shaft 133 is provided with a long keyway 222. The shaft 133 passes through the through hole below the third driving device 123, and the two ends of the third transmission shaft 133 are connected to each of the fine-leveling wheels 210 by a long key connection method, so that the fine-leveling wheel 210 and the third transmission wheel 133 are convenient to install and disassemble, and the torque of the shaft can be effectively transmitted. After the fine-leveling wheel 210 is installed on the third transmission shaft 133, the fine-leveling wheel limit bolts 240 are connected at the ends of the third transmission shaft 133 to prevent the fine-leveling wheel 210 from rotating or slipping, so that the fine-leveling wheel 210 is fixedly connected to the third transmission shaft 133. When the third driving device 123 outputs power to drive the third transmission shaft 133, the third transmission shaft 133 can drive the two correspondingly connected fine-leveling wheels 210 to rotate in the same direction, and push and throw the grain at the same depth after contacting the grain surface to perform fine-leveling operations.

[0034] like Figure 4As shown, a connecting portion 111 is provided at the rear end of the frame 110, and the connecting plate 112 is fixedly connected to the connecting portion 111, so that the entire fine-leveling mechanism 200 is fixedly connected to the rear of the main machine mechanism 100, thereby forming the grain surface fine-leveling operation robot as a whole.

[0035] The connecting part 111 is provided with a unique connecting part fixed point hole 111a and a plurality of connecting part height adjustment holes 111b, and the positions of the plurality of connecting part height adjustment holes 111b are a circular array centered on the connecting part fixed point hole 111a; the connecting plate 112 is provided with a connecting plate fixed point hole 112a and a plurality of connecting plate height adjustment holes 112b corresponding to the connecting part 111 one by one; the grain surface fine-leveling operation robot can adjust the working height of the fine-leveling mechanism 200 according to the height of the grain surface. When adjusting the height, the connecting plate 112 is rotated a certain angle around the connecting part fixed point hole 111a, and the connecting plate height adjustment hole 112b is fixedly connected to the corresponding connecting part height adjustment hole 111b.

[0036] like Figure 5 As shown, each of the fine-leveling wheels 210 is composed of a section of a flattening shaft 220 and a plurality of equal-sized flattening knives 230 attached to the flattening shaft 220; the knife head of the flattening knife 230 is a right-angle type; the flattening knives 230 are evenly distributed on the two spiral lines 221 of the flattening shaft 220, and the two spiral lines 221 have the same rotation direction, which can be left-handed or right-handed; the flattening knives 230 on each of the flattening shaft spiral lines 221 face the same direction, wherein a reverse flattening knife 231 is provided at the end of each of the flattening shaft spiral lines 221, and the reverse flattening knife 231 changes direction and faces the inner side of the shaft; the rotation direction of each of the spiral lines 221 on the two fine-leveling wheels 210 is the same, the height of the spiral line 221 is the shaft length of the flattening shaft 220, and the number of turns is 0.5 turns.

[0037] like Figure 6As shown, the angle between two adjacent flattening knives 230 is 36°, and five flattening knives 230 are evenly distributed on each flattening shaft spiral line 221. By changing the angle between two adjacent flattening knives 230, the density of flattening knives on the fine flattening wheel 210 will be affected. In the same rotating plane, two or three flattening knives 230 are configured to process an equal amount of grain in a grain area, ensuring that the grain surface is flat after the action; during the rotation of the flattening shaft 220, each time it rotates an equal angle, at the same phase angle, only one flattening knife 230 enters the grain, the torque is relatively balanced, the fluctuation amplitude is reduced, and the working stability and the uniform load of the flattening shaft 220 are ensured; due to the self-flowing nature of the grain, the distance between the adjacent flattening knives 230 in the axial direction is the width of two flattening knives 230, and the interval is large, which prevents blockage and does not produce a leaking flattening area. The end of the rotary flattening knife 230 is right-angled, the knife thickness is small, the contact area with the grain is small during operation, the rotation resistance is small, and relying on the self-flowing property of the grain, the flattening effect is still good.

[0038] The fine-leveling mechanism 200 utilizes the rotation and pushing and throwing action of the flattening knife 230 to achieve the fine-leveling effect. The third driving device 123 transmits power to the fine-leveling wheel 210 through the third transmission shaft 133. The flattening knife 230 rotates along the spiral line 221 by relying on centrifugal force, and pushes and throws the high-convex grain backwards. In addition, due to the self-flowing property of the grain, the height difference of the grain surface gradually decreases and reaches a flat state. The flattening knife 230 is less obstructed, and there is no risk of grain blockage, and there is no damage to the grain.

[0039] The grain surface fine-leveling robot combines rough leveling with fine leveling and can perform them simultaneously, with less repeated work. The spaced-apart rotary leveling knives 230 are used as fine-leveling working parts, which is more reasonable than a grain leveling plate or a grain leveling comb. The rotary grain leveling device is not prone to blockage and is subject to less grain resistance than a scraper-type device. The rotary fine-leveling working mode is more efficient than the scraper translation mode.

[0040] According to the height difference of the grain surface, the grain leveling depth should be appropriately adjusted. First, by adjusting the connection between the connecting portion 111 and the connecting plate 112, a suitable working height of the fine-leveling mechanism 200 is selected; the first driving device 121 and the second driving device 121 work to output power to the first transmission shaft 131 and the second transmission shaft 132, driving the double helical blade wheel 140 connected to the corresponding transmission shaft 130 to rotate, and the double helical blades 140 on both sides of the frame 110 rotate inward at the same time, and the robot moves toward the head direction. When encountering a grain surface with a small height difference, the host mechanism 100 only needs to provide a traction function, and the third driving device 123 of the fine-leveling mechanism 200 is started, driving the third transmission shaft 133 to drive the two fine-leveling wheels 210 to rotate, so that the rotary flattening knife 230 rotates along the spiral line 22 1 rotates at high speed, and after entering a certain depth of the grain surface, a small amount of grain on the surface is pushed and thrown backwards. Since the ends of all the rotary flattening knives 230 are on the same axial plane, the grain surface is flat after fine leveling. When encountering a grain surface with a large height difference, a combination of rough leveling and fine leveling is required, that is, the host mechanism 100 reduces the height difference of a certain grain high convex area through several forward, backward, turning and left and right unilateral rotation actions, so that the rough leveling work is completed. After that, the robot continues to move forward, and the fine leveling mechanism 200 performs the leveling work by rotating. In this case, the rotary flattening knife 230 may penetrate into a deeper area below the grain surface, and the amount of grain pushed and thrown backwards increases, and the resistance increases. However, its sparsely spaced arrangement structure determines that the resistance of the rotary flattening knife 230 is limited. At the same time, the grain thrown backward will react to the forward force of the fine leveling wheel 210, reducing a certain amount of energy consumption.

[0041] The grain surface fine-leveling robot provided by the utility model has a simple structure, a strong grain surface passability, and can change the working movement direction at any time to make the grain surface reach the flatness required for storage after being leveled; it can replace manual work to perform grain surface fine-leveling operations, increase the safety of grain storage operations and reduce labor costs, solve the problems of poor adaptability and low grain leveling efficiency of existing grain leveling robots, and achieve efficient and lossless grain leveling; the overall layout is reasonable, the investment cost is low, the grain surface passability is strong, the driving is flexible and stable, and the fine-leveling working parts are highly efficient, which saves time for subsequent other warehousing links; the fine-leveling strategy is flexible, and on grain surfaces with small height differences, the host mechanism is responsible The main machine is responsible for traction driving, and the fine-leveling mechanism is responsible for high-speed leveling work; for grain surfaces with large height differences, a combination of rough leveling and fine leveling is adopted: after the main machine mechanism reduces the height difference of the grain pile in a certain area in front through multiple forward, backward and turning actions, the rotary leveling knife makes the grain surface in this area reach a flat state through rotation and pushing and throwing actions; the large-area double helical blades enable the robot to obtain stronger driving force and increase the efficiency of the robot in stirring grain per unit time; the fine-leveling mechanism can adjust the rotation speed and fine-leveling depth of the fine-leveling wheel according to the height of the grain surface, so that the effect and efficiency of fine-leveling of the grain surface are better than those of the existing leveling mechanism.

[0042] Although the implementation scheme of the utility model has been disclosed as above, it is not limited to the applications listed in the specification and implementation modes. It can be fully applied to various fields suitable for the utility model. For those familiar with the art, additional modifications can be easily implemented. Therefore, without departing from the general concept defined by the claims and the scope of equivalents, the utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A grain surface leveling robot, characterized in that: include: frame; A plurality of drive devices are respectively arranged on the left and right sides and the rear end of the frame; Two pairs of double-helical blade wheels, which are respectively arranged on the left and right sides of the frame; Two fine-leveling wheels, which are arranged perpendicular to the double-helical blade wheel; The spiral directions of the double helical blade wheels on the same side are the same, and the spiral directions of the double helical blade wheels on both sides are mirror-symmetrical about the frame; the two pairs of double helical blade wheels and the two fine-leveling wheels are connected to the multiple sets of driving devices one by one through transmission shafts; A plurality of rotary flattening knives, whose knife heads are right-angled; the plurality of rotary flattening knives are evenly distributed on two spiral lines of the rotary flattening shaft of the fine flattening wheel, and the two spiral lines have the same rotation direction.

2. The grain surface leveling robot according to claim 1, characterized in that: The multiple sets of driving devices all adopt bidirectional output power devices and adopt hole output mode; the multiple sets of driving devices are divided into a first driving device, a second driving device, and a third driving device; the first driving device and the second driving device are respectively fixedly connected to the left and right sides of the frame; The third driving device is connected to the rear end of the frame via a connecting plate.

3. The grain surface leveling robot according to claim 2, characterized in that: The two pairs of double-helical blade wheels are respectively two left-handed wheels and two right-handed wheels; the two left-handed wheels are arranged on one side of the frame and have the same rotation direction, and the two right-handed wheels are arranged on the other side of the frame and have the same rotation direction; the rotation directions of the left-handed wheels and the right-handed wheels are mirror-symmetrical about the frame.

4. The grain surface leveling robot according to claim 3, characterized in that: The transmission shaft is divided into a first transmission shaft, a second transmission shaft, and a third transmission shaft; the two left-hand wheels are connected to the first drive device via the first transmission shaft; the two right-hand wheels are connected to the second drive device via the second transmission shaft; and the two finishing wheels are connected to the third drive device via the third transmission shaft.

5. The grain surface leveling robot according to claim 4, characterized in that: The outer wall of the transmission shaft, the inner walls of the two pairs of double helical blade wheels and the two fine-leveling wheels are all provided with long key grooves, and the two pairs of double helical blade wheels and the two fine-leveling wheels are connected to the corresponding transmission shafts by long keys.

6. The grain surface leveling robot according to claim 2, characterized in that: A connecting part is provided at the rear end of the frame, and a fixed point hole and a plurality of height adjustment holes are provided on the connecting part, and the positions of the plurality of height adjustment holes are a circular array centered on the fixed point hole; holes corresponding to the connecting parts are provided on the connecting plate, and the connecting part is fixedly connected to the connecting plate through the holes.

7. The grain surface leveling robot according to claim 1, characterized in that: The flattening knives on each flattening shaft spiral line have the same direction, wherein a reverse flattening knife is provided at the end of each flattening shaft spiral line, and the reverse flattening knife changes direction and faces the inner side of the shaft.

8. The grain surface leveling robot according to claim 7, characterized in that: The height of the spiral line of the flattening shaft is the shaft length of the flattening shaft, and the number of turns is 0.5 turns; the angle between two adjacent flattening knives is 36°, and 5 flattening knives are evenly distributed on each spiral line of the flattening shaft.

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