Movable granary rope-driven parallel spreading robot system

Abstract

A movable granary rope-driven parallel spreading robot system comprises a movable lifting system, a spreading robot and a control system. The spreading robot and the pulleys are mounted in the granary, and a servo motor, an auxiliary motor and a control system in the movable lifting system are mounted on a movable plate trailer outside the granary, so that spreading equipment is convenient to mount. The output shaft of the servo motor is provided with the tension controller, whether the steel wire rope is in a tightened state or not can be determined through a tension signal fed back by the tension controller, and then the servo motor is started, so that winding and unwinding errors caused by different tensions of the steel wire rope are reduced. Before leveling is completed, needed data are input into the control system, the control system calculates the movement track and speed of the leveling robot according to the data, and the servo motor and the auxiliary motor drive the steel wire rope, so that the leveling robot is driven to move, and leveling is completed accurately and rapidly.

Description

Technical Field

[0001] The utility model belongs to the technical field of robots, and in particular relates to a mobile granary rope-driven parallel warehouse-leveling robot system. Background Art

[0002] my country is a major grain producer and a major grain storage country. The leveling of the grain surface of stored grain is an important task for grain storage enterprises and an important part of the standardization requirements for grain storage enterprises. Since grain is scattered, it is generally thrown down from a high place by a conveyor when entering the warehouse to form a grain pile. When grain enters the warehouse, due to the limited distribution of grain entry points, the grain piles are uneven, and the piled parts are prone to heat, threatening the safety of grain storage and causing great inconvenience to grain condition monitoring. Therefore, leveling the grain surface is the last step in the process from grain harvest to normal storage management. After the grain is entered, the grain surface must be leveled in time to facilitate ventilation and grain condition inspection on the top, and to facilitate the application of subsequent grain storage technology to achieve good results. It is also a requirement for standardized management of granaries.

[0003] In the existing technology, most of the work of leveling the grain surface is done by manual operation, which has high labor intensity, poor working environment and potential safety hazards.

[0004] At present, there are relatively few leveling robots used in granaries, which can be roughly divided into three categories: fixed leveling robots, mobile leveling robots and composite leveling robots. Fixed leveling robots generally work on the top of granaries. For example, the efficiency and work quality of truss-type leveling devices are relatively high, but some corners are blind spots, and the investment is huge. Each granary must be installed separately; mobile leveling robots are small in size and relatively flexible, but the work efficiency is not high; composite leveling robots are a combination of the two, but the mobile leveling robot has a disadvantage that it is easy to tip over. At present, no matter which type of leveling device is used, the overall leveling is not ideal, which easily causes the grain surface to tilt at a small angle, which makes the grain surface on the left and right ends have a huge drop when working in large granaries. In addition, before using the leveling robot, the winch needs to be installed inside the small granary, which is not easy to install due to the small internal space of the granary. Utility Model Content

[0005] The utility model provides a mobile granary rope-driven parallel leveling robot system, which aims to solve the technical problems that the grain surface cannot be quickly and accurately leveled after the grain is stored in the warehouse and the leveling equipment is inconvenient to install.

[0006] The technical solution of the utility model is achieved in this way:

[0007] A mobile granary rope-driven parallel warehouse-closing robot system, comprising a mobile lifting system, a warehouse-closing robot, and a control system; the characteristics are:

[0008] The said unwinding robot 2 includes a main body 201, a leveling plow 202, universal wheels 203, and a sensing system 204; the main body 201 is a rectangular plate body, with one universal wheel 203 connected to each of the four corners at the bottom thereof, the leveling plow 201 is a quadrilateral plate body, the side walls of the four sides of which are arc surfaces sunken inward, the main body is above and the leveling plow is below, and the two are connected as a whole by a vertical cylindrical shaft at the center, and the four corners of the leveling plow plate body are respectively arranged pointing to the midpoints of the four sides of the rectangle at the bottom of the main body;

[0009] Four sets of the said mobile lifting system 1 are provided, and each set of the mobile lifting system includes a pulley block 101, a steel wire rope 105, a rope winding device 108, a rope collecting device 109, a servo motor 110, and an auxiliary motor 111; the pulley block 101 includes a positioning pulley 102 and a steering pulley block 103;

[0010] The positioning pulleys in the four sets of the mobile lifting system are symmetrically fixed at the four corner positions at the top of the granary respectively, the main body is diagonally connected with the steel wire ropes corresponding to the four corners of the granary at the four corners, one end of each steel wire rope 105 is connected to one of the universal wheels of the main body, and after the other end bypasses a positioning pulley diagonally opposite to the universal wheel, it is then connected to the auxiliary motor 111 and the servo motor 110 after being steered by the steering pulley block 103; the four steel wire ropes 105 tighten the four universal wheels of the main body to lift the main body and suspend it above the granary.

[0011] In the said mobile granary wire-driven parallel unwinding robot system, a tension controller 112 is provided on the output shaft of the servo motor 110, and the rope collecting device 109 is sleeved outside the tension controller; the auxiliary motor 111 is correspondingly arranged in front of the servo motor 110, and a rope winding device 108 is provided on its output shaft;

[0012] After the steel wire rope 105 is wound around the rope winding device of the auxiliary motor, the end is then wound around the rope collecting device of the servo motor.

[0013] In the said mobile granary wire-driven parallel unwinding robot system, the unwinding robot is controlled by the four sets of the mobile lifting system 1 to make horizontal movements in four directions or vertical lifting movements;

[0014] The four universal wheels of the unwinding robot are set as four hanging points in the order of A, B, C, D, and are controlled by the steel wire ropes of the four hanging points corresponding to servo motor A, servo motor B, servo motor C, and servo motor D respectively;

[0015] When the closing robot needs to move upward, all the servo motors synchronously wind the ropes; if the closing robot needs to move forward, the steel ropes in front of the closing robot are synchronously wound by the servo motor A and the servo motor C, and the servo motor B and the servo motor D at the rear synchronously release the ropes; if the closing robot needs to move to the right, the steel ropes on the right side of the closing robot are synchronously wound by the servo motor C and the servo motor D, and the servo motor A and the servo motor B on the left side synchronously release the ropes, and so on.

[0016] In the described mobile grain bin rope-driven parallel closing robot system, the servo motor 110 and the auxiliary motor 111 are installed on the mobile trolley, and the steering pulley set 103 includes 2-4 steering pulleys arranged at different positions on the side wall of the grain bin. The steel ropes 105 are respectively led from the four corner positions of the grain bin, and after passing through supports and being steered, they reach the rope winder of the auxiliary motor.

[0017] In the described mobile grain bin rope-driven parallel closing robot system, the servo motor 110 and the auxiliary motor 111 are controlled by a PLC controller.

[0018] In the described mobile grain bin rope-driven parallel closing robot system, the sensing system 204 includes a camera or a scanning camera, an ultrasonic sensor, a radar sensor, a lidar sensor, an infrared sensor, a laser ranging sensor, and a three-dimensional scanning sensor.

[0019] In the described mobile grain bin rope-driven parallel closing robot system, the control system 3 includes a PLC controller and an operation panel.

[0020] The beneficial effects of the present utility model:

[0021] The present utility model installs the mobile lifting system and the closing robot inside the grain bin, and installs the control system, the servo motor, and the auxiliary motor on the mobile trolley, which is convenient for the installation of the closing equipment. A tension controller is installed on the output shaft of the servo motor. After determining whether the steel rope is in a tightened state through the tension signal fed back by the tension controller, the servo motor is started, which can reduce the winding and unwinding errors of the steel rope caused by different tensions. Before completing the closing, the required data is input into the control system. The control system calculates the movement trajectory and speed of the closing robot according to the data. The servo motor and the auxiliary motor drive the steel ropes, thereby driving the closing robot to move and accurately and quickly complete the closing. Description of the Drawings

[0022] Figure 1 It is the overall structural schematic diagram of the closing robot system of the present utility model,

[0023] Figure 2It is the front view schematic diagram of the connection relationship between the level - flattening robot in the utility model granary and the pulley,

[0024] Figure 3 It is the bottom view schematic diagram of the connection relationship between the level - flattening robot in the utility model granary and the pulley,

[0025] Figure 4 It is the front view schematic diagram of the connection between the servo - motor, auxiliary motor, steel wire rope and pulley block in the utility model,

[0026] Figure 5 It is the schematic diagram of the non - level - flattened state of the level - flattening robot in the utility model granary,

[0027] Figure 6 It is the position schematic diagram of the left - right translation of the level - flattening robot in the utility model granary,

[0028] Figure 7 It is the position schematic diagram of the forward translation of the level - flattening robot in the utility model granary,

[0029] Figure 8 It is the position schematic diagram of the backward translation of the level - flattening robot in the utility model granary.

[0030] Explanation of the attached drawing numbers: Mobile lifting system 1, Pulley block 101, Positioning pulley 102, Steering pulley block 103, Positioning pulley one 104, Steel wire rope 105, Positioning pulley two 106, Positioning pulley three 107, Rope winding device 108, Rope collecting device 109, Servo - motor 110, Auxiliary motor 111, Tension controller 112, Servo - motor A 113, Servo - motor B 114, Servo - motor C 115, Servo - motor D 116, Positioning pulley four 117, Driving rope A 118, Driving rope B 119, Driving rope C 120, Driving rope D 121, Level - flattening robot 2, Main body 201, Flattening plow 202, Universal wheel 203, Sensing system 204, Universal wheel A 205, Universal wheel B 206, Universal wheel C 207, Universal wheel D 208, Control system 3. Detailed implementation mode

[0031] The following combines the attached drawings to elaborate in detail on the specific structure and implementation mode of the utility model.

[0032] See Figure 1-3 As shown, a mobile granary rope - driven parallel level - flattening robot system of the utility model includes a mobile lifting system, a level - flattening robot, and a control system;

[0033] The said unwinding robot 2 includes a main body 201, a leveling plow 202, universal wheels 203, and a sensing system 204; the main body 201 is a rectangular plate body, and one of the universal wheels 203 is connected to each of the four corners at the bottom thereof. The leveling plow 202 is a quadrilateral plate body, and the side walls of the four sides thereof are arc surfaces that are recessed inward. The main body is above and the leveling plow is below, and the two are connected into one body through a vertical cylindrical shaft at the center. Moreover, the four corners of the leveling plow plate body respectively point to the midpoints of the four sides of the rectangle at the bottom of the main body for arrangement;

[0034] Four sets of the said mobile lifting systems 1 are provided. Each set of the mobile lifting system includes a pulley block 101, a wire rope 105, a rope winding device 108, a rope collecting device 109, a servo motor 110, and an auxiliary motor 111; the pulley block 101 includes a positioning pulley 102 and a steering pulley block 103;

[0035] The positioning pulleys 102 in the four sets of the mobile lifting systems are respectively symmetrically fixed at the four corner positions on the top of the granary. The main body 201 is diagonally connected to the wire ropes corresponding to the four corners of the granary. One end of each wire rope 105 is connected to one of the universal wheels of the main body, and the other end passes around a positioning pulley that is diagonal to the universal wheel, and then is connected to the auxiliary motor 111 and the servo motor 110 after being steered by the steering pulley block 103; the four wire ropes 105 tighten the four universal wheels of the main body to lift the main body and suspend it above the granary.

[0036] See Figure 4 As shown, in the said mobile granary wire-driven parallel unwinding robot system, a tension controller 112 is provided on the output shaft of the servo motor 110, and the rope collecting device 109 is sleeved outside the tension controller; the auxiliary motor 111 is correspondingly arranged in front of the servo motor 110, and a rope winding device 108 is provided on its output shaft;

[0037] After the wire rope 105 is wound around the rope winding device of the auxiliary motor, the end is then wound around the rope collecting device of the servo motor.

[0038] In the said mobile granary wire-driven parallel unwinding robot system, the unwinding robot is controlled by the four sets of the mobile lifting systems 1 to perform horizontal movement in four directions or vertical lifting movement;

[0039] The positioning pulleys 102 arranged at the four corner positions of the top of the granary are respectively positioning pulley one 104, positioning pulley two 106, positioning pulley three 107, and positioning pulley four 117; the universal wheels arranged at the four corners of the bottom of the main body are respectively universal wheel A 205, universal wheel B 206, universal wheel C 207, and universal wheel D 208; the servo motors arranged on the mobile trolley are respectively servo motor A 113, servo motor B 114, servo motor C 115, and servo motor D 116, and one auxiliary motor is equipped in front of each servo motor.

[0040] The four universal wheels of the flat - bin robot are arranged as four suspension points in the order of A, B, C, D, that is, the corresponding relationship is universal wheel A 205, universal wheel B 206, universal wheel C 207, and universal wheel D 208; the steel wires of the four suspension points are sequentially corresponding to servo motor A, servo motor B, servo motor C, and servo motor D for control.

[0041] When the flat - bin robot needs to move upward, each of the servo motors synchronously winds the ropes; see Figure 7 , 8 As shown, if the flat - bin robot needs to move forward, the steel wires in front of the flat - bin robot are synchronously wound by servo motor A and servo motor C, and the servo motors B and D behind are synchronously unwound; see Figure 6 As shown, if the flat - bin robot needs to move to the right, the steel wires on the right side of the flat - bin robot are synchronously wound by servo motor C and servo motor D, and the servo motors A and B on the left side are synchronously unwound, and so on.

[0042] In the described mobile granary wire - driven parallel flat - bin robot system, the servo motor 110 and the auxiliary motor 111 are installed on the mobile trolley, see Figure 4 As shown, the steering pulley group 103 includes 2 - 4 steering pulleys arranged at different positions on the side wall of the granary. The steel wire 105 is respectively led from the four corner positions of the granary, and after support and steering, it reaches the rope winder of the auxiliary motor. For example, one end of the drive rope B 119 is connected to the universal wheel B 206, and the other end bypasses the positioning pulley and then reaches the rope winder 108 of the auxiliary motor after being supported and steered by the steering pulley group 103; one end of the drive rope D 121 is connected to the universal wheel D 208, and the other end reaches the rope winder 108 of the auxiliary motor after being steered by the steering pulley group 103.

[0043] In the described mobile granary wire - driven parallel flat - bin robot system, the servo motor 110 and the auxiliary motor 111 are controlled by a PLC controller.

[0044] The described mobile grain bin rope-driven parallel bin leveling robot system, wherein the sensing system 204 includes a camera or a scanning camera, an ultrasonic sensor, a radar sensor, a lidar sensor, an infrared sensor, a laser distance sensor, and a three-dimensional scanning sensor.

[0045] The described mobile grain bin rope-driven parallel bin leveling robot system, wherein the control system 3 includes a PLC controller and an operation panel.

[0046] The described mobile grain bin rope-driven parallel bin leveling robot system and operation method, which includes the following steps:

[0047] (1) Input the relative coordinates or mutual distance values of the positioning pulleys installed at the four corners of the top of the grain bin into the PLC controller, and also input the relative coordinates (i.e., the relative coordinates of the universal wheels) or distribution distances of each lifting point of the bin leveling robot into the PLC controller to construct a 3D drive rope system.

[0048] (2) The bin leveling robot sets the height of the leveling surface according to the scanning data of the sensor and makes multiple equal-height surface movements.

[0049] (3) Use a tension controller to adjust the tightness of each steel wire rope so that the bin leveling robot can overcome the reaction force of the grain surface.

[0050] (4) After the drive system is powered on, the program control device conducts a self-check. After the self-check passes, the system will control each servo motor to perform its respective origin detection. The servo motor obtains its respective reference point, and all subsequent data will be based on this reference point as the origin and zero point.

[0051] (5) After the origin detection of each servo motor is completed, the system can start running; before confirming whether it is in automatic or manual operation, the system will automatically adjust the attitude first. The four servo motors will rotate slowly at the same time, retracting the ropes synchronously, and the bin leveling robot will be pulled up and move upward until the rotating radar can no longer detect obstacles. At this time, the system will consider that the bin leveling robot is at the highest point of the grain surface in the grain bin; after the bin leveling robot reaches the highest point, all servo motors will stop and be in a standby state, waiting for the next command.

[0052] (6) At this time, if it is an automated operation mode, the robot starts to work, and the four servo motors operate simultaneously, releasing the ropes synchronously. When the rotating radar detects an obstacle, the four servo motors immediately stop working. At this time, the system records the internal absolute position data of the current servo motors. Then, according to the feeding data given on the screen, the four servo motors operate simultaneously according to the calculated data, causing the bin leveling robot to descend by 5 - 10 cm. After the bin leveling robot descends by 5 - 10 cm, it pauses for 1 - 2 seconds, and then starts horizontal movement under the control of the four servo motors. There are various movement trajectories of the bin leveling robot, which can be selected on the control computer (host computer) at the terminal according to the actual situation through a pre-programmed procedure to complete the grain bin leveling work.

[0053] (7) During the horizontal movement process, the system will automatically fine-tune the data according to the travel length to compensate for the stretching and extension coefficients of each wire rope. The adjustment system is divided into two adjustment methods, one is position adjustment and the other is speed adjustment, which are completed through a designed program.

[0054] (8) The bin leveling robot detects the current change in real time during the working process, calculates and judges through the current state, and can judge whether the grain surface is leveled. If the robot judges that the grain surface leveling work is completed, it will beep and alarm. At this time, the operator needs to participate. The operator needs to inform the leveling state and confirm whether the flatness of the grain surface meets the standard by manually pressing the confirmation key on the control computer (host computer). If it does not meet the standard, the system will perform self-learning once and continue to repeat the work in this state. After this cycle is completed, the system will continue to alarm and requires manual confirmation. After manual confirmation is completed, the bin leveling robot automatically returns above the origin and waits. After the bin leveling robot learns according to the above steps, the number of alarms will be reduced in the subsequent work. Repeat the above steps until the flatness of the top grain surface meets the standard and the bin leveling is completed.

[0055] The following further elaborates on the specific implementation manners of the present utility model:

[0056] The sensing system 204 includes a camera, a scanning camera, an ultrasonic sensor, a radar sensor, a lidar sensor, an infrared sensor, a laser ranging sensor, a three-dimensional scanning sensor, and an angle measurement sensor.

[0057] The tension controller is a traditional and simple device for transmitting tension or tension signals. Through the feedback of tension signals, the servo motor can determine the tightening state of the wire rope and then start to work, which can reduce the winding and unwinding errors caused by different tightening states of the wire rope. The tension controller and the servo motor are controlled by LPC programming. Through a sliding induction diode, the rotation speed of the rope collector drum on the output shaft of the servo motor is sensed to judge the tightness state of the wire rope. If the speed is slightly faster, it means the rope is relatively loose; otherwise, it is tightened. There are corresponding numerical ranges in the set parameters to ensure that the rope is in a tightened state before the servo motor works.

[0058] The flatting robot system adopts all-digital control and can realize digital adjustment of parameters.

[0059] The flatting robot system adopts servo drive technology. While controlling the position of the flatting robot, it can also control its movement speed, and its drive positioning accuracy is 5 mm.

[0060] The control system adopts traditional programmable logic control and has an origin detection function. After the robot works in a plane cycle, it will automatically find the origin to perform attitude correction.

[0061] Embodiment

[0062] The technical solution of the present utility model is implemented in a bungalow granary with a width of 36 meters and a length of 60 meters.

[0063] Pulley groups are installed at the highest points of the four corners of the bungalow granary. 4 servo motors, 4 auxiliary motors and the control system are installed on a mobile trolley outside the bungalow granary. The wire ropes are connected to the servo motors, auxiliary motors and the flatting robot inside the granary.

[0064] The relative coordinate values are input into the control system, and the distribution distance of the hanging points of the flatting robot is also input into the control system, and the scanning flat surface height is set.

[0065] The flatting robot moves in a zigzag trajectory and moves in multiple layers from high to low, and uses a leveling plow to perform rough leveling operations. The rough leveling is 10 cm per layer and 2 times per layer. After rough leveling, the unevenness of the grain surface is controlled within 10 cm per square meter.

[0066] After the rough leveling operation, use a leveling rod for fine leveling. The moving speed of the platform is 0.5 m / s. It is completed with 10 round trips per single layer.

Claims

1. A mobile grain bin rope-driven parallel leveling robot system, comprising a mobile lifting system, a leveling robot, and a control system; characterized in that: The leveling robot (2) includes a main body (201), a leveling plow (202), universal wheels (203), and a sensing system (204); the main body (201) is a rectangular plate, and each of the four corners at the bottom thereof is connected to one of the universal wheels (203). The leveling plow (202) is a quadrilateral plate, and the side walls of its four sides are arc-shaped recessed inward. The main body is above and the leveling plow is below, and the two are connected as a whole by a vertical cylindrical shaft at the center. Moreover, the four corners of the leveling plow plate are respectively arranged pointing to the midpoints of the four sides of the rectangle at the bottom of the main body; Four sets of the mobile lifting system (1) are provided, and each set of the mobile lifting system includes a pulley block (101), a steel wire rope (105), a rope winding device (108), a rope collecting device (109), a servo motor (110), and an auxiliary motor (111); the pulley block (101) includes a positioning pulley (102) and a steering pulley block (103); The positioning pulleys in the four sets of the mobile lifting system are symmetrically fixed at the four corners of the top of the grain bin. The main body is diagonally connected to the steel wire ropes corresponding to the four corners of the grain bin. One end of each steel wire rope (105) is connected to one of the universal wheels of the main body, and the other end passes around a positioning pulley diagonally opposite to the universal wheel, and then is connected to the auxiliary motor (111) and the servo motor (110) after being steered by the steering pulley block (103). The four steel wire ropes (105) tighten the four universal wheels of the main body to lift the main body and suspend it above the grain bin.

2. The mobile grain bin rope-driven parallel-leveling robot system according to claim 1, characterized in that, A tension controller (112) is provided on the output shaft of the servo motor (110), and the rope collecting device (109) is sleeved outside the tension controller; the auxiliary motor (111) is correspondingly arranged in front of the servo motor (110), and a rope winding device (108) is provided on its output shaft; After the steel wire rope (105) is wound around the rope winding device of the auxiliary motor, the end is then wound around the rope collecting device of the servo motor.

3. The mobile grain bin rope-driven parallel bin leveling robot system according to claim 2, characterized in that, The four sets of the mobile lifting system (1) control the leveling robot to make horizontal movements in four directions or up and down lifting movements; The four universal wheels of the leveling robot are set as four hanging points in the order of A, B, C, and D, and are controlled by the steel wire ropes of the four hanging points corresponding to servo motor A, servo motor B, servo motor C, and servo motor D in sequence; When the leveling robot needs to move upward, each servo motor synchronously winds the rope; if the leveling robot needs to move forward, the steel wire ropes in front of the leveling robot are synchronously wound by the servo motor A and the servo motor C, and the servo motor B and the servo motor D at the rear synchronously release the rope; if the leveling robot needs to move to the right, the steel wire ropes on the right side of the leveling robot are synchronously wound by the servo motor C and the servo motor D, and the servo motor A and the servo motor B on the left side synchronously release the rope, and so on.

4. The mobile grain bin rope-driven parallel flat grain storage robot system according to claim 1, characterized in that, The servo motor (110) and the auxiliary motor (111) are installed on the mobile trolley. The steering pulley set (103) includes 2 - 4 steering pulleys arranged at different positions on the side wall of the granary. The steel wire ropes (105) are respectively led from the four corner positions of the granary, pass through supports and steering, and then reach the rope winder of the auxiliary motor.

5. A mobile grain bin rope-driven parallel-leveling robot system according to claim 1, characterized in that, The servo motor (110) and the auxiliary motor (111) are controlled by a PLC controller.

6. The mobile grain silo rope-driven parallel leveling robot system according to claim 1, characterized in that The sensing system (204) includes a camera or a scanning camera, an ultrasonic sensor, a radar sensor, a lidar sensor, an infrared sensor, a laser ranging sensor or a 3D scanning sensor.

7. The mobile grain storage rope-driven parallel flatting robot system according to claim 1, characterized in that, The control system (3) includes a PLC controller and an operation panel.

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