Three-axis stand column type grain sampling robot

Abstract

The utility model provides a three-axis stand column type grain sampling robot, which belongs to the field of particle sampling and comprises a supporting stand column, a middle cross beam is arranged on the supporting stand column, a sampling rotating arm mechanism is further arranged at the top of the middle cross beam, and a sampling arm is arranged on the sampling rotating arm mechanism. The sampling rotating arm mechanism is used for being controllably driven to achieve rotation and translation of the sampling arm, a sampling rod is arranged at one end of the sampling arm, a hydraulic lifting mechanism is drivably arranged on the supporting stand column, and the middle cross beam is drivably arranged on the hydraulic lifting mechanism in a rotating mode. A grain returning mechanism capable of rotating around the fixed shaft is also arranged on the middle cross beam; and a sampling grounding rebound mechanism is arranged between the sampling rod and the sampling arm. According to the utility model, the liftable supporting upright post structure and the structure that the middle cross beam is provided with the slide rail are adopted, so that the lifting of the supporting upright post in the vertical direction and the movement of the sampling arm in the horizontal direction can be realized, and the operation height and the operation area of the sampling robot are expanded to a greater extent.

Description

Technical Field

[0001] The utility model relates to a particle sampling technology, in particular to a three-axis column type grain sampling robot. Background Art

[0002] Because new grain varies in moisture content, impurity content, and imperfect grains, it must undergo quality testing before storage to determine whether it meets storage requirements and to assess its quality. This testing typically involves sampling devices, such as robotic sampling machines.

[0003] Existing three-axis robots, all column-type, only have a sampling function, making them incapable of meeting the grain return needs of some grain storage facilities. Furthermore, their supporting columns are often fixed, preventing vertical adjustment to accommodate the robot's height. Furthermore, the end of the sampling rod lacks protection, making it susceptible to breakage when contacting hard objects, hindering the robot's long-term operational safety and reliability. Therefore, we propose a three-axis column-type grain sampling robot to address these challenges. Utility Model Content

[0004] In view of the deficiencies in the prior art, the present invention provides a three-axis column type grain sampling robot to solve the problems raised in the above background technology.

[0005] The purpose of the utility model can be achieved through the following technical solutions: it includes a supporting column, an intermediate beam is provided on the supporting column, a sampling arm mechanism is also provided on the top of the intermediate beam, a sampling arm is provided on the sampling arm mechanism, the sampling arm mechanism is used to be controllably driven to realize the rotation and translation movement of the sampling arm, a sampling rod is provided at one end of the sampling arm, a hydraulic lifting mechanism is drivably provided on the supporting column, the intermediate beam is drivably rotatably provided on the hydraulic lifting mechanism, a return mechanism that can rotate around a fixed axis is also provided on the intermediate beam, a sampling bottoming rebound mechanism is provided between the sampling rod and the sampling arm, the sampling bottoming rebound mechanism is used to control the sampling arm mechanism to stop and rebound the sampling rod when the bottom end of the sampling rod touches a hard object.

[0006] According to an embodiment of the present invention, the sampling arm mechanism includes a moving component arranged on the middle crossbeam, the moving component is provided with a first rotating component, and the first rotating component is provided with a second rotating component.

[0007] According to an embodiment of the present invention, the sampling arm includes two long arms parallel to each other, and a short arm is provided between the two long arms.

[0008] According to one embodiment of the present invention, a grain conveying guide tube inclined to the long side of the long arm is provided on the lower long arm of the two long arms.

[0009] According to one embodiment of the present invention, the grain returning mechanism includes a third rotating component and a grain dropping component. The third rotating component is used to change the position of dropping grain onto the grain transport vehicle, and the grain dropping component is used to drop grain onto the grain transport vehicle.

[0010] According to one embodiment of the present invention, the grain lowering component includes a lower grain pipe fixedly connected to the hollow tube, the bottom of the lower grain pipe is fixedly connected to a accordion cover, the bottom end of the accordion cover is fixedly connected to a mounting plate, a support portion is formed between the connecting ends of the lower grain pipe and the accordion cover, and lifting drive components are connected to symmetrical two sides of the support portion, and the output end of the lifting drive component is connected to the top of the mounting plate.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The hydraulically liftable support column structure and the middle beam with a slide rail structure can realize the vertical lifting of the support column and the horizontal movement of the sampling arm, which greatly expands the working height and working area of ​​the sampling robot.

[0013] 2. The grain return mechanism is integrated, so that a single sampling robot can complete sampling and grain return work at the same time, matching the grain return needs of some grain collection points. At the same time, the grain return mechanism is integrated on the upper part of the middle beam, without increasing the space volume of the sampling robot too much, thus ensuring the compactness of the equipment.

[0014] 3. A bottoming rebound function is designed at the end of the sampling rod, so that the sampling rod can automatically return when it encounters a hard object and the force exceeds the set range during the sampling process, ensuring the safety and reliability of the long-term operation of the sampling robot and ensuring that the sampling rod has a longer service life.

[0015] 4. A grain conveying pipe guide mechanism is designed between the sampling rod and the hollow rod of the sampling arm to prevent the grain conveying pipe from bending during the sampling process under certain working conditions, resulting in a decrease in grain conveying speed or blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0017] Figure 1 It is a three-dimensional structural diagram of the utility model;

[0018] Figure 2 This is a three-dimensional enlarged structural diagram of the middle and lower grain components of the utility model;

[0019] Figure 3 This is a schematic diagram of the three-dimensional enlarged structure of the sampling arm mechanism and the sampling arm in the utility model;

[0020] Figure 4 It is a three-dimensional enlarged structural diagram of the sampling bottoming rebound mechanism in the utility model;

[0021] Figure 5 It is a three-dimensional enlarged structural diagram of the grain return mechanism in the utility model.

[0022] Figure: 1, support column; 2, middle crossbeam; 21, counterweight; 3, sampling arm mechanism; 31, moving part; 311, guide rail; 312, moving part; 313, fixed rack; 32, first rotating part; 33, second rotating part; 331, first housing; 4, sampling rod; 5, hydraulic lifting mechanism; 51, maintenance ladder; 6, grain return mechanism; 61, third rotating part; 611, second housing; 61 2. Rotating tube body; 613. Hollow tube; 614. Hanging rod; 62. Grain discharge component; 621. Grain discharge pipe; 622. Accordion cover; 623. Mounting plate; 624. Support part; 625. Lifting drive component; 7. Sampling bottoming rebound mechanism; 71. Fixed end; 72. Sleeve; 73. Protrusion; 74. Spring; 75. Photoelectric sensor; 8. Sampling arm; 81. Long arm; 811. Grain conveying guide tube; 82. Short arm. DETAILED DESCRIPTION

[0023] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments. Obviously, the embodiments described are only a part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0024] The existing three-axis robots, which are also column-type, generally do not have an integrated grain return mechanism and cannot meet the grain return needs of some grain storage points; secondly, the supporting column 1 is often fixed and cannot be raised or lowered in the vertical direction to achieve height adjustment of the sampling robot, and cannot match grain trucks of different heights in the storage points to the greatest extent; thirdly, the end of the sampling rod 4 is not provided with a bottoming rebound function, which cannot ensure the safety and reliability of the long-term operation of the sampling robot, and cannot ensure that the sampling rod 4 has a longer service life; finally, the grain delivery pipeline between the sampling rod 4 and the sampling arm 8 does not use a grain delivery pipe guide mechanism, which makes the grain delivery pipe easy to bend for a long time in this part to form a concave mark, reducing the cross-sectional area of ​​the grain delivery pipe at this location, resulting in a decrease in grain delivery speed or blockage problems.

[0025] See also Figure 1 As shown, a three-axis column type grain sampling robot includes a supporting column 1, an intermediate crossbeam 2 is provided on the supporting column 1, a sampling rotating arm mechanism 3 is also provided on the top of the intermediate crossbeam 2, a sampling arm 8 is provided on the sampling rotating arm mechanism 3, and the sampling rotating arm mechanism 3 is used to be controllably driven to realize the rotation and translation movements of the sampling arm 8, and a sampling rod 4 is provided at one end of the sampling arm 8.

[0026] A hydraulic lifting mechanism 5 is drivably provided on the support column 1, and a maintenance ladder 51 is provided on one side of the hydraulic lifting mechanism 5. The maintenance ladder 51 can facilitate staff to climb to the middle beam 2 to inspect related components. The middle beam 2 is drivably rotatably provided on the hydraulic lifting mechanism 5, and a grain return mechanism 6 that can rotate around a fixed axis is also provided on the middle beam 2.

[0027] A counterweight 21 is also provided on the end of the middle beam 2 away from the sampling arm mechanism 3. The hydraulic lifting mechanism 5 is located between the counterweight 21 and the connecting line of the sampling arm mechanism 3. The counterweight 21 is used to balance the gravity of the sampling arm mechanism 3. For example, the counterweight 21 can be cast by concrete material.

[0028] The grain return mechanism 6 is used to return the grain after sampling and reduction to the grain vehicle. A sampling bottoming rebound mechanism 7 is provided between the sampling rod 4 and the sampling arm 8. The sampling bottoming rebound mechanism 7 is used to control the sampling arm mechanism 3 to stop and rebound the sampling rod 4 when the bottom end of the sampling rod 4 touches a hard object.

[0029] refer to Figure 3 The sampling arm mechanism 3 includes a moving part 31 arranged on the middle beam 2, and a first rotating part 32 is provided on the moving part 31, and a second rotating part 33 is provided on the first rotating part 32. When the straight line connecting the current position of the sampling rod 4 and the target position is parallel to the long side straight line of the middle beam 2, the sampling rod 4 can be quickly moved linearly to the target position through the moving part 31. When the straight line connecting the current position of the sampling rod 4 and the target position is not parallel to the long side straight line of the middle beam 2, the moving part 31 further increases the freedom of adjusting the position of the sampling rod 4. Compared with the state without the moving part 31, the position change of the sampling rod 4 can be realized more quickly. Finally, by adding the moving part 31, the sampling range of the sampling rod 4 can be further increased on the basis of the original sampling range of the sampling rod 4, so that the sampling robot can cover a wider area for sampling.

[0030] Exemplarily, the moving component 31 includes guide rails 311 symmetrically distributed at the top of one end of the middle beam 2, and moving parts 312 are slidingly arranged on the two guide rails 311. A fixed rack 313 is arranged between the two guide rails 311, and the fixed rack 313 is fixedly connected to the middle beam 2. A moving driving part is arranged on the moving part 312, and the output end of the moving driving part is connected to a fixed gear, which is engaged with the fixed rack 313.

[0031] Those skilled in the art will understand that the mobile driving member is used to drive the fixed gear to rotate. When the fixed gear rotates, it drives the mobile member to translate on the guide rail 311 by engaging with the fixed rack 313. Preferably, the mobile driving member is implemented as a common combination of a motor and a reducer.

[0032] In another embodiment, the moving component 31 may also be a linear slide module, and the linear slide module is provided with a moving part 312.

[0033] The first rotating component 32 is controllably connected to the top of the moving component 312 , and the first rotating component 32 can drive the sampling arm 8 to rotate around a certain point within a plane.

[0034] The second rotating component 33 is controllably connected to the output end of the first rotating component 32. The second rotating component 33 includes a swinging driving component. Exemplarily, the swinging driving component is implemented as a combination of a motor and a reducer. Furthermore, the second rotating component 33 also includes a first shell 331, and the first shell 331 is provided with a slot for moving the sampling arm 8.

[0035] Back to Figure 1 Preferably, the sampling arm 8 is implemented as a parallelogram-like connecting rod structure, which includes two long arms 81 parallel to each other, and a short arm 82 is provided between the two long arms 81. A convex rod is provided at the corresponding position on the same side of the long arm 81, and circular holes are provided at both ends of the short arm 82. The short arm 82 is sleeved on the outer side of the convex rod through the circular holes. Furthermore, a limiting member that limits the short arm 82 from disengaging from the convex rod is formed at one end of the convex rod. For example, one end of the convex rod may be provided with a thread, and the threaded end is connected to a locking nut that limits the disengagement of the short arm 82. The ends of the two rods close to the middle beam 2 are fixed to the outside of a movable shaft, one end of which is connected to the swing driving member, and the swing driving member is connected to the moving member 312.

[0036] It will be understood by those skilled in the art that by driving a movable shaft to rotate through a swinging drive member, one of the long arms 81 can be driven to rotate around the axis of the movable shaft, and at the same time, by pulling through the short arm 82, the other long arm 81 can be driven to rotate synchronously around the axis of the movable shaft therein, so that the two long arms 81 always remain parallel when swinging. At the same time, through the cooperation of the first rotating component 32 and the second rotating component 33, the sampling arm 8 can be rotated in the horizontal plane and can also achieve pitch motion, which is beneficial to expand the sampling area of ​​the sampling rod 4.

[0037] A grain delivery guide tube 811 is provided on the lower long arm 81 of the two long arms 81, which is inclined to the long side of the long arm 81. The grain delivery guide tube 811 is arranged inclined to the long arm 81, and can adapt to the connection angle of the grain delivery hose falling vertically from one end of the sampling rod 4, so that the transition of the grain delivery hose near the long arm 81 is more natural, thereby avoiding the bending of the grain delivery hose at this place.

[0038] refer to Figure 2 and Figure 5 The grain return mechanism 6 includes a third rotating component 61 and a grain lowering component 62. The third rotating component 61 is used to change the grain lowering position onto the grain transport vehicle, and the grain lowering component 62 is used to lower the grain onto the grain transport vehicle.

[0039] The third rotating component 61 includes a second shell 611, and a rotating drive member and a rotating component are arranged in the second shell 611. For example, the rotating drive member is implemented as a motor. Preferably, the rotating component is implemented as a combination of a belt and two pulleys. A rotating tube body 612 is also provided in the second shell 611. A horizontally arranged hollow tube 613 is fixed to the outside of the rotating tube body 612. The rotating tube body 612 is rotatably arranged in the second shell 611. The rotating tube body 612 is connected to a pulley through a connecting shaft. The rotating drive member in the third rotating component 61 is also connected to another pulley through a connecting shaft. The rotating component is driven to move by the rotating drive member, and then the rotating tube body 612 can be driven to rotate, thereby changing the grain discharge position of the grain discharge component 62.

[0040] Furthermore, a suspension rod 614 is provided between the rotating tube body 612 and the hollow tube 613. Both ends of the suspension rod 614 are rotationally connected to the rotating tube body 612 and the hollow tube 613. The suspension rod 614 is used to provide an upward lateral pulling force to the hollow tube 613 to prevent the end of the hollow tube 613 away from the rotating tube body 612 from being bent under weight.

[0041] Furthermore, the second shell 611 is provided with a slot for the hollow tube 613 to move.

[0042] The grain lowering component 62 includes a lower grain pipe 621 fixed to the hollow tube 613, a bellows cover 622 fixed to the bottom of the lower grain pipe 621, a mounting plate 623 fixed to the outside of the bottom end of the bellows cover 622, a support portion 624 is formed between the connecting ends of the lower grain pipe 621 and the bellows cover 622, and a lifting drive member 625 is connected to two symmetrical sides of the support portion 624, and the output end of the lifting drive member 625 is connected to the top of the mounting plate 623. Exemplarily, the lifting drive member 625 is implemented as an electric cylinder, and the lower grain pipe 621 is a hollow structure, and its internal cavity is connected to the internal cavity of the hollow tube 613. An infrared sensor is also provided at the bottom of the mounting plate 623, and the infrared sensor is controllably connected to an external controller for communication. The infrared sensor forms a detection signal of a corresponding signal value based on the change in the distance between the infrared sensor and the detection object, so as to judge the distance between the bottom height of the bellows cover 622 and the top lower grain surface of the grain transport vehicle.

[0043] Those skilled in the art will understand that when grain needs to be returned, a grain return fan assembly is connected to an air lock, and the excess grain after sampling is completed is blown from the grain return tank of the indoor equipment into the grain return pipeline by the fan and enters the grain return mechanism 6 along the pipeline, and finally returns to the grain cart through the rotating tube body 612, the hollow tube 613, the lower grain pipe 621 and the accordion cover 622 in sequence. When the grain is discharged, the height change of the lower grain surface is detected in real time by an infrared sensor. When the distance between the lower grain surface and the infrared sensor is less than the set value, the changing electrical signal triggers the controller to start the lifting drive 625, so that its end moves upward, and the bottom of the accordion cover 622 is driven to move upward through the mounting plate 623, so that the accordion cover 622 is folded and contracted.

[0044] refer to Figure 4 Preferably, the sampling bottoming rebound mechanism 7 includes two fixed ends 71 ​​rotatably connected to the outside of the corresponding long arms 81, and a same sleeve 72 is fixed between the two fixed ends 71. The sampling rod 4 is slidably connected in the sleeve 72. A convex portion 73 is fixed to the outside of the sampling rod 4. A spring 74 is provided between the convex portion 73 and the inner wall of the top end of the sleeve 72. The spring 74 is sleeved on the outside of the sampling rod 4. A photoelectric sensor 75 is also provided on the lower fixed end 71 of the two fixed ends 71. The photoelectric sensor generates a corresponding electrical signal based on the position change of the convex portion 73.

[0045] It can be understood by those skilled in the art that when the lower end of the sampling rod 4 is inserted into a hard object, the force on the sampling rod 4 increases, and the compression of the spring 74 will be much larger than normal. A photoelectric sensor 75 is set at a certain specified compression amount of the spring 74. When the compression amount reaches this set value, the controller is triggered to control the second rotating component 33 in the sampling arm mechanism 3 to stop working and rotate in the opposite direction, and the sampling rod 4 is driven to reset upward through the sampling arm 8 and the fixed end 71, thereby protecting the sampling rod 4.

[0046] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, numerous modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A three-axis column type grain sampling robot, comprising a support column (1), an intermediate crossbeam (2) provided on the support column (1), a sampling rotating arm mechanism (3) provided on the top of the intermediate crossbeam (2), a sampling arm (8) provided on the sampling rotating arm mechanism (3), the sampling rotating arm mechanism (3) being controllably driven to realize the rotation and translation of the sampling arm (8), a sampling rod (4) provided at one end of the sampling arm (8), characterized in that: A hydraulic lifting mechanism (5) is drivably provided on the support column (1), the middle crossbeam (2) is drivably rotatably provided on the hydraulic lifting mechanism (5), the middle crossbeam (2) is further provided with a grain return mechanism (6) rotatable about a fixed axis, and a sampling bottoming rebound mechanism (7) is provided between the sampling rod (4) and the sampling arm (8). The sampling bottoming rebound mechanism (7) is used to control the sampling rotating arm mechanism (3) to stop and rebound the sampling rod (4) when the bottom end of the sampling rod (4) touches a hard object.

2. A three-axis column type grain sampling robot according to claim 1, characterized in that: The sampling arm mechanism (3) comprises a moving component (31) arranged on the middle crossbeam (2), a first rotating component (32) being arranged on the moving component (31), and a second rotating component (33) being arranged on the first rotating component (32).

3. A three-axis column type grain sampling robot according to claim 2, characterized in that: The sampling arm (8) comprises two long arms (81) parallel to each other, and a short arm (82) is provided between the two long arms (81).

4. A three-axis column type grain sampling robot according to claim 3, characterized in that: A grain conveying guide tube (811) inclined to the long side of the long arm (81) is provided on the lower long arm (81) of the two long arms (81).

5. The three-axis column type grain sampling robot according to claim 4, characterized in that: The grain return mechanism (6) comprises a third rotating component (61) and a grain dropping component (62). The third rotating component (61) is used to change the position of dropping grain onto the grain transport vehicle, and the grain dropping component (62) is used to drop grain onto the grain transport vehicle.

6. A three-axis column type grain sampling robot according to claim 5, characterized in that: The lower grain component (62) includes a lower grain pipe (621) fixedly connected to the hollow tube (613), an accordion cover (622) is fixedly connected to the bottom of the lower grain pipe (621), and a mounting plate (623) is fixedly connected to the bottom end of the accordion cover (622). A support portion (624) is formed between the connecting ends of the lower grain pipe (621) and the accordion cover (622), and lifting drive members (625) are connected to symmetrical two sides of the support portion (624), and the output end of the lifting drive member (625) is connected to the top of the mounting plate (623).

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