Intelligent feeding and discharging robot

Abstract

The utility model provides an intelligent feeding and discharging robot, and belongs to the technical field of organic solid waste aerobic fermentation treatment. The intelligent feeding and discharging robot comprises a weighing sensor, a rotation resisting material level switch, a cart walking mechanism, a trolley walking mechanism, a steel structure frame, a lifting mechanism, a guide mechanism and a feeding and discharging mechanism. The intelligent feeding and discharging robot is high in structural strength, good in corrosion resistance, easy and convenient to mount and dismount and convenient to transport. The guide mechanism adopts four-axis guide, so that the structure is stable, the bearing capacity is larger, the durability is higher, and the stability is better; intelligent control and remote control are achieved, operation is easy and convenient, energy is saved, consumption is reduced, and unattended operation can be achieved; the material box is large in volume, large in feeding and discharging handling capacity and high in feeding and discharging efficiency; opening and closing of the material box are controlled by a hydraulic system, and feeding and discharging are faster and more convenient; the structure is simple, operation is reliable, and maintenance is convenient; the equipment is low in failure rate and long in service life, and the maintenance cost is reduced.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of organic solid waste aerobic fermentation treatment, in particular to an intelligent feeding and discharging robot. BACKGROUND

[0002] Currently, feeding in the process of organic solid waste tank type aerobic fermentation is mostly carried out by using a forklift, a belt conveyor and a material scraper to transfer the material to the initial tank position of the feeding end of the fermentation tank, and discharging is mostly carried out by using a large wheel disc flipper or a chain plate type flipper to displace the material by one tank position every day until the material is moved to the discharging tank position of the fermentation tank after the fermentation week is completed, or by using a forklift to discharge. When the above feeding and discharging methods are used, the following disadvantages exist: the feeding and discharging system is complex in supporting equipment, the equipment control is low in automation degree, the volume or weight of the material entering or leaving the fermentation tank cannot be accurately measured; the feeding and discharging amount is small, the efficiency is low, the equipment is long in continuous operation time, the equipment is high in failure rate, and the energy consumption is large. CONTENT OF THE UTILITY MODEL

[0003] In order to make up for the above shortcomings, the present application provides an intelligent feeding and discharging robot, which aims at improving the problems of the feeding and discharging system being complex in supporting equipment, the equipment control being low in automation degree, the volume or weight of the material entering or leaving the fermentation tank being unable to be accurately measured, the feeding and discharging amount being small, the efficiency being low, the equipment being long in continuous operation time, the equipment being high in failure rate, and the energy consumption being large.

[0004] The present application is implemented in the following manner:

[0005] The present application provides an intelligent feeding and discharging robot, which comprises a weighing sensor, a rotation-preventing material position switch, a cart walking mechanism, a trolley walking mechanism, a steel structure frame, a lifting mechanism, a guide mechanism and a feeding and discharging mechanism, the trolley walking mechanism is installed on the cart walking mechanism, and the steel structure frame is installed on the trolley walking mechanism;

[0006] The lifting mechanism is installed on the steel structure frame and the feeding and discharging mechanism at the same time, the guide mechanism is also installed on the steel structure frame and the feeding and discharging mechanism, the weighing sensor is fixed on the steel structure frame, the feeding and discharging mechanism and the weighing sensor are arranged correspondingly, and the rotation-preventing material position switch is fixedly installed on the feeding and discharging mechanism;

[0007] The cart walking mechanism moves horizontally and linearly along the track on the wall of the fermentation cabin, and crosses each fermentation tank;

[0008] The trolley walking mechanism moves horizontally and linearly on the cart walking mechanism in a direction perpendicular to the moving direction of the cart walking mechanism;

[0009] The lifting mechanism is provided for controlling the vertical lifting of the feeding and discharging mechanism;

[0010] The guide mechanism is parallel to the lifting mechanism;

[0011] The feeding and discharging mechanism is arranged to realize feeding, discharging, taking and discharging.

[0012] In an embodiment of the present application, the lifting mechanism comprises a first hydraulic cylinder, a connecting head and an ear plate, the upper end of the first hydraulic cylinder is rotationally arranged on the steel structure frame, the ear plate is fixed on the feeding and discharging mechanism, the connecting head is fixed on the end of the piston rod of the first hydraulic cylinder, and the connecting head is rotationally arranged on the ear plate.

[0013] In an embodiment of the present application, the guide mechanism comprises a guide column and a sliding block, the two ends of the guide column are fixed on the steel structure frame, the sliding block is fixed on the feeding and discharging mechanism, the guide column penetrates through the sliding block, and the sliding block slides along the direction of the guide column.

[0014] In an embodiment of the present application, the feeding and discharging mechanism comprises a material box, a second hydraulic cylinder, a feeding and discharging door, an abutting block and a connecting rod structure, the ear plate is fixed on the outer wall of the material box, the sliding block is fixed on the material box, one end of the second hydraulic cylinder is rotationally arranged on the material box;

[0015] The connecting rod structure is arranged between the end of the piston rod of the second hydraulic cylinder and one end of the feeding and discharging door, the other end of the feeding and discharging door is rotationally arranged on the inner wall of the material box through a bearing seat, the abutting block is fixed on the material box, and the abutting block and the weighing sensor are arranged correspondingly.

[0016] In an embodiment of the present application, the outside of the sliding block adopts a cast steel piece, and the inside of the sliding block adopts a graphite copper sleeve.

[0017] In an embodiment of the present application, the anti-rotation material level switch is arranged to detect the material height in the material box when taking material.

[0018] In an embodiment of the present application, the feeding and discharging door adopts a structure with thick middle and thin sides.

[0019] The present application has the following beneficial effects: the intelligent feeding and discharging robot obtained by the above design has high structural strength, good corrosion resistance, simple installation and disassembly, convenient transportation, four-axis guide of the guide mechanism, stable structure, greater bearing force, better durability and stability, intelligent control, remote control, simple operation, energy saving and consumption reduction, unmanned operation, large capacity of the material box, large feeding and discharging processing capacity, high feeding and discharging efficiency, hydraulic system control of the material box door, faster and more convenient feeding and discharging, simple structure, reliable operation, convenient maintenance, low equipment failure rate, long service life and reduced maintenance cost. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required to be used in the embodiments will be briefly introduced as follows. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation to the scope, and other related drawings can also be obtained by those skilled in the art without any creative effort on the basis of the drawings.

[0021] Figure 1 is a schematic diagram of the three-dimensional structure of the fermentation cabin composed of several serially arranged fermentation tanks provided by the embodiments of the present application;

[0022] Figure 2 is a schematic diagram of the three-dimensional structure of an intelligent in-out feeding robot provided by the embodiments of the present application;

[0023] Figure 3 is a schematic diagram of the three-dimensional structure of a cart walking mechanism provided by the embodiments of the present application;

[0024] Figure 4 is a schematic diagram of the three-dimensional structure of a trolley walking mechanism provided by the embodiments of the present application;

[0025] Figure 5 is a schematic diagram of the three-dimensional structure of a steel structure frame provided by the embodiments of the present application;

[0026] Figure 6 is a relationship diagram among the steel structure frame, the trolley walking mechanism and the in-out feeding mechanism provided by the embodiments of the present application;

[0027] Figure 7 is a schematic diagram of the three-dimensional structure of a lifting mechanism provided by the embodiments of the present application; Figure 6 is an enlarged view of the A area in FIG. 6;

[0028] Figure 8 is a relationship diagram among the lifting mechanism, the guide mechanism and the in-out feeding mechanism provided by the embodiments of the present application;

[0029] Figure 9 is a schematic diagram of the three-dimensional structure of an in-out feeding mechanism provided by the embodiments of the present application.

[0030] In the figure: 110 - cart walking mechanism; 120 - trolley walking mechanism; 130 - steel structure frame; 140 - lifting mechanism; 141 - first hydraulic cylinder; 142 - connecting head; 143 - ear plate; 150 - guide mechanism; 151 - guide column; 152 - sliding block; 160 - weighing sensor; 170 - in-out feeding mechanism; 171 - material box; 172 - second hydraulic cylinder; 173 - in-out feeding door; 174 - stop block; 175 - connecting rod structure; 180 - anti-rotation material position switch; 190 - fermentation cabin; 191 - in-feed storage pool; 192 - out-feed pool. DETAILED DESCRIPTION

[0031] In order to make the purposes, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0032] EMBODIMENT

[0033] Please refer to Figure 1 - Figure 9 The present application provides a technical solution: an intelligent feeding and discharging robot, comprising a weighing sensor 160, a blocking material position switch 180, a cart walking mechanism 110, a trolley walking mechanism 120, a steel structure frame 130, a lifting mechanism 140, a guide mechanism 150 and a feeding and discharging mechanism 170. The trolley walking mechanism 120 is installed on the cart walking mechanism 110, and the steel structure frame 130 is installed on the trolley walking mechanism 120, which is connected by high-strength bolts, convenient and firm to install;

[0034] The lifting mechanism 140 is installed on the steel structure frame 130 and the feeding and discharging mechanism 170 at the same time, and the guide mechanism 150 is also installed on the steel structure frame 130 and the feeding and discharging mechanism 170. The weighing sensor 160 is fixed on the steel structure frame 130, and the feeding and discharging mechanism 170 and the weighing sensor 160 are arranged correspondingly. The blocking material position switch 180 is fixedly installed on the feeding and discharging mechanism 170, and the setting of the blocking material position switch 180 is used for detecting the material height in the material box during material taking, and intelligently managing and controlling;

[0035] The cart walking mechanism 110 moves horizontally and linearly along the track on the wall of the fermentation cabin 190, and crosses each fermentation tank. The cart walking mechanism 110 is provided with a position encoder, and a plurality of proximity switches are arranged on the walking mechanism beam to realize intelligent positioning of the cart direction, so as to avoid collision between the material taking box 171 on the feeding and discharging mechanism 170 and the wall of the fermentation tank when the material taking box 171 descends due to positioning error. Four groups of reduction motors are used to drive the cart walking, which can prevent the intelligent feeding and discharging robot from slipping and causing positioning error of the cart;

[0036] The trolley walking mechanism 120 moves horizontally and linearly on the cart walking mechanism 110 in a direction perpendicular to the moving direction of the cart walking mechanism 110. The trolley walking mechanism 120 is provided with a position encoder and a proximity switch to realize intelligent positioning of the moving position of the trolley. The trolley walking mechanism 120 is provided with a gear and rack mechanism to prevent the trolley from shaking and slipping, ensure the stability of the trolley running, and ensure the accuracy of the positioning of the trolley walking mechanism.

[0037] The lifting mechanism 140 is arranged to control the vertical lifting of the feeding and discharging mechanism 170, and has simple structure, reliable operation, flexible configuration, convenient manufacturing and maintenance. The lifting mechanism 140 comprises a first hydraulic cylinder 141, a connecting head 142 and an ear plate 143. The upper end of the first hydraulic cylinder 141 is rotatably arranged on the steel structure frame 130. The ear plate 143 is fixed on the feeding and discharging mechanism 170. The connecting head 142 is fixed on the piston rod end of the first hydraulic cylinder 141. The connecting head 142 is rotatably arranged on the ear plate 143.

[0038] The guide mechanism 150 is parallel to the lifting mechanism 140, and ensures the stable operation of the lifting mechanism 140. The guide mechanism 150 comprises guide columns 151 and sliding blocks 152. The two ends of the guide columns 151 are fixed on the steel structure frame 130. The sliding blocks 152 are fixed on the feeding and discharging mechanism 170. The guide columns 151 penetrate the sliding blocks 152. The sliding blocks 152 slide along the direction of the guide columns 151. The sliding blocks 152 are made of cast steel on the outside, and graphite copper sleeves are arranged inside the sliding blocks 152. The graphite copper sleeves have high bearing capacity, impact resistance and high temperature resistance. The graphite particles can generate a protective film in the friction process, reduce the friction damage between the equipment, have small friction force, strong self-lubricating capacity, no need to add lubricant, long service life and low maintenance cost.

[0039] The feeding and discharging mechanism 170 is arranged to realize the feeding, discharging, taking and discharging of materials. The feeding and discharging mechanism 170 comprises a material box 171, a second hydraulic cylinder 172, a feeding and discharging door 173, a stop block 174 and a connecting rod structure 175. The ear plate 143 is fixed on the outer wall of the material box 171. The sliding block 152 is fixed on the material box 171. One end of the second hydraulic cylinder 172 is rotatably arranged on the material box 171. The connecting rod structure 175 is arranged between the piston rod end of the second hydraulic cylinder 172 and one end of the feeding and discharging door 173. The other end of the feeding and discharging door 173 is rotatably arranged on the inner wall of the material box 171 through a bearing seat. The stop block 174 is fixed on the material box 171. The stop block 174 and the weighing sensor 160 are arranged correspondingly. The feeding and discharging door 173 has a structure of thick in the middle and thin on both sides, which can reduce the resistance when the material box 171 descends into the mixture of the fermentation tank under the premise of ensuring the strength.

[0040] Specifically, the working principle of this intelligent feeding and discharging robot is as follows: During operation, the large trolley traveling mechanism 110 moves horizontally along the tracks on both sides of the fermentation chamber 190, traversing each fermentation tank. The small trolley traveling mechanism 120 moves horizontally along the large trolley traveling mechanism 110 in a direction perpendicular to its movement. The steel frame 130 is connected with high-strength bolts, ensuring convenient and secure installation. The lifting mechanism 140 controls the vertical lifting of the material box 171. The lifting mechanism 140 is parallel to the guide mechanism 150, ensuring stable operation. During feeding, under the action of the large trolley traveling mechanism 110 and the small trolley traveling mechanism 120, the material box 171 first moves to the material retrieval position in the feeding storage pool 191 to retrieve material. The discharge gate 173 opens, and then the material box 171 descends, allowing the mixture containing organic solid waste to enter. When the material pile reaches the corresponding position of the rotary paddle level switch, the discharge gate 173 of the material box 171 closes. At this time, the stop block 174 contacts the weighing sensor 160 (the system pressure in the first hydraulic cylinder 141 is zero), and the weight and volume of the material box 171 are monitored and recorded in real time. Finally, the material box 171 is raised to the upper limit position, completing one feeding and discharging cycle. Then, feeding and distributing begins. During feeding and distributing, the trolley traveling mechanism 110 and the trolley traveling mechanism 120 move to the corresponding distributing position in the fermentation tank 190, and the material box 171 descends to the designated height. Then, the discharge gate 173 closes. 3. The mixture is opened, then falls, and the material box 171 is raised to the upper limit position. Finally, the inlet / outlet gate 173 closes, completing one feeding and material distribution cycle. The trolley traveling mechanism 110 and the trolley traveling mechanism 120 are respectively equipped with position encoders and proximity switches, enabling intelligent positioning of the trolley and trolley along the traveling direction. The trolley traveling mechanism 120 is equipped with gears, and the crossbeam of the trolley traveling mechanism 110 is equipped with racks and rails. When the trolley traveling mechanism 120 moves along the rails, the meshing of the gears and racks prevents the trolley from shaking and slipping, ensuring the positioning accuracy of the trolley traveling mechanism 120. After the organic solid waste mixture is aerobically fermented in the fermentation tank, it needs to be discharged. The trolley traveling mechanism 110 and the trolley traveling mechanism 120 first move to... The fermentation tank, once fermentation is complete and ready for finished product discharge, is used for material removal at the corresponding location. The material removal process is the same as the material feeding process and will not be described in detail. The weighing sensor 160 detects and records the amount of material removed each time. After that, the material is discharged and unloaded. The trolley traveling mechanism 110 and the trolley traveling mechanism 120 move to the corresponding position in the discharge pool 192, and the discharge gate 173 opens to discharge and unload the material. After all the material has been unloaded, the discharge gate 173 closes to complete the unloading. The entire material feeding and unloading operation is intelligently managed and remotely controlled. This intelligent material feeding and unloading robot has high structural strength, good corrosion resistance, is easy to install and disassemble, and is convenient to transport. The guide mechanism 150 adopts a four-axis guide, which is structurally stable, has greater load-bearing capacity, is more durable, and has better stability.Intelligent control, remote control, simple operation, energy saving, unmanned operation, large capacity of material box, large processing capacity and high efficiency of feeding and discharging, hydraulic system for opening and closing the door of the material box, simple structure, reliable operation, convenient maintenance, low failure rate, long service life and low maintenance cost.

[0041] It should be noted that the specific model and specification of the cart walking mechanism 110, the trolley walking mechanism 120, the first hydraulic cylinder 141, the weighing sensor 160, the second hydraulic cylinder 172 and the anti-rotation material level switch 180 need to be determined according to the actual specification of the device, and the specific selection calculation method adopts the existing technology in the art, so it will not be described in detail.

[0042] The power supply of the cart walking mechanism 110, the trolley walking mechanism 120, the first hydraulic cylinder 141, the weighing sensor 160, the second hydraulic cylinder 172 and the anti-rotation material level switch 180 and its principle are clear to those skilled in the art, and will not be described in detail here.

[0043] The above is only an embodiment of the present application and does not limit the protection scope of the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application. It should be noted that similar reference numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

Claims

1. An intelligent in-out material robot, characterized in that, It comprises a weighing sensor (160), a blocking material level switch (180), a cart walking mechanism (110), a trolley walking mechanism (120), a steel structure frame (130), a lifting mechanism (140), a guide mechanism (150) and an in-out material mechanism (170), the trolley walking mechanism (120) is installed on the cart walking mechanism (110), the steel structure frame (130) is installed on the trolley walking mechanism (120); The lifting mechanism (140) is installed on the steel structure frame (130) and the in-out material mechanism (170) at the same time, the guide mechanism (150) is also installed on the steel structure frame (130) and the in-out material mechanism (170), the weighing sensor (160) is fixed on the steel structure frame (130), the in-out material mechanism (170) and the weighing sensor (160) are arranged correspondingly, the blocking material level switch (180) is fixedly installed on the in-out material mechanism (170); The cart walking mechanism (110) moves horizontally and linearly along the track on the wall of the fermentation cabin (190) on both sides, and crosses each fermentation tank; The trolley walking mechanism (120) moves horizontally and linearly on the cart walking mechanism (110) along the direction perpendicular to the moving direction of the cart walking mechanism (110); The lifting mechanism (140) is arranged to control the vertical lifting of the in-out material mechanism (170); The guide mechanism (150) is parallel to the lifting mechanism (140); The in-out material mechanism (170) is arranged to realize the feeding, discharging, taking and discharging of materials.

2. The intelligent in-out feeding robot according to claim 1, characterized in that, The lifting mechanism (140) comprises a first hydraulic cylinder (141), a connecting head (142) and an ear plate (143), the upper end of the first hydraulic cylinder (141) is rotatably arranged on the steel structure frame (130), the ear plate (143) is fixed on the in-out material mechanism (170), the connecting head (142) is fixed on the piston rod end of the first hydraulic cylinder (141), and the connecting head (142) is rotatably arranged on the ear plate (143).

3. The intelligent in-out feeding robot according to claim 2, characterized in that, The guide mechanism (150) comprises a guide column (151) and a sliding block (152), both ends of the guide column (151) are fixed on the steel structure frame (130), the sliding block (152) is fixed on the in-out material mechanism (170), the guide column (151) penetrates through the sliding block (152), and the sliding block (152) slides along the direction of the guide column (151).

4. The intelligent in-out feeding robot according to claim 3, characterized in that, The in-out material mechanism (170) comprises a material box (171), a second hydraulic cylinder (172), an in-out material door (173), a resisting block (174) and a connecting rod structure (175), the ear plate (143) is fixed on the outer wall of the material box (171), the sliding block (152) is fixed on the material box (171), one end of the second hydraulic cylinder (172) is rotatably arranged on the material box (171); The connecting rod structure (175) is arranged between the piston rod end of the second hydraulic cylinder (172) and one end of the inlet and outlet door (173), the other end of the inlet and outlet door (173) is rotatably arranged on the inner wall of the material box (171) through a bearing seat, the stop block (174) is fixed on the material box (171), and the stop block (174) and the weighing sensor (160) are correspondingly arranged.

5. The intelligent in-out feeding robot according to claim 3, characterized in that, The slider (152) is externally made of cast steel and internally made of a graphite copper sleeve.

6. The intelligent in-out feeding robot according to claim 1, characterized in that, The anti-rotation material level switch (180) is arranged to detect the material height in the material box during material taking.

7. The intelligent in-out feeding robot according to claim 4, characterized in that, The inlet and outlet door (173) has a structure that is thick in the middle and thin on both sides.

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