Grain tedding robot

Abstract

The utility model discloses a grain tedding robot, which belongs to the technical field of robots and comprises a vehicle body, a moving mechanism, a grain turning mechanism, a carrying mechanism and a control system. The moving mechanism is arranged at the bottom of the vehicle body, the grain turning mechanism is arranged on the rear side of the vehicle body, the carrying mechanism is arranged on the front side of the vehicle body, and the control system is arranged on the vehicle body. The grain turning mechanism drives the rotating shaft to rotate, and the scraping plate or the grain turning rake is switched to make contact with the cement ground where grains are aired. The carrying mechanism comprises a mechanical arm and a bucket, and the mechanical arm drives the bucket to move to execute feeding, transferring and discharging operation. The control system comprises a controller, a storage battery, a communication device and a mobile terminal. The grain tedding robot has the functions of tedding, stacking and carrying grains, and the problem that an existing grain tedding robot cannot stack and transfer the grains is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, especially in a kind of grain turning and airing robot. BACKGROUND

[0002] At present, although market appears grain dryer, can make grain fast dry, but because the reason of the equipment expensive and power consumption, many farmers are not affordable corresponding expense. Therefore, now farmer is still mainly to adopt traditional manpower turning and airing mode. Chinese patent CN 212464100 U proposes an intelligent robot for turning and airing paddy on cement drying yard, the intelligent robot is provided with main scraper, and the lower end of main scraper is provided with several comb teeth, when working, main scraper moves with robot, and several comb teeth push paddy to turn and level. The intelligent robot can realize automatic turning and airing of airing paddy by manual remote control operation, improve turning and airing efficiency, avoid heatstroke, and is driven by solar energy, energy saving and environmental protection. However, the grain turning and airing robot function is relatively single, can only turn and air grain by main scraper, cannot accumulate and transfer grain, and then cannot provide more help for farmers. Therefore, it is necessary to improve existing grain turning and airing robot. SUMMARY

[0003] The utility model provides a kind of grain turning and airing robot to solve the problem that existing grain turning and airing robot cannot accumulate and transfer grain.

[0004] To achieve the above purpose, the technical scheme adopted by the utility model is as follows:

[0005] A kind of grain turning and airing robot, including car body, moving mechanism, turning mechanism, carrying mechanism and control system, the moving mechanism is set in the bottom of the car body, the turning mechanism is set in the rear side of the car body, the carrying mechanism is set in the front side of the car body, and the control system is set on the car body;

[0006] The turning mechanism includes mounting bracket, rotating part and turning mechanism motor;The rear side of the mounting bracket is connected with car body;The rotating part includes shaft, turning harrow and scraper;The shaft is horizontally arranged, and its left and right sides are rotatably connected with mounting bracket, and the scraper and turning harrow are both installed on the shaft and oppositely arranged;The length of the scraper and turning harrow is equal to the length of the shaft, and the width of the scraper is equal to the width of the turning harrow;The turning mechanism motor is installed on the mounting bracket and connected with the shaft, and the turning mechanism motor rotates the shaft by driving, and switches the scraper or turning harrow to contact with the cement ground of airing grain;

[0007] The carrying mechanism comprises a mechanical arm and a shovel, one end of the mechanical arm is connected with the vehicle body, the other end is connected with the shovel, the mechanical arm drives the shovel to move to perform feeding, transferring and discharging operations;

[0008] The control system comprises a controller, a battery, a communication device and a mobile terminal; the moving mechanism, the valley turning motor, the mechanical arm, the battery and the communication device are electrically connected with the controller, and the communication device is wirelessly connected with the mobile terminal.

[0009] Further, the moving mechanism is a four-wheel walking structure or a three-wheel walking structure.

[0010] Further, the communication device is a Bluetooth module or a 4G / 5G module.

[0011] Further, the mobile terminal is a smart phone or a tablet computer.

[0012] Further, the length of the shovel is at least equal to the length of the valley turning rake.

[0013] Further, the scraper and the valley turning rake are provided with soft rubber layers away from the shafts, and the material of the soft rubber layers is rubber or silicone.

[0014] Further, the top of the vehicle body is provided with an illumination intensity sensor, and the illumination intensity sensor is electrically connected with the controller.

[0015] Further, the vehicle body is further provided with a display screen and an alarm, and the display screen and the alarm are electrically connected with the controller.

[0016] Further, the mounting frame of the valley turning mechanism is slidingly connected with the rear side of the vehicle body in the up-down direction; the vehicle body is provided with a lifting driving device for driving the mounting frame to move up and down, and the lifting driving device is electrically connected with the controller.

[0017] Further, the lifting driving device comprises a lifting motor and a screw rod, the screw rod is vertically installed on the rear side of the vehicle body, one end of the screw rod is rotatably connected with the vehicle body, the other end is connected with the lifting motor, the lifting motor is fixedly connected with the vehicle body, the screw rod penetrates through the mounting frame and is threadedly connected with the mounting frame, and the lifting motor is electrically connected with the controller.

[0018] Due to the adoption of the above technical scheme, the utility model has the following beneficial effects:

[0019] 1. The utility model discloses a function of turning over, piling up and carrying grain, solves the problem that the existing grain turning over robot cannot pile up and transfer grain. Compared with the single function of the existing grain turning over robot, the utility model can provide more help for users, effectively reduce the labor amount of users and improve work efficiency.

[0020] 2. The utility model discloses simple structure, stable operation and convenient control have the advantages such as, when needing to carry out grain turning over, the turning over motor of control turning over mechanism moves, makes the turning over harrow downward, and the turning over harrow moves with the robot, and the grain drying on the cement ground is turned over. When needing to carry out grain piling up, control turning over motor action, switch the scraper downward, and the scraper moves with the robot, and pushes the grain to pile up. When the grain is gathered into a heap, control the mechanical arm to drive the shovel to carry out the feeding operation, and the shovel is loaded with the grain, and then is lifted upward, and moves to the area of storing grain with the robot, and then carries out the discharging operation through the mechanical arm driving the shovel, and completes the transfer of grain.

[0021] 3. The utility model discloses a mobile terminal (for example, smart phone) control robot to work, has good convenience, and the user can control the robot to work in the shade, avoids exposing in the high temperature, and improves the comfort, under the environment of basking.

[0022] 4. The utility model discloses that soft rubber layer is arranged on the scraper and the turning over harrow, has certain buffering effect, and the grain is protected, avoids the grain to be ground. In addition, the soft rubber layer on the scraper is favorable to the formation of the gathering angle on the ground and makes the grain more easily gathered into a heap.

[0023] 5. The utility model discloses that the light intensity sensor, display screen and alarm are still set up on the car body. The light intensity sensor is used to detect the light intensity of drying area, and the measurement value is shown through the display screen, and can also send mobile terminal. Through the detection of the light intensity sensor, the area with high light intensity can be screened to dry grain, improve drying effect, and weather change can also be judged, when the light intensity monitored in the set time (for example, 9 o'clock in the morning to 5 o'clock in the afternoon) is lower than the set value, it is explained that the weather is dark, and it can rain, and then the controller controls the alarm to execute the alarm action, and reminds the user. Meanwhile, alarm information can also be generated and pushed to the mobile terminal.

[0024] 6. The turning over mechanism of the utility model can also move up and down, and the angle of the rotating piece can be adjusted, so that the turning over harrow or the scraper can contact the cement ground at a certain inclination angle according to actual needs, which can further improve the turning over and gathering effect to a certain extent. DRAWINGS

[0025] Figure 1The utility model discloses a structure schematic view of the grain turning and airing robot of embodiment 1 is provided.

[0026] Figure 2 The utility model discloses a structure schematic view of the rotating part of embodiment 1 is provided.

[0027] Figure 3 The utility model discloses an electrical connection schematic view of the grain turning and airing robot of embodiment 1 is provided.

[0028] Figure 4 The utility model discloses a structure schematic view of the rotating part of embodiment 2 is provided.

[0029] Figure 5 The utility model discloses an electrical connection schematic view of the grain turning and airing robot of embodiment 3 is provided.

[0030] Figure 6 The utility model discloses a structure schematic view of the grain turning and airing robot of embodiment 4 is provided.

[0031] Wherein, the mark in drawing is: 1-car body, 2-wheel, 3-mounting frame, 4-turning grain motor, 5-rotating part, 6-rotating shaft, 7-turning grain harrow, 8-scraper, 9-soft rubber layer, 10-mechanical arm, 11-scoop, 12-traveling motor, 13-battery, 14-communication device, 15-illumination intensity sensor, 16-display screen, 17-alarm, 18-controller, 19-mobile terminal, 20-lifting motor, 21-screw rod, 22-cement ground. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the utility model will be described clearly and completely below with reference to the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the protection scope of the utility model.

[0033] Embodiment 1

[0034] As Figures 1-3 shown, a grain turning and airing robot, including car body 1, moving mechanism, turning grain mechanism, carrying mechanism and control system.

[0035] Moving mechanism sets up at the bottom of car body 1, turning grain mechanism sets up at the rear side of car body 1, carrying mechanism sets up at the front side of car body 1, and control system sets up on car body 1.

[0036] The moving mechanism is a four-wheel walking structure or a three-wheel walking structure. In this embodiment, the moving mechanism is a four-wheel walking structure, which includes four wheels 2, and each wheel 2 is provided with a walking motor 12 corresponding to the wheel 2, and the walking motor 12 drives the wheel 2 to move.

[0037] The furrow turning mechanism includes a mounting frame 3, a rotating part 5, and a furrow turning motor 4. The mounting frame 3 is connected to the rear side of the vehicle body 1. The rotating part 5 includes a rotating shaft 6, a furrow turning rake 7, and a scraper 8. The rotating shaft 6 is horizontally arranged, and the left and right sides of the rotating shaft 6 are rotatably connected to the mounting frame 3. The scraper 8 and the furrow turning rake 7 are both mounted on the rotating shaft 6 and are oppositely arranged. The lengths of the scraper 8 and the furrow turning rake 7 are equal to the length of the rotating shaft 6, and the width of the scraper 8 is equal to the width of the furrow turning rake 7. The furrow turning motor 4 is mounted on the mounting frame 3 and connected to the rotating shaft 6. The furrow turning motor 4 drives the rotating shaft 6 to rotate, and switches the scraper 8 or the furrow turning rake 7 to be in contact with the cement ground 22 on which the grains are dried. The furrow turning motor 4 is a self-locking motor, and when the power is off, it is automatically locked, so that the rotating part 5 remains at a set angle. Since the scraper 8 and the furrow turning rake 7 are oppositely arranged, a rotation of 180° is required to complete a switching.

[0038] The carrying mechanism includes a mechanical arm 10 and a bucket 11. One end of the mechanical arm 10 is connected to the vehicle body 1, and the other end of the mechanical arm 10 is connected to the bucket 11. The mechanical arm 10 drives the bucket 11 to move, and performs the operations of feeding, transferring, and discharging. The mechanical arm 10 used is a current technology, and its specific structure is not described in detail herein. For details, reference can be made to the mechanical arm structure of the existing forklift, which is a conventional technical means used in the field. The length of the bucket 11 is at least equal to the length of the furrow turning rake 7, so that the bucket 11 has a relatively large capacity and can accommodate more grains, thereby increasing the single carrying amount.

[0039] The control system includes a controller 18, a storage battery 13, a communication device 14, and a mobile terminal 19. The walking motor 12, the furrow turning motor 4, the mechanical arm 10, the storage battery 13, and the communication device 14 are electrically connected to the controller 18. The communication device 14 is in wireless communication connection with the mobile terminal 19. The communication device 14 is a Bluetooth module or a 4G / 5G module, and the mobile terminal 19 is a smart phone or a tablet computer. In this embodiment, the communication device 14 is a Bluetooth module, and the mobile terminal 19 is a smart phone.

[0040] The storage battery 13 is used to provide electric energy, the controller 18 is used to control the functional components of the robot, and the communication device 14 is used to communicate with the mobile terminal 19. The mobile terminal 19 is installed with an APP, and the robot can be remotely controlled to work. The robot is controlled to work through the mobile terminal 19, which has good convenience. The user can control the robot to work in a cool place, avoiding exposure to a high-temperature and sun-exposed environment, thereby improving the comfort.

[0041] This invention features functions for turning, stacking, and transporting grain, solving the problem that existing grain-turning robots cannot stack or transfer grain. When grain turning is required, the turning motor 4 of the turning mechanism is activated, causing the turning rake 7 to face downwards. The turning rake 7 moves with the robot, turning the grain drying on the cement floor 22. When grain stacking is required, the turning motor 4 is activated, switching the scraper 8 to face downwards. The scraper 8 moves with the robot, pushing the grain together. When the grain is piled up, the robotic arm 10 drives the bucket 11 to load the grain. After loading an appropriate amount of grain, the bucket 11 is lifted upwards and moved with the robot to the grain storage area. Then, the robotic arm 10 drives the bucket 11 to unload the grain, completing the transfer. Compared to the single function of existing grain-turning robots, this invention provides more assistance to users, effectively reducing their workload and improving work efficiency.

[0042] Example 2

[0043] like Figure 4 As shown in Example 1, in this example, both the scraper 8 and the turning rake 7 have a soft rubber layer 9 on the side away from the rotating shaft 6. The soft rubber layer 9 is made of rubber or silicone. The soft rubber layer 9 has a certain cushioning effect, protecting the grain and preventing it from being crushed. In addition, the soft rubber layer 9 on the scraper 8 also helps to form a gathering angle on the ground, making it easier for the grain to aggregate into a pile.

[0044] Example 3

[0045] like Figure 5 As shown, based on Embodiment 1, in this embodiment, a light intensity sensor 15 is installed on the top of the vehicle body 1, and the light intensity sensor 15 is electrically connected to the controller 18. A display screen 16 and an alarm 17 are also installed on the vehicle body 1, both of which are electrically connected to the controller 18. The light intensity sensor 15 is model BH1750FVI. The alarm 17 is an audible and visual alarm.

[0046] A light intensity sensor 15 is used to detect the light intensity of the drying area. The measured value is displayed on the screen 16 and can also be sent to a mobile terminal 19. Through the detection function of the light intensity sensor 15, areas with higher light intensity can be selected for grain drying, improving the drying effect. It can also determine weather changes; when the detected light intensity is lower than the set value within a set time (e.g., 9:00 AM to 5:00 PM), it indicates that the weather is dark and rain may be imminent. In response, the controller 18 will activate the alarm 17 to trigger an alarm, alerting the user. Simultaneously, an alarm message can be generated and pushed to the mobile terminal 19. The user can deactivate the alarm 17 via the mobile terminal 19.

[0047] Example 4

[0048] As Figure 6 shown, on the basis of embodiment 1, in this embodiment, the mounting frame 3 of the valley turning mechanism is slidingly connected with the rear side of the vehicle body 1, and the sliding direction is the up-down direction. The vehicle body 1 is provided with a lifting driving device for driving the mounting frame 3 to move up and down, and the lifting driving device is electrically connected with the controller 18.

[0049] Specifically, the lifting driving device comprises a lifting motor 20 and a screw rod 21, the screw rod 21 is vertically installed at the rear side of the vehicle body 1, one end thereof is rotatably connected with the vehicle body 1, the other end is connected with the lifting motor 20, the lifting motor 20 is fixedly connected with the vehicle body 1, the screw rod 21 penetrates through the mounting frame 3 and is threadedly connected with the mounting frame 3, and the lifting motor 20 is electrically connected with the controller 18.

[0050] When the lifting motor 20 rotates, the screw rod 21 is driven to rotate, and the mounting frame 3 is driven to move up and down by the screw rod 21. In this way, the angle of the rotating part 5 can be adjusted, and after the angle adjustment is completed, the mounting frame 3 is driven to move downward, so that the valley turning harrow 7 or the scraper 8 can contact the cement ground 22, different use requirements can be met, and the effect of valley turning and valley gathering can be further improved.

[0051] The above description is a detailed description of the preferred and feasible embodiment of the utility model, but the embodiment is not used to limit the patent application range of the utility model, and any equivalent change or modification change completed under the technical spirit of the utility model should belong to the patent range covered by the utility model.

Claims

1. A grain-drying robot, characterized in that, It includes a vehicle body, a moving mechanism, a grain-turning mechanism, a transport mechanism, and a control system. The moving mechanism is located at the bottom of the vehicle body, the grain-turning mechanism is located at the rear of the vehicle body, the transport mechanism is located at the front of the vehicle body, and the control system is located on the vehicle body. The grain-turning mechanism includes a mounting frame, a rotating component, and a grain-turning motor. The mounting frame is connected to the rear side of the vehicle body. The rotating component includes a rotating shaft, a grain-turning rake, and a scraper. The rotating shaft is horizontally positioned, with its left and right sides rotatably connected to the mounting frame. The scraper and the grain-turning rake are both mounted on the rotating shaft and arranged opposite each other. The lengths of the scraper and the grain-turning rake are equal to the length of the rotating shaft, and the width of the scraper is equal to the width of the grain-turning rake. The grain-turning motor is mounted on the mounting frame and connected to the rotating shaft. The grain-turning motor drives the rotating shaft to rotate, switching between the scraper or the grain-turning rake contacting the cement ground where the grain is being dried. The handling mechanism includes a robotic arm and a bucket. One end of the robotic arm is connected to the vehicle body, and the other end is connected to the bucket. The robotic arm drives the bucket to move, performing loading, transferring, and unloading operations. The control system includes a controller, a battery, a communication device, and a mobile terminal; the mobile mechanism, the tumbling motor, the robotic arm, the battery, and the communication device are all electrically connected to the controller, and the communication device is wirelessly connected to the mobile terminal.

2. The grain turning and drying robot according to claim 1, characterized in that: The mobility mechanism is a four-wheeled or three-wheeled walking structure.

3. The grain turning and drying robot according to claim 1, characterized in that: The communication device is a Bluetooth module or a 4G / 5G module.

4. A grain turning and drying robot according to claim 1, characterized in that: The mobile terminal is a smartphone or a tablet computer.

5. A grain turning and drying robot according to claim 1, characterized in that: The length of the bucket is at least equal to the length of the turning harrow.

6. A grain turning and drying robot according to claim 5, characterized in that: Both the scraper and the turning rake have a soft rubber layer on the side away from the rotating shaft. The soft rubber layer is made of rubber or silicone.

7. A grain turning and drying robot according to claim 1, characterized in that: A light intensity sensor is installed on the top of the vehicle body, and the light intensity sensor is electrically connected to the controller.

8. A grain turning and drying robot according to claim 7, characterized in that: The vehicle body is also equipped with a display screen and an alarm, both of which are electrically connected to the controller.

9. A grain turning and drying robot according to claim 1, characterized in that: The mounting frame of the tumbling mechanism is slidably connected to the rear side of the vehicle body, and the sliding direction is up and down; the vehicle body is provided with a lifting drive device for driving the mounting frame to move up and down, and the lifting drive device is electrically connected to the controller.

10. A grain turning and drying robot according to claim 9, characterized in that: The lifting drive device includes a lifting motor and a screw. The screw is vertically installed on the rear side of the vehicle body, with one end rotatably connected to the vehicle body and the other end connected to the lifting motor. The lifting motor is fixedly connected to the vehicle body. The screw passes through the mounting bracket and is threadedly connected to the mounting bracket. The lifting motor is electrically connected to the controller.

Images