CN109969808B - Grain collection robot and control method thereof - Google Patents

Grain collection robot and control method thereof Download PDF

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Publication number
CN109969808B
CN109969808B CN201910367323.7A CN201910367323A CN109969808B CN 109969808 B CN109969808 B CN 109969808B CN 201910367323 A CN201910367323 A CN 201910367323A CN 109969808 B CN109969808 B CN 109969808B
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China
Prior art keywords
grain
bagging
grains
gunny bag
channel
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CN201910367323.7A
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Chinese (zh)
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CN109969808A (en
Inventor
余南辉
宋少云
杨斌
曹梅丽
王旺平
严清华
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Wuhan Polytechnic University
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Wuhan Polytechnic University
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Priority to CN201910367323.7A priority Critical patent/CN109969808B/en
Publication of CN109969808A publication Critical patent/CN109969808A/en
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B1/00—Packaging fluent solid material, e.g. powders, granular or loose fibrous material, loose masses of small articles, in individual containers or receptacles, e.g. bags, sacks, boxes, cartons, cans, or jars
    • B65B1/04—Methods of, or means for, filling the material into the containers or receptacles
    • B65B1/16—Methods of, or means for, filling the material into the containers or receptacles by pneumatic means, e.g. by suction
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B43/00—Forming, feeding, opening or setting-up containers or receptacles in association with packaging
    • B65B43/26—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks
    • B65B43/34—Opening or distending bags; Opening, erecting, or setting-up boxes, cartons, or carton blanks by internal pressure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65B—MACHINES, APPARATUS OR DEVICES FOR, OR METHODS OF, PACKAGING ARTICLES OR MATERIALS; UNPACKING
    • B65B61/00—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages
    • B65B61/28—Auxiliary devices, not otherwise provided for, for operating on sheets, blanks, webs, binding material, containers or packages for discharging completed packages from machines
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G53/00—Conveying materials in bulk through troughs, pipes or tubes by floating the materials or by flow of gas, liquid or foam
    • B65G53/04—Conveying materials in bulk pneumatically through pipes or tubes; Air slides
    • B65G53/24—Gas suction systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/005—Control arrangements
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G65/00—Loading or unloading
    • B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
    • B65G65/06—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with endless scraping or elevating pick-up conveyors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
    • B65G2201/00—Indexing codes relating to handling devices, e.g. conveyors, characterised by the type of product or load being conveyed or handled
    • B65G2201/04—Bulk
    • B65G2201/042—Granular material

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Adjustment And Processing Of Grains (AREA)
  • Basic Packing Technique (AREA)

Abstract

The utility model discloses a grain collecting robot and a control method thereof, wherein the grain collecting robot comprises a moving platform, a grain collecting mechanism, a bagging mechanism, a driving mechanism, a sensor and a controller, wherein the bottom of the moving platform is provided with a horizontally moving travelling mechanism, the grain collecting mechanism is used for collecting grains, the bagging mechanism is in butt joint with the grain collecting mechanism and is used for bagging grains collected by the grain collecting mechanism, the driving mechanism is used for driving the travelling mechanism, the grain collecting mechanism and the bagging mechanism, and the controller is used for controlling the driving mechanism according to the sensor. According to the technical scheme, after grains on the ground are collected through the grain collecting mechanism, the grains are conveyed to the bagging mechanism, the bagging mechanism is used for automatically bagging the grains, and the sensor is used for collecting signals, and the controller is used for controlling actions of the moving platform, the grain collecting mechanism and the bagging mechanism according to the signals, so that the grains can be automatically collected and packaged by the grain collecting robot, and the grain collecting efficiency is greatly improved.

Description

Grain collection robot and control method thereof
Technical Field
The utility model relates to the technical field of agricultural machinery, in particular to a grain collection robot and a control method thereof.
Background
At home and abroad, most of grains on sunning grounds are collected by adopting a traditional manual mode at present in vast rural areas, and in addition, frequent grain collection operations are required in the processes of grain storage, warehouse dumping, transportation, processing and the like. The traditional manual mode mainly depends on a dustpan and a wooden shovel for people to convey grains into the gunny bag in a reciprocating manner, and the opening of the gunny bag needs to be controlled by a person.
Disclosure of Invention
The utility model mainly aims to provide a grain collecting robot and a control method thereof, and aims to design an efficient grain collecting tool.
In order to achieve the above object, the present utility model provides a grain collection robot, comprising:
the bottom of the mobile platform is provided with a horizontal moving travelling mechanism;
the grain collecting mechanism is arranged on the mobile platform and used for collecting grains;
the bagging mechanism is arranged on the mobile platform, is in butt joint with the grain collecting mechanism and is used for bagging grains collected by the grain collecting mechanism;
the driving mechanism is used for driving the travelling mechanism, the grain collecting mechanism and the bagging mechanism;
the controller is electrically connected with the sensor and the driving mechanism and is used for controlling the driving mechanism according to the sensor.
Optionally, the grain collecting mechanism comprises a belt grain collecting mechanism installed at the front end of the mobile platform, and the belt grain collecting mechanism comprises:
the grain gathering device is arranged at the lower front end of the mobile platform and is arranged towards the front opening and used for gathering grains;
the belt conveying device is obliquely arranged on the moving platform along the vertical direction and the front direction of the lower end, the upper end of the belt conveying device is in butt joint with the bagging mechanism, and the lower end of the belt conveying device is in butt joint with the grain gathering device; the method comprises the steps of,
the grain shoveling device is outwards arranged on a conveyor belt of the belt conveyor device and is used for shoveling grains;
the driving mechanism comprises a belt conveying driving mechanism, and the belt conveying driving mechanism is used for driving the belt conveying device to drive the grain shoveling device, so that the grain shoveling device can shoveling grains gathered by the grain gathering device and convey the grains upwards to the bagging mechanism.
Optionally, the grain collecting device is in a front-back open tubular arrangement and comprises an upper side plate, a left side plate, a lower side plate and a right side plate which are sequentially connected, a first notch is formed at the rear end of the upper side plate, and the lower end of the belt conveying device stretches into the grain collecting device from the first notch to form butt joint; and/or the number of the groups of groups,
the grain collecting device is provided with a contact surface which is used for contacting with grains and faces forward, and the sensor comprises a plurality of pressure sensors which are arranged on the contact surface at intervals up and down and used for determining the real-time thickness of the grains according to the pressure sensors; and/or the number of the groups of groups,
the grain shoveling device is provided with a plurality of grain shoveling devices along the circumferential direction of the conveyor belt; and/or the number of the groups of groups,
the grain shoveling device comprises a connecting plate convexly arranged on the conveyor belt and a bending plate formed by bending the connecting plate towards the conveying direction of the conveyor belt; and/or the number of the groups of groups,
the grain shoveling device comprises a conveyor belt, and is characterized in that two sides of the conveyor belt are respectively outwards folded to form two flange parts, the grain shoveling device extends along the width direction of the conveyor belt, and two ends of the grain shoveling device are correspondingly abutted with the two flange parts.
Optionally, the grain collecting mechanism comprises an air suction grain collecting mechanism installed in front of the bagging mechanism, and the air suction grain collecting mechanism comprises:
the shell is provided with a grain inlet and a grain outlet, and a grain suction channel which is communicated with the grain inlet and the grain outlet is formed in the shell;
one end of the grain inlet pipe is in butt joint with the grain inlet;
one end of the grain outlet pipe is in butt joint with the grain outlet, and the other end of the grain outlet pipe is in butt joint with the bagging mechanism; the method comprises the steps of,
the air extractor is arranged in the shell and used for forming negative pressure in the grain sucking channel, so that grains can be sucked into the grain sucking channel from the grain inlet pipe and then enter the bagging mechanism through the grain outlet pipe.
Optionally, the grain sucking channel comprises:
the grain inlet channel is arranged along the front-back direction, and the front end of the grain inlet channel is communicated with the grain inlet; the method comprises the steps of,
the grain outlet channel is arranged along the vertical direction, the upper end of the grain outlet channel is communicated with the rear end of the grain inlet channel, and the lower end of the grain outlet channel is communicated with the grain outlet;
the air extractor is used for forming negative pressure in the grain inlet channel, so that grains are sucked to the rear end of the grain inlet channel and then fall along the grain outlet channel.
Optionally, the grain inlet channel has a rear end wall for contacting grain, the rear end wall of the grain inlet channel being formed with a screen structure for being arranged to allow dust to pass through, blocking grain from passing through;
the grain suction channel further comprises a dust discharge channel, one end of the dust discharge channel is connected to the outer side of the rear end wall of the grain inlet channel and is in butt joint with the filter screen structure, so that dust in the grain inlet channel can pass through the filter screen structure and enter the dust discharge channel.
Optionally, the bagging mechanism comprises:
the seat body is provided with a bagging station;
the gunny bag conveying device is movably arranged on the seat body and used for conveying gunny bags to the bagging station;
the opening device is movably arranged on the base body and is used for forming an opening at the upper end of the gunny bag positioned at the bagging station so that grains can be filled into the gunny bag; the method comprises the steps of,
and the sealing device is movably arranged on the base body and is used for sealing the gunny bag after the gunny bag at the bagging station is filled with grains.
Optionally, the gunny bag conveying device comprises a gunny bag box and two drums, the gunny bag box is mounted on the base, the gunny bag box is located above the bagging station and forms a gunny bag output port towards the bagging station, the gunny bag box is used for storing and unreeling the gunny bag, the two drums are rotatably mounted on the base and are located outside the gunny bag box, and the two drums are parallel and are oppositely arranged with the gunny bag output port so as to form a channel for passing the gunny bag between the two drums; and/or the number of the groups of groups,
the opening device comprises two clamping pieces which are respectively arranged at two sides of the bagging station and are slidably arranged on the base body, so that the two clamping pieces can correspondingly clamp the upper port edge of the gunny bag from two sides in the width direction of the gunny bag and then slide and pull open to form an upper end opening of the gunny bag, and the driving mechanism comprises a clamping piece driving mechanism for driving the two clamping pieces to slide; and/or the number of the groups of groups,
the sealing device comprises a sealing clamp horizontally and telescopically arranged above the bagging station, and the driving mechanism comprises a sealing clamp driving mechanism for driving the sealing clamp to stretch out and retract; and/or the number of the groups of groups,
the bagging mechanism further comprises a rotating base rotatably arranged at the bagging station, the rotating base is used for bearing the gunny bag to carry out grain filling and rotationally screwing the gunny bag, and the driving mechanism comprises a rotary driving mechanism used for driving the rotating base to rotate; and/or the number of the groups of groups,
the bagging mechanism is arranged at the rear end of the mobile platform, the base body is a box body with an opening backwards, the bagging station is positioned in the base body, the bagging mechanism further comprises a bagging device movably arranged on the base body, and the bagging device is arranged corresponding to the bagging station and is used for pushing the sealed gunny bag backwards out of the base body; and/or the number of the groups of groups,
the sensor comprises a weighing sensor, and the weighing sensor is arranged on the base body corresponding to the bagging station and is used for weighing the gunny bag at the bagging station.
Optionally, the sensor includes a vision sensor mounted forward of the mobile platform for collecting color information in front.
The utility model also provides a control method of the grain collection robot, wherein the sensor is used for collecting the color information in front and/or the real-time thickness of grains, and the control method comprises the following steps:
controlling the moving direction of the moving platform according to the color information in front; and/or controlling the moving speed of the moving platform according to the real-time thickness of the grains.
According to the technical scheme provided by the utility model, after grains on the ground are collected through the grain collecting mechanism, the grains are conveyed to the bagging mechanism, then the bagging mechanism is used for automatically bagging the grains, and the sensor is used for collecting signals, and the controller is used for controlling the actions of the mobile platform, the grain collecting mechanism and the bagging mechanism according to the signals, so that the grains can be automatically collected and packaged by the grain collecting robot, and the grain collecting efficiency is greatly improved.
Drawings
In order to more clearly illustrate the embodiments of the present utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are only some embodiments of the present utility model, and other drawings may be obtained according to the structures shown in these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of a grain collection robot according to an embodiment of the present utility model;
FIG. 2 is a schematic view of the belt grain collecting mechanism in FIG. 1;
FIG. 3 is a schematic view of the grain collecting device in FIG. 2;
FIG. 4 is a schematic view of the suction grain collecting mechanism in FIG. 1;
FIG. 5 is a schematic view of the interior of the housing of FIG. 4;
FIG. 6 is a schematic view of the bagging mechanism of FIG. 1;
FIG. 7 is a schematic view of the sealing device in FIG. 6;
fig. 8 is a schematic view of a portion of the structure in fig. 6.
Reference numerals illustrate:
the achievement of the objects, functional features and advantages of the present utility model will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present utility model will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the utility model. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.
It should be noted that, if directional indications (such as up, down, left, right, front, and rear … …) are included in the embodiments of the present utility model, the directional indications are merely used to explain the relative positional relationship, movement conditions, etc. between the components in a specific posture (as shown in the drawings), and if the specific posture is changed, the directional indications are correspondingly changed.
In addition, if there is a description of "first", "second", etc. in the embodiments of the present utility model, the description of "first", "second", etc. is for descriptive purposes only and is not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and/or" as it appears throughout includes three parallel schemes, for example "A and/or B", including the A scheme, or the B scheme, or the scheme where A and B are satisfied simultaneously. In addition, the technical solutions of the embodiments may be combined with each other, but it is necessary to base that the technical solutions can be realized by those skilled in the art, and when the technical solutions are contradictory or cannot be realized, the combination of the technical solutions should be considered to be absent and not within the scope of protection claimed in the present utility model.
At home and abroad, most of grains on sunning grounds are collected by adopting a traditional manual mode at present in vast rural areas, and in addition, frequent grain collection operations are required in the processes of grain storage, warehouse dumping, transportation, processing and the like. The traditional manual mode mainly depends on a dustpan and a wooden shovel for people to convey grains into the gunny bag in a reciprocating manner, and the opening of the gunny bag needs to be controlled by a person.
In view of the above, the present utility model provides a grain collection robot, and fig. 1 to 8 are schematic views of an embodiment of the grain collection robot.
Referring to fig. 1, in this embodiment, the grain collecting robot 100 includes a moving platform 1, a grain collecting mechanism, a bagging mechanism 2, a driving mechanism, a sensor and a controller 3, wherein a horizontal moving travelling mechanism 11 is disposed at the bottom of the moving platform 1, the grain collecting mechanism is mounted on the moving platform 1 and is used for collecting grains, the bagging mechanism 2 is mounted on the moving platform 1 and is in butt joint with the grain collecting mechanism and is used for bagging the grains collected by the grain collecting mechanism, the driving mechanism is used for driving the travelling mechanism 11, the grain collecting mechanism and the bagging mechanism 2, and the controller 3 is electrically connected with the sensor and the driving mechanism and is used for controlling the driving mechanism according to the sensor.
According to the technical scheme provided by the utility model, after grains on the ground are collected through the grain collecting mechanism, the grains are conveyed to the bagging mechanism 2, then the bagging mechanism 2 carries out automatic bagging on the grains, and the sensor is used for collecting signals, and the controller 3 controls the actions of the mobile platform 1, the grain collecting mechanism and the bagging mechanism 2 according to the signals, so that the grain collecting robot 100 can automatically collect and package the grains, and the grain collecting efficiency is greatly improved.
The grain collecting mechanism may collect grains on the ground, and the style of the grain collecting mechanism is not limited, and the grain collecting mechanism may be a belt type grain collecting mechanism or an air suction type grain collecting mechanism, etc., it is understood that the grain collecting robot 100 may be provided with only a single grain collecting mechanism, for example, the grain collecting mechanism includes a belt type grain collecting mechanism 4 (see fig. 2) or an air suction type grain collecting mechanism 7 (see fig. 4); the grain collecting robot 100 may also be provided with various grain collecting mechanisms, for example, referring to fig. 1, in this embodiment, the grain collecting mechanism includes a belt grain collecting mechanism 4 and an air suction grain collecting mechanism, specifically, the belt grain collecting mechanism 4 is located in front of the air suction grain collecting mechanism 7, so that grains not collected by the belt grain collecting mechanism 4 can be collected by the air suction grain collecting mechanism 7 in the grain collecting process using the grain collecting robot 100, thereby improving the collecting efficiency and reducing the energy consumption.
As described above, the grain collecting mechanism may include a belt grain collecting mechanism 4, specifically, please refer to fig. 1 and 2, in this embodiment, the grain collecting mechanism includes a belt grain collecting mechanism 4 installed at the front end of the moving platform 1, the belt grain collecting mechanism 4 includes a grain collecting device 41, a belt conveying device 42 and a grain shoveling device 43, the grain collecting device 41 is installed at the lower front end of the moving platform 1, the grain collecting device 41 is disposed towards the front opening for collecting grains, the belt conveying device 42 is installed on the moving platform 1 in a manner of being inclined towards the front along the upper and lower ends, the upper end of the belt conveying device 42 is in butt joint with the bagging mechanism 2, the lower end of the belt conveying device 41 is in butt joint with the grain collecting device 41, the grain shoveling device 43 is disposed outside the conveying belt 421 of the belt conveying device 42 for shoveling grains, wherein the driving mechanism includes a belt conveying driving mechanism 51, the belt conveying driving mechanism 51 is used for driving the belt conveying device 42, the shoveling device 43 is driven to be carried by the belt conveying device 43 to the belt shoveling device 43, the grain shoveling device 43 is carried by the belt conveying device 43 to the grain shoveling device 43, and the grain shoveling device 43 is carried by the belt conveying device 43 towards the grain collecting mechanism 43, and the grain shoveling device 43 is carried by the grain collecting device 43, and the grain can be carried by the bag device 43 under the action of the loading mechanism under the loading device 43, and the grain is carried by the loading device 43.
The belt grain collecting mechanism 4 gathers grains by the grain collecting device 41, and the mode of the grain collecting device 41 may not be limited, for example, the grain collecting device 41 may be a plate-shaped device inclined downward, and referring to fig. 3, in this embodiment, the grain collecting device 41 is arranged in a tube shape with front and rear openings, and includes an upper side plate 411, a left side plate 412, a lower side plate 413, and a right side plate 414 connected in sequence, a first notch 415 is formed at the rear end of the upper side plate 411, the lower end of the belt conveying device 42 extends into the grain collecting device 41 from the first notch 415 to form a butt joint (as described above, the grain collecting robot 100 collects signals by the sensor, referring to fig. 3, in this embodiment, the grain collecting device 41 has a contact surface for contacting grains and facing forward, further, referring to fig. 3, in this embodiment, a second notch 418 is formed at the front end of the lower side plate 413, the contact surface is formed at the opposite side surfaces of the left side plate 412 and the right side plate 414 and at the position corresponding to the second notch 418, the arrangement of the second notch 418 facilitates the contact of the pressure sensor 61 on the contact surface with grains to accurately measure the thickness of the grains, the belt conveyer 42 extends into the grain collecting device 41, thus, the grain shoveling device 43 on the belt conveying device 42 can be attached to the inner side wall of the grain gathering device 41 at any time, which is beneficial to the belt grain collecting mechanism 4 to collect more grains.
Further, referring to fig. 3, in the present embodiment, the left side plate 412 and the right side plate 414 are gradually disposed close to each other from front to back, so that grains can be gathered from the front end to the rear end of the grain gathering device 41, thereby facilitating the grain shoveling device 43 to scoop up grains.
In the same manner, referring to fig. 3, in this embodiment, the lower side plate 413 includes a horizontal area 416 disposed at a front end thereof and horizontally disposed, and an inclined area 417 disposed at a rear end thereof and obliquely disposed from front to rear, the lower side plate 413 scoops up grains through the horizontal area 416, and the scooped grains can be piled up along the inclined area 417, so that grains can be gathered on the lower side plate 413 more easily, thereby facilitating the scooping up of grains by the grain scooping device 43.
The belt grain collecting mechanism 4 scoops grains gathered by the grain collecting device 41 through the grain shoveling device 43 (refer to fig. 2, in this embodiment, the grain shoveling device 43 is provided with a plurality of grain shoveling devices along the circumferential direction of the conveyor belt 421, so that the grain collection speed can be improved), the form of the grain shoveling device 43 is not particularly limited, in particular, referring to fig. 2, in this embodiment, the grain shoveling device 43 includes a connecting plate 431 protruding from the conveyor belt 421, and a bending plate 432 formed by bending the connecting plate 431 toward the conveying direction of the conveyor belt 421, so that a storage space is formed between the connecting plate 431 and the bending plate 432, and grains can be prevented from falling from the grain shoveling device 43, thereby facilitating the grain shoveling device 43 to scoop up more grains.
Referring to fig. 2, in the embodiment, two sides of the conveyor belt 421 are respectively turned outwards to form two flanges 422, the grain shoveling device 43 extends along the width direction of the conveyor belt 421, and two ends of the grain shoveling device correspondingly abut against the two flanges 422, and the two flanges 422 form a barrier, so that grains can be prevented from falling from the belt conveying device 42 in the process of being conveyed to the bagging mechanism 2.
Referring to fig. 2, in this embodiment, the belt conveyor 42 includes two shafts 423 extending in a left-right direction, which are vertically spaced and staggered, and the two shafts 423 are rotatably mounted on the moving platform 1 and are in transmission connection with the conveyor belt 421; the belt conveying driving mechanism 51 includes a driving motor 511 disposed along a left-right direction, and a driving wheel 512 mounted on a transmission shaft of the driving motor 511, where the driving wheel 512 is opposite to one end of the rotating shaft 423 and is in transmission connection with the end through a belt 513 (refer to fig. 2, in this embodiment, one of the two rotating shafts 423, which is matched with the belt 513, and the driving wheel 512 are respectively provided with an annular belt groove matched with the belt 513, and the annular belt groove not only can play a role in guiding the belt 513, but also can avoid the situation that the belt 513 is loose, and drives the belt conveying device 42 through a belt-wheel type transmission mechanism, so that not only is the structure simpler, but also the efficiency of collecting grains by the belt grain collecting mechanism 4 is higher.
Further, referring to fig. 2, in the present embodiment, one end of the lower one of the two rotating shafts 423 is vertically opposite to the driving wheel 512, and is in transmission connection with the belt 513, so that the layout between the belt conveying driving mechanism 51 and the belt conveying device 42 is relatively reasonable, and the overall structure of the grain collecting robot 100 is compact.
As described above, the grain collecting mechanism may include an air suction grain collecting mechanism 7, specifically, please refer to fig. 1, 4 and 5, in this embodiment, the grain collecting mechanism includes an air suction grain collecting mechanism 7 installed in front of the bagging mechanism 2, the air suction grain collecting mechanism 7 includes a housing 71, a grain inlet pipe 73, a grain outlet pipe 74 and an air extractor 75, the housing 71 is provided with a grain inlet 711 and a grain outlet 712, a grain suction channel 72 is formed in the housing 71 and is communicated with the grain inlet 711 and the grain outlet 712, one end of the grain inlet pipe 73 is abutted to the grain inlet 711, one end of the grain outlet pipe 74 is abutted to the grain outlet 712, the other end is abutted to the bagging mechanism 2, the air extractor 75 is installed in the housing 71 to form a negative pressure in the grain suction channel 72, so that grains can be sucked into the grain channel 72 from the grain inlet pipe 73, then enter the bagging mechanism via the grain outlet pipe 74, and finally pass through the air extractor 72 to form a suction channel 72 (similar to the suction channel 72).
Through the air extracting device 75 (in particular, please refer to fig. 5, in this embodiment, the air extracting device 75 includes an air extracting fan 751 rotatably mounted in the housing 71, the driving mechanism includes an air extracting driving mechanism 52 for driving the air extracting fan 751 to rotate, so that the air extracting device 75 has a relatively simple structure) in the grain sucking channel 72 (in this embodiment, a pipeline is mounted in the housing 71 to form the grain sucking channel 72, so that the processing mode of the grain sucking channel 72 is relatively simple), thereby sucking grains on the ground into the grain sucking channel 72, the specific pattern of the grain sucking channel 72 is not limited, in particular, please refer to fig. 5, the grain sucking channel 72 includes a grain inlet channel 721 and a grain outlet channel 722, the grain inlet channel 721 is arranged along the front and rear direction, the front end is communicated with the grain inlet 711, the outlet channel 722 is arranged along the upper and lower direction, the upper end is communicated with the rear end of the grain inlet channel 721, the lower end is communicated with the lower end of the grain inlet channel 721, the air sucking channel 721 is affected by the air sucking channel 721, the grains in the rear end is formed along the grain inlet channel 721, the grain inlet channel is formed along the lower end of the grain inlet channel 721, the grain inlet channel is sucked into the grain inlet channel 72, the grain inlet channel is formed along the rear end of the grain inlet channel 72, the grain inlet channel is sucked into the grain inlet channel 721, the grain inlet channel is formed into the grain inlet channel 722, the rear end is sucked into the grain channel is formed into the grain channel, the grain inlet channel 722, and the grain inlet channel is discharged into the grain channel.
Further, referring to fig. 5, in this embodiment, the grain inlet channel 721 has a rear end wall for contacting with grains, a filter screen structure 723 is formed on the rear end wall of the grain inlet channel 721, the filter screen structure 723 is configured to allow dust to pass through, the grain suction channel 72 further includes a dust discharge channel 724 (in this embodiment, the air suction device 75 is installed in the dust discharge channel 724 and opposite to the filter screen structure 723, thus facilitating the air suction device 75 to form a negative pressure in the grain inlet channel 721), one end of the dust discharge channel 724 is connected to the outer side of the rear end wall of the grain inlet channel 721 and is abutted with the filter screen structure 723, so that dust in the grain inlet channel 721 can pass through the filter screen structure 723 to enter the dust discharge channel 724, when grains are collected by the air suction type grain collecting mechanism 7, the dust and grains are sucked into the grain suction channel 72 together, by forming the rear end wall of the dust discharge channel 724 in this embodiment, thus facilitating the suction device 75 to form a negative pressure in the grain inlet channel 721, one end of the filter screen structure 723 is connected to the filter screen structure 723, when the dust is not passing through the filter screen structure 723, the filter screen structure 723 is lifted by the filter screen structure 723, the filter screen structure 723 is formed in this way, the area is increased when the dust is sucked into the filter screen structure 723, and the filter structure 723 is moved out of the filter screen structure, and the filter structure is moved by the filter structure 723, thus the dust is taken into the filter area, and the dust area is taken out of the filter structure, and the dust area, and the dust is taken out of the dust area, and the dust is collected, the dust in the grain thus collected by the suction type grain collecting mechanism 7 and transferred to the bagging mechanism 2 is relatively reduced.
In this embodiment, referring to fig. 5, the housing 71 is provided with a dust discharge port 713 (specifically, referring to fig. 5, in this embodiment, the dust discharge port 713 is disposed at the upper end of the housing 71 toward the left or the right), and the other end of the dust discharge channel 724 is communicated with the dust discharge port 713, so that the mechanism for treating dust has a simple structure.
Through the grain inlet pipe 73 installed at the grain inlet 711 (see fig. 5, in this embodiment, the grain inlet 711 is disposed forward at the upper end of the housing 71, so that the grain inlet pipe 73 is conveniently installed), so that grains are sucked into the grain suction channel 72, and finally enter the bagging mechanism 2 through the grain outlet pipe 74 installed at the grain outlet 712 (see fig. 5, in this embodiment, the grain outlet 712 is disposed downward at the lower end of the housing 71, so that the grain outlet pipe 74 is conveniently installed), and in this embodiment, referring to fig. 4, the air suction type grain collecting mechanism 7 further includes the grain suction nozzle 76 disposed at the other end of the grain inlet pipe 73, the grain suction nozzle 76 is disposed in a cylindrical shape, and one end of the grain suction nozzle 76 far from the grain inlet pipe 73 is larger in size than one end of the grain inlet pipe 73, so that the grain collecting efficiency of the grain suction type grain collecting mechanism 7 can be improved by disposing the grain suction nozzle 76.
After the grain collecting robot 100 finishes the collection of grains by the grain collecting mechanism, the grains collected by the grain collecting mechanism are bagged by the bagging mechanism 2, specifically referring to fig. 6, in this embodiment, the bagging mechanism 2 includes a base 21, a gunny bag conveying device 22, an opening device 23 and a sealing device 24, the base 21 is provided with a bagging station, the gunny bag conveying device 22 is movably mounted on the base 21 and is used for conveying gunny bags to the bagging station, the opening device 23 is movably mounted on the base 21 and is used for forming an opening at the upper end of a gunny bag at the bagging station, so that grains can be bagged into gunny bags, the sealing device 24 is movably mounted on the base 21 and is used for sealing the gunny bags after the bagging of the gunny bags at the bagging station is finished, the gunny bags are conveyed to the station by the gunny bag conveying device 22, then the opening device 23 is opened at the upper end of the gunny bags, thus the grain collecting mechanism is filled with the grains, and finally the bag collecting device is sealed by the opening 24.
The bagging mechanism 2 completes replacement of the gunny bag by the conveying device 22, specifically referring to fig. 6 and 8, in this embodiment, the gunny bag conveying device 22 includes a gunny bag box 221 and two drums 222, the gunny bag box 221 is mounted on the base 21, the gunny bag box 221 is located above the bagging station, and a gunny bag output port (not shown in the drawing) is formed towards the bagging station, the gunny bag box 221 is used for storing and unreeling the gunny bag, the two drums 222 are rotatably mounted on the base 21 and located outside the gunny bag box 221, the two drums 222 are parallel and are opposite to the gunny bag output port, the two drums 222 are locked after rotating for a certain number of turns, the joint of the two sacks is pulled open, then the new sacks are pulled open at the upper end due to different shrinkage, and the opening device 23 can form an opening through the gap.
The bagging mechanism 2 forms an opening at the upper end of the gunny bag through the opening device 23, specifically, referring to fig. 6 and 8, in this embodiment, the opening device 23 includes two clamping members 231 which are separately disposed at two sides of the bagging station and slidably mounted on the base 21, such that the two clamping members 231 can slide and pull open to form an opening at the upper end of the gunny bag after clamping the upper end edge of the gunny bag from two sides of the gunny bag in the width direction, and the driving mechanism includes a clamping member driving mechanism (not shown in the drawings) for driving the two clamping members 231 to slide, and the two clamping members 231 clamp the gunny bag opening first and then slide to draw the opening to hold grains.
Further, referring to fig. 6, in the present embodiment, the base 21 is provided with a sliding groove 211 corresponding to the clamping member 231, the sliding groove 211 extends along the sliding direction of the clamping member 231, the clamping member 231 has a sliding portion slidably engaged with the sliding groove 211, and the sliding groove 211 can perform a sliding guiding function on the clamping member 231.
After the opening device 23 forms an opening at the upper end of the gunny bag, grains collected by the grain collecting mechanism can be filled into the gunny bag, for convenience in entering the gunny bag, referring to fig. 1 and 6, in this embodiment, the base 21 is upwardly formed with an inlet corresponding to the bagging station, the grain collecting mechanism is provided with a grain outlet end positioned above the base 21, and a grain conveying groove 8 which is obliquely arranged is arranged between the grain outlet end of the grain collecting mechanism and the inlet of the base 21, so that the butt joint between the grain collecting mechanism and the bagging mechanism 2 is formed through the grain conveying groove 8, and the grain collecting guiding function can be played through the grain conveying groove 8, thereby being beneficial to filling grains into the gunny bag positioned at the bagging station.
Specifically, referring to fig. 1, 4 and 6, in this embodiment, the belt grain collecting mechanism 4 is in butt joint with the bagging mechanism 2 through the grain conveying trough 8, the seat 21 is formed with a grain storage cavity 28, and the air suction grain collecting mechanism 7 is communicated with the grain storage cavity 28 through the grain outlet pipe 74.
When the sack is full (see fig. 6 specifically, in this embodiment, the sensor includes a weighing sensor 62, the weighing sensor 62 is mounted to the base 21 corresponding to the bagging station for weighing the sack at the bagging station), the opening device 23 releases the sack and the sealing device 24 seals the sack, and in this embodiment, the sealing device 24 includes a sealing clamp 241 horizontally telescopically mounted above the bagging station, and the driving mechanism includes a sealing clamp driving mechanism 53 for driving the sealing clamp 241 to stretch (see fig. 5, in this embodiment, the sealing clamp driving mechanism 53 is mounted in the housing 71 of the suction grain collecting mechanism 7), and the sealing device 24 seals the sack by the sealing clamp 241 (the sealing clamp 241 is a conventional structure of a conventional sealing machine, and will not be described in detail herein), so that the structure of the sealing device 24 is relatively simple.
For convenience in sealing the gunny bag, please refer to fig. 6, in this embodiment, the bagging mechanism 2 further includes a rotating base 25 rotatably mounted at the bagging station, the rotating base 25 is configured to bear the gunny bag for grain loading and rotationally tightening the gunny bag, the driving mechanism includes a rotation driving mechanism configured to drive the rotating base 25 to rotate, and when the gunny bag is full, the opening device 23 may loosen the gunny bag, and rotate through the rotating base 25, so that the upper end of the gunny bag is screwed, thereby facilitating the sealing device 24 to seal the gunny bag.
In order to facilitate the unloading of the sealed gunny bag from the bagging mechanism 2, referring to fig. 6, in this embodiment, the bagging mechanism 2 is mounted at the rear end of the moving platform 1, the base 21 is disposed in a box with an opening in a rear direction, the bagging station is located in the base 21, the bagging mechanism 2 further includes a bag unloading device 26 movably mounted in the base 21, the bag unloading device 26 is disposed corresponding to the bagging station, and is configured to push the sealed gunny bag out of the base 21 in a rear direction, and through the arrangement of the bag unloading device 26, automation of unloading the gunny bag from the bagging mechanism 2 can be realized, and the gunny bag above will be pulled down under the action of gravity after one gunny bag is pushed down.
Specifically, referring to fig. 6, in the present embodiment, the bag-discharging device 26 includes a push rod 261 movably mounted on the base 21, the push rod 261 has a forward and backward movement stroke for pushing the sealed gunny bag out of the base 21, and the driving mechanism includes a push rod driving mechanism 54 for driving the push rod 261 to move forward and backward (referring to fig. 5, in the present embodiment, the push rod driving mechanism 54 is mounted in the housing 71 of the air-sucking grain-collecting mechanism 7), so that the structure of the bag-discharging device 26 is relatively simple.
Referring to fig. 6, in this embodiment, a limiting rod 27 is movably mounted at the backward opening of the base 21 for opening and closing the opening, the driving mechanism includes a limiting rod driving mechanism for driving the limiting rod 27 to move, the limiting rod 27 closes the backward opening of the base 21 during the process of filling grains into the gunny bag, the limiting rod 27 moves to open the opening after the gunny bag is filled, and the bagging apparatus 26 can push the filled gunny bag backward out of the base 21.
The grain collecting robot 100 collects signals through the sensor to collect grains intelligently and efficiently, in this embodiment, the sensor includes a vision sensor 63 mounted forward on the moving platform 1 to collect color information in front, and the grain collecting robot 100 walks along the grain edge to collect grains, so that the color information collected by the vision sensor 63 (in this embodiment, the vision sensor 63 is located at the left side or the right side of the grain collecting device 41 in fig. 1) is half of the grain color, half of the ground color, and the color information actually collected by the vision sensor 63 is compared with standard data after being transmitted to the controller 3, so that the next advancing direction of the grain collecting robot 100 is calculated, and the moving direction of the moving platform 1 is controlled.
The utility model also provides a control method of the grain collecting robot, wherein the grain collecting robot is the grain collecting robot, and a sensor of the grain collecting robot is used for collecting color information in front and/or real-time thickness of grains, and the control method comprises the following steps:
controlling the moving direction of the moving platform 1 according to the front color information; and/or controlling the moving speed of the moving platform 1 according to the real-time thickness of the grains.
The foregoing description of the preferred embodiments of the present utility model should not be construed as limiting the scope of the utility model, but rather should be understood to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the utility model as defined by the following description and drawings or any application directly or indirectly to other relevant art(s).

Claims (8)

1. A grain collection robot, comprising:
the bottom of the mobile platform is provided with a horizontal moving travelling mechanism;
the grain collecting mechanism is arranged on the mobile platform and used for collecting grains;
the bagging mechanism is arranged on the mobile platform, is in butt joint with the grain collecting mechanism and is used for bagging grains collected by the grain collecting mechanism;
the driving mechanism is used for driving the travelling mechanism, the grain collecting mechanism and the bagging mechanism;
the controller is electrically connected with the sensor and the driving mechanism and is used for controlling the driving mechanism according to the sensor;
the grain collecting mechanism comprises a belt grain collecting mechanism arranged at the front end of the mobile platform, the belt grain collecting mechanism comprises a grain collecting device, a belt conveying device and a grain shoveling device, the grain collecting device is arranged at the lower front end of the mobile platform and is arranged in a front opening way and used for collecting grains, the belt conveying device is obliquely arranged on the mobile platform along the upper and lower directions and the lower ends of the belt conveying device are in butt joint with the bagging mechanism, the lower ends of the belt conveying device are in butt joint with the grain collecting device, and the grain shoveling device is outwards arranged on a conveying belt of the belt conveying device and used for shoveling grains;
the grain collecting mechanism further comprises an air suction type grain collecting mechanism arranged in front of the bagging mechanism, the air suction type grain collecting mechanism comprises a shell, a grain inlet pipe, a grain outlet pipe and an air exhaust device, the shell is provided with a grain inlet and a grain outlet, a grain suction channel which is communicated with the grain inlet and the grain outlet is formed in the shell, one end of the grain inlet pipe is in butt joint with the grain inlet, one end of the grain outlet pipe is in butt joint with the grain outlet, the other end of the grain inlet pipe is in butt joint with the bagging mechanism, the air exhaust device is arranged in the shell and used for forming negative pressure in the grain suction channel, so that grains can be sucked into the grain suction channel from the grain inlet pipe and then enter the bagging mechanism through the grain outlet pipe;
the driving mechanism comprises a belt conveying driving mechanism, and the belt conveying driving mechanism is used for driving the belt conveying device to drive the grain shoveling device, so that the grain shoveling device can shoveling grains gathered by the grain gathering device and convey the grains upwards to the bagging mechanism.
2. The grain collection robot of claim 1, wherein the grain collection device is in a cylindrical shape with front and rear openings, and comprises an upper side plate, a left side plate, a lower side plate and a right side plate which are sequentially connected, wherein a first gap is formed at the rear end of the upper side plate, and the lower end of the belt conveying device extends into the grain collection device from the first gap to form butt joint; and/or the number of the groups of groups,
the grain collecting device is provided with a contact surface which is used for contacting with grains and faces forward, and the sensor comprises a plurality of pressure sensors which are arranged on the contact surface at intervals up and down and used for determining the real-time thickness of the grains according to the pressure sensors; and/or the number of the groups of groups,
the grain shoveling device is provided with a plurality of grain shoveling devices along the circumferential direction of the conveyor belt; and/or the number of the groups of groups,
the grain shoveling device comprises a connecting plate convexly arranged on the conveyor belt and a bending plate formed by bending the connecting plate towards the conveying direction of the conveyor belt; and/or the number of the groups of groups,
the grain shoveling device comprises a conveyor belt, and is characterized in that two sides of the conveyor belt are respectively outwards folded to form two flange parts, the grain shoveling device extends along the width direction of the conveyor belt, and two ends of the grain shoveling device are correspondingly abutted with the two flange parts.
3. The grain collection robot of claim 1, wherein the grain suction channel comprises:
the grain inlet channel is arranged along the front-back direction, and the front end of the grain inlet channel is communicated with the grain inlet; the method comprises the steps of,
the grain outlet channel is arranged along the vertical direction, the upper end of the grain outlet channel is communicated with the rear end of the grain inlet channel, and the lower end of the grain outlet channel is communicated with the grain outlet;
the air extractor is used for forming negative pressure in the grain inlet channel, so that grains are sucked to the rear end of the grain inlet channel and then fall along the grain outlet channel.
4. The grain collection robot of claim 3, wherein the grain feed channel has a rear end wall for contacting grain, the rear end wall of the grain feed channel being formed with a screen structure for being configured to allow dust to pass therethrough, blocking grain from passing therethrough;
the grain suction channel further comprises a dust discharge channel, one end of the dust discharge channel is connected to the outer side of the rear end wall of the grain inlet channel and is in butt joint with the filter screen structure, so that dust in the grain inlet channel can pass through the filter screen structure and enter the dust discharge channel.
5. The grain collection robot of claim 1, wherein the bagging mechanism comprises:
the seat body is provided with a bagging station;
the gunny bag conveying device is movably arranged on the seat body and used for conveying gunny bags to the bagging station;
the opening device is movably arranged on the base body and is used for forming an opening at the upper end of the gunny bag positioned at the bagging station so that grains can be filled into the gunny bag; the method comprises the steps of,
and the sealing device is movably arranged on the base body and is used for sealing the gunny bag after the gunny bag at the bagging station is filled with grains.
6. The grain collection robot of claim 5, wherein the gunny bag transporting device comprises a gunny bag box and two drums, the gunny bag box is mounted on the base, the gunny bag box is positioned above the bagging station and forms a gunny bag output port towards the bagging station, the gunny bag box is used for storing and unreeling the gunny bag, the two drums are rotatably mounted on the base and positioned outside the gunny bag box, and the two drums are arranged in parallel and opposite to the gunny bag output port so as to form a channel for passing the gunny bag between the two drums; and/or the number of the groups of groups,
the opening device comprises two clamping pieces which are respectively arranged at two sides of the bagging station and are slidably arranged on the base body, so that the two clamping pieces can correspondingly clamp the upper port edge of the gunny bag from two sides in the width direction of the gunny bag and then slide and pull open to form an upper end opening of the gunny bag, and the driving mechanism comprises a clamping piece driving mechanism for driving the two clamping pieces to slide; and/or the number of the groups of groups,
the sealing device comprises a sealing clamp horizontally and telescopically arranged above the bagging station, and the driving mechanism comprises a sealing clamp driving mechanism for driving the sealing clamp to stretch out and retract; and/or the number of the groups of groups,
the bagging mechanism further comprises a rotating base rotatably arranged at the bagging station, the rotating base is used for bearing the gunny bag to carry out grain filling and rotationally screwing the gunny bag, and the driving mechanism comprises a rotary driving mechanism used for driving the rotating base to rotate; and/or the number of the groups of groups,
the bagging mechanism is arranged at the rear end of the mobile platform, the base body is a box body with an opening backwards, the bagging station is positioned in the base body, the bagging mechanism further comprises a bagging device movably arranged on the base body, and the bagging device is arranged corresponding to the bagging station and is used for pushing the sealed gunny bag backwards out of the base body; and/or the number of the groups of groups,
the sensor comprises a weighing sensor, and the weighing sensor is arranged on the base body corresponding to the bagging station and is used for weighing the gunny bag at the bagging station.
7. The grain collection robot of claim 1, wherein the sensor comprises a vision sensor mounted forward of the moving platform for collecting color information in front.
8. A control method of the grain collection robot according to any one of claims 1 to 7, the sensor being configured to collect color information of the front and/or real-time thickness of grains, the control method comprising:
controlling the moving direction of the moving platform according to the color information in front; and/or controlling the moving speed of the moving platform according to the real-time thickness of the grains.
CN201910367323.7A 2019-04-30 2019-04-30 Grain collection robot and control method thereof Active CN109969808B (en)

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Publication number Priority date Publication date Assignee Title
CN103964217A (en) * 2013-02-05 2014-08-06 华东师范大学附属枫泾中学 Grain collector
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CN109533492A (en) * 2019-01-07 2019-03-29 桂林电子科技大学 A kind of intelligent cereal bagging device and method based on binocular vision
CN209777708U (en) * 2019-04-30 2019-12-13 武汉轻工大学 Grain collection robot

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AR067913A1 (en) * 2008-08-12 2009-10-28 Carlos Alberto Martinez SELF-PROPULSED GRAIN BEADING MACHINE FOR SLEEVE SLEEVE

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Publication number Priority date Publication date Assignee Title
CN103964217A (en) * 2013-02-05 2014-08-06 华东师范大学附属枫泾中学 Grain collector
CN107324077A (en) * 2017-07-12 2017-11-07 安徽工程大学 Receipts grain assembly suitable for grain purchasing machine
CN107381090A (en) * 2017-07-12 2017-11-24 安徽工程大学 Grain purchasing machine
CN108502548A (en) * 2018-05-07 2018-09-07 聊城大学 Hand propelled grain purchasing machine with bogey and its application method
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