CN219137800U - Lees excavating equipment - Google Patents

Abstract

The utility model discloses a distiller's grain excavation device, which aims to solve the problems that the materials in the mud cellar are mainly excavated manually at present, the labor intensity of the workers is high, and the excavation period is long. It includes a vehicle frame, a walking unit, a material storage tank, a grabbing unit, a cleaning unit, a vacuum unit, and a control system. The storage tank is arranged on the frame, and the grabbing unit includes a vertical moving assembly, a horizontal moving assembly, a supporting assembly, and a distiller's grains grabbing assembly. This application is ingenious in conception, reasonable in design, small in size and light in weight, can effectively avoid damage and damage to mud pits, realize effective protection of mud pits, and has reasonable processing procedures and high efficiency. Transformation to achieve low-carbon, high-efficiency, and sustainable development has high practical value and important progressive significance.

Description

Distiller's grains excavation equipment

technical field

The utility model relates to the field of intelligent manufacturing, in particular to the field of liquor brewing, in particular to a distiller's grain excavation device.

Background technique

Brewing is the process of using microorganisms to ferment and produce alcoholic beverages with a certain concentration. The brewing of liquor usually needs to go through the following steps: material selection, koji making, fermentation, distillation, aging, blending, and filling. Among them, fermentation is the process of fermenting the sugar produced in the previous stage into alcohol.

Distiller's grains, also known as red grains, distiller's grains, dregs, etc., are the residues left after brewing rice, wheat, sorghum, etc. In some places, people refer to wine lees as distiller's grains. Jia Sixie of the Northern Wei Dynasty recorded in "Qi Min Yao Shu Zuo Ju Fa", "The method of distiller's grains vinegar: spring distiller's grains are used for drinking, and wine grains are also used in the middle." Song Meng Yuanlao's "Tokyo Menghualu·December" records, "with The distiller's grains are smeared on the stove door, which is called "drunkness and life". "Ming Song Yingxing "Tiangong Kaiwu·Quzhe" records, "The song is one flavor, the body of Polygonum is the energy vein, and the rice and wheat are the raw materials, but it must be used. The distiller's grains are a matchmaker."

As far as Luzhou-flavor Daqu liquor is concerned, it is produced in mud pits, and the requirements for fermentation mud pits are very strict. At the same time, the older the mud cellar, the better the quality and style of Daqu wine produced. Therefore, each winery pays more and more attention to the maintenance and cultivation of the fermentation mud cellar. In the production process of liquor, the raw materials need to be put into the mud pit for fermentation, and after the fermentation is completed, the materials are taken out from the mud pit.

At present, commonly used excavators are mainly divided into backhoe excavators, front shovel excavators, dragline excavators, and grab shovel excavators. Among them, the shovel action form of the front shovel excavator is characterized by "moving forward and cutting the soil upward", which cannot be applied to the excavation of distiller's grains in the mud cellar; The horizontal space requirements are too high, and most mud cellar workshops cannot meet the requirements; backhoe excavators can be used to excavate below the floor of the shutdown working surface, but they will damage the mud cellar itself and cause irreparable losses. Therefore, the distiller's grains in the mud cellar are still mainly excavated manually at present, and the labor intensity of the workers is high, and the excavation period is long.

Therefore, the present application provides a new structure to solve the above problems.

Utility model content

The purpose of the invention of the utility model is to provide a distiller's grains excavation equipment in view of the problems that the materials in the mud cellar are excavated manually at present, the labor intensity of the workers is high, and the excavation period is long. This application provides a new structure of distiller's grain excavation equipment, which has a new structural improvement based on the characteristics of the pit, which can greatly improve the excavation efficiency of distiller's grains in the mud pit, reduce the labor intensity of workers, and shorten the excavation period. This application is ingenious in conception, reasonable in design, small in size and light in weight, can effectively avoid damage and damage to mud pits, realize effective protection of mud pits, and has reasonable processing procedures and high efficiency. Transformation to achieve low-carbon, high-efficiency, and sustainable development has high practical value and important progressive significance.

In order to achieve the above object, the utility model adopts the following technical solutions:

A distiller's grains excavation equipment, including a vehicle frame, a walking unit, a storage tank, a grabbing unit, a cleaning unit, a vacuum unit, and a control system. surface movement, the storage tank is set on the frame and the storage tank can move synchronously with the frame;

The grasping unit includes a vertical movement assembly, a horizontal movement assembly, a support assembly, and a distiller's grains grasping assembly. The vertical movement assembly and the horizontal movement assembly are connected to the vehicle frame respectively, and the vehicle frame can be the vertical movement assembly, the horizontal movement assembly, and the horizontal movement assembly respectively. The moving component provides support, the distiller's grains grabbing component is connected to the supporting component and the supporting component can drive the distiller's grains grabbing component to move synchronously, and the storage tank is located under the horizontal moving component;

The support assembly can realize movement in the vertical direction through the vertical movement assembly, the support assembly can realize the movement in the horizontal direction through the horizontal movement assembly, and the support assembly can realize the vertical movement through the vertical movement assembly and the horizontal movement assembly respectively. , Move horizontally to transfer the distiller's grains excavated in the cellar to the storage tank;

The distiller's grains grasping assembly includes a fourth support, a fourth connecting rod, a fourth guide pipe, a fourth gripper, and a fourth telescopic drive member, and the fourth support is connected to the support assembly through the fourth connecting rod;

The fourth guide tube and the fourth gripper are respectively N, where N is a natural number and N≥2;

The fourth gripper includes a fourth arc-shaped blade and a fourth blade connecting rod, the fourth arc-shaped blade is connected to the fourth blade connecting rod and the fourth blade connecting rod can drive the fourth arc-shaped blade to move;

The fourth guide tubes are evenly distributed on the fourth support and the fourth support can provide support for the fourth guide tube, the central axis of the fourth guide tube is arc-shaped, and the fourth blade connecting rod and The fourth guide tube is socketed and the fourth blade connecting rod can slide relative to the fourth guide tube,

The fourth telescopic driver is hinged to the fourth support and the fourth telescopic driver can rotate relative to the fourth support. The telescopic rod of the fourth telescopic driver is connected to the fourth gripper and N fourth grippers When the telescopic rods of the fourth telescopic driving part are stretched out, they can be fitted together to form a grab bucket for grabbing distiller's grains, and when the telescopic rod of the fourth telescopic driving part contracts, the grab bucket for grabbing distiller's grains can be opened;

The cleaning unit is connected to the vehicle frame and the cleaning unit can clean the inner wall of the cellar;

The vacuum unit includes a fifth vacuum pump, a fifth feed pipe, and a fifth discharge pipe. The fifth vacuum pump is connected to the vehicle frame and the vehicle frame can provide support for the fifth vacuum pump. The fifth feed pipe is connected to the fifth vacuum pump. The inlets of the five vacuum pumps are connected and the feed port of the fifth feed pipe is located in the cellar, the fifth discharge pipe is connected with the outlet of the fifth vacuum pump, and the discharge port of the fifth discharge pipe is located in the storage tank The distiller's grains in the cellar can enter the storage tank through the fifth vacuum pump, the fifth feeding pipe, and the fifth discharging pipe in turn;

The walking unit, the vertical moving assembly, the supporting assembly, the cleaning unit and the fifth vacuum pump are respectively connected with the control system.

The walking unit is composed of N AGV steering wheels, N is a natural number and N≥3, the AGV steering wheels are evenly distributed on the bottom of the frame and the AGV steering wheels can drive the frame to move in any direction, the The AGV steering wheels are respectively connected with the control system.

The walking unit is composed of four AGV steering gear wheels, and the AGV steering gear wheels are rectangularly arranged at the bottom of the vehicle frame.

The horizontal moving assembly includes a horizontal linear guide rail and a second rack, the horizontal linear guide rail and the second rack are respectively connected to the frame and the frame can provide support for the horizontal linear guide rail and the second rack respectively;

There are two horizontal linear guide rails and the horizontal linear guide rails are arranged parallel to each other, and the second rack is arranged parallel to the horizontal linear guide rails;

The support assembly includes a third support plate, a third linear guide matched with the horizontal linear guide, a third rack matched with the second rack, a third grabbing support, a third slider, and a third motor , the third gear, the section of the third support plate along the vertical direction is L-shaped, the third support plate includes a third support vertical plate, a third support horizontal plate perpendicular to the third support vertical plate, the The third support vertical plate is connected as a whole with the third support horizontal plate;

The third support riser is connected to the vertical movement assembly and the vertical movement assembly can drive the third support plate to move in the vertical direction through the third support riser;

The third linear guide rail and the third rack are respectively arranged on the third support horizontal plate and the third support horizontal plate can provide support for the third linear guide rail and the third rack respectively, and the third linear guide rail is two And the third linear guide rails are arranged parallel to each other, the third rack and the third linear guide rail are arranged in parallel, and the plane in the vertical direction where the central axis of the third rack is located and the vertical direction where the central axis of the second rack is located plane overlap;

There are two third sliders, the third sliders are arranged in parallel on the bottom of the third grab support and the third slider can drive the third grab support to move synchronously, the third slider and the first grab support The three linear guide rails and the horizontal linear guide rail are matched and the third slider can move on the third linear guide rail and the horizontal linear guide rail. The linear guide rail moves to the horizontal linear guide rail;

The third motor is connected with the third grasping support and the third grasping support can provide support for the third motor, the third gear is arranged on the output shaft of the third motor, and the third gear can respectively Engaging with the third rack and the second rack, and the third motor can drive the third grabbing support to move relative to the third linear guide rail and the horizontal linear guide rail through the engagement of the third gear with the third rack and the second rack;

The fourth connecting rod is connected to the third grasping support, and the third grasping support can drive the distiller's grains grasping assembly through the fourth connecting rod to move vertically and horizontally;

The third motor is connected with the control system.

The third support board further includes a third reinforcement board, the third reinforcement board is respectively connected with the third support vertical board and the third support horizontal board, and the third reinforcement board can provide the strength of the third support board.

The vertical moving assembly includes a vertical linear guide rail, a lead screw lever, a lead screw nut matched with the lead screw lever, a first motor, a first slide block matched with the vertical linear guide rail, and the vertical linear guide rail , There are two first sliders respectively and the vertical linear guide rails are arranged parallel to each other, the vertical linear guide rails and the first motor are respectively connected to the vehicle frame and the vehicle frame can provide support for the vertical linear guide rail and the first motor respectively;

The first slider is arranged on the vertical linear guide rail and the first slider can move relative to the vertical linear guide rail, the third support vertical board is connected with the first slider respectively and the third support vertical board passes through the first vertical linear guide rail. The cooperation between the slider and the vertical linear guide can move axially relative to the vertical linear guide;

The lead screw lever is connected with the vehicle frame and the lead screw lever can rotate relative to the vehicle frame. The lead screw lever is arranged in parallel with the vertical linear guide rail. The output shaft of the first motor is connected with the lead screw lever. The lead screw lever The nut is arranged on the lead screw lever, the third support vertical plate is connected with the lead screw nut and the first motor can drive the third support plate to move in the vertical direction through the lead screw lever and the lead screw nut through the third support vertical plate .

There are three fourth guide tubes and four grippers respectively.

There are four fourth guide pipes and four grippers respectively, and the projection of the fourth grippers along the vertical direction is fan-shaped and the central angle of the fan-shape is 90°.

The fourth telescopic driver is a cylinder, the number of the fourth telescopic driver is 2N, and the fourth telescopic driver is arranged symmetrically with respect to the fourth blade connecting rod;

It also includes an air compressor, the air compressor is connected with the fourth telescopic driver, and when the telescopic rod of the fourth telescopic driver stretches out or contracts, it can drive the fourth gripper to move to form a grab bucket for grabbing distiller's grains or to open the gripper. fight;

The air compressor is connected with the control system.

The grab is in the shape of an inverted cone.

The fourth guide tube is a hollow tube, and the section perpendicular to the axial direction of the fourth guide tube is circular or rectangular;

The connecting rod of the fourth vane is arranged in the cavity of the fourth guide tube, and the fourth vane can slide relative to the fourth guide tube.

There are M pieces of the vertical movement assembly, horizontal movement assembly, support assembly, and distiller's grains grasping assembly, M is a natural number and M≥2.

The cleaning unit includes a sixth support 1, a sixth rotating assembly 1, a sixth braking brake 1 matched with the sixth rotating assembly 1, a sixth support rod, a sixth parallel linkage mechanism, and a sixth rotating assembly 2. , the sixth brake brake two matched with the sixth rotating assembly two, the sixth telescopic drive member, the sixth support two, the sixth drive motor, the sixth connecting rod, the first for cleaning the inner surface of the cellar cylinder Six cleaning brushes, the sixth support is connected to the vehicle frame and the vehicle frame can provide support for the sixth support;

The sixth support rod is connected to the sixth support rod through the sixth rotating assembly one, and the sixth rotating assembly one can adjust the relative angle between the sixth support rod and the sixth support rod one, and the sixth brake brake one is set On the sixth rotating component one and the sixth braking brake one can brake the sixth rotating component one so that the sixth support rod and the sixth support one remain relatively stationary;

One end of the sixth parallel linkage mechanism is connected to the sixth support rod, the other end of the sixth parallel linkage mechanism is connected to the sixth rotating assembly 2, and the sixth support rod can drive the sixth support rod through the sixth parallel linkage mechanism. Two of the six rotating components rotate synchronously; the sixth parallel link mechanism is connected to the sixth telescopic drive member and the sixth telescopic drive member can drive the sixth parallel link mechanism to move in the vertical direction;

The sixth support 2 is connected with the sixth rotating component 2 and the sixth rotating component 2 can drive the sixth support 2 to rotate to adjust the relative angle between the sixth support 2 and the sixth parallel linkage mechanism. The braking brake 2 is arranged on the sixth rotating component 2, and the sixth braking brake 2 can brake the sixth rotating component 2 so that the sixth support 2 and the sixth parallel link mechanism remain relatively stationary;

The sixth drive motor is arranged on the sixth support 2 and the sixth support 2 can provide support for the sixth drive motor, and the output shaft of the sixth drive motor is connected with the sixth cleaning brush through the sixth connecting rod And the sixth driving motor can drive the sixth cleaning brush to rotate synchronously through the sixth connecting rod to realize the cleaning of the inner wall of the cellar;

The sixth driving motor is connected with the control system.

The sixth parallel linkage mechanism has a parallelogram structure.

The sixth telescopic driver is an air cylinder, and the air compressor is connected to the sixth telescopic driver;

The sixth parallel linkage mechanism includes a seventh connecting seat 1, a seventh connecting seat 2, a seventh connecting arm 1, and a seventh connecting arm 2. The seventh connecting seat 1 is connected to the sixth support rod and the sixth supporting rod The rod can provide support for the seventh connecting seat 1, the seventh connecting seat 2 is connected to the sixth rotating assembly 2, and the sixth rotating assembly 2 can provide support for the seventh connecting seat 2;

One end of the seventh connecting arm 1 is hinged to the seventh connecting seat 1, and the other end of the seventh connecting arm 1 is hinged to the seventh connecting seat 2; one end of the seventh connecting arm 2 is hinged to the seventh connecting seat 2 Hinged, the other end of the seventh connecting arm 2 is hinged with the telescopic rod of the sixth telescopic driver;

The seventh connecting seat 1, the seventh connecting arm 1, the seventh connecting seat 2, the seventh connecting arm 2, and the sixth telescopic driving member constitute a sixth parallel linkage mechanism of a parallelogram structure, and the sixth telescopic driving member can sequentially The sixth support 2 is driven to move in the vertical direction through the sixth parallel link mechanism and the sixth rotating assembly 2 .

The cleaning unit also includes a sixth limit support, a sixth limit slider, a sixth limit rod, and a sixth limit nut. The sixth limit support is connected with the seventh connecting arm two, and the The sixth limit slider is hinged with the sixth limit support and the sixth limit slide can rotate relative to the sixth limit support. The sixth limit slide is provided with a The sixth limit through hole;

One end of the sixth limit rod is connected to the sixth support, and the other end of the sixth limit rod passes through the sixth limit through hole on the sixth limit slider, and the sixth limit The nut is arranged on the sixth limit rod, and the sixth limit nut and the sixth limit rod are threaded;

The connection between the sixth limit rod and the sixth support one is marked as the sixth connection one, and the sixth limit slider is located between the sixth connection one and the sixth limit nut and passes through the sixth limit The position nut can adjust the upper limit of movement of the sixth parallel linkage mechanism in the vertical direction.

It also includes a generator, the generator is connected to the vehicle frame and the vehicle frame can provide support for the generator;

The generators are respectively electrically connected with the traveling unit, the vertical moving assembly, the supporting assembly, the cleaning unit, the fifth vacuum pump, and the control system.

It also includes a vision unit, the vision unit is arranged on the vehicle frame, and the vision unit is connected with the control system.

Description of drawings

Figure 1 is a working diagram of distiller's grains excavation equipment.

Figure 2 is a schematic diagram of the overall structure of distiller's grains mining equipment.

FIG. 3 is a top view of FIG. 2 .

Fig. 4 is a schematic structural view of the cleaning unit.

Fig. 5 is a schematic diagram of the structure of the vacuum unit.

Fig. 6 is a front view of the distiller's grains grasping assembly.

FIG. 7 is a top view of FIG. 6 .

FIG. 8 is a schematic perspective view of the three-dimensional state of FIG. 6 .

Fig. 9 is a front view of the fourth gripper.

Fig. 10 is a projection view of the fourth handle along the vertical direction.

Fig. 11 is a schematic diagram of the combination of the support component and the grasping component of distiller's grains.

FIG. 12 is a side view of FIG. 11 .

Figure 13 is a schematic structural view of the support assembly.

Fig. 14 is a schematic structural view of the third support plate.

Fig. 15 is a structural schematic view of the support assembly without the third grabbing support.

Marks in the figure: 1. Cellar cylinder, 2. Vehicle frame, 3. Material storage tank, 4. Cleaning unit, 5. Walking unit, 6. Vertical moving component, 7. Horizontal moving component, 8. Supporting component, 9, Distiller's grain grabbing assembly, 10. Vacuum unit, 11. Sixth support 1, 12. Sixth rotating assembly 1, 13. Sixth braking brake 1, 14. Sixth support rod, 15. Sixth rotating assembly 2, 16, the sixth brake brake two, 17, the sixth telescopic drive member, 18, the sixth support two, 19, the sixth drive motor, 20, the sixth connecting rod, 21, the sixth cleaning brush, 22, the sixth Seven connecting seat one, 23, the seventh connecting seat two, 24, the seventh connecting arm one, 25, the seventh connecting arm two, 26, the sixth limit rod, 27, the fifth vacuum pump, 28, the fifth feeding pipe , 29, the fifth discharge pipe, 30, the fourth support, 31, the fourth connecting rod, 32, the fourth guide tube, 33, the fourth gripper, 34, the fourth telescopic drive, 35, the fourth arc shaped blade, 36, the fourth blade connecting rod, 51, the third support vertical plate, 52, the third support horizontal plate, 53, the third reinforcement plate, 54, the third linear guide rail, 55, the third rack, 56, The 3rd catches support, 57, the 3rd motor, 58, the 3rd slide block, 59, the 3rd gear.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in detail.

In order to make the purpose, technical solution and advantages of the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

Example 1

The overall structure is shown in the figure, and this embodiment provides a distiller's grain excavation equipment. The equipment includes a vehicle frame, a walking unit, a storage tank, a grabbing unit, a cleaning unit, a vacuum unit, and a control system. Wherein, the vehicle frame is connected with the walking unit, and the material storage tank is arranged on the frame. Further, the walking unit is composed of four AGV steering gear wheels, and the AGV steering gear wheels are arranged in a rectangular shape at the bottom of the frame. In this embodiment, the steering gear wheels of the AGV are respectively connected with the control system. In this structure, the AGV steering wheel is used to drive the distiller’s grains excavation equipment to move along the upper surface of the mud pit (that is, to complete the corresponding operation walking), and the pit cylinder is located in the mud pit; the walking unit is driven by 4 AGV steering wheels, which can Realize flexible movement, such as 360° turning in situ, etc., to meet the needs of working conditions.

In this embodiment, the grabbing unit includes a vertical moving component, a horizontal moving component, a supporting component, and a distiller's grain grabbing component. Wherein, the vertical moving component and the horizontal moving component are respectively connected with the vehicle frame, the distiller's grains grasping component is connected with the supporting component, and the supporting component can drive the distiller's grains grasping component to move synchronously, and the storage tank is located under the horizontal moving component. The support assembly can move vertically through the vertical movement assembly, the support assembly can move horizontally through the horizontal movement assembly, and the support assembly can move vertically and horizontally through the vertical movement assembly and the horizontal movement assembly. Thereby, the distiller's grains excavated in the cellar are transferred to the storage tank.

Further, the horizontal moving assembly includes a horizontal linear guide rail and a second rack, and the horizontal linear guide rail and the second rack are respectively connected to the frame, and the frame can provide support for the horizontal linear guide rail and the second rack respectively. There are two horizontal linear guide rails, and the horizontal linear guide rails are arranged parallel to each other; the second rack is arranged parallel to the horizontal linear guide rails.

At the same time, the support assembly includes a third support plate, a third linear guide matched with the horizontal linear guide, a third rack matched with the second rack, a third grabbing support, a third slider, and a third motor , the third gear. As shown in the figure, the vertical section of the third support plate is L-shaped, the third support plate includes a third support vertical plate, a third support horizontal plate perpendicular to the third support vertical plate, and the third support vertical plate It is connected with the third support horizontal plate as a whole. Further, the third support plate also includes a third reinforcement plate, and the third reinforcement plate is respectively connected with the third support vertical plate and the third support horizontal plate.

The third supporting vertical plate is connected with the vertical moving component; with this structure, the vertical moving component can drive the third supporting plate to move in the vertical direction through the third supporting vertical plate. The third linear guide rail and the third rack are arranged on the third support horizontal plate respectively, there are two third linear guide rails and the third linear guide rails are arranged parallel to each other, the third rack and the third linear guide rail are arranged in parallel, and the third tooth The plane in the vertical direction where the central axis of the bar is located coincides with the plane in the vertical direction where the central axis of the second rack is located.

There are two third sliders, and the third sliders are arranged in parallel on the bottom of the third grasping support, and the third sliders can drive the third grasping support to move synchronously. The third slider cooperates with the third linear guide rail and the horizontal linear guide rail, and the third slider can move on the third linear guide rail and the horizontal linear guide rail. The third linear guide rail is arranged correspondingly to the horizontal linear guide rail, and the third grasping support can move onto the horizontal linear guide rail through the third linear guide rail. The fourth connecting rod is connected with the third grasping support, and the third grasping support can drive the distiller's grains grasping assembly to move vertically and horizontally through the fourth connecting rod. Preferably, the third gripping support is provided with a third avoidance groove that cooperates with the fourth connecting rod; further, the third escape groove may be a U-shaped groove.

The 3rd motor links to each other with the 3rd grasping bearing, and the 3rd gear is arranged on the output shaft of the 3rd motor, and the 3rd gear can respectively mesh with the 3rd rack, the 2nd rack; The meshing of the third rack and the second rack can drive the third grasping support to move relative to the third linear guide rail and the horizontal linear guide rail.

With this structure, when the third linear guide rail and the horizontal linear guide rail are located on the same plane, the third linear guide rail and the horizontal linear guide rail are correspondingly located on the same straight line, and the third rack and the second rack are correspondingly located on the same straight line; based on this structure , so that the support assembly can move along the horizontal direction of the vehicle frame, so that the captured distiller's grains can be sent into the storage tank. At the same time, based on the engagement of the third gear with the third rack and the second rack, driven by the third motor, the third grasping support can move along the third linear guide rail and the horizontal linear guide rail.

The vertical moving assembly includes a vertical linear guide rail, a lead screw lever, a lead screw nut matched with the lead screw lever, a first motor, and a first slide block matched with the vertical linear guide rail. There are two vertical linear guide rails and two first sliders respectively, and the vertical linear guide rails are arranged parallel to each other, and the vertical linear guide rails and the first motor are respectively connected with the vehicle frame. The first slider is arranged on the vertical linear guide rail, and the first slider can move relative to the vertical linear guide rail. The third support vertical plate is respectively connected with the first slider, and the third support vertical plate can move axially relative to the vertical linear guide rail through the cooperation of the first slider and the vertical linear guide rail. The lead screw lever is connected with the vehicle frame, and the lead screw lever can rotate relative to the vehicle frame. The lead screw lever is arranged in parallel with the vertical linear guide rail, the output shaft of the first motor is connected with the lead screw lever, the lead screw nut is arranged on the lead screw lever, the third support vertical plate is connected with the lead screw nut, and the first motor passes through The lead screw lever and the lead screw nut can drive the third support plate to move in the vertical direction through the third support vertical plate.

The distiller's grains grasping assembly includes a fourth support, a fourth connecting rod, a fourth guide pipe, a fourth gripper, and a fourth telescopic driving member, and the fourth support is connected with the third grasping support through the fourth connecting rod. The fourth gripper includes a fourth arc-shaped blade and a fourth blade connecting rod, the fourth arc-shaped blade is connected with the fourth blade connecting rod, and the fourth blade connecting rod can drive the fourth arc-shaped blade to move.

As shown in the figure, in this embodiment, the fourth support is square, the fourth guide tube and the fourth gripper are respectively four, the fourth guide tubes are evenly distributed on the fourth support, and the center of the fourth guide tube The axis is arc-shaped, and the projection of the fourth handle along the vertical direction is fan-shaped and the central angle of the fan is 90°. At the same time, the fourth blade connecting rod is socketed with the fourth guide pipe. Further, the fourth guide pipe is a hollow pipe, and the cross section of the fourth guide pipe perpendicular to its axial direction is rectangular; the fourth blade connecting rod is arranged in the cavity of the fourth guide pipe, and the fourth blade can be relatively Guide tube slides.

The fourth telescopic driving part is hinged to the fourth support, and the fourth telescopic driving part can rotate relative to the fourth support. The telescopic rod of the fourth telescopic driver is connected to the fourth gripper, and the four fourth grippers can fit together when the telescopic rod of the fourth telescopic driver stretches out, and form a grab bucket for grabbing distiller's grains; at the same time , when the telescopic rod of the fourth telescopic driver shrinks, the grab bucket for grabbing distiller's grains will open. As shown, the grapple is formed in an inverted conical shape.

In this embodiment, the fourth telescopic driving member is an air cylinder, there are eight fourth telescopic driving members, and the fourth telescopic driving member is arranged symmetrically with respect to the fourth blade connecting rod. Preferably, it also includes an air compressor connected to the control system, the air compressor is connected to the fourth telescopic driver; when the telescopic rod of the fourth telescopic driver stretches out or shrinks, it can drive the fourth gripper to move to form a grab Lees' Grab or Open Grab. Specifically, in this embodiment, four fourth grippers are combined to form a conical grab bucket, so as to ensure that the excavated materials are not scattered; the fourth blade connecting rod is guided through the fourth guide tube , to ensure that the fourth gripper moves in the fourth guide pipe, so that the grab is always in the cellar, and the maximum digging capacity is guaranteed. At the same time, the grab is driven by double cylinders, which makes the grab more powerful and runs more smoothly.

As shown in the figure, there are two vertical moving assemblies, horizontal moving assemblies, supporting assemblies, and distiller's grains grabbing assemblies in this embodiment, and they are evenly distributed on the vehicle frame. With this structure, the grabbing efficiency of the device can be improved.

The cleaning unit includes the sixth support 1, the sixth rotating assembly 1, the sixth braking brake 1 matched with the sixth rotating assembly 1, the sixth support rod, the sixth parallel linkage mechanism, the sixth rotating assembly 2, and the sixth rotating assembly 1. The sixth rotating assembly 2 is matched with the sixth brake brake 2, the sixth telescopic driver, the sixth support 2, the sixth drive motor, the sixth connecting rod, and the sixth cleaning for cleaning the inner surface of the cellar For the brush, the sixth support is connected to the vehicle frame and the vehicle frame can provide support for the sixth support.

The sixth support rod is connected with the sixth support rod through the sixth rotating component one, and the sixth rotating component one can adjust the relative angle between the sixth support rod and the sixth support rod one. The sixth braking brake one is arranged on the sixth rotating component one, and the sixth braking brake one can brake the sixth rotating component one, so that the sixth support rod and the sixth support one remain relatively stationary.

One end of the sixth parallel link mechanism is connected to the sixth support rod, the other end of the sixth parallel link mechanism is connected to the sixth rotating assembly 2, and the sixth support rod can drive the sixth rotating assembly 2 through the sixth parallel link mechanism. synchronous rotation. The sixth parallel link mechanism is connected with the sixth telescopic driving part, and the sixth telescopic driving part can drive the sixth parallel link mechanism to move in the vertical direction. The sixth support 2 is connected with the sixth rotating component 2, and the sixth rotating component 2 can drive the sixth support 2 to rotate to adjust the relative angle between the sixth support 2 and the sixth parallel link mechanism. The sixth braking brake 2 is arranged on the sixth rotating component 2, and the sixth braking brake 2 can brake the sixth rotating component 2, so that the sixth support 2 and the sixth parallel link mechanism remain relatively stationary . The sixth drive motor is arranged on the sixth support 2, and the sixth support 2 can provide support for the sixth drive motor. The output shaft of the sixth driving motor is connected with the sixth cleaning brush through the sixth connecting rod, and the sixth driving motor can drive the sixth cleaning brush to rotate synchronously through the sixth connecting rod to clean the inner wall of the cellar.

The sixth parallel link mechanism has a parallelogram structure. The sixth telescopic driver selects the air cylinder, and the air compressor is connected with the sixth telescopic driver. Preferably, the sixth parallel linkage mechanism includes a seventh connecting seat 1, a seventh connecting seat 2, a seventh connecting arm 1, and a seventh connecting arm 2. The seventh connection seat 1 is connected with the sixth support rod, and the sixth support rod can provide support for the seventh connection seat 1; the seventh connection seat 2 is connected with the sixth rotating assembly 2, and the sixth rotating assembly 2 can be the seventh Connecting seat two provides support. One end of the seventh connecting arm one is hinged to the seventh connecting seat one, and the other end of the seventh connecting arm one is hinged to the seventh connecting seat two. One end of the seventh connecting arm 2 is hinged to the seventh connecting seat 2, and the other end of the seventh connecting arm 2 is hinged to the telescopic rod of the sixth telescopic driver. In this embodiment, the seventh connecting seat 1, the seventh connecting arm 1, the seventh connecting seat 2, the seventh connecting arm 2, and the sixth telescopic driving member constitute a sixth parallel linkage mechanism with a parallelogram structure, and the sixth telescopic The driving member can sequentially drive the sixth support 2 to move in the vertical direction through the sixth parallel linkage mechanism and the sixth rotating assembly 2 .

Further, the cleaning unit also includes a sixth limit support, a sixth limit slider, a sixth limit rod, and a sixth limit nut. The sixth limit support is connected with the seventh connecting arm two; the sixth limit slide block is hinged with the sixth limit support, and the sixth limit slide block can rotate relative to the sixth limit support; the sixth limit A sixth limit through hole matched with the sixth limit rod is arranged on the slider. Simultaneously, one end of the sixth limiting rod is connected with the sixth bearing one, the other end of the sixth limiting rod passes through the sixth limiting through hole on the sixth limiting slider, and the sixth limiting nut is arranged at the The sixth limit rod, and the sixth limit nut and the sixth limit rod are threaded. The connection between the sixth limit rod and the sixth support 1 is marked as the sixth connection 1, the sixth limit slider is located between the sixth connection 1 and the sixth limit nut, and passes through the sixth limit The nut can adjust the upper limit of movement of the sixth parallel linkage mechanism in the vertical direction. In this structure, a sixth connecting shaft is arranged in the middle of the sixth cleaning brush, and a nylon brush is arranged on the sixth connecting shaft, which is driven by the sixth driving motor to realize cleaning.

In this embodiment, the vacuum unit includes a fifth vacuum pump, a fifth feed pipe, and a fifth discharge pipe. The fifth vacuum pump is connected to the vehicle frame, and the vehicle frame can provide support for the fifth vacuum pump. The fifth feed pipe is connected to the inlet of the fifth vacuum pump, and the feed port of the fifth feed pipe is located in the cellar; the fifth discharge pipe is connected to the outlet of the fifth vacuum pump, and the discharge port of the fifth discharge pipe It is located in the storage tank, and the distiller's grains in the cellar can enter the storage tank after passing through the fifth vacuum pump, the fifth feeding pipe, and the fifth discharging pipe in sequence. Meanwhile, the third motor, the first motor, the sixth driving motor, and the fifth vacuum pump are respectively connected with the control system. In this structure, the discharge port of the fifth discharge pipe is fixed in the storage tank, and the fifth feed pipe can be adjusted manually. In this embodiment, the cleaning unit is used to clean the inner wall of the cellar, so that the distiller's grains on the inner wall of the cellar are cleaned to the bottom of the cellar, and then transported to the storage tank by the vacuum unit.

Preferably, a generator is also included, and the generator is arranged on the vehicle frame, and the generator is electrically connected to the AGV steering wheel, the vertical movement assembly, the support assembly, the cleaning unit, the fifth vacuum pump, and the control system.

Preferably, a vision unit is also included, the vision unit is arranged on the vehicle frame and the vehicle frame can provide support for the vision unit, and the vision unit is connected with the control system. With this structure, the cellar cylinder is found through the vision unit, and the collected information is transmitted to the control system; the control system controls the movement of the walking unit based on the information collected by the vision unit. In this application, the staff can also control to move the distiller's grains excavation equipment to the corresponding position.

The working process of the distiller's grains mining equipment is as follows:

(1) Mobile positioning

The distiller's grain excavation equipment walks between the vats through the walking unit, and the visual unit automatically finds the vat; when the grabbing unit coincides with the center of the vat to be excavated, the distiller's grains excavation equipment stops moving;

(2) Excavation of distiller's grains

Driven by the vertical moving component, the distiller's grain grabbing component descends into the cellar; the telescopic rod of the fourth telescopic drive part contracts, and the grab starts to dig materials; after the digging is completed, the distiller's grain grabbing component rises to the highest point, Then move horizontally to the top of the storage tank through the horizontal moving component; then, the grab bucket is opened to unload the material; this cycle is excavated several times; each time the lees grabbing component descends to the depth of the cellar and then continuously increases the depth of about one bucket; This application adopts double distiller's grain grabbing components, which can greatly improve the working efficiency;

(3) Surplus material cleaning

After the digging operation is completed, the booster arm of the cleaning unit (in this embodiment, composed of the sixth support one, the sixth rotating assembly one, the sixth brake brake one, the sixth support rod, the sixth parallel linkage mechanism, The sixth rotating assembly 2, the sixth brake brake 2, the sixth telescopic drive part, and the sixth support 2 constitute the power arm of the cleaning unit) to drive the sixth cleaning brush into the cellar to clean the distiller's grains adhered to the inner wall of the cellar, Make the distiller's grains gather at the bottom of the cellar; after the cleaning is completed, place the fifth feeding pipe in the cleaned vat, and start the vacuum unit to transport the accumulated distiller's grains to the storage tank; complete the cellar tank cleaning;

(4) Repeat the above-mentioned mobile positioning, excavation of distiller's grains, and cleaning of remaining materials until the excavation device for setting distiller's grains in the cellar is completed.

The basic concept has been described above, obviously, for those skilled in the art, the above detailed disclosure is only an example, and does not constitute a limitation to this description. Although not expressly stated here, those skilled in the art may make various modifications, improvements and corrections to this description. Such modifications, improvements and corrections are suggested in this specification, so such modifications, improvements and corrections still belong to the spirit and scope of the exemplary embodiments of this specification.

Meanwhile, this specification uses specific words to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and/or "some embodiments" refer to a certain feature, structure or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that two or more references to "an embodiment" or "an embodiment" or "an alternative embodiment" in different places in this specification do not necessarily refer to the same embodiment . In addition, certain features, structures or characteristics in one or more embodiments of this specification may be properly combined.

In addition, unless explicitly stated in the claims, the order of processing elements and sequences described in this specification, the use of numbers and letters, or the use of other names are not used to limit the sequence of processes and methods in this specification. While the foregoing disclosure has discussed by way of various examples some embodiments of the invention that are presently believed to be useful, it should be understood that such detail is for illustrative purposes only and that the appended claims are not limited to the disclosed embodiments, but rather, the claims The claims are intended to cover all modifications and equivalent combinations that fall within the spirit and scope of the embodiments of this specification. For example, although the system components described above may be implemented by hardware devices, they may also be implemented by a software-only solution, such as installing the described system on an existing server or mobile device.

In the same way, it should be noted that in order to simplify the expression disclosed in this specification and help the understanding of one or more embodiments of the invention, in the foregoing description of the embodiments of this specification, sometimes multiple features are combined into one embodiment, drawings or descriptions thereof. This method of disclosure does not, however, imply that the subject matter of the specification requires more features than are recited in the claims. Indeed, embodiment features are less than all features of a single foregoing disclosed embodiment.

Each patent, patent application, patent application publication, and other material, such as article, book, specification, publication, document, etc., cited in this specification is hereby incorporated by reference in its entirety. Application history documents that are inconsistent with or conflict with the content of this specification are excluded, and documents (currently or later appended to this specification) that limit the broadest scope of the claims of this specification are excluded. It should be noted that if there is any inconsistency or conflict between the descriptions, definitions, and/or terms used in the accompanying materials of this manual and the contents of this manual, the descriptions, definitions and/or terms used in this manual shall prevail .

Finally, it should be understood that the embodiments described in this specification are only used to illustrate the principles of the embodiments of this specification. Other modifications are also possible within the scope of this description. Therefore, by way of example and not limitation, alternative configurations of the embodiments of this specification may be considered consistent with the teachings of this specification. Accordingly, the embodiments of this specification are not limited to the embodiments explicitly introduced and described in this specification.

Claims (10)

1. A distiller's grain excavation equipment, characterized in that it comprises a vehicle frame, a walking unit, a storage tank, a grabbing unit, a cleaning unit, a vacuum unit, and a control system, the vehicle frame is connected with the walking unit and the walking unit can drive the vehicle The frame moves relative to the surface of the cellar to be excavated, the storage tank is arranged on the frame and the storage tank can move synchronously with the frame; The grasping unit includes a vertical movement assembly, a horizontal movement assembly, a support assembly, and a distiller's grains grasping assembly. The vertical movement assembly and the horizontal movement assembly are connected to the vehicle frame respectively, and the vehicle frame can be the vertical movement assembly, the horizontal movement assembly, and the horizontal movement assembly respectively. The moving component provides support, the distiller's grains grabbing component is connected to the supporting component and the supporting component can drive the distiller's grains grabbing component to move synchronously, and the storage tank is located under the horizontal moving component; The support assembly can realize movement in the vertical direction through the vertical movement assembly, the support assembly can realize the movement in the horizontal direction through the horizontal movement assembly, and the support assembly can realize the vertical movement through the vertical movement assembly and the horizontal movement assembly respectively. , Move horizontally to transfer the distiller's grains excavated in the cellar to the storage tank; The distiller's grains grasping assembly includes a fourth support, a fourth connecting rod, a fourth guide pipe, a fourth gripper, and a fourth telescopic drive member, and the fourth support is connected to the support assembly through the fourth connecting rod; The fourth guide tube and the fourth gripper are respectively N, where N is a natural number and N≥2; The fourth gripper includes a fourth arc-shaped blade and a fourth blade connecting rod, the fourth arc-shaped blade is connected to the fourth blade connecting rod and the fourth blade connecting rod can drive the fourth arc-shaped blade to move; The fourth guide tubes are evenly distributed on the fourth support and the fourth support can provide support for the fourth guide tube, the central axis of the fourth guide tube is arc-shaped, and the fourth blade connecting rod and The fourth guide tube is socketed and the fourth blade connecting rod can slide relative to the fourth guide tube, The fourth telescopic driver is hinged to the fourth support and the fourth telescopic driver can rotate relative to the fourth support. The telescopic rod of the fourth telescopic driver is connected to the fourth gripper and N fourth grippers When the telescopic rod of the fourth telescopic driver is stretched out, the grab bucket for grabbing distiller's grains can be formed and opened when the telescopic rod of the fourth telescopic driver shrinks; The cleaning unit is connected to the vehicle frame and the cleaning unit can clean the inner wall of the cellar; The vacuum unit includes a fifth vacuum pump, a fifth feed pipe, and a fifth discharge pipe. The fifth vacuum pump is connected to the vehicle frame and the vehicle frame can provide support for the fifth vacuum pump. The fifth feed pipe is connected to the fifth vacuum pump. The inlets of the five vacuum pumps are connected and the feed port of the fifth feed pipe is located in the cellar, the fifth discharge pipe is connected with the outlet of the fifth vacuum pump, and the discharge port of the fifth discharge pipe is located in the storage tank The distiller's grains in the cellar can enter the storage tank through the fifth vacuum pump, the fifth feeding pipe, and the fifth discharging pipe in turn; The walking unit, the vertical moving assembly, the supporting assembly, the cleaning unit and the fifth vacuum pump are respectively connected with the control system. 2. The distiller's grains excavation equipment according to claim 1, wherein the horizontal moving assembly includes a horizontal linear guide rail and a second rack, and the horizontal linear guide rail and the second rack are respectively connected to the vehicle frame and the vehicle frame can Provide support for the horizontal linear guide rail and the second rack respectively; There are two horizontal linear guide rails and the horizontal linear guide rails are arranged parallel to each other, and the second rack is arranged parallel to the horizontal linear guide rails; The support assembly includes a third support plate, a third linear guide matched with the horizontal linear guide, a third rack matched with the second rack, a third grabbing support, a third slider, and a third motor , the third gear, the section of the third support plate along the vertical direction is L-shaped, the third support plate includes a third support vertical plate, a third support horizontal plate perpendicular to the third support vertical plate, the The third support vertical plate is connected as a whole with the third support horizontal plate; The third support riser is connected to the vertical movement assembly and the vertical movement assembly can drive the third support plate to move in the vertical direction through the third support riser; The third linear guide rail and the third rack are respectively arranged on the third support horizontal plate and the third support horizontal plate can provide support for the third linear guide rail and the third rack respectively, and the third linear guide rail is two And the third linear guide rails are arranged parallel to each other, the third rack and the third linear guide rail are arranged in parallel, and the plane in the vertical direction where the central axis of the third rack is located and the vertical direction where the central axis of the second rack is located plane overlap; There are two third sliders, the third sliders are arranged in parallel on the bottom of the third grab support and the third slider can drive the third grab support to move synchronously, the third slider and the first grab support The three linear guide rails and the horizontal linear guide rail are matched and the third slider can move on the third linear guide rail and the horizontal linear guide rail. The linear guide rail moves to the horizontal linear guide rail; The third motor is connected with the third grasping support and the third grasping support can provide support for the third motor, the third gear is arranged on the output shaft of the third motor, and the third gear can respectively Engaging with the third rack and the second rack, and the third motor can drive the third grabbing support to move relative to the third linear guide rail and the horizontal linear guide rail through the engagement of the third gear with the third rack and the second rack; The fourth connecting rod is connected to the third grasping support, and the third grasping support can drive the distiller's grains grasping assembly through the fourth connecting rod to move vertically and horizontally; The third motor is connected with the control system. 3. The distiller's grain excavation equipment according to claim 2, characterized in that, the vertical moving assembly comprises a vertical linear guide rail, a lead screw lever, a lead screw nut matched with the lead screw lever, a first motor, and a vertical The first slider matched with the linear guide rail, the vertical linear guide rail and the first slider are respectively two and the vertical linear guide rails are arranged parallel to each other, the vertical linear guide rail and the first motor are respectively connected to the vehicle frame and The frame can provide support for the vertical linear guide rail and the first motor respectively; The first slider is arranged on the vertical linear guide rail and the first slider can move relative to the vertical linear guide rail, the third support vertical board is connected with the first slider respectively and the third support vertical board passes through the first vertical linear guide rail. The cooperation between the slider and the vertical linear guide can move axially relative to the vertical linear guide; The lead screw lever is connected with the vehicle frame and the lead screw lever can rotate relative to the vehicle frame. The lead screw lever is arranged in parallel with the vertical linear guide rail. The output shaft of the first motor is connected with the lead screw lever. The lead screw lever The nut is arranged on the lead screw lever, the third support vertical plate is connected with the lead screw nut and the first motor can drive the third support plate to move in the vertical direction through the lead screw lever and the lead screw nut through the third support vertical plate . 4. The distiller's grains excavation equipment according to claim 1, characterized in that there are four fourth guide pipes and four fourth grippers, and the projection of the fourth grippers along the vertical direction is fan-shaped and the center of the fan-shaped circle is The angle is 90°. 5. The distiller's grains excavation equipment according to claim 1, characterized in that there are M pieces of the vertical moving assembly, horizontal moving assembly, support assembly, and distiller's grains grasping assembly, M is a natural number and M≥2. 6. The distiller's grain excavation equipment according to any one of claims 1 to 5, characterized in that, the fourth telescopic driving member is a cylinder, the number of the fourth telescopic driving members is 2N, and the fourth telescopic driving member is opposite to The fourth blade connecting rod is arranged symmetrically; It also includes an air compressor, the air compressor is connected with the fourth telescopic driver, and when the telescopic rod of the fourth telescopic driver stretches out or contracts, it can drive the fourth gripper to move to form a grab bucket for grabbing distiller's grains or to open the gripper. fight; The air compressor is connected with the control system. 7. The distiller's grain excavation equipment according to claim 6, characterized in that, the cleaning unit comprises a sixth support I, a sixth rotating assembly I, a sixth braking brake I matched with the sixth rotating assembly I, a sixth Six supporting rods, the sixth parallel linkage mechanism, the sixth rotating assembly two, the sixth braking brake two matched with the sixth rotating assembly two, the sixth telescopic drive member, the sixth support two, the sixth driving motor, The sixth connecting rod, the sixth cleaning brush for cleaning the inner surface of the cellar, the sixth support is connected to the vehicle frame and the vehicle frame can provide support for the sixth support; The sixth support rod is connected to the sixth support rod through the sixth rotating assembly one, and the sixth rotating assembly one can adjust the relative angle between the sixth support rod and the sixth support rod one, and the sixth brake brake one is set On the sixth rotating component one and the sixth braking brake one can brake the sixth rotating component one so that the sixth support rod and the sixth support one remain relatively stationary; One end of the sixth parallel linkage mechanism is connected to the sixth support rod, the other end of the sixth parallel linkage mechanism is connected to the sixth rotating assembly 2, and the sixth support rod can drive the sixth support rod through the sixth parallel linkage mechanism. Two of the six rotating components rotate synchronously; the sixth parallel link mechanism is connected to the sixth telescopic drive member and the sixth telescopic drive member can drive the sixth parallel link mechanism to move in the vertical direction; The sixth support 2 is connected to the sixth rotating assembly 2, and the sixth rotating assembly 2 can drive the sixth support 2 to rotate to adjust the relative angle between the sixth support 2 and the sixth parallel linkage mechanism. The braking brake 2 is arranged on the sixth rotating component 2, and the sixth braking brake 2 can brake the sixth rotating component 2 so that the sixth support 2 and the sixth parallel link mechanism remain relatively stationary; The sixth drive motor is arranged on the sixth support 2 and the sixth support 2 can provide support for the sixth drive motor, and the output shaft of the sixth drive motor is connected with the sixth cleaning brush through the sixth connecting rod And the sixth driving motor can drive the sixth cleaning brush to rotate synchronously through the sixth connecting rod to realize the cleaning of the inner wall of the cellar; The sixth driving motor is connected with the control system. 8. The distiller's grains excavation equipment according to claim 7, characterized in that, the sixth telescopic driving member is an air cylinder, and the air compressor is connected to the sixth telescopic driving member; The sixth parallel linkage mechanism includes a seventh connecting seat 1, a seventh connecting seat 2, a seventh connecting arm 1, and a seventh connecting arm 2. The seventh connecting seat 1 is connected to the sixth support rod and the sixth supporting rod The rod can provide support for the seventh connecting seat 1, the seventh connecting seat 2 is connected to the sixth rotating assembly 2, and the sixth rotating assembly 2 can provide support for the seventh connecting seat 2; One end of the seventh connecting arm 1 is hinged to the seventh connecting seat 1, and the other end of the seventh connecting arm 1 is hinged to the seventh connecting seat 2; one end of the seventh connecting arm 2 is hinged to the seventh connecting seat 2 Hinged, the other end of the seventh connecting arm 2 is hinged with the telescopic rod of the sixth telescopic driver; The seventh connecting seat 1, the seventh connecting arm 1, the seventh connecting seat 2, the seventh connecting arm 2, and the sixth telescopic driving member constitute a sixth parallel linkage mechanism of a parallelogram structure, and the sixth telescopic driving member can sequentially The sixth support 2 is driven to move in the vertical direction through the sixth parallel link mechanism and the sixth rotating assembly 2 . 9. The distiller's grains excavation equipment according to claim 1, further comprising a generator, the generator is connected to the vehicle frame and the vehicle frame can provide support for the generator; The generators are respectively electrically connected with the traveling unit, the vertical moving assembly, the supporting assembly, the cleaning unit, the fifth vacuum pump, and the control system. 10. The distiller's grains excavation equipment according to claim 1, further comprising a vision unit, the vision unit is arranged on the vehicle frame, and the vision unit is connected with the control system.

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