CN105606157B - A kind of multi-functional grain conditions in grain depot intelligent inspection robot - Google Patents
A kind of multi-functional grain conditions in grain depot intelligent inspection robot Download PDFInfo
- Publication number
- CN105606157B CN105606157B CN201610150348.8A CN201610150348A CN105606157B CN 105606157 B CN105606157 B CN 105606157B CN 201610150348 A CN201610150348 A CN 201610150348A CN 105606157 B CN105606157 B CN 105606157B
- Authority
- CN
- China
- Prior art keywords
- grain
- fixedly connected
- installing plate
- motor
- cable
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Arrangements For Transmission Of Measured Signals (AREA)
- Earth Drilling (AREA)
Abstract
A kind of multi-functional grain conditions in grain depot intelligent inspection robot, including the automatic detection system of crawler type running system, grain heap, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system；Crawler type running system includes chassis and rubber belt track；The automatic detection system of grain heap includes drilling cramp, drilling cramp upper surface level is provided with installing plate, installing plate lower surface center is vertically fixedly connected with telescopic joint, drilling apparatus and sensing detection device are provided with telescopic joint, installing plate upper surface middle part is fixedly connected with two fix bars, and steel wire rope draw off gear and cable reel installation are provided between two fix bars.The present invention can in grain heap autonomous, be accurately positioned, creep into, detecting grain storage ambient parameter, sampling and local drug delivery in real time, can be in the ambient parameter of grain depot grain heap diverse location, different depth detection grain storage three dimensions, and detection data is sent to by Surveillance center by wireless transmission method.
Description
Technical field
The invention belongs to robot application technology field, more particularly to a kind of multi-functional grain conditions in grain depot intelligent inspection machine
People.
Background technology
Grain is the grand strategy commodity of country, and China is a grain big country, grain security and grain storage
Standby is that country prepares against natural disasters and adjusted the effective measures that grain market is taken for reply war, the disaster relief.The safe storage of grain is exactly
Ensure that it is under normal temperature and humidity, grasp the environmental factor change in silo in real time comprehensively, temperature to appearance,
It is to ensure the key of grain storage quality that humidity etc. makes correct processing in time extremely.Grain conditions in grain depot detection device is presently mainly
Sampler, also it is sample.Wherein, layered sampler is mainly used in the sampling of grain heap in bulk and bulk grain car, once inserts multilayer
Sampling；Electronic sampling sharp-pointed tube is applied to horizontal warehouse, underground bin, the sampling of deep layer grain and dispensing and entered during accumulating, quality inspection etc.
Row skewer takes sample, it can also be used to lays monitoring cable, locally sets up an office and launch insecticide etc.；Full-automatic grain sampler is specially used
Detection is examined in vehicle-mounted packaging grain, bulk grain and vehicle mounted grain.With scoring consecutive bumper harvests for China's grain, the storage of large granary
Grain scale also expands in development, and more huge variety of requirement is just proposed to the detection of grain heap grain feelings.China is most at present
The grain depot management still extensive management based on artificial, takes grain to rely primarily on manpower, labor intensity is big, especially using sample
It is that the detection of large granary can not obtain completing in time and thoroughly, so as to which the generation that grain goes mouldy can be caused, causes huge
Economic loss.Although electronic sampling sharp-pointed tube can be used for large granary, need to equally expend a large amount of manpowers, and to multiple sample point
Grain, which carries out analysis, can obtain information, and the efficiency of management of grain depot is low.
The content of the invention
The present invention is in order to solve weak point of the prior art, there is provided a kind of multi-functional grain conditions in grain depot intelligent inspection machine
People, can in grain heap autonomous, be accurately positioned, creep into, detecting grain storage ambient parameter, sampling and local drug delivery, energy in real time
Enough ambient parameters in grain depot grain heap diverse location, different depth detection grain storage three dimensions, and will by wireless transmission method
Detection data is sent to Surveillance center.
In order to solve the above technical problems, the present invention adopts the following technical scheme that：A kind of multi-functional grain conditions in grain depot intelligent patrol detection
Robot, including the automatic detection system of crawler type running system, grain heap, grain heap grain face planarization system, electric power supply system, shooting
Monitoring system, wireless signal transmission system and control system；
Crawler type running system includes rectangular chassis and the two slat gum crawler belts at left and right sides of chassis, in chassis
The heart offers circular hole, the driving wheel positioned at rubber belt track rear end is equipped with two slat gum crawler belts, positioned at rubber belt track front end
First driven pulley and in the middle part of the rubber belt track and spaced two the second driven pulleys, extreme end of chassis portion both sides are equipped with one
Individual base, first motor is equipped with each base, the output shaft of each first motor passes through first
Axle device and the wheel shaft drive connection for being axially disposed at a driving wheel center；
The automatic detection system of grain heap includes the drilling cramp in cuboid framework structure being fixedly connected on chassis, drilling cramp upper table
Face level is provided with installing plate, and installing plate center offers through hole, and installing plate lower surface center is vertically fixedly connected with telescopic joint, stretched
Drilling apparatus and sensing detection device are provided with casing coupling, installing plate upper surface middle part is fixedly connected with two along anterior-posterior horizontal direction
Fix bar, two fix bars are parallel and are arranged at intervals, and the length of fix bar is more than the length of installing plate, two fix bar rearward ends
Between be provided with steel wire rope draw off gear, be provided with cable reel installation between two fix bar leading sections；
Grain heap grain face planarization system includes grain-pushing plate and the second motor for overturning grain-pushing plate, grain heap grain face are smooth
The actuating unit of system forms multi-connecting-rod mechanisms driving grain-pushing plates using some electric pushrods, can make grain-pushing plate enter line tilt,
Lifting and jackknife action；
Camera monitoring system includes two fixed seats for being fixedly connected on installing plate upper surface forward edge and posterior edges,
Ccd video camera, thermal camera and illuminating lamp are equipped with each fixed seat；
Wireless signal transmission system includes being each provided at emitter, receiver and the antenna in the middle part of installing plate；
Control system includes the control panel being located on drilling cramp, and control panel, which is provided with, to be used to control crawler-type traveling system
The control button that system, the automatic detection system of grain heap, grain heap grain face planarization system and power supply open and close.
Telescopic joint includes the different sleeve of several external diameters, and all sleeves are penetrating up and down and have same center line, appoint
The smaller external diameter sleeve anticipated in two neighboring sleeve is plugged in larger sleeve, is fixedly connected positioned at outermost sleeve top
At the lower surface center of installing plate, each sleeve upper end inward flange and outward flange are equipped with locating flange, each sleeve lower end
Inward flange and outward flange are equipped with defining flange.
Steel wire rope draw off gear includes steel wire rope, the first winding cylinder and the first guide roller, between two fix bar rearward ends
First rotating shaft is rotatably connected to, the first winding cylinder is set in first rotating shaft, and the first mounting bracket is fixedly connected with rear side of installing plate,
The 3rd motor is provided with along left and right horizontal direction on first mounting bracket, the output shaft of the 3rd motor towards right setting and is driven
The first worm reduction gear is connected with, the output shaft of the first worm reduction gear is connected by second shaft coupling and the transmission of first rotating shaft left end
Connect, between the first guide roller is rotatably connected in the middle part of two fix bars, steel wire rope one end passes through the through hole at installing plate center with stretching
Casing coupling is connected, and the steel wire rope other end is connected by the first guide roller with the first winding cylinder.
Cable reel installation includes cable, the second winding cylinder and the second guide roller, is rotated between two fix bar leading sections
The second rotating shaft is connected with, the second winding cylinder is set in the second rotating shaft, is fixedly connected with the second mounting bracket on front side of installing plate, and second
The 4th motor is provided with along left and right horizontal direction on mounting bracket, the output shaft of the 4th motor towards right setting and is connected
There is the second worm reduction gear, the output shaft of the second worm reduction gear is connected by the 3rd shaft coupling and the second rotating shaft left end,
Between second guide roller is rotatably connected in the middle part of two fix bars, cable one end is passed through in the through hole and telescopic joint at installing plate center
Sensing detection device and drilling apparatus connection, the cable other end is connected by the second guide roller with the second winding cylinder.
Drilling apparatus includes the 5th motor and cone-type spiral auger, and the lower horizontal of innermost layer sleeve is fixedly connected with
First division board and middle part level are fixed with the second division board, and the 5th motor is vertically located at the first division board and second
Between division board, the output shaft of the 5th motor down and is connected with the 3rd worm reduction gear, in the sleeve of innermost layer
Wall is fixedly connected with the supporting plate above the first division board, and the 3rd worm reduction gear is fixedly connected on the supporting plate, taper
The input shaft of screw auger passes the first division board center and by the output of the 4th shaft coupling and the 3rd worm reduction gear upwards
Axle is connected, and the 4th shaft coupling is fixedly connected on the first division board upper surface, cone-type spiral auger and the first division board center
Junction be provided with sealing ring.
Electric power supply system includes twisted and released of the cable frame, tightening device and the 6th motor, and twisted and released of the cable frame is fixedly connected
In the middle part of on rear side of chassis, the 3rd rotating shaft is rotatably connected between twisted and released of the cable frame, the 3rd winding cylinder is arranged with the 3rd rotating shaft, the
Cable is wound with three winding cylinders.
Electric power supply system includes charging device and is fixedly connected on the electrokinetic cell of chassis rear lateral portion, on rear side of electrokinetic cell
Face is provided with charging plug, and charging inlet is offered on charging device leading flank, and charging plug coordinates with charging inlet grafting
Above-mentioned technical proposal is used, the invention has the advantages that：
1st, crawler type running system of the invention, when rotating forward or invert simultaneously by controlling two the first motors,
First motor drives driving wheel to rotate so as to drive chassis to advance or retreat by rubber belt track, when one first drive of control
Dynamic motor rotates and turning action can be achieved, when stopping operating using crawler type running system just in another first motor
In on soft grain heap surface stabilized walking, rectangular chassis can increase the contact area with grain heap surface, using two
First motor independently drives, and is easy to travelling control, and the high speed of whole crawler type running system is relatively low, in favor of reducing
Center of gravity and the space saved in short transverse；
2nd, the present invention can reach the sensing point of diverse location on grain heap surface, when reaching sensing point, start the 5th driving
Motor, drive cone-type spiral auger to rotate, downward driving force is vertically produced in grain heap, cone-type spiral auger is downward
Drilling drives each sleeve of telescopic joint to trail downwards, reaches desired depth and grain feelings parameter is detected, can also carry out
Arrangement of the sensor inside grain heap on each node of sensor network, sensor is brought into inside grain heap by cone-type spiral auger,
The placement sensor before grain enters storehouse is avoided to produce a large amount of cables and influence grain and enter storehouse operation, after completing operations, control
5th motor inverts, and so as to drive cone-type spiral auger opposite direction to rotate, is produced upwards vertically in grain heap
Driving force, telescopic joint shrinks therewith is gradually backed out grain heap, after cone-type spiral auger exits completely, controls crawler type running system
Autonomous is to next monitoring point；
3rd, steel wire rope draw off gear of the invention, the 3rd motor of control drive the first worm reduction gear to pass through second
Axle device drives the first winding cylinder to rotate so that the folding and unfolding speed of steel wire rope and the speed sync of drilling apparatus backward and forward, electricity
The driving worm reduction gear of motor driven second of cable draw off gear control the 4th drives the second winding cylinder to rotate by the 3rd shaft coupling,
So that speed sync of the folding and unfolding speed of cable with rotating into device backward and forward, using the first worm reduction gear and the second worm gear
Reductor can realize self-locking；
4th, leveling operation of the grain heap grain face planarization system of the invention when grain is put in storage for grain heap surface, and can be with
Vertical height and the angle of inclination of grain-pushing plate are adjusted, coordinates crawler type running system to complete the surfacing of grain heap, grain exists
When in storing process, the present invention is only needed to perform patrol task, and the foldable harvesting of linkage of grain heap grain face planarization system is got up,
With the realization saved space He facilitate other functions；
5th, electric power supply system of the invention provides power supply supply for the present invention, can use cable being wrapped in twisted and released of the cable
On the 3rd winding cylinder on frame, the first winding cylinder is driven to rotate by the 6th motor, to control the folding and unfolding of cable, and electricity
The folding and unfolding speed of cable and the backward and forward speed sync of crawler type running system, when the present invention works at the scene, cable is with showing
The connection of supplying electricity and power distribution case, on grain heap surface during diverse location, the length of cable is different, can be by controlling the folding and unfolding of cable
To realize, and supplying electricity and power distribution case of the cable all the time with scene is connected；The electric power supply system of the present invention, which can also use, itself pacifies
Electrokinetic cell is filled, it is simple in construction so that the present invention is not restricted during movement by cable length, can arbitrarily be reached specified
Position, when the present invention completes all job task or during when electrokinetic cell electric power deficiency, autonomous charging device of finding will fill
Plug inserts charging inlet and completes to charge；
6th, image detecting system of the invention is mainly used in the detection of grain heap external environment condition and the automatic obstacle-avoiding of the present invention, this hair
Sensing detection device in the automatic detection system of bright grain heap is mainly used in detecting inside grain heap in the grain feelings parameter of different depth,
And by wireless signal transmission system real-time Transmission to Surveillance center.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention；
Fig. 2 is the enlarged drawing at A in Fig. 1；
Fig. 3 is the enlarged drawing at B in Fig. 1；
Fig. 4 is the overlooking the structure diagram of the present invention；
Fig. 5 is the backsight structural representation of the present invention；
Fig. 6 is the structural representation of drilling apparatus in the present invention；
Fig. 7 is the enlarged drawing at C in Fig. 6；
Fig. 8 is the structural representation of grain heap grain face planarization system in a folded configuration in the present invention；
Fig. 9 is structural representation when electric power supply system uses electrokinetic cell in the present invention；
Figure 10 is that the cone-type spiral auger of the automatic detection system of grain heap in the present invention shows into the structure of detection inside grain heap
It is intended to.
Embodiment
As Figure 1-10 shows, a kind of multi-functional grain conditions in grain depot intelligent inspection robot of the invention, including crawler-type traveling
The automatic detection system of system, grain heap, grain heap grain face planarization system, electric power supply system, camera monitoring system, transmission of wireless signals
System and control system.
Crawler type running system includes rectangular chassis 1 and the two slat gum crawler belts 2 positioned at the left and right sides of chassis 1, bottom
The center of disk 1 offers circular hole, and the driving wheel 3 positioned at the rear end of rubber belt track 2 is equipped with two slat gum crawler belts 2, is carried out positioned at rubber
The first driven pulley 4 with 2 front ends and positioned at the middle part of rubber belt track 2 and spaced two the second driven pulleys 5, the rear end of chassis 1
Portion both sides are equipped with a base 6, and first motor 7 is equipped with each base 6, each first motor 7
Output shaft is connected by first shaft coupling 8 with being axially disposed at the wheel shaft 9 at a center of driving wheel 3.
The automatic detection system of grain heap includes being fixedly connected on the One On The Chassis drilling cramp 10 in cuboid framework structure, drilling cramp
10 upper surfaces level is provided with installing plate 11, and the center of installing plate 11 offers through hole, and the lower surface center of installing plate 11 is vertically fixed to be connected
Telescopic joint 12 is connected to, drilling apparatus and sensing detection device 14 are provided with telescopic joint 12, the upper surface middle part of installing plate 11 is before and after
Horizontal direction is fixedly connected with two fix bars 47, and two fix bars 47 are parallel and are arranged at intervals, and the length of fix bar 47 is more than
The length of installing plate 11, is provided with steel wire rope draw off gear between two rearward ends of fix bar 47, two leading sections of fix bar 47 it
Between be provided with cable reel installation.
Grain heap grain face planarization system includes grain-pushing plate 16 and the second motor 17 for overturning grain-pushing plate 16, grain heap grain
The actuating unit of face planarization system forms multi-connecting-rod mechanism driving grain-pushing plate 16 using some electric pushrods, can make grain-pushing plate 16
Enter line tilt, lifting and jackknife action.
Camera monitoring system includes being fixedly connected on two fixations of the upper surface forward edge of installing plate 11 and posterior edges
Seat 24, ccd video camera 25, thermal camera 26 and illuminating lamp 27 are equipped with each fixed seat 24.
Wireless signal transmission system includes being each provided at emitter 28, receiver 29 and the antenna 30 at the middle part of installing plate 11.
Control system includes the control panel 31 being located on drilling cramp 10, and control panel 31, which is provided with, to be used to control crawler type row
The control button 32 that the automatic detection system of walking system, grain heap, grain heap grain face planarization system and power supply open and close.
Telescopic joint 12 includes the different sleeve 33 of several external diameters, and all sleeves 33 are penetrating up and down and have same center
Line, the smaller external diameter sleeve 33 in two sleeves 33 of arbitrary neighborhood is plugged in larger sleeve 33, positioned at outermost sleeve
33 tops are fixedly connected on the lower surface center of installing plate 11, and each upper end inward flange of sleeve 33 and outward flange are equipped with convex
Edge 34, the inward flange of each lower end of sleeve 33 and outward flange are equipped with defining flange 35.
Steel wire rope draw off gear includes steel wire rope 36, the first winding cylinder 38 and the first guide roller 39, after two fix bars 47
First rotating shaft 48 is rotatably connected between end, the first winding cylinder 38 is set in first rotating shaft 48, and the rear side of installing plate 11 is fixed
It is connected with the first mounting bracket 37, the 3rd motor 49, the 3rd driving electricity is provided with along left and right horizontal direction on the first mounting bracket 37
The output shaft of machine 49 is towards right setting and is connected with the first worm reduction gear 50, and the output shaft of the first worm reduction gear 50 passes through
Second shaft coupling 51 and the left end of first rotating shaft 48 are connected, and the first guide roller 39 is rotatably connected on two middle parts of fix bar 47
Between, the through hole at the one end of steel wire rope 36 through the center of installing plate 11 is connected with telescopic joint 12, and the other end of steel wire rope 36 is led by first
It is connected to roller 39 with the first winding cylinder 38.
Cable reel installation includes cable 23, the second winding cylinder 41 and the second guide roller 42, two leading sections of fix bar 47
Between be rotatably connected to the second rotating shaft 52, the second winding cylinder 41 is set in the second rotating shaft 52, and the front side of installing plate 11 is fixedly connected
There is the second mounting bracket 40, the 4th motor 53, the 4th motor 53 are provided with along left and right horizontal direction on the second mounting bracket 40
Output shaft towards it is right set and be connected with the second worm reduction gear 54, the output shaft of the second worm reduction gear 54 passes through the 3rd
The left end of 55 and second rotating shaft of shaft coupling 52 is connected, and the second guide roller 42 is rotatably connected between two middle parts of fix bar 47,
The through hole at the one end of cable 23 through the center of installing plate 11 is connected with the sensing detection device 14 in telescopic joint 12 and drilling apparatus, electricity
The other end of cable 23 is connected by the second guide roller 42 with the second winding cylinder 41.
Drilling apparatus includes the 5th motor 13 and cone-type spiral auger 15, and the lower horizontal of innermost layer sleeve 33 is fixed
It is connected with the first division board 56 and middle part level is fixed with the second division board 57, the 5th motor 13 is vertically located at first
Between the division board 57 of division board 56 and second, the output shaft of the 5th motor 13 down and is connected with the 3rd worm gear reducer
Machine 58, the inwall of sleeve 33 of innermost layer are fixedly connected with the supporting plate 59 above the first division board 56, the 3rd worm gear reducer
Machine 58 is fixedly connected in supporting plate 59, and the input shaft of cone-type spiral auger 15 passes the center of the first division board 56 and passed through upwards
The output shaft of 4th shaft coupling 60 and the 3rd worm reduction gear 58 is connected, and the 4th shaft coupling 60 is fixedly connected on the first isolation
The upper surface of plate 56, the junction at the center of 15 and first division board of cone-type spiral auger 56 are provided with sealing ring 61.
Electric power supply system includes twisted and released of the cable frame 18, the motor 20 of tightening device 19 and the 6th, twisted and released of the cable frame 18
The rear side middle part of chassis 1 is fixedly connected on, the 3rd rotating shaft 21 is rotatably connected between twisted and released of the cable frame 18, is arranged in the 3rd rotating shaft 21
There is the 3rd winding cylinder 22, cable 23 is wound with the 3rd winding cylinder 22.
Electric power supply system includes charging device 43 and is fixedly connected on the electrokinetic cell 44 of the rear lateral portion of chassis 1, power electric
The trailing flank of pond 44 is provided with charging plug 45, offers charging inlet 46 on the leading flank of charging device 43, charging plug 45 is with filling
The grafting of electrical interface 46 coordinates.
The present invention the course of work be：Electrical source of power is connected first, and manually controllable control system of the invention is grasped
Make, two the first motors 7 in crawler type running system are controlled by control system, when two the first motors of control
7 simultaneously rotate forward or reversion when, the first motor 7 drive driving wheel 3 rotate so as to by rubber belt track 2 drive chassis 1 before
Enter or retreat, when one the first motor 7 of control rotates and another first motor 7 stops operating, can be achieved to turn
The smooth of grain heap surface is completed in curved action, the planarization system operation of control grain heap grain face, and controlling the present invention to reach needs what is detected
Monitoring point, start the 5th motor 13, drive cone-type spiral auger 15 to rotate, produced downwards vertically in grain heap
Driving force, while start the 3rd motor 49 and the 4th motor 53, the 3rd motor 49 drives the first worm gear reducer
Machine 50 drives the first winding cylinder 38 to rotate by second shaft coupling 51 so that the folding and unfolding speed of steel wire rope 36 retreats with drilling apparatus
With the speed sync of advance, the 4th motor 53 drives the second worm reduction gear 54 to be twined by the 3rd shaft coupling 55 driving second
Rotated around cylinder 41 so that the folding and unfolding speed of cable 23 and the speed sync for rotating into device backward and forward, cone-type spiral auger 15
It is drilled down into and drives each sleeve 33 of telescopic joint 12 to trail downwards, reaches desired depth and grain feelings parameter is detected,
Arrangement of the sensor inside grain heap on each node of sensor network can be carried out, is brought into sensor by cone-type spiral auger 15
Inside grain heap, after completing operations, the 5th motor 13 of control inverts, so as to drive the opposite direction of cone-type spiral auger 15 to turn
It is dynamic, upward driving force is vertically produced in grain heap, telescopic joint 12 shrinks therewith is gradually backed out grain heap, while control the
Three motors 49 and the 4th motor 53 invert, and steel wire rope 36 and cable 23 synchronously draw over to one's side motion, and drilling apparatus is gradual
Grain heap is exited, after cone-type spiral auger 15 exits completely, control crawler type running system autonomous to next monitoring point；
The present invention can also be received control signal realization by wireless signal transmission system and is automatically brought into operation, and be arrived according to path planning autonomous
The monitoring point on grain heap surface, after reaching the monitoring point for needing to detect, the automatic detection system of grain heap is controlled, starts the 5th motor
13 so that telescopic joint 12 trails section by section as cone-type spiral auger 15 is progressed into inside grain heap, until reach and to detect
Depth, in the test position inside grain heap, the sensor inside cone-type spiral auger 15 detects the grain feelings parameter selected,
Surveillance center is sent to by wireless signal transmission system, then controls the 5th motor 13 to invert, so as to drive taper spiral shell
The opposite direction of auger 15 is revolved to rotate, telescopic joint 12 shrinks therewith is gradually backed out grain heap, after cone-type spiral auger 15 exits completely, control
Crawler type running system autonomous processed, when grain heap surface irregularity, can also pass through wireless signal to next monitoring point
Transmission system control grain heap grain face planarization system carries out the automatic smooth of grain heap surface；Electric power supply system provides electricity for the present invention
Source is supplied, and can use and cable 23 is wrapped on the 3rd winding cylinder 22 on the retractable frame 18 of cable 23, pass through the 6th motor
20 the 3rd winding cylinders 22 of driving rotate, to control the folding and unfolding of cable 23, and the folding and unfolding speed of cable 23 and crawler-type traveling system
The backward and forward speed sync of system, when the present invention works at the scene, cable 23 is connected with the supplying electricity and power distribution case at scene, in grain heap
During the diverse location of surface, the length of cable 23 is different, can be realized by controlling the folding and unfolding of cable 23, and cable 23 is all the time
It is connected with the supplying electricity and power distribution case at scene；The electric power supply system of the present invention can also use itself installation electrokinetic cell 44, structure letter
It is single so that the present invention is not restricted during movement by the length of cable 23, can arbitrarily reach specified location, when the present invention is complete
Into all job tasks or when 44 electric power deficiency of electrokinetic cell, autonomous charging device 43 of finding inserts charging plug 45
Charging inlet 46 simultaneously is completed to charge.
The present embodiment is not that the shape to the present invention, material, structure etc. make any formal limitation, every according to this hair
Any simple modification, equivalent change and modification that bright technical spirit is made to above example, belongs to the technology of the present invention side
The protection domain of case.
Claims (5)
- A kind of 1. multi-functional grain conditions in grain depot intelligent inspection robot, it is characterised in that：It is automatic including crawler type running system, grain heap Detection system, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system System；Crawler type running system includes rectangular chassis and the two slat gum crawler belts at left and right sides of chassis, center chassis are opened Provided with circular hole, the driving wheel positioned at rubber belt track rear end, first positioned at rubber belt track front end are equipped with two slat gum crawler belts Driven pulley and in the middle part of the rubber belt track and spaced two the second driven pulleys, extreme end of chassis portion both sides are equipped with a bottom , first motor is equipped with each base, the output shaft of each first motor passes through first shaft coupling Wheel shaft with being axially disposed at a driving wheel center is connected；The automatic detection system of grain heap includes the drilling cramp in cuboid framework structure being fixedly connected on chassis, drilling cramp upper surface water Flat to be provided with installing plate, installing plate center offers through hole, and installing plate lower surface center is vertically fixedly connected with telescopic joint, telescopic joint Interior to be provided with drilling apparatus and sensing detection device, installing plate upper surface middle part is fixedly connected with two fixations along anterior-posterior horizontal direction Bar, two fix bars are parallel and are arranged at intervals, and the length of fix bar is more than the length of installing plate, between two fix bar rearward ends Provided with steel wire rope draw off gear, cable reel installation is provided between two fix bar leading sections；Grain heap grain face planarization system includes grain-pushing plate and the second motor for overturning grain-pushing plate, grain heap grain face planarization system Actuating unit form multi-connecting-rod mechanisms driving grain-pushing plates using some electric pushrods, grain-pushing plate can be made to enter line tilt, lifting And jackknife action；Camera monitoring system includes two fixed seats for being fixedly connected on installing plate upper surface forward edge and posterior edges, each Ccd video camera, thermal camera and illuminating lamp are equipped with fixed seat；Wireless signal transmission system includes being each provided at emitter, receiver and the antenna in the middle part of installing plate；Control system includes the control panel being located on drilling cramp, and control panel, which is provided with, to be used to control crawler type running system, grain The control button that the automatic detection system of heap, grain heap grain face planarization system and power supply open and close；Telescopic joint includes the different sleeve of several external diameters, and all sleeves are penetrating up and down and have same center line, any phase Smaller external diameter sleeve in adjacent two sleeves is plugged in larger sleeve, and peace is fixedly connected on positioned at outermost sleeve top The lower surface center of loading board, each sleeve upper end inward flange and outward flange are equipped with locating flange, the inner edge of each sleeve lower end Edge and outward flange are equipped with defining flange；Steel wire rope draw off gear includes steel wire rope, the first winding cylinder and the first guide roller, is rotated between two fix bar rearward ends First rotating shaft is connected with, the first winding cylinder is set in first rotating shaft, is fixedly connected with the first mounting bracket on rear side of installing plate, and first The 3rd motor is provided with along left and right horizontal direction on mounting bracket, the output shaft of the 3rd motor towards right setting and is connected There is the first worm reduction gear, the output shaft of the first worm reduction gear is connected by second shaft coupling and first rotating shaft left end, Between first guide roller is rotatably connected in the middle part of two fix bars, steel wire rope one end passes through the through hole and telescopic joint at installing plate center Connection, the steel wire rope other end are connected by the first guide roller with the first winding cylinder.
- A kind of 2. multi-functional grain conditions in grain depot intelligent inspection robot according to claim 1, it is characterised in that：Twisted and released of the cable Device includes cable, the second winding cylinder and the second guide roller, and the second rotating shaft is rotatably connected between two fix bar leading sections, the Two winding cylinders are set in the second rotating shaft, are fixedly connected with the second mounting bracket on front side of installing plate, along left and right water on the second mounting bracket Square to provided with the 4th motor, the output shaft of the 4th motor sets towards right and is connected with the second worm gear reducer Machine, the output shaft of the second worm reduction gear are connected by the 3rd shaft coupling and the second rotating shaft left end, and the second guide roller rotates Between being connected in the middle part of two fix bars, cable one end passes through the sensing detection device in the through hole and telescopic joint at installing plate center And drilling apparatus connection, the cable other end are connected by the second guide roller with the second winding cylinder.
- A kind of 3. multi-functional grain conditions in grain depot intelligent inspection robot according to claim 2, it is characterised in that：Drilling apparatus Including the 5th motor and cone-type spiral auger, the lower horizontal of innermost layer sleeve be fixedly connected with the first division board and in Portion's level is fixed with the second division board, and the 5th motor is vertically located between the first division board and the second division board, and the 5th The output shaft of motor down and is connected with the 3rd worm reduction gear, and the sleeve lining of innermost layer, which is fixedly connected with, to be located at Supporting plate above first division board, the 3rd worm reduction gear are fixedly connected on the supporting plate, the input shaft of cone-type spiral auger The first division board center is passed upwards and is connected by the output shaft of the 4th shaft coupling and the 3rd worm reduction gear, tetrad Axle device is fixedly connected on the first division board upper surface, and the junction at cone-type spiral auger and the first division board center is provided with sealing Ring.
- A kind of 4. multi-functional grain conditions in grain depot intelligent inspection robot according to claim 3, it is characterised in that：Supply of electric power System includes twisted and released of the cable frame, tightening device and the 6th motor, and twisted and released of the cable frame is fixedly connected on middle part on rear side of chassis, electricity The 3rd rotating shaft is rotatably connected between cable retractable frame, the 3rd winding cylinder is arranged with the 3rd rotating shaft, is wound with the 3rd winding cylinder Cable.
- A kind of 5. multi-functional grain conditions in grain depot intelligent inspection robot according to claim 4, it is characterised in that：Supply of electric power System includes charging device and is fixedly connected on the electrokinetic cell of chassis rear lateral portion, and electrokinetic cell trailing flank is provided with charging and inserted Head, charging inlet is offered on charging device leading flank, and charging plug coordinates with charging inlet grafting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150348.8A CN105606157B (en) | 2016-03-16 | 2016-03-16 | A kind of multi-functional grain conditions in grain depot intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150348.8A CN105606157B (en) | 2016-03-16 | 2016-03-16 | A kind of multi-functional grain conditions in grain depot intelligent inspection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105606157A CN105606157A (en) | 2016-05-25 |
| CN105606157B true CN105606157B (en) | 2018-04-03 |
Family
ID=55986280
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610150348.8A Expired - Fee Related CN105606157B (en) | 2016-03-16 | 2016-03-16 | A kind of multi-functional grain conditions in grain depot intelligent inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105606157B (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106112956B (en) * | 2016-07-18 | 2018-05-04 | 郭羕 | Grain fumigation dispensing Work robot and its medication administration method |
| CN108344454B (en) * | 2018-04-21 | 2023-12-08 | 国网四川省电力公司电力科学研究院 | UWB-based intelligent substation inspection positioning system |
| CN108871862B (en) * | 2018-06-12 | 2021-03-02 | 安徽聚力粮机科技股份有限公司 | Grain depot grain surface mobile device platform |
| CN109795898B (en) * | 2019-01-29 | 2024-05-14 | 电子科大科园股份有限公司 | Fine leveling robot with folding type impurity removing mechanism |
| CN109823872B (en) * | 2019-03-22 | 2024-04-12 | 浪潮软件集团有限公司 | Intelligent grain leveling robot and grain leveling control system |
| CN111044177B (en) * | 2020-01-02 | 2021-07-27 | 山东利坤生物科技有限公司 | Method and system for discovering artificial intelligent temperature inspection flaws in food and feed industry |
| CN112193863B (en) * | 2020-10-09 | 2022-04-15 | 辽宁工程技术大学 | Grain surface leveling machine for grain depot |
| CN113390470B (en) * | 2021-08-17 | 2021-11-02 | 南京艾龙信息科技有限公司 | Grain condition detection system for grain storage supervision |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4866997A (en) * | 1988-01-04 | 1989-09-19 | Kaufman Kevin W | Grain probe |
| CN202841952U (en) * | 2012-05-29 | 2013-04-03 | 湖北叶威粮油机械有限公司 | Crawler-type grain flattening robot |
| CN202631005U (en) * | 2012-06-06 | 2012-12-26 | 北京佳华储良科技有限公司 | Grain stack detector |
| CN105022392A (en) * | 2014-04-22 | 2015-11-04 | 广西科技大学 | Granary environment trolley control method |
| CN105136521A (en) * | 2015-08-24 | 2015-12-09 | 杭州市粮食收储有限公司良渚分公司 | Grain bin patrol and sampling device |
| CN205483065U (en) * | 2016-03-16 | 2016-08-17 | 郑州艾蒂奥科技发展有限公司 | Automatic controlization grain depot grain condition detection robot |
-
2016
- 2016-03-16 CN CN201610150348.8A patent/CN105606157B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN105606157A (en) | 2016-05-25 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105606157B (en) | A kind of multi-functional grain conditions in grain depot intelligent inspection robot | |
| CN105739579B (en) | A kind of grain conditions in grain depot Intelligent Measurement monitoring system based on mobile robot technology | |
| CN205483065U (en) | Automatic controlization grain depot grain condition detection robot | |
| CN109805724B (en) | Freely combined unmanned aerial vehicle intelligent express cabinet | |
| CN104709623A (en) | Automatic detachment and installation system of container fixed spin lock | |
| CN205623811U (en) | Home poultry raising all -in -one of raising in cages | |
| CN205259939U (en) | Six arms top anchor rod drilling carriage | |
| CN106475332A (en) | Solar energy photovoltaic panel automated cleaning and defect detecting device | |
| CN206750883U (en) | A kind of Automatic-dumping shuttle machine and warehouse logistics transportation system | |
| CN106740724A (en) | Replacing battery system and replacing battery methods for electric bus | |
| KR101936407B1 (en) | Winding device for fire hose | |
| CN113533367B (en) | Power supply overhead cable surface detection damage repair device | |
| CN205330278U (en) | Electronic car of arranging of primary equipment safety measure | |
| CN104384371B (en) | Bottom Automatic Charging Device | |
| CN204262219U (en) | Bottom Automatic Charging Device | |
| CN207087029U (en) | A kind of pipe cutting machine of automatic charging | |
| CN106477398B (en) | A kind of adhesive tape dismounting vehicle | |
| CN205555584U (en) | Automatic flat material discharge apparatus | |
| CN109436852A (en) | Mine car continuously fills cash system and method automatically | |
| CN215046649U (en) | Full-automatic circulating device of security inspection storing box | |
| CN210112938U (en) | Insulator cleaning robot | |
| CN107598514A (en) | Disk has handling system | |
| CN209082379U (en) | Road cone vehicle rotates unwinding mechanism | |
| CN104477699B (en) | A kind of development machine spooling system | |
| CN206801164U (en) | A kind of heatable adobe sleeping platform, which encloses, covers top cover |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180403 Termination date: 20190316 |