CN106671095A

CN106671095A - Robot used for exploring warehouse deep layer stored materials

Info

Publication number: CN106671095A
Application number: CN201611061146.2A
Authority: CN
Inventors: 胡妍
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-27
Filing date: 2016-11-27
Publication date: 2017-05-17

Abstract

The invention discloses a robot used for exploring warehouse deep layer stored materials. The robot comprises a barrel shell, a main gear rotationally arranged in the barrel shell, a plurality of advancing rolling pipes rotationally arranged on the barrel shell, auxiliary gears fixedly arranged on the outer walls of all the advancing rolling pipes and a motive motor which is used for driving the main gear to rotate. When the main gear rotates, all the auxiliary gears are driven to rotate synchronously. Spiral power plates are fixedly arranged on the inner walls of pipe cavities of the advancing rolling pipes. When the spiral power plates rotate along with the advancing rolling pipes, advancing or retreating is achieved through thrust obtained by spirally stirring the materials located in the advancing rolling pipes. Through the robot, the warehouse deep layer stored materials can be monitored in real time.

Description

A kind of robot for detecting warehouse deep layer storing

Technical field

The invention belongs to robotics, and in particular to a kind of robot for detecting warehouse deep layer storing.

Background technology

Currently used for the warehouse of storage granule materials, in order to reduce the storage cost of Unit Weight, be generally made it is big and high, Some technical barriers are consequently also brought, especially for some organic storings apt to deteriorate, was easy for originally because going mouldy or worm Evil etc. causes permanent loss；And big and high warehouse, when these materials are stored, even more it is difficult to obtain warehouse depths in time Storing state, be more prone to cause damage.

Such as, present large granary, more than its height Chang Liu rice, has an area of tens of rice, although have at present relatively advanced Storage management technology, but the spoilage problems of its deep layer grain storage are still accident of easily sending out.So need one kind on market badly can be real When detect the monitoring device of warehouse deep layer storing state, being especially the absence of one kind can be moved independently or according to control command It is dynamic, the equipment so as to expand monitoring range.

The content of the invention

It is an object of the invention to provide a kind of robot that can be in real time detected to warehouse deep layer storing.

Realizing the technical scheme of the object of the invention is：A kind of robot for detecting warehouse deep layer storing, its feature exists In：Including barrel shell, the master gear being rotatably arranged in barrel shell, the multiple travelings being rotatably arranged on barrel shell rolling pipe, it is fixedly installed Driving motor in each pinion advanced in rolling pipe outer wall and for driving master gear to rotate；When master gear is rotated, drive Each pinion synchronous axial system；Spiral power plate is fixed with the lumen wall of traveling rolling pipe, spiral power plate is with traveling When rolling pipe is rotated, the material stirred in rolling pipe of advancing by spiral is obtained thrust and moves ahead or retreat；Each the outer of rolling pipe of advancing The first rolling bearing and the second rolling bearing are arranged with wall, each outer wall for advancing rolling pipe is provided with first step wall and second Rank wall；One side of barrel shell is provided with four clutch shaft bearing storage tanks, and four clutch shaft bearing storage tanks are located at the interior of the barrel shell end On wall；Each first rolling bearing is embedded in a corresponding clutch shaft bearing storage tank, and the inner ring of each first rolling bearing is arranged admittedly It is scheduled on one end of corresponding one rolling pipe of advancing, and the first step wall of rolling pipe of advancing is crimped along the central axial direction of the rolling pipe On the inner ring of corresponding first rolling bearing；Another side of barrel shell is provided with four second bearing storage tanks, this four Two bearing storage tanks are located at and expose to the barrel shell end；Each rolling pipe of advancing is provided with male threaded joint；One is screwed onto external screw thread Internal thread crimp on connecting portion, is crimped on the outer ring of a corresponding second bearing, and rolls the central shaft of pipe along the traveling Line direction is crimped on the inner ring of the second bearing on the second step wall of the traveling rolling pipe；The internal thread crimp is blocked simultaneously The firmly opening of a corresponding second bearing storage tank；The center of spiral power plate encloses to form a circular material path；It is each to advance The two ends of rolling pipe are equipped with the Taper Pipe portion of reduced diameter as drag reduction portion；Also include the cable of power supply and transmission data, The cable is connected through after the tip of an antidrag cap with the wiring board in antidrag cap or barrel shell.

The present invention has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by installing Various sensors the materialization information of storing is detected and information transfer；Further, since with the row that can produce thrust Enter rolling pipe, can advance or retreat independently or under remote control command, so as to expand monitoring range, with wider array of use model Enclose.

Description of the drawings

Fig. 1 is a kind of dimensional structure diagram of the present invention；

Fig. 2 is a kind of top view of robot shown in Fig. 1；

Fig. 3 is a kind of explosive view of robot shown in Fig. 1；

Fig. 4 is a kind of explosive view that robot shown in Fig. 1 further decomposes；

Fig. 5 is a kind of sectional view of robot shown in Fig. 1；

Fig. 6 is a kind of sectional view of barrel shell in robot shown in Fig. 1；

Fig. 7 is to advance to roll a kind of sectional view of pipe in robot shown in Fig. 1；

Fig. 8 is using a kind of structural representation of binary silo made by robot shown in Fig. 1；

Fig. 9 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Fig. 8；

Figure 10 be discharge mechanism shown in Fig. 9 from another angle observe when a kind of dimensional structure diagram；

Figure 11 is a kind of explosive view of discharge mechanism shown in Fig. 9；

Figure 12 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Fig. 9；

Figure 13 be linked switching device shown in Figure 12 from another angle observe when a kind of dimensional structure diagram；

Figure 14 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Figure 12；

Figure 15 be linkage gear component shown in Figure 14 from another angle observe when a kind of dimensional structure diagram；

Figure 16 is a kind of side view of linkage gear component shown in Figure 14；

Figure 17 is the line A-A sectional view of linkage gear component shown in Figure 16.

Specific embodiment

（Embodiment 1, robot）

Fig. 1 to Fig. 7 shows a kind of specific embodiment of the present invention.

The present embodiment is a kind of robot for detecting warehouse deep layer storing, and as shown in Fig. 1 to Fig. 7, this is used to detect The robot 6 of warehouse deep layer storing includes barrel shell 61, the master gear 62 being rotatably arranged in barrel shell, is rotatably arranged on barrel shell Four advance rolling pipe 63, be fixedly installed on it is each advance rolling pipe outer wall on pinion 64, for drive master gear rotate original move Motor 65；Four pinions are uniformly arranged on master gear outer circumferential side, setting in a center of symmetry；When master gear is rotated, each pair is driven Gear synchronous are rotated.

In the present embodiment, the periphery wall of master gear is provided with driving cog 621, and internal perisporium is provided with driven tooth 622；The dynamic electricity of original The quantity of machine 65 is two, and each driving motor is provided with the output gear 651 with output gear；The driven tooth of output gear and master gear Engagement adaptation；The driving cog of master gear and pinion engagement adaptation.

Spiral power plate 631 is fixed with the lumen wall of traveling rolling pipe, spiral power plate is with rolling pipe turn of advancing When dynamic, the material stirred in rolling pipe of advancing by spiral is obtained thrust and moves ahead or retreat.In the present embodiment, spiral power plate Center enclose to form a circular material path 639, when rolling pipe of advancing is advanced, grain storage is mainly from the circular material path and spiral Release backward in the gap between screw of power plate, this structure can in time to advance rolling pipe in feed smoothly to advance, in addition by In the presence of the circular material path, to the larger mobile space of grain storage advanced in rolling pipe, prevent grain storage because it is overcrowding and by spiral shell Rotation power plate is blended.

Barrel shell 61 includes the secondary cylinders 612 of main cylinder 611 and four, four secondary cylinders around main cylinder central axis into center It is symmetrical arranged；The central axis of main cylinder is also the center of rotation axis of the master gear, the center of rotation axis of each secondary cylinder It is parallel with the center of rotation axis of master gear.

Each two ends for advancing rolling pipe are equipped with the Taper Pipe portion 632 of reduced diameter as drag reduction portion, advance for reducing Resistance.

The two ends of barrel shell are respectively fixed with a coniform antidrag cap 66, and each antidrag cap is provided with a temperature sensor 67 Antidrag cap is exposed independent from the induction end of a humidity sensor 68, each temperature sensor and humidity sensor.

The first rolling bearing 633 and the second rolling bearing 634 are arranged with the outer wall of each rolling pipe of advancing, each rolling pipe of advancing Outer wall is provided with first step wall 635 and second step wall 636；

One side of barrel shell is provided with four clutch shaft bearing storage tanks 613, and four clutch shaft bearing storage tanks are located at the barrel shell end On inwall；Each first rolling bearing is embedded in a corresponding clutch shaft bearing storage tank, and the inner ring of each first rolling bearing is arranged It is fixed on one end of corresponding one rolling pipe of advancing, and the first step wall of rolling pipe of advancing is along the central axial direction pressure of the rolling pipe It is connected on the inner ring of corresponding first rolling bearing；

Another side of barrel shell is provided with four second bearing storage tanks 614, and four second bearing storage tanks are located at and expose to cylinder The shell end；Each rolling pipe of advancing is provided with male threaded joint 637；One internal thread crimp being screwed onto on male threaded joint 638, it is crimped on the outer ring of a corresponding second bearing, and along the traveling central axial direction of pipe is rolled the second bearing Inner ring is crimped on the second step wall of the traveling rolling pipe；The internal thread crimp blocks a corresponding second bearing simultaneously to be held Put the opening of groove.

Installing plate 615 is fixed with barrel shell, master gear is rotatably arranged on installing plate, the motor body of each driving motor Also it is fixedly installed on the installing plate.

Robot in the present embodiment when in use, is powered by built-in power to driving motor, and driving motor drives master Pinion rotation, and then synchronously drive four rolling pipes of advancing to rotate by each pinion, so as in silo by promoting grain storage Advance or retreat.In concrete practice, it is also possible to powered to the robot in the present embodiment by cable and transmission data, specifically It is that cable is passed through behind the tip of an antidrag cap, is connected with the wiring board in antidrag cap or barrel shell.

Because each antidrag cap is provided with temperature sensor and humidity sensor, the robot in the present embodiment in traveling, The temperature and humidity of drill-through grain layer can be given, so as to obtain the physical message of the grain storage of different depth, and can be passed through built-in Radio-cell in antidrag cap or barrel shell is transferred to user.Robot in the present embodiment can also rest on certain of warehouse One depth, to storing at this monitor in real time is carried out.

In order to obtain more intuitively image or video data, the present embodiment can also arrange tool in each coniform antidrag cap There is lamplit camera, each coniform antidrag cap is then made using transparent material, so that camera can be photographed Heap is pressed in the in good time state of the storing on coniform antidrag cap outer wall, for example observe go mouldy, the phenomenon such as insect pest, so as to right in time It is prevented and treated.

The present embodiment has advantages below：Monitor in real time can be carried out to warehouse deep layer storing, by the various biographies installed Sensor is detected and information transfer to the materialization information of storing；Further, since pipe is rolled with the traveling that can produce thrust, can Autonomous or advance or retrogressing under remote control command, so as to expand monitoring range, with wider array of use range.

（Application examples 1, binary silo）

Fig. 8 to Figure 17 shows a kind of concrete application mode of the present invention.

Should use-case be using a kind of binary silo made by above-described embodiment 1, as shown in Fig. 8 to Figure 17, including binary Warehouse 1 and the discharge mechanism 2 being arranged on below binary warehouse.

Binary warehouse 1 has the first warehouse 11 and the second warehouse 12 being arranged side by side, and the bottom in the first warehouse is tapered, its There is the first discharging opening at bottom centre；The bottom in the second warehouse is also tapered, has the second discharging opening at its bottom centre.This In embodiment, the bottom in binary warehouse is provided with four daggers 13, and binary warehouse is stood on the ground by four daggers.In tool In body practice, also shouldn't dagger, but binary warehouse is directly anchored on body of wall or on carrier, such as by the present embodiment For united reaper.

As shown in Figure 1, the robot 6 being equipped with the first warehouse and the second warehouse described at least one above-described embodiment 1.

Discharge mechanism 2 includes the interior casing 21 for setting the first unloading passage and the second unloading passage, is arranged on the first unloading and leads to The first auger 24 in road, the second auger 25 being arranged in the second unloading passage, and for driving the first auger and second The driving means 3 that auger is rotated.

The top of casing is provided with the first grain-entering mouth 211 and the second grain-entering mouth 212, and the bottom of casing is provided with the first grain outlet 213 and second grain outlet 214；First grain-entering mouth is used as the import of the first unloading passage, and the first grain outlet is logical as the first unloading The outlet in road.Second grain-entering mouth as the second unloading passage import, outlet of second grain outlet as the second unloading passage.

First auger 24 includes the first rotating shaft 241 being rotatably arranged on casing and be fixedly installed in first rotating shaft the One spiral plate 242, the first spiral plate is located in the first unloading passage；Second auger includes second turn be rotatably arranged on casing Axle 251 and the secondary spiral lamina 252 being fixedly installed in the second rotating shaft, secondary spiral lamina is located in the second unloading passage.

In the present embodiment, casing is formed by base 217 and the combination of capping 218, and dividing plate 219 is provided with base, and dividing plate is the bottom of Seat inner space is separated into two big cavitys of grade；First rotating shaft and the setting of the second shaft parallel, the first spiral plate and the second spiral shell Rotating plate is respectively disposed in a corresponding cavity, and the hand of spiral of the first spiral plate and the hand of spiral of secondary spiral lamina are contrary.

Casing outside is stretched out in one end of the first rotating shaft 241 of the first auger, and it is last to stretch out the first rotating shaft 241 on the outside of casing End is fixed with the first driven gear 243；Casing outside is stretched out in one end of second rotating shaft 251 of the second auger, and stretches out casing The end of second rotating shaft 251 in outside is fixed with the second driven gear 253.

First auger and the second auger elapse the grain in respective cavity by rotation push mode.

Driving means 3 include being provided with the motor 31 and linked switching device 4 of driving wheel 311.

Linked switching device 4 includes support body 41, driving wheel group 32, the guide plate being fixedly installed on support body and linkage gear Component 44；Guide plate includes outer guide plate 42 and interior guide plate 43, is equipped with one on outer guide plate 42 and interior guide plate 43 and leads To hole 45；Support body is fixedly installed on cabinet exterior.

Driving wheel group 32 includes power transmission shaft 321 and the driving pulley 322 being fixedly installed on power transmission shaft and driving cog Wheel 323, travelling gear is located at the inner side of driving pulley, namely positioned at the side of the close casing of driving pulley.Transmission axle position In first driven gear and the middle of the second driven gear, motor is fixedly installed with respect to ground, and driving wheel is located at The underface of driving pulley, driving wheel drives driven transmission wheel by belt 312.Travelling gear and the first driven gear and Gap is left between two driven gears, namely travelling gear does not directly drive the first driven gear or the second driven gear； First driven gear and the second driven gear are centrosymmetric setting relative to power transmission shaft.

Linkage gear component 44 includes linkage gear 441 and the guiding reciprocatingly slided along pilot hole for spacing linkage gear Part 448；Guide is located in pilot hole, and when guide slides into one end of pilot hole, travelling gear passes through linkage gear band Dynamic first driven gear is rotated, and when guide slides into the other end of pilot hole, travelling gear is by linkage gear drive the Two driven gears are rotated.

In the present embodiment, linkage gear component also includes the axostylus axostyle 442 being fixedly installed in linkage gear centre bore, is arranged 443, two, two rolling bearings on axostylus axostyle two ends are used to housing the bearing block 444 of rolling bearing, for by rolling bearing End cap 445 of the closure in bearing block；

Each end cap is fixedly installed on the outboard end of bearing block by bolt 446, and each end cap is crimped on the outer ring of rolling bearing simultaneously On；The inner ring of each rolling bearing is arranged on the one end for being fixed on axostylus axostyle；

For lift-off seal, prevent dust from entering in rolling bearing, arrange also between each end cap and a corresponding bearing block Gasket seal 447.

In the present embodiment, pilot hole is a circular hole, and the circular hole and travelling gear are arranged concentrically；The outside of each end cap End is provided with the guide ledges of evagination as guide 448, and each guide ledges are located in a corresponding pilot hole, and can be along pilot hole Reciprocatingly slide.

In the present embodiment, the upper top surface 4481 and bottom surface 4482 of each guide are the arc surfaces being arranged concentrically；It is each to be oriented to The upper top surface 4481 of part and the upper inwall adaptation of pilot hole, the bottom surface of each guide and the lower inwall adaptation of pilot hole, it is this Structure allows each guide to reciprocatingly slide in a corresponding pilot hole, but can not rotate, and linkage gear is then being rolled Can rotate under the support of bearing.

In the present embodiment, drive axis are arranged on outer guide plate and interior guide plate, and linkage gear and travelling gear are nibbled Properly match somebody with somebody；Because pilot hole and travelling gear are arranged concentrically, so travelling gear can drive linkage gear component entirety when rotating Along the movement of pilot hole setting direction, until guide is connected on one end of pilot hole.

As shown in Figure 5, now motor is rotated forward, and guide is connected on the left end of pilot hole, linkage gear, biography Moving gear and the first driven gear engagement adaptation, namely travelling gear is now by linkage gear drive the first driven tooth rotation It is dynamic, namely drive the first auger to rotate；When motor is rotated backward, travelling gear is rotated backward therewith, and then drives connection Moving gear and guide move right along pilot hole, until guide is connected on the right-hand member of pilot hole, now linkage gear, Travelling gear and the second driven gear engagement adaptation, namely travelling gear now can be by linkage gear the second driven gear of drive Rotate, namely drive the second auger to rotate.During linkage gear component is moved back and forth along pilot hole, travelling gear is all the time Linkage gear is driven to rotate.

The course of work of the present embodiment is as follows：The grain-entering mouths of grain storage Jing first in first warehouse enter the first unloading passage In, the first auger is elapsed the grain storage in itself place cavity to the first grain outlet when rotating；Grain storage Jing in second warehouse Two grain-entering mouths are entered in the second unloading passage, and the second auger elapses the grain storage in itself place cavity to second when rotating and puts out cereal Mouthful.

Under normal circumstances, exploring robot can be placed in silo bottom or middle level, preferably makes two coniform antidrag caps 66 put in vertical line states, when its movement is needed, you can start driving motor and drive rolling pipe of advancing, spiral power plate to dial Animal material is realized advancing or retreated.

The present embodiment has advantages below：（1）（2）Linked switching device it is relatively reasonable in structure, two augers are only with same One motor drives, and compares with traditional product, saves a motor, also reduces entirety and takes up room, and is conducive to Miniaturization, especially meets carrier and installs and uses demand.

Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description To make other changes in different forms.There is no need to be exhaustive to all of embodiment.And these The obvious change or variation that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.

Claims

1. a kind of robot for detecting warehouse deep layer storing, it is characterised in that：Including barrel shell, it is rotatably arranged in barrel shell Master gear, the multiple travelings being rotatably arranged on barrel shell rolling pipe, be fixedly installed on it is each advance rolling pipe outer wall on pinion and For the driving motor for driving master gear to rotate；When master gear is rotated, each pinion synchronous axial system is driven；Advance and roll the tube chamber of pipe Spiral power plate is fixed with inwall, spiral power plate is stirred positioned at traveling when rotating with rolling pipe of advancing by spiral Material in rolling pipe obtains thrust and moves ahead or retreat；The first rolling bearing and second is arranged with the outer wall of each rolling pipe of advancing to roll Bearing, each outer wall for advancing rolling pipe is provided with first step wall and second step wall；One side of barrel shell is provided with four first axles Storage tank is held, four clutch shaft bearing storage tanks are located on the inwall at the barrel shell end；Each first rolling bearing is embedded in corresponding one In individual clutch shaft bearing storage tank, the inner ring of each first rolling bearing is arranged and is fixed on one end of corresponding one rolling pipe of advancing, and The first step wall of traveling rolling pipe is crimped on the inner ring of corresponding first rolling bearing along the central axial direction of the rolling pipe； Another side of barrel shell is provided with four second bearing storage tanks, and four second bearing storage tanks are located at and expose to the barrel shell end； Each rolling pipe of advancing is provided with male threaded joint；One internal thread crimp being screwed onto on male threaded joint, is crimped on phase Answer on the outer ring of a second bearing, and the central axial direction along the traveling rolling pipe is crimped on this inner ring of the second bearing Advance on the second step wall of rolling pipe；The internal thread crimp blocks the opening of a corresponding second bearing storage tank simultaneously； The center of spiral power plate encloses to form a circular material path；Each two ends for advancing rolling pipe are equipped with the cone of reduced diameter Pipe portion is used as drag reduction portion；Also include the cable of power supply and transmission data, the cable and subtracts through after the tip of antidrag cap Wiring board in resistance cap or barrel shell is connected.