CN106671097A - Robot for monitoring storage materials in real time - Google Patents
Robot for monitoring storage materials in real time Download PDFInfo
- Publication number
- CN106671097A CN106671097A CN201611061149.6A CN201611061149A CN106671097A CN 106671097 A CN106671097 A CN 106671097A CN 201611061149 A CN201611061149 A CN 201611061149A CN 106671097 A CN106671097 A CN 106671097A
- Authority
- CN
- China
- Prior art keywords
- barrel shell
- tube half
- robot
- cap
- probing
- 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.)
- Withdrawn
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Storage Of Harvested Produce (AREA)
Abstract
The invention discloses a robot for monitoring storage materials in real time. The robot comprises a barrel shell, two driving motors fixedly arranged at the two ends of the barrel shell, and drilling caps fixedly arranged on output shafts of the driving motors; the outer wall of the barrel shell is provided with a plurality of wing plates; each drilling cap is provided with a spiral plate; and the driving motors drive the drilling caps and the spiral plates to synchronously rotate in a reciprocating mode. The robot can monitor the materials stored in the deep layer of a warehouse in real time.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of machine for carrying out real-time monitoring to storage material
People.
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, so as to expand the equipment for detecting monitoring range.
The content of the invention
It is an object of the invention to provide one kind can be moved independently or according to control command and detect scope so as to expand
The robot for carrying out real-time monitoring to storage material.
Realizing the technical scheme of the object of the invention is：A kind of robot for carrying out real-time monitoring to storage material, its
It is characterised by：Including barrel shell, it is fixedly installed on two motors at barrel shell two ends and is fixedly installed on motor output
Probing cap on axle；Barrel shell outer wall is provided with multiple wing plates；Spiral plate is equipped with each probing cap, motor drives probing cap
Rotate with spiral plate synchronous reciprocating；Barrel shell includes circular upper tube half and circular lower tube half, and the bottom of upper tube half is provided with spiral shell
Socket part, is provided with lower spiro union portion at the top of lower tube half, upper tube half and lower tube half are fixedly linked and combine to form the cylinder by being spirally connected
Shell；Each probing cap is provided with the taper tip for reducing resistance；Built-in power is additionally provided with barrel shell and with wireless transmit/receive units
Intelligence in control module；Spiral plate is arranged on the periphery wall of probing cap along hand of helix.
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 is detected, make with wider array of
Use scope.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the present invention；
Fig. 2 is a kind of half-sectional structural representation of the shown robots of Fig. 1；
Fig. 3 is a kind of explosive view of robot shown in Fig. 1；
Fig. 4 is using a kind of structural representation of silo made by robot shown in Fig. 1；
Fig. 5 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Fig. 4；
Fig. 6 be discharge mechanism shown in Fig. 5 from another angle observe when a kind of dimensional structure diagram；
Fig. 7 is a kind of explosive view of discharge mechanism shown in Fig. 5；
Fig. 8 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Fig. 5；
Fig. 9 be linked switching device shown in Fig. 8 from another angle observe when a kind of dimensional structure diagram；
Figure 10 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Fig. 8；
Figure 11 be linkage gear component shown in Figure 10 from another angle observe when a kind of dimensional structure diagram；
Figure 12 is a kind of side view of linkage gear component shown in Figure 10；
Figure 13 is the line A-A sectional view of linkage gear component shown in Figure 12.
Specific embodiment
（Embodiment 1）
Fig. 1 to Fig. 3 shows a kind of specific embodiment of the present invention.
The present embodiment is a kind of robot for carrying out real-time monitoring to storage material, as shown in Fig. 1 to Fig. 3, the machine
Device people 8 include barrel shell 81, be fixedly installed on barrel shell two ends two motors 82 and be fixedly installed on motor output
Probing cap 83 on axle 821, is equipped with spiral plate 831 on each probing cap, motor drives probing cap and spiral plate synchronously past
It is multiple to rotate；Each probing cap is provided with the taper tip 832 for reducing resistance.Spiral plate is arranged on probing cap along hand of helix
On periphery wall, spiral plate by stirring its line of rabbet joint in material obtain thrust advance or retreat.
Spiral plate can be made using metal or plastic material, it is preferred to use metal is made.
Barrel shell includes circular upper tube half 811 and circular lower tube half 812, and an institute is respectively provided with upper tube half and lower tube half
Motor is stated, the outer wall of upper tube half is provided with radially projecting four upper flange 813, and four upper flanges are evenly distributed on
On the periphery wall of upper tube half；The outer wall of lower tube half is provided with radially projecting four lower wing plate 814, and four lower wing plates are uniform
It is distributed on the periphery wall of lower tube half.Upper tube half and lower tube half are arranged concentrically.
The bottom of upper tube half is provided with spiro union portion 815, and lower spiro union portion 816, upper tube half and lower half are provided with the top of lower tube half
Pipe is fixedly linked and combines to form the barrel shell by being spirally connected；Upper flange and lower wing plate are crisscross arranged on the periphery wall of barrel shell.
Wing plate can stablize direct of travel, and in addition wing plate is buried in material, equivalent to barrel shell is positioned in material, prevent
Only barrel shell is drilled hatband and moves.
Diameter of the maximum outside diameter of probing cap more than or equal to barrel shell periphery wall so that barrel shell can pass through probing cap and bore
The passage for going out.
It is additionally provided with barrel shell in built-in power and the intelligence with wireless transmit/receive units and controls module, it is also solid on the wall body of barrel shell
Surely the induction end for being provided with temperature sensor 84 and humidity sensor 85, each temperature sensor and humidity sensor is exposed independent from outside barrel shell
Wall, each temperature sensor and humidity sensor are connected with control module in the intelligence.Due to being provided with temperature sensor and humidity
Sensor, the present embodiment can provide the temperature and humidity of drill-through grain layer in traveling, so as to obtain the grain storage of different depth
Physical message, and can by being built in barrel shell in wireless transmit/receive units be transferred to user.
The present embodiment can also be arranged in each barrel shell has lamplit camera, and each upper tube half and lower tube half are using saturating
Bright material is made, and camera is connected with control module in intelligence, and camera can photograph the in good time shape of outside grain storage through barrel shell
State, for example observe go mouldy, the bad phenomenon such as insect bite, it is prevented and treated in time.
The present embodiment has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by peace
The various sensors of dress are detected and information transfer to the materialization information of storing；Further, since with thrust can be produced
Rolling of advancing is managed, and can be advanced or be retreated independently or under remote control command, so as to expand monitoring range, is used with wider array of
Scope.
（Application examples 1, silo）
Figure 10 to Figure 13 shows a kind of concrete application mode of the present invention.
Should use-case be using a kind of silo made by above-described embodiment 1, as shown in Fig. 4 to Figure 13, including binary warehouse 1
With 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 4, 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 8, 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.
The present embodiment has advantages below：（1）Linked switching device it is relatively reasonable in structure, two augers only use same drive
Dynamic Motor drive, compares with traditional product, saves a motor, also reduces entirety and takes up room, and is conducive to small-sized
Change, especially meet carrier and install and use 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)
1. a kind of robot for carrying out real-time monitoring to storage material, it is characterised in that：Including barrel shell, it is fixedly installed on cylinder
Two motors at shell two ends and the probing cap being fixedly installed in driving motor output shaft；Barrel shell outer wall is provided with multiple
Wing plate；Spiral plate is equipped with each probing cap, motor drives probing cap and spiral plate synchronous reciprocating to rotate；Barrel shell includes circle
The upper tube half of shape and the lower tube half of circle, the bottom of upper tube half is provided with spiro union portion, lower spiro union portion is provided with the top of lower tube half, on
Semicanal and lower tube half are fixedly linked and combine to form the barrel shell by being spirally connected；Each probing cap is provided with the taper for reducing resistance
Tip；It is additionally provided with barrel shell in built-in power and the intelligence with wireless transmit/receive units and controls module；Spiral plate is along hand of helix
It is arranged on the periphery wall of probing cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061149.6A CN106671097A (en) | 2016-11-27 | 2016-11-27 | Robot for monitoring storage materials in real time |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061149.6A CN106671097A (en) | 2016-11-27 | 2016-11-27 | Robot for monitoring storage materials in real time |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671097A true CN106671097A (en) | 2017-05-17 |
Family
ID=58866710
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061149.6A Withdrawn CN106671097A (en) | 2016-11-27 | 2016-11-27 | Robot for monitoring storage materials in real time |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671097A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
| CN110816793A (en) * | 2019-12-10 | 2020-02-21 | 大连海事大学 | Underwater robot and working method thereof |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| CN201638053U (en) * | 2009-12-31 | 2010-11-17 | 重庆工商职业学院 | Polling robot |
| CN105297881A (en) * | 2015-11-16 | 2016-02-03 | 北京建筑大学 | Pneumatic type underground drainage pipeline desilting robot with desilting screw conveyor |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN105370263B (en) * | 2015-11-12 | 2018-03-30 | 中国石油大学(华东) | A kind of underground situation wireless monitoring device |
-
2016
- 2016-11-27 CN CN201611061149.6A patent/CN106671097A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| CN201638053U (en) * | 2009-12-31 | 2010-11-17 | 重庆工商职业学院 | Polling robot |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN105370263B (en) * | 2015-11-12 | 2018-03-30 | 中国石油大学(华东) | A kind of underground situation wireless monitoring device |
| CN105297881A (en) * | 2015-11-16 | 2016-02-03 | 北京建筑大学 | Pneumatic type underground drainage pipeline desilting robot with desilting screw conveyor |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109854958A (en) * | 2019-01-17 | 2019-06-07 | 温州市天马建筑装璜工程公司 | A kind of municipal sewer network monitoring system |
| CN110816793A (en) * | 2019-12-10 | 2020-02-21 | 大连海事大学 | Underwater robot and working method thereof |
| CN110816793B (en) * | 2019-12-10 | 2023-11-17 | 大连海事大学 | Underwater robot and working method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170517 |
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| WW01 | Invention patent application withdrawn after publication |