CN106695817A

CN106695817A - Probing robot for warehouse

Info

Publication number: CN106695817A
Application number: CN201611061308.2A
Authority: CN
Inventors: 申俊
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-27
Filing date: 2016-11-27
Publication date: 2017-05-24

Abstract

The invention discloses a probing robot for a warehouse. The probing robot for the warehouse comprises a barrel shell, a marching rolling pipe rotationally arranged on the outer wall of the barrel shell, a transmission gear fixedly arranged on the marching rolling pipe, and a driving motor used for driving the transmission gear to rotate; and a spiral pushing plate is arranged on the peripheral wall of the marching rolling pipe, and the spiral pushing plate and the marching rolling pipe rotate synchronously. The probing robot for the warehouse can perform real-time monitoring on deep-layer stored materials of the warehouse.

Description

A kind of warehouse exploring robot

Technical field

The invention belongs to robotics, and in particular to a kind of warehouse exploring robot.

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 Chang Liu meters of its height 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 easy hair accident.So in the market need one kind 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

Can be moved independently or according to control command and detect scope so as to expanding it is an object of the invention to provide one kind Warehouse exploring robot.

Realizing the technical scheme of the object of the invention is：A kind of warehouse exploring robot, it is characterised in that：Including barrel shell, The traveling being rotatably arranged on barrel shell outer wall rolls pipe, the travelling gear being fixedly installed on traveling rolling pipe and for driving transmission The motor of pinion rotation；The periphery wall of traveling rolling pipe is provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing； Barrel shell includes base tube and two taper top caps positioned at base tube two ends；The outer wall of each taper top cap is provided with radially evagination Multiple wing plates；Base tube includes upper tube half and lower tube half, and one end of upper tube half adjoining lower tube half is provided with the upper spiral shell with internal thread part Adapter portion, one end of lower tube half adjoining upper tube half is provided with the pipe portion that is spirally connected under external thread part, under be spirally connected and pipe portion and be above spirally connected Pipe portion is spirally connected and is fixedly linked so that upper tube half and lower tube half docking combination form the base tube；Rolling pipe of advancing is rotatably arranged on The outside of semicanal and lower tube half；It is provided with the tube chamber of upper tube half in built-in power and the intelligence with wireless transmit/receive units and controls mould Block；Motor is fixedly installed in the tube chamber of lower tube half by screw；The power line of motor passes through down the pipe portion that is spirally connected Module and built-in power electrical connection are controlled after pore and in intelligence；The middle-end of base tube is provided with annular groove, the transmission teeth portion of travelling gear In the annular groove.

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 detect monitoring range, make with wider array of Use scope.

Brief description of the drawings

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

Fig. 2 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 1；

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

Fig. 4 is a kind of dimensional structure diagram of traveling rolling pipe in warehouse exploring robot shown in Fig. 1；

Fig. 5 is to advance to roll a kind of half-sectional structural representation of pipe shown in Fig. 4；

Fig. 6 is a kind of dimensional structure diagram of second structure of the invention；

Fig. 7 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 6；

Fig. 8 is a kind of explosive view in warehouse exploring robot shown in Fig. 6；

Fig. 9 is a kind of half-sectional structural representation of traveling rolling pipe in warehouse exploring robot shown in Fig. 6；

Figure 10 is a kind of structural representation of the silo being made of robot shown in Fig. 1；

Figure 11 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Figure 10；

Figure 12 be discharge mechanism shown in Figure 11 from another angle observe when a kind of dimensional structure diagram；

Figure 13 is a kind of explosive view of discharge mechanism shown in Figure 11；

Figure 14 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Figure 11；

Figure 15 be linked switching device shown in Figure 14 from another angle observe when a kind of dimensional structure diagram；

Figure 16 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Figure 14；

Figure 17 be linkage gear component shown in Figure 16 from another angle observe when a kind of dimensional structure diagram；

Figure 18 is a kind of side view of linkage gear component shown in Figure 16；

Figure 19 is the line A-A sectional view of linkage gear component shown in Figure 18.

Specific embodiment

（Embodiment 1）

Fig. 1 to Fig. 5 shows the first specific embodiment of the invention.

The present embodiment is a kind of warehouse exploring robot, and as shown in Fig. 1 to Fig. 5, the warehouse exploring robot 6 includes Barrel shell 61, be rotatably arranged on barrel shell outer wall traveling rolling pipe 62, be fixedly installed on advance rolling pipe on travelling gear 63 and For the motor 64 rotated with nutating gear.

Travelling gear is fixedly installed on the inwall of rolling pipe of advancing, and the internal perisporium of travelling gear is provided with transmission teeth portion 631, Motor is provided with drive gear 641, the transmission teeth portion adaptation of the drive gear and travelling gear.In the present embodiment, electricity is driven The quantity of machine is two.In the present embodiment, rolling of advancing is managed and travelling gear is integral piece, and in concrete practice, both can do It is also feasible into split part.

The periphery wall of rolling pipe of advancing is provided with spiral push pedal 65, spiral push pedal when being rotated with rolling pipe of advancing, by spiral shell Rotation is stirred material acquisition thrust and moves ahead or retreat.

Barrel shell include base tube 611 and two taper top caps 612 positioned at base tube two ends, the medial extremity of each taper top cap and Base tube is fixedly connected；The outer wall of each taper top cap is provided with multiple wing plates 613 of radially evagination, and wing plate is evenly distributed on taper On the periphery wall of top cap.In the present embodiment, the quantity of the wing plate of each taper top cap is four.Wing plate can cause overall traveling Route is more stablized.

The middle-end of base tube is provided with annular groove 614, and the driving cog portion of travelling gear is located in the annular groove；Each motor Drive gear also is located in the annular groove, and band nutating gear is rotated when drive gear is rotated, so as to drive traveling rolling pipe to rotate.

In the present embodiment, base tube includes upper tube half 615 and lower tube half 616, and one end of upper tube half adjoining lower tube half is provided with tool Have internal thread part on be spirally connected pipe portion 617, one end of lower tube half adjoining upper tube half is provided with the pipe portion that is spirally connected under external thread part 618, under be spirally connected pipe portion and the pipe portion that is above spirally connected is spirally connected and is fixedly linked so that upper tube half and lower tube half docking combination form the base Pipe.Upper tube half and lower tube half are arranged concentrically.

Two motors are fixedly installed in the tube chamber of lower tube half by screw, are then provided with interior in the tube chamber of upper tube half Put and control module in power supply 619 and the intelligence with wireless transmit/receive units, the power line of motor passes through down the pipe of the pipe portion that is spirally connected Module and built-in power electrical connection are controlled behind hole and in intelligence, start and stop and rotating that module controls motor are controlled in intelligence.This In embodiment, the pipe portion that is above spirally connected protrudes downward from the bottom wall 6151 of upper tube half, under the pipe portion that is spirally connected project upwards in the top of lower tube half Wall 6161, the pipe portion that is spirally connected instantly and the pipe portion that is above spirally connected are spirally connected after being connected, and are left between the bottom wall of upper tube half and the roof of lower tube half Gap, the gap forms the annular groove of the base tube.

In the present embodiment, rolling pipe of advancing directly is set on the periphery wall of upper tube half and lower tube half, due to rolling pipe of advancing Rotating speed and need not be too high, advance rolling pipe be directly on the outer wall of upper tube half and lower tube half rotate；In concrete practice, One rolling bearing also can be respectively set in upper tube half and lower tube half, then rolling pipe of advancing is arranged on two rolling bearings, This scheme is also feasible.

Each taper top cap is provided with a temperature sensor 66 and a humidity sensor 67, each temperature sensor and humidity The induction end of sensor is exposed independent from taper top cap, and each temperature sensor and humidity sensor control module phase with the intelligence Even.Because each taper top cap is provided with temperature sensor and humidity sensor, the present embodiment can be given drill-through in traveling The temperature and humidity of grain layer, so as to obtain the physical message of the grain storage of different depth, and can be wireless in barrel shell by being built in Transmit-Receive Unit is transferred to user.

In concrete practice, it is also possible to powered and transmitted number to the warehouse exploring robot in the present embodiment by cable According to specifically cable is connected through behind the tip of taper top cap with the wiring board in taper top cap.

The present embodiment can also be set with lamplit camera in each taper top cap, and each taper top cap is using transparent Material is made so that camera can photograph the in good time state of outside grain storage through top cap, for example observe go mouldy, worm The bad phenomenon such as sting, 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, passed through The various sensors installed are detected and information transfer to the materialization information of storing；Further, since having, thrust can be produced Traveling rolling pipe, can advance independently or under remote control command or retrogressing, so as to expand monitoring range, make with wider array of Use scope.

（Embodiment 2）

Fig. 6 to Fig. 9 shows second specific embodiment of the invention.

The present embodiment and embodiment 1 are essentially identical, and difference is：As shown in Fig. 6 to Fig. 9, the outer wall of rolling pipe of advancing It is provided with four spiral grooves 68, the width of the width more than the helicla flute that spiral push pedal is formed of each spiral grooves, each spiral goove Depth of the depth of groove more than the helicla flute that spiral push pedal is formed；In concrete practice, the width of each spiral grooves is that spiral is pushed away Plate shape into two to six times of width of helicla flute, the present embodiment is three times.

In the present embodiment, each spiral grooves run through spiral push pedal along from the one end for rolling pipe of advancing to the direction of the other end, Each spiral grooves also extend through spiral push pedal along the radial direction of rolling pipe of advancing, but not through the tube wall of rolling pipe of advancing.

The present embodiment causes to advance rolling pipe while the spiral push pedal with the smaller line of rabbet joint, also with the larger line of rabbet joint Spiral grooves, when rotation forces material moves ahead or retreats, spiral push pedal and spiral grooves produce thrust jointly, and are provided only with spiral shell Rotation push pedal is compared, and can produce bigger thrust, and adapt to larger particles shape material.

（Application examples 1, binary silo）

Figure 10 to Figure 19 shows a kind of concrete application mode of the invention.

The application example is a kind of binary silo being made of above-described embodiment 1, as shown in Figure 10 to Figure 19, 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 wall or on carrier, such as by the present embodiment For united reaper.

As shown in Figure 10, it is equipped with described at least one above-described embodiment 1 in the first warehouse and the second warehouse and detects machine Device people 6.

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, is arranged on the second auger 25 in the second unloading passage, and for driving the first auger and second The drive device 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 as the first unloading passage import, the first grain outlet is logical as the first unloading The outlet in road.Second grain-entering mouth as the second unloading passage import, the second grain outlet as the second unloading passage outlet.

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 are 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 opposite.

Casing outside, and the end of first rotating shaft 241 stretched out on the outside of casing are stretched out in one end of the first rotating shaft 241 of the first auger 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 respective cavity by rotating push mode in grain.

Drive device 3 includes 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 and linkage gear being fixedly installed on support body 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 and driving cog that are fixedly installed on power transmission shaft Wheel 323, travelling gear is located at the inner side of driving pulley, namely positioned at driving pulley close to the side of casing.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 drive the first driven gear or the second driven gear directly； 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 Block the end cap 445 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, set 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 that each guide reciprocatingly slides in a corresponding pilot hole, but can not rotate, and linkage gear is then being rolled Can be rotated under the support of bearing.

In the present embodiment, drive axis are set 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 Moved along pilot hole setting direction, until guide is connected on one end of pilot hole.

As shown in Figure 14, now motor is rotated forward, and guide is connected on the left end of pilot hole, linkage gear, Travelling gear and the first driven gear engagement adaptation, namely travelling gear now drive the first driven tooth to rotate by linkage gear 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 drive the second driven gear by linkage gear 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：Grain storage in first warehouse enters the first unloading passage through the first grain-entering mouth In, the grain storage in cavity where itself is elapsed to the first grain outlet when the first auger rotates；Grain storage in second warehouse is through Two grain-entering mouths enter in the second unloading passage, the grain storage in cavity where itself is elapsed to second when the second auger rotates is put 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 drives, and is compared 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 and unable to be exhaustive to all of implementation method.And these Belong to obvious change that connotation of the invention extends out or variation still falls within protection scope of the present invention.

Claims

1. a kind of warehouse exploring robot, it is characterised in that：Rolled including barrel shell, the traveling being rotatably arranged on barrel shell outer wall Manage, be fixedly installed on the advance travelling gear on rolling pipe and the motor for being rotated with nutating gear；Rolling of advancing is managed Periphery wall be provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing；Barrel shell includes base tube and positioned at base tube two Two taper top caps at end；The outer wall of each taper top cap is provided with multiple wing plates of radially evagination；Base tube include upper tube half and Lower tube half, one end of upper tube half adjoining lower tube half is provided with the pipe portion that is spirally connected on internal thread part, lower tube half adjoining upper tube half One end is provided with the pipe portion that is spirally connected under external thread part, under be spirally connected pipe portion and the pipe portion that is above spirally connected is spirally connected and is fixedly linked so that upper half Pipe and lower tube half docking combination form the base tube；Rolling pipe of advancing is rotatably arranged on the outside of upper tube half and lower tube half；Upper tube half Tube chamber in be provided with built-in power and the intelligence with wireless transmit/receive units and control module；Motor is fixedly installed by screw In the tube chamber of lower tube half；The power line of motor is passed through down after the pore of the pipe portion that is spirally connected and controls module and in-built electrical in intelligence Source electrically connects；The middle-end of base tube is provided with annular groove, and the driving cog portion of travelling gear is located in the annular groove.