CN106697105A - Robot used for real-time monitoring of storage materials - Google Patents
Robot used for real-time monitoring of storage materials Download PDFInfo
- Publication number
- CN106697105A CN106697105A CN201611061148.1A CN201611061148A CN106697105A CN 106697105 A CN106697105 A CN 106697105A CN 201611061148 A CN201611061148 A CN 201611061148A CN 106697105 A CN106697105 A CN 106697105A
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- CN
- China
- Prior art keywords
- real
- robot
- warehouse
- time monitoring
- barrel shell
- 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.)
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Classifications
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Storage Of Harvested Produce (AREA)
Abstract
The invention discloses a robot used for real-time monitoring of storage materials. The robot comprises a cylinder shell, two driving motors fixed to the two ends of the cylinder shell and exploration caps arranged on output shafts of the driving motors. A plurality of wing plates are arranged on the outer wall of the cylinder shell. A spiral plate is arranged on each exploration cap. The driving motors drive the exploration caps and the spiral plates to synchronously rotate in a reciprocating mode. The robot can monitor the warehouse deep-layer storage materials 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 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
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, bag
Include barrel shell, the probing for being fixedly installed on two motors at barrel shell two ends and being fixedly installed in driving motor output shaft
Cap；Barrel shell outer wall is provided with multiple wing plates；Spiral plate is equipped with each probing cap, motor drives probing cap and spiral plate same
Step reciprocating rotation.
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 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 a kind of structural representation of the silo being made of 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 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 obtains thrust advance or retrogressing by stirring the material in its line of rabbet joint.
Spiral plate can be made of 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 four radially projecting upper flanges 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 four radially projecting lower wing plates 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 staggered on the periphery wall of barrel shell.
Wing plate can stablize direct of travel, and wing plate is buried in material in addition, is positioned in material equivalent to barrel shell, prevent
Only barrel shell is drilled hatband and moves.
Drill the diameter of the maximum outside diameter more than or equal to barrel shell periphery wall of cap 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 temperature sensor 84 and humidity sensor 85 are provided with, the induction end of 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, so as to obtain the grain storage of different depth in traveling
Physical message, and user can be transferred to by the wireless transmit/receive units being built in barrel shell.
The present embodiment can also be set with lamplit camera in each barrel shell, 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 invention.
The application example is a kind of silo being made of 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 wall or on carrier, such as by the present embodiment
For united reaper.
As shown in Figure 4, the robot 6 described at least one above-described embodiment 1 is equipped with the first warehouse and the second warehouse.
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 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 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)
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061148.1A CN106697105A (en) | 2016-11-27 | 2016-11-27 | Robot used for real-time monitoring of storage materials |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061148.1A CN106697105A (en) | 2016-11-27 | 2016-11-27 | Robot used for real-time monitoring of storage materials |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106697105A true CN106697105A (en) | 2017-05-24 |
Family
ID=58934778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061148.1A Withdrawn CN106697105A (en) | 2016-11-27 | 2016-11-27 | Robot used for real-time monitoring of storage materials |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106697105A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390923A (en) * | 2020-03-31 | 2020-07-10 | 杭州万知科技有限公司 | Detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996036462A1 (en) * | 1995-05-19 | 1996-11-21 | Mcgill University | Deformable structural arrangement |
| CN1406723A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Counter-spiral dual driving irregular robot |
| CN1475332A (en) * | 2003-06-24 | 2004-02-18 | 浙江大学 | Todpole imitation and spiral blood vessel robot |
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
| CN2758195Y (en) * | 2004-12-06 | 2006-02-15 | 中国科学院沈阳自动化研究所 | Underwater robot structure |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
-
2016
- 2016-11-27 CN CN201611061148.1A patent/CN106697105A/en not_active Withdrawn
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1996036462A1 (en) * | 1995-05-19 | 1996-11-21 | Mcgill University | Deformable structural arrangement |
| CN1406723A (en) * | 2001-08-24 | 2003-04-02 | 任治国 | Counter-spiral dual driving irregular robot |
| CN1475332A (en) * | 2003-06-24 | 2004-02-18 | 浙江大学 | Todpole imitation and spiral blood vessel robot |
| CN2758195Y (en) * | 2004-12-06 | 2006-02-15 | 中国科学院沈阳自动化研究所 | Underwater robot structure |
| CN1631620A (en) * | 2005-01-10 | 2005-06-29 | 上海劲钻实业公司 | Patrol machine fish |
| CN102392926A (en) * | 2011-10-18 | 2012-03-28 | 南京航空航天大学 | Pipe robot |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111390923A (en) * | 2020-03-31 | 2020-07-10 | 杭州万知科技有限公司 | Detection robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170524 |