CN106737713A

CN106737713A - Exploring robot

Info

Publication number: CN106737713A
Application number: CN201611061290.6A
Authority: CN
Inventors: 申俊
Original assignee: Individual
Current assignee: Individual
Priority date: 2016-11-27
Filing date: 2016-11-27
Publication date: 2017-05-31

Abstract

Roll pipe, be fixedly installed on the advance travelling gear on rolling pipe and the motor for being rotated with nutating gear the invention discloses a kind of exploring robot, including barrel shell, the traveling being rotatably arranged in barrel shell；The two ends of barrel shell are provided with two top caps of circular cone shape, and the center of the outboard end of each top cap is provided with open-work, and the two ends of rolling pipe of advancing each are stretched out from the open-work of a corresponding top cap center；Spiral type thrust part, spiral type thrust part and rolling pipe synchronous axial system of advancing are fixed with the lumen wall of traveling rolling pipe；Spiral type thrust part includes spiral plate, and the outer wall of spiral plate is fixedly installed on the lumen wall of rolling pipe of advancing, and spiral plate encloses to form a circular material path at its center.The present invention can carry out monitor in real time to warehouse deep layer storing.

Description

Exploring robot

Technical field

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

Realizing the technical scheme of the object of the invention is：A kind of exploring robot, including barrel shell, be rotatably arranged in barrel shell Rolling of advancing is managed, is fixedly installed on the advance travelling gear on rolling pipe and the motor for being rotated with nutating gear；Cylinder The two ends of shell are provided with two top caps of circular cone shape, and the center of the outboard end of each top cap is provided with open-work, the two ends of rolling pipe of advancing Each stretched out from the open-work of a corresponding top cap center；Spiral type thrust is fixed with the lumen wall of traveling rolling pipe Part, spiral type thrust part and rolling pipe synchronous axial system of advancing；Spiral type thrust part includes spiral plate, and the outer wall of spiral plate is fixedly installed On the lumen wall for advancing rolling pipe, spiral plate encloses to form a circular material path at its center.

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 that expand monitoring range, with wider array of use model Enclose.

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 of robot shown in Fig. 1；

Fig. 3 is a kind of dimensional structure diagram of spiral type thrust part in robot shown in Fig. 1；

Fig. 4 is a kind of front view of spiral type thrust part shown in Fig. 3；

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

Fig. 6 is a kind of half-sectional structural representation of traveling rolling pipe in second structure of the invention；

Fig. 7 is a kind of dimensional structure diagram advanced shown in Fig. 6 and roll spiral type thrust part in pipe；

Fig. 8 is a kind of front view of spiral type thrust part shown in Fig. 7；

Fig. 9 is a kind of structural representation of the silo being made of robot shown in Fig. 1；

Figure 10 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Fig. 9；

Figure 11 be discharge mechanism shown in Figure 10 from another angle observe when a kind of dimensional structure diagram；

Figure 12 is a kind of explosive view of discharge mechanism shown in Figure 10；

Figure 13 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Figure 10；

Figure 14 be linked switching device shown in Figure 13 from another angle observe when a kind of dimensional structure diagram；

Figure 15 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Figure 13；

Figure 16 be linkage gear component shown in Figure 15 from another angle observe when a kind of dimensional structure diagram；

Figure 17 is a kind of side view of linkage gear component shown in Figure 15；

Figure 18 is the line A-A sectional view of linkage gear component shown in Figure 17.

Specific embodiment

（Embodiment 1）

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

The present embodiment is a kind of exploring robot, and as shown in Fig. 1 to Fig. 5, the exploring robot 6 includes barrel shell 61, rotates The traveling being arranged in barrel shell is rolled pipe 62, the travelling gear 63 being fixedly installed on traveling rolling pipe, is turned for band nutating gear Dynamic motor 64；

Travelling gear 63 is set on the periphery wall of rolling pipe of advancing, and the internal perisporium of travelling gear is provided with transmission teeth portion 631, drives Motor is provided with drive gear 641, the transmission teeth portion adaptation of the drive gear and travelling gear.In the present embodiment, motor Quantity is two, is symmetrically distributed in the both sides of rolling pipe of advancing.In the present embodiment, rolling of advancing is managed and travelling gear is integral piece, In concrete practice, both can make split part, be feasible.

Spiral type thrust part 65 is fixed with the lumen wall of traveling rolling pipe 62, spiral type thrust part is rolled with advancing When pipe is rotated, the material stirred in rolling pipe of advancing by spiral is obtained thrust and moves ahead or retreat.In the present embodiment, spirally Thrust piece includes spiral plate 651 and plug 652, and the outer wall of spiral plate is fixedly installed on the lumen wall of rolling pipe of advancing, spiral The inwall of plate is fixedly installed on the outer wall of plug, and plug is located at the center of rolling pipe of advancing.Spiral plate in the present embodiment Traveling rolling pipe is stretched out at two ends, and spiral plate is stretched out at the two ends of plug；In order to reduce resistance, the two ends of plug are into cone-shaped.This In embodiment, material is from the helicla flute that spiral plate is surrounded by rolling pipe of advancing.

Barrel shell 61 includes the base tube 611 and two top caps of circular cone shape 612 positioned at base tube two ends of circular tube shaped, each top The medial extremity of cap is fixedly connected with base tube, and the center of the outboard end of each top cap is provided with open-work 613；The two ends of traveling rolling pipe are stretched out Barrel shell, every one end for rolling pipe of specifically advancing is stretched out from the open-work of a corresponding top cap center.The periphery of base tube Wall is provided with multiple wing plates 614 of radially evagination, and wing plate is evenly distributed on the periphery wall of base tube.In the present embodiment, wing plate Quantity be four.Wing plate can cause that overall course is more stablized.Travelling gear is located at the middle-end of base tube, driving cog Gap is left between the periphery wall and base tube inwall of wheel.

Installing plate 615 is provided with base tube, motor is fixedly installed on a mounting board；Also fixed using the installing plate and set Put and control module in the intelligence with wireless transmit/receive units.The center of installing plate is provided with circular hole 6151, rolling pipe through the circle of advancing Hole.

The inside of each top cap is provided with a rolling bearing 616, and rolling pipe of advancing is forwarded by two the two of top cap axis of rolling It is dynamic to be arranged in barrel shell.

Each top cap is provided with a temperature sensor 66 and a humidity sensor 67, each temperature sensor and humidity sensor The induction end of device is exposed independent from top cap, and each temperature sensor and humidity sensor are connected with control module in the intelligence.Due to each Top cap is provided with temperature sensor and humidity sensor, the present embodiment in traveling, can be given drill-through grain layer temperature and Humidity, so as to obtain the physical message of the grain storage of different depth, and can be passed by the radio-cell in being built in top cap or barrel shell It is defeated by user.

The inside of one of top cap is also equipped with built-in power 68, when using, is supplied to motor by built-in power Electricity.

The present embodiment can also be set with lamplit camera in each top cap, and each top cap uses transparent material system Into so that camera can photograph the in good time state of outside grain storage through top cap, for example observe go mouldy, insect bite etc. no Good phenomenon, prevents and treats it 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.

（Embodiment 2）

Fig. 6 to Fig. 8 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. 8, spiral type thrust part is not Plug is set again, and the spiral plate in the present embodiment encloses to form a circular material path 653 at its center, rolling pipe of advancing is advanced When, grain storage is mainly released backward from the gap between screw of the circular material path and spiral plate, due to depositing for the circular material path To the larger mobile space of grain storage in rolling pipe of advancing, preventing grain storage from being blended by spiral plate because overcrowding.

（Application examples 1, binary silo）

Fig. 9 to Figure 18 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 Fig. 9 to Figure 18, 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 9, it is equipped with described at least one above-described embodiment 1 in the first warehouse and the second warehouse and detects machine 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 13, 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 exploring robot, it is characterised in that：Including barrel shell, the traveling being rotatably arranged in barrel shell rolling pipe, it is fixedly installed In the travelling gear on rolling pipe and the motor for being rotated with nutating gear of advancing；The two ends of barrel shell are provided with two circles The top cap of frustum, the center of the outboard end of each top cap is provided with open-work, and the two ends of rolling pipe of advancing are each from a corresponding top cap Stretched out in the open-work of center；Spiral type thrust part, spiral type thrust part and row are fixed with the lumen wall of traveling rolling pipe Enter to roll pipe synchronous axial system；Spiral type thrust part includes spiral plate, and the outer wall of spiral plate is fixedly installed in the tube chamber of rolling pipe of advancing On wall, spiral plate encloses to form a circular material path at its center.