CN107097235A - For the robot monitored in real time to storage material - Google Patents
For the robot monitored in real time to storage material Download PDFInfo
- Publication number
- CN107097235A CN107097235A CN201611061177.8A CN201611061177A CN107097235A CN 107097235 A CN107097235 A CN 107097235A CN 201611061177 A CN201611061177 A CN 201611061177A CN 107097235 A CN107097235 A CN 107097235A
- Authority
- CN
- China
- Prior art keywords
- barrel shell
- cap
- probing
- fixedly installed
- wall
- 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- Withdrawn
Links
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
-
- 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
Abstract
The invention discloses a kind of robot for being monitored in real time to storage material, including barrel shell, the probing cap that is fixedly installed on two motors at barrel shell two ends and is fixedly installed in driving motor output shaft；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 synchronous reciprocating to rotate.The present invention can in real time be monitored to warehouse deep layer storing.
Description
Technical field
The invention belongs to robotic technology field, and in particular to a kind of machine for being monitored in real time 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, generally it is made big and high,
Some technical barriers are consequently also brought, especially for some organic storings apt to deteriorate, were easy for originally because going mouldy or worm
Evil etc. causes permanent loss；And big and high warehouse, when storing these materials, 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
It can be moved independently or according to control command it is an object of the invention to provide one kind and detect scope so as to expanding
For the robot that is monitored in real time to storage material.
Realizing the technical scheme of the object of the invention is：A kind of robot for being monitored in real time 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
Rotated with spiral plate synchronous reciprocating；Temperature sensor and humidity sensor, each TEMP are also fixed with the wall body of barrel shell
The induction end of device and humidity sensor is exposed independent from barrel shell outer wall；Each probing cap is provided with the taper tip for being used to reduce resistance；Probing
The maximum outside diameter of cap is more than or equal to the diameter of barrel shell periphery wall；It is additionally provided with barrel shell in the intelligence with wireless transmit/receive units and controls mould
Block, each temperature sensor and humidity sensor are connected with controlling module in the intelligence；Spiral plate is arranged on along hand of helix
On the periphery wall for drilling cap.
The present invention has following positive technique effect：（1）Warehouse deep layer storing can in real time be monitored, by installing
Various sensors the materialization information of storing is detected and information transfer；Further, since with the row of thrust can be produced
Enter rolling pipe, can advance or retreat independently or under remote control command, detect monitoring range so as to expand, make with wider array of
Use scope.
Brief 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 a kind of structural representation for 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 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 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 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.
Embodiment
（Embodiment 1）
Fig. 1 to Fig. 3 shows a kind of embodiment of the present invention.
The present embodiment is a kind of robot for being monitored in real time to storage material, as shown in Fig. 1 to Fig. 3, the machine
Device people 8 includes barrel shell 81, is fixedly installed on two motors 82 at barrel shell two ends and is fixedly installed on motor output
Spiral plate 831 is equipped with probing cap 83 on axle 821, 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 being used 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 being respectively provided with an institute in circular upper tube half 811 and circular lower tube half 812, 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 upper spiro union portion 815, and the top of lower tube half is provided with lower spiro union portion 816, upper tube half and lower half
Pipe is fixedly linked by being spirally connected and combines to form the barrel shell；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 at equivalent to barrel shell in material, prevent
Only barrel shell is drilled hatband and moved.
The maximum outside diameter for drilling cap is more than or equal to the diameter of barrel shell periphery wall so that barrel shell can pass through probing cap and bore
The passage gone out.
Be additionally provided with barrel shell in built-in power and intelligence with wireless transmit/receive units control it is also solid on module, 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 controlling module in the intelligence.Due to 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 be also set in each barrel shell with 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, such as observe go mouldy, bad phenomenon insect bite, it is prevented and treated in time.
The present embodiment has following positive technique effect：（1）Warehouse deep layer storing can in real time be monitored, pass through 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, be 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.
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 is 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, the second grain outlet as the second unloading passage outlet.
First auger 24 includes the first rotating shaft 241 that is 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, dividing plate 219 is provided with base, dividing plate is the bottom of
Seat inner space is separated into two big cavitys of grade；First rotating shaft and the second shaft parallel are set, 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.
One end of the first rotating shaft 241 of first auger is stretched out on the outside of casing, and the end of first rotating shaft 241 stretched out on the outside of casing
End is fixed with the first driven gear 243；One end of second rotating shaft 251 of the second auger is stretched out on the outside of casing, 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 grain in respective cavity by rotating push mode.
Drive device 3 includes motor 31 and linked switching device 4 provided with 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, and being equipped with one on outer guide plate 42 and interior guide plate 43 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.It is driven axle position
In the middle of first driven gear and 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 for spacing linkage gear along pilot hole
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, when guide slides into the other end of pilot hole, and travelling gear drives the by linkage gear
Two driven gears are rotated.
In the present embodiment, linkage gear component also include be fixedly installed in linkage gear centre bore axostylus axostyle 442, be arranged
Two rolling bearings 443 on axostylus axostyle two ends, two be 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
Guide ledges of the end provided with evagination are located in a corresponding pilot hole as guide 448, each guide ledges, 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 be reciprocatingly slided in a corresponding pilot hole, but can not rotate, and linkage gear is then being rolled
It can be rotated under the support of bearing.
In the present embodiment, drive axis is 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 during travelling gear rotation linkage gear component can be driven overall
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, and the grain storage in cavity where itself is elapsed to second when the second auger rotates and put out cereal
Mouthful.
The present embodiment has advantages below：（1）Linked switching device it is relatively reasonable in structure, two augers only with it is same drive
Dynamic motor driving, compares with traditional product, saves a motor, also reduce overall space-consuming, be 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 pair
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 necessity and possibility to exhaust all the enbodiments.And these
The obvious changes or variations 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 being monitored in real time 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；The wall body of barrel shell
On be also fixed with temperature sensor and humidity sensor, the induction end of each temperature sensor and humidity sensor is exposed independent from barrel shell
Outer wall；Each probing cap is provided with the taper tip for being used to reduce resistance；The maximum outside diameter for drilling cap is more than or equal to barrel shell periphery wall
Diameter；Be additionally provided with barrel shell in the intelligence with wireless transmit/receive units and control module, each temperature sensor and humidity sensor with
Module is controlled in the intelligence to be connected；Spiral plate is arranged on along hand of helix on the periphery wall of probing cap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061177.8A CN107097235A (en) | 2016-11-27 | 2016-11-27 | For the robot monitored in real time to storage material |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061177.8A CN107097235A (en) | 2016-11-27 | 2016-11-27 | For the robot monitored in real time to storage material |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107097235A true CN107097235A (en) | 2017-08-29 |
Family
ID=59676426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061177.8A Withdrawn CN107097235A (en) | 2016-11-27 | 2016-11-27 | For the robot monitored in real time to storage material |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107097235A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111094117A (en) * | 2017-10-31 | 2020-05-01 | 克罗弗有限公司 | Propulsion in particulate media |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN205120158U (en) * | 2015-07-31 | 2016-03-30 | 中国人民武装警察部队总医院 | Stored goods qualification volume monitored control system |
| CN205607448U (en) * | 2016-05-18 | 2016-09-28 | 中国建筑设计院有限公司 | Building living environment remote monitoring system |
-
2016
- 2016-11-27 CN CN201611061177.8A patent/CN107097235A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN205120158U (en) * | 2015-07-31 | 2016-03-30 | 中国人民武装警察部队总医院 | Stored goods qualification volume monitored control system |
| CN205607448U (en) * | 2016-05-18 | 2016-09-28 | 中国建筑设计院有限公司 | Building living environment remote monitoring system |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111094117A (en) * | 2017-10-31 | 2020-05-01 | 克罗弗有限公司 | Propulsion in particulate media |
| CN111094117B (en) * | 2017-10-31 | 2023-05-09 | 克罗弗有限公司 | Propulsion in particulate media |
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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 | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170829 |