CN113396705A - Sectional type variable pitch screw drive leveling robot - Google Patents
Sectional type variable pitch screw drive leveling robot Download PDFInfo
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- CN113396705A CN113396705A CN202110574759.0A CN202110574759A CN113396705A CN 113396705 A CN113396705 A CN 113396705A CN 202110574759 A CN202110574759 A CN 202110574759A CN 113396705 A CN113396705 A CN 113396705A
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- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 235000017166 Bambusa arundinacea Nutrition 0.000 claims abstract description 3
- 235000017491 Bambusa tulda Nutrition 0.000 claims abstract description 3
- 241001330002 Bambuseae Species 0.000 claims abstract description 3
- 235000015334 Phyllostachys viridis Nutrition 0.000 claims abstract description 3
- 239000011425 bamboo Substances 0.000 claims abstract description 3
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 230000003014 reinforcing effect Effects 0.000 claims description 4
- 239000011295 pitch Substances 0.000 description 34
- 238000000034 method Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 239000000428 dust Substances 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000009323 psychological health Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01F—PROCESSING OF HARVESTED PRODUCE; HAY OR STRAW PRESSES; DEVICES FOR STORING AGRICULTURAL OR HORTICULTURAL PRODUCE
- A01F25/00—Storing agricultural or horticultural produce; Hanging-up harvested fruit
- A01F25/16—Arrangements in forage silos
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A40/00—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production
- Y02A40/10—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture
- Y02A40/51—Adaptation technologies in agriculture, forestry, livestock or agroalimentary production in agriculture specially adapted for storing agricultural or horticultural products
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- Life Sciences & Earth Sciences (AREA)
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Abstract
The invention discloses a sectional variable-pitch screw-driven leveling robot, which comprises: a frame; the two rotary cylinders are respectively rotatably supported and arranged on two sides of the rack; wherein, rotatory section of thick bamboo includes by one end to the other end in proper order: a first section, a second section, and a third section; a plurality of first blades disposed on the first section and spirally disposed along an axial direction; a plurality of second blades provided on the third section and spirally provided in an axial direction; the pitch between the adjacent first blades is different from the pitch between the adjacent second blades; all the blades on the same rotary drum have the same rotating direction, and the rotating directions of the blades on the two rotary drums are opposite; and the two driving mechanisms are arranged on the rack and respectively drive the rotary cylinders to rotate in a matching manner. The sectional type variable pitch structure is adopted, the functions of different pitch spirals can be exerted, and the height of the grain surface can be reduced while the robot runs.
Description
Technical Field
The invention relates to a leveling robot, in particular to a sectional variable-pitch spiral driving leveling robot.
Background
In order to ensure the safe storage of the grains, the uneven grain surfaces need to be leveled in time after the grains are put into the warehouse. At present, most of grain leveling operations are finished manually, time and labor are wasted, the efficiency is low, the working environment is poor, and physical and psychological health of workers is damaged. The existing grain leveling equipment, such as a movable grain leveling robot for leveling a granary disclosed in patent 201810882782.4, a grain leveling robot and a grain leveling robot system disclosed in patent 201810882784.3, a crawler-type grain leveling robot disclosed in patent 201220257394.5 and the like, all adopt crawler-type traveling mechanisms, have the defects of easiness in sinking, slipping, overturning, inconvenience in steering and the like, and the height of a grain pile needs to be reduced by a screw conveyor during grain leveling operation, so that a large amount of raised dust can be generated, the environment is polluted and the risk of dust explosion is caused. Patent CN201921626954.8 has announced the running gear of an adaptation grain face operation, has adopted the screw drive mode, avoids the problem that machinery sinks to skid and can't walk, still need level and smooth the grain face with the help of linkage, can not full play screw drive mode's advantage, and flat grain operating efficiency is not high. High-efficiency and environment-friendly machinery is needed to finish grain leveling operation.
Therefore, the invention utilizes the turning function of the spiral driving travelling mechanism on the grain in the advancing process, adopts the sectional variable pitch structure, exerts the functions of different sections of pitch spirals, ensures that the mechanism has the function of reducing the height of the grain surface while running, and improves the grain leveling efficiency.
Disclosure of Invention
The invention designs and develops a sectional variable-pitch screw-driven leveling robot, which adopts a sectional variable-pitch structure and can play the role of screws with different pitches, so that the robot can reduce the height of grain surface while driving and improve grain leveling efficiency.
The technical scheme provided by the invention is as follows:
a sectional type variable pitch screw drive bunkering robot, comprising:
a frame;
the two rotary cylinders are respectively rotatably supported and arranged on two sides of the rack;
wherein, rotatory section of thick bamboo includes by one end to the other end in proper order:
a first section having a length that is 25% of the length of the rotary drum;
a second section which is a cylinder with a length equal to the diameter of the rotary cylinder, wherein the length of the second section accounts for 15% of the length of the rotary cylinder;
a third section, the length of which is 40% of the length of the rotary drum;
a plurality of first blades, it sets up on the first section to be the heliciform setting along the axial, the helix angle scope of first blade is: 45-90 degrees;
a plurality of second blades which are arranged on the third section and are spirally arranged along the axial direction, wherein the helix angle range of the second blades is 10-45 degrees;
the pitch between the adjacent first blades is different from the pitch between the adjacent second blades;
all the blades on the same rotary drum have the same rotating direction, and the rotating directions of the blades on the two rotary drums are opposite;
and the two driving mechanisms are arranged on the rack and respectively drive the rotary cylinders to rotate in a matching manner.
Preferably, the pitch between adjacent first blades is greater than the pitch between adjacent second blades.
Preferably, the method further comprises the following steps:
and the rotating shaft penetrates through the rotating cylinder, and two ends of the rotating shaft are respectively rotatably supported and arranged on the rack.
Preferably, the rotary cylinder includes:
two support rings respectively arranged at two ends of the rotary cylinder;
the two ends of the reinforcing ribs are respectively connected with the supporting circular rings;
the first conical baffle and the second conical baffle are respectively arranged on the support ring in a matching manner;
wherein the first conical baffle is close to the first blade and the second conical baffle is close to the second blade;
a barrel disposed between the first conical baffle and the second conical baffle.
Preferably, the driving mechanism includes:
the driving motor is fixedly arranged at one end of the rack;
the speed reducer is fixedly arranged at one end of the rack and connected with the output end of the driving motor, and the speed reducer is connected with the rotating shaft in a matching mode.
Preferably, the method further comprises the following steps:
and the four connecting pieces are respectively and vertically connected to four corners of the rack, and two ends of the rotating shaft are respectively rotatably supported on the connecting pieces.
The invention has the following beneficial effects:
1. the variable-pitch screw driving structure is adopted, the climbing capacity is strong, the trafficability on the grain surface is good, the section with the low helix angle can provide enough power for the robot to advance, and the section with the larger helix angle mainly plays a role in dispersing grain piles and simultaneously provides partial advancing power. The mechanism has the function of reducing the height of the grain surface while driving, and improves the grain leveling efficiency.
2. The sectional spiral driving wheel features that there are spaces between spiral sections and there are light cylinders without blades between the spaces, which can provide support force for the vehicle body to prevent the vehicle from sinking too deeply.
Drawings
FIG. 1 is a schematic structural view of a sectional variable pitch screw-driven leveling robot according to the present invention.
FIG. 2 is a schematic view of the general structure of the sectional type variable pitch helical driving wheel according to the present invention.
FIG. 3 is a schematic view of the internal structure of the sectional variable pitch helical drive wheel according to the present invention.
Detailed Description
The present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
As shown in fig. 1-3, the present invention provides a sectional variable pitch screw-driven leveling robot, comprising: the device comprises a speed reducer 100, a driving motor 200, a rotary driving mechanism 300, a frame 400, a conical baffle 210, a first blade 220, a cylinder 230, a second blade 240, a second conical baffle 250, a rotating shaft 260, a supporting ring 270 and a reinforcing rib 280.
As shown in fig. 1, the frame 400 is a rectangular structure, two rotary driving mechanisms 300 are rotatably supported at two sides of the frame 400, two driving motors 200 are respectively arranged at two ends of the frame 400 in a matching manner and connected with the rotary driving mechanisms 300 through a speed reducer 100, a segmented variable pitch screw is arranged on the rotary driving mechanism 300, one end of the rotary driving mechanism 300 is a large pitch blade segment, the other end of the rotary driving mechanism 300 is a small pitch blade segment, the middle of the rotary driving mechanism is a light cylinder segment, the rotating directions of the two rotary driving mechanisms 300 are the same, but the rotating directions of the segmented screw blades are opposite, and the functions of advancing, retreating and steering of the robot can be realized by changing the rotating directions and rotating speeds of the two rotary driving mechanisms 300. The variable-pitch screw driving structure has strong climbing capacity, good trafficability on grain surfaces, and can achieve the purpose of reducing the height of grain piles in the walking process while ensuring good trafficability of the robot by utilizing the characteristics of screw driving, thereby improving the grain leveling operation efficiency.
As shown in fig. 2, the rotary drive mechanism 300 includes: the first conical baffle 210, the first blade 220, the cylinder 230, the second blade 240, the second conical baffle 250, the rotating shaft 260, the support ring 270 and the reinforcing rib 280. The cylinder 230 includes, from one end of the cylinder 230 to the other end thereof: a first section, a second section and a third section, wherein the first section is provided with a plurality of first blades 220 along the axial direction, and the plurality of first blades are spirally arranged; on the third section, along the axial direction, a plurality of second blades 240 are provided, and the plurality of second blades 240 are spirally provided; wherein, a pitch between the adjacent first blades 220 is different from a pitch between the adjacent second blades 240.
In the present invention, it is preferable that the pitch between the adjacent first blades 220 is greater than the pitch between the adjacent second blades 240, and no blade is provided in the second section.
As shown in fig. 3, two support rings 270 and a plurality of ribs 280 are disposed inside the cylinder 230, two ends of the plurality of ribs 280 are respectively and fixedly connected to the support rings 270 along the axial direction, the first conical baffle 210 and the second conical baffle 250 are respectively and fittingly connected to the support rings 270, the rotating shaft 260 penetrates through the cylinder, and two ends are rotatably supported on the frame 400. Set up support ring 270, can increase the intensity of barrel 230, it is fixed with transmission shaft 260 to support the ring simultaneously, has the effect of transmission moment of torsion, sets up the toper baffle at the both ends of barrel 230, can reduce the resistance of marcing.
Four connecting sheets are arranged at four corners of the frame 400 in a direction perpendicular to the frame 400, two ends of the rotating shaft 260 are respectively rotatably supported on the connecting sheets, the driving motor 200 is fixedly arranged on the connecting sheets, and an output end of the driving motor 200 is connected with one end of the rotating shaft 260 through a speed reducer to drive the rotation driving mechanism to rotate.
The design of the helical blade is divided into three sections:
grain turning section: the coarse pitch helical blade is arranged at one end of the cylinder 230, the helix angle is in the range of 45-90 degrees, the length accounts for 25 percent of the total length of the buoy, the coarse pitch helical blade has the function of rapidly turning over grain layers, and the height of the grain pile can be rapidly reduced when the coarse pitch helical blade meets the grain pile;
a propelling section: the small-pitch helical blade is positioned at one end of the cylinder body 230, the helix angle is within the range of 10-45 degrees, the length of the small-pitch helical blade accounts for 60 percent of the total length of the buoy, and the small-pitch helical blade provides enough advancing power for the leveling robot;
a support section: a smooth cylinder without a spiral blade is arranged between the two segmental spirals and accounts for 15 percent of the total length of the floating cylinder, so that the grain surface provides enough supporting force for the floating cylinder and the anti-sinking capability of the leveling robot is improved.
Spiral drive wheel marchs the in-process and relies on helical blade and grain layer's interact to obtain thrust, and the direction of thrust is the direction of perpendicular to blade, can decompose thrust into the axial force along the axis direction, and the lateral force of horizontal perpendicular to axis, and total thrust is F, and the helix angle is alpha, then the axial force is:
FY＝F cosα；
the lateral force is:
FX＝F sinα；
the axial force has an axial pushing effect on the driving wheel and is the advancing power of the mechanism, the lateral force has a turning effect on the grain layer, the helix angle is in the range of 0-90 degrees, and along with the increase of the helix angle, the axial force is gradually reduced and the lateral force is gradually increased.
The variable pitch is characterized in that the pitch of each section of helical blade of the driving wheel is different, namely the lead angles are different, the section with the low lead angle can provide enough power for the robot to move forward, and the section with the larger lead angle mainly plays a role in dispersing the grain pile and simultaneously provides partial forward power.
The sectional spiral driving wheel features that there are spaces between spiral sections and there are light cylinders without blades between the spaces, which can provide support force for the vehicle body to prevent the vehicle from sinking too deeply.
The variable-pitch screw driving structure is adopted, the climbing capacity is strong, the trafficability on the grain surface is good, the section with the low helix angle can provide enough power for the robot to advance, and the section with the larger helix angle mainly plays a role in dispersing grain piles and simultaneously provides partial advancing power. The mechanism has the function of reducing the height of the grain surface while driving, and improves the grain leveling efficiency.
The sectional spiral driving wheel features that there are spaces between spiral sections and there are light cylinders without blades between the spaces, which can provide support force for the vehicle body to prevent the vehicle from sinking too deeply.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (6)
1. The utility model provides a sectional type variable pitch screw drive flush bin robot which characterized in that includes:
a frame;
the two rotary cylinders are respectively rotatably supported and arranged on two sides of the rack;
wherein, rotatory section of thick bamboo includes by one end to the other end in proper order:
a first section having a length that is 25% of the length of the rotary drum;
a second section which is a cylinder with a length equal to the diameter of the rotary cylinder, wherein the length of the second section accounts for 15% of the length of the rotary cylinder;
a third section, the length of which is 40% of the length of the rotary drum;
a plurality of first blades, it sets up on the first section to be the heliciform setting along the axial, the helix angle scope of first blade is: 45-90 degrees;
a plurality of second blades which are arranged on the third section and are spirally arranged along the axial direction, wherein the helix angle range of the second blades is 10-45 degrees;
the pitch between the adjacent first blades is different from the pitch between the adjacent second blades;
all the blades on the same rotary drum have the same rotating direction, and the rotating directions of the blades on the two rotary drums are opposite;
and the two driving mechanisms are arranged on the rack and respectively drive the rotary cylinders to rotate in a matching manner.
2. The segmented variable pitch helical drive deck robot of claim 1, wherein a pitch between adjacent first blades is greater than a pitch between adjacent second blades.
3. The segmented variable pitch screw driven deck robot of claim 2, further comprising:
and the rotating shaft penetrates through the rotating cylinder, and two ends of the rotating shaft are respectively rotatably supported and arranged on the rack.
4. The segmented variable pitch screw driven deck robot of claim 3, wherein said rotary drum comprises:
two support rings respectively arranged at two ends of the rotary cylinder;
the two ends of the reinforcing ribs are respectively connected with the supporting circular rings;
the first conical baffle and the second conical baffle are respectively arranged on the support ring in a matching manner;
wherein the first conical baffle is close to the first blade and the second conical baffle is close to the second blade;
a barrel disposed between the first conical baffle and the second conical baffle.
5. The segmented variable pitch screw driven deck robot of claim 4, wherein said drive mechanism comprises:
the driving motor is fixedly arranged at one end of the rack;
the speed reducer is fixedly arranged at one end of the rack and connected with the output end of the driving motor, and the speed reducer is connected with the rotating shaft in a matching mode.
6. The segmented variable pitch screw driven deck robot of claim 5, further comprising:
and the four connecting pieces are respectively and vertically connected to four corners of the rack, and two ends of the rotating shaft are respectively rotatably supported on the connecting pieces.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574759.0A CN113396705A (en) | 2021-05-26 | 2021-05-26 | Sectional type variable pitch screw drive leveling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110574759.0A CN113396705A (en) | 2021-05-26 | 2021-05-26 | Sectional type variable pitch screw drive leveling robot |
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| Publication Number | Publication Date |
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| CN113396705A true CN113396705A (en) | 2021-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110574759.0A Pending CN113396705A (en) | 2021-05-26 | 2021-05-26 | Sectional type variable pitch screw drive leveling robot |
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Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2400472A1 (en) * | 1977-08-18 | 1979-03-16 | Tebbe Gmbh Et Co Kg Albert | Silo unloading and fodder truck - has hopper with mixing tools and front wall hinging down |
| US20120163913A1 (en) * | 2010-12-24 | 2012-06-28 | Benjamin John Everett | Variable width material distribution apparatus |
| CN205769684U (en) * | 2016-05-17 | 2016-12-07 | 张云杰 | A kind of full landform screw propulsion roller |
| CN207726406U (en) * | 2018-01-17 | 2018-08-14 | 江苏通用环保集团有限公司 | Sludge spiral distributor |
| CN108738579A (en) * | 2018-04-25 | 2018-11-06 | 江苏大学 | A kind of uniform fertilizer distributor of Pneumatic type |
| CN110839414A (en) * | 2019-11-29 | 2020-02-28 | 吉林大学 | Mechanical traveling mechanism suitable for grain surface operation of granary and control method thereof |
| CN111646249A (en) * | 2020-06-12 | 2020-09-11 | 四川丰辉华宝环保科技有限公司 | Spreading and distributing device for belt conveyor and using method |
| CN214757995U (en) * | 2021-05-26 | 2021-11-19 | 吉林大学 | Sectional type variable pitch screw drive leveling robot |
-
2021
- 2021-05-26 CN CN202110574759.0A patent/CN113396705A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2400472A1 (en) * | 1977-08-18 | 1979-03-16 | Tebbe Gmbh Et Co Kg Albert | Silo unloading and fodder truck - has hopper with mixing tools and front wall hinging down |
| US20120163913A1 (en) * | 2010-12-24 | 2012-06-28 | Benjamin John Everett | Variable width material distribution apparatus |
| CN205769684U (en) * | 2016-05-17 | 2016-12-07 | 张云杰 | A kind of full landform screw propulsion roller |
| CN207726406U (en) * | 2018-01-17 | 2018-08-14 | 江苏通用环保集团有限公司 | Sludge spiral distributor |
| CN108738579A (en) * | 2018-04-25 | 2018-11-06 | 江苏大学 | A kind of uniform fertilizer distributor of Pneumatic type |
| CN110839414A (en) * | 2019-11-29 | 2020-02-28 | 吉林大学 | Mechanical traveling mechanism suitable for grain surface operation of granary and control method thereof |
| CN111646249A (en) * | 2020-06-12 | 2020-09-11 | 四川丰辉华宝环保科技有限公司 | Spreading and distributing device for belt conveyor and using method |
| CN214757995U (en) * | 2021-05-26 | 2021-11-19 | 吉林大学 | Sectional type variable pitch screw drive leveling robot |
Non-Patent Citations (1)
| Title |
|---|
| 蒋林;金祖飞;刘晓磊;晏晚君;叶维林;蔡军;张新友;: "平粮机器人结构设计及运动仿真", 农机化研究, no. 12, 1 December 2015 (2015-12-01), pages 78 - 86 * |
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