CN113682844A - Grain leveling robot - Google Patents
Grain leveling robot Download PDFInfo
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- CN113682844A CN113682844A CN202111008661.5A CN202111008661A CN113682844A CN 113682844 A CN113682844 A CN 113682844A CN 202111008661 A CN202111008661 A CN 202111008661A CN 113682844 A CN113682844 A CN 113682844A
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- 239000002245 particle Substances 0.000 claims abstract description 16
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000001681 protective effect Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract description 4
- 230000033001 locomotion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 101100328887 Caenorhabditis elegans col-34 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 239000008187 granular material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000001788 irregular Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G69/00—Auxiliary measures taken, or devices used, in connection with loading or unloading
- B65G69/04—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials
- B65G69/0433—Spreading out the materials conveyed over the whole surface to be loaded; Trimming heaps of loose materials with screw conveyors
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Abstract
The invention discloses a grain leveling robot, which comprises: the front end of the machine body is provided with a grain leveling component, the machine body is provided with a guide component and a sensor component, the guide component is used for determining the positions of the grain pile and the machine body, and the sensor component is used for monitoring whether the machine body is buried; the driving mechanism comprises a first driving device and a pair of spiral pushing rods, the pair of spiral pushing rods are arranged on two sides of the machine body in parallel, the first driving device is used for driving the spiral pushing rods to rotate, and when the spiral pushing rods rotate on a grain surface, grain particles can be pushed to obtain a pushing force in the opposite direction so as to drive the machine body to move; the control system is respectively connected with the guide assembly, the sensor assembly and the driving mechanism and controls the moving direction of the machine body through the driving mechanism according to information fed back by the guide assembly and the sensor assembly. The invention overcomes the defect that the existing grain leveling robot uses a crawler type propulsion mode, and realizes normal work without failure for a long time.
Description
Technical Field
The invention belongs to the technical field of grain leveling, and particularly relates to a grain leveling robot.
Background
Grain leveling is the last process in the process of warehousing the purchased grains by grain enterprises, and after warehousing, grain surfaces are leveled in time to re-utilize the volume of a granary. The quality of the grain surface is greatly determined by the mechanical performance and structural characteristics of the grain leveling machine. The flat grain machinery used by food enterprises is mostly produced and manufactured in the last century, and has simple and crude structure, low technical level and low flat grain efficiency. A grain leveling robot is introduced into some grain enterprises to level grains for improving efficiency. The existing propulsion system of the grain leveling robot basically adopts a crawler-type structure in order to meet the working environment that the surface of a granary has irregular height. However, the crawler belt propulsion is an open structure, and a large amount of space and gaps are formed between the transmission wheel and the crawler belt, so that the crawler belt is easily filled with fine grain particles and chips, and the crawler belt slips and even breaks. In addition, once the existing crawler-type grain leveling robot is buried by grain particles falling from a high position, the robot hardly climbs out of a grain pile by virtue of self power. Therefore, the crawler type structure is not suitable for the grain leveling robot.
Therefore, it is expected to develop a grain leveling robot, which can solve the above technical problems.
Disclosure of Invention
The invention aims to provide a grain leveling robot, which overcomes the defect that the existing grain leveling robot uses a crawler type propulsion mode and realizes long-term fault-free normal work.
In order to achieve the above object, the present invention provides a grain leveling robot, comprising:
the grain leveling device comprises a machine body, wherein a grain leveling component is arranged at the front end of the machine body, a guide component and a sensor component are arranged on the machine body, the guide component is used for determining the positions of a grain pile and the machine body, and the sensor component is used for monitoring whether the machine body is buried;
the driving mechanism comprises a first driving device and a pair of spiral pushing rods, the spiral pushing rods are arranged on two sides of the machine body in parallel, the first driving device is used for driving the spiral pushing rods to rotate, and when the spiral pushing rods rotate on a grain surface, grain particles can be pushed to obtain a pushing force in the opposite direction to drive the machine body to move;
and the control system is respectively connected with the guide assembly, the sensor assembly and the driving mechanism and controls the moving direction of the machine body through the driving mechanism according to the information fed back by the guide assembly and the sensor assembly.
Optionally, the grain leveling assembly comprises a grain leveling shovel, a supporting arm and a second driving device; one end of the supporting arm is hinged to the machine body, the other end of the supporting arm is connected to the grain leveling shovel, the second driving device is connected to the supporting arm, and the grain leveling shovel is driven to lift by changing an included angle between the supporting arm and the machine body;
the second driving device is connected to the control system.
Optionally, the second driving device includes a driving cylinder, the driving cylinder includes a cylinder block and a piston rod, the cylinder block is connected to the machine body, and a free end of the piston rod is connected to the supporting arm.
Optionally, the guiding component includes a laser radar and a micromechanical gyroscope, and the laser radar and the micromechanical gyroscope are respectively connected to the control system.
Optionally, the sensor assembly includes a plurality of pressure sensors, the plurality of pressure sensors are evenly distributed on the top and around the fuselage, and the plurality of pressure sensors are respectively connected to the control system.
Optionally, the screw propulsion rod comprises a cylindrical body and a spiral baffle arranged on a side surface of the cylindrical body.
Optionally, the diameter of the cylindrical body is tapered at both ends.
Optionally, the first drive device comprises an engine and a gearbox, the engine being connected to the screw propulsion rod via the gearbox, the engine and the gearbox being arranged in a protective casing.
Optionally, the number of the first driving devices is two, and each first driving device is connected to one screw propulsion rod.
Optionally, the body is flat, and the front end and the rear end are pointed ends.
The invention has the beneficial effects that:
1. the pair of spiral pushing rods are used as power of the robot, and when the pair of spiral pushing rods are driven to rotate in the forward direction at the same time, grain particles are continuously pushed to the rear from the front through spiral motion, so that the forward power is obtained; when the pair of spiral pushing rods are driven to rotate reversely at the same time, grain particles are continuously pushed to the front from the back through spiral motion, so that the power of back pushing is obtained; when the single screw rod propelling rod is driven to rotate, the robot can steer. The grain leveling robot has flexible moving direction and no natural defect of a crawler-type structure (namely, machine failure caused by the fact that fine and scattered grain particles are clamped between a crawler and a driving wheel), can work for a long time without failure in various granary environments, and can be put into use in a large scale.
2. The direction subassembly is used for exploring robot surrounding environment, surveys the place ahead grain heap and judges the place ahead grain heap height and slope, if the height that the grain heap is located predetermineeing highly, control system then pushes away the tie forward through actuating mechanism drive fuselage, if highly surpass predetermineeing highly, control system then changes the direction detour through actuating mechanism and seeks the minimum suitable position of slope and continue to level the grain to improve flat grain efficiency and avoid being buried.
3. The sensor assembly is used for judging whether the machine body is buried or not, if the sensor assembly monitors that the pressure value on the machine body exceeds the upper limit of an allowable pressure value, the robot is indicated to be buried, at the moment, the control system determines the position of the machine body according to the guide assembly, the spiral propelling rod is driven through the driving mechanism, and a proper direction is selected to drill out the grain pile.
4. The grain leveling shovel can be lifted and hinged on the machine body, and when the machine body is buried, the grain leveling shovel can be lowered to the height of the machine body to reduce retreating resistance and realize quick escaping.
5. The engine and the variable speed are arranged in the protective cover, so that the faults caused by the fact that grain particles enter a power system can be prevented.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 shows a side view of a flat grain robot according to one embodiment of the present invention.
Fig. 2 shows a top view of a flat grain robot according to one embodiment of the present invention.
Description of the reference numerals
1. Flattening the grain and shoveling; 2. a body; 3. a guide assembly; 4. a screw propulsion rod; 5. a gear change box; 6. an engine; 7. a pressure sensor.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
The invention discloses a grain leveling robot, which comprises:
the grain leveling device comprises a machine body, wherein a grain leveling component is arranged at the front end of the machine body, a guide component and a sensor component are arranged on the machine body, the guide component is used for determining the positions of a grain pile and the machine body, and the sensor component is used for monitoring whether the machine body is buried;
the driving mechanism comprises a first driving device and a pair of spiral pushing rods, the pair of spiral pushing rods are arranged on two sides of the machine body in parallel, the first driving device is used for driving the spiral pushing rods to rotate, and when the spiral pushing rods rotate on a grain surface, grain particles can be pushed to obtain a pushing force in the opposite direction so as to drive the machine body to move;
and the control system is respectively connected with the guide assembly, the sensor assembly and the driving mechanism and controls the moving direction of the machine body through the driving mechanism according to the information fed back by the guide assembly and the sensor assembly.
Specifically, the pair of spiral propelling rods is used as the power of the robot, and when the pair of spiral propelling rods are driven to rotate forwards at the same time, the grain particles are continuously pushed backwards from the front direction through spiral motion, so that the forward power is obtained; when the pair of spiral pushing rods are driven to rotate reversely at the same time, grain particles are continuously pushed to the front from the back through spiral motion, so that the power of back pushing is obtained; when the single screw rod propelling rod is driven to rotate, the robot can steer. The grain leveling robot has flexible moving direction and no natural defect of a crawler-type structure (namely, machine failure caused by the fact that fine and scattered grain particles are clamped between a crawler and a driving wheel), can work for a long time without failure in various granary environments, and can be put into use in a large scale.
Be equipped with the direction subassembly on the fuselage for explore robot environment all around, survey the place ahead grain and pile height and slope and judge the place ahead grain, if the height that the grain piled is located predetermineeing highly, control system then pushes away the tie forward through actuating mechanism drive fuselage, if highly surpass and predetermine highly, control system then changes the direction detour through actuating mechanism and seeks the minimum suitable position of slope and continue to put the grain, thereby improve flat grain efficiency and avoid being buried.
The robot is buried if the pressure value on the body monitored by the sensor assembly exceeds the upper limit of the allowable pressure value, the control system determines the position of the body according to the guide assembly, drives the spiral propelling rod through the driving mechanism and selects a proper direction to drill out grain piles.
As an alternative, the grain leveling assembly comprises a grain leveling shovel, a supporting arm and a second driving device; one end of the supporting arm is hinged on the machine body, the other end of the supporting arm is connected with the flat grain shovel, the second driving device is connected with the supporting arm, and the flat grain shovel is driven to lift by changing the included angle between the supporting arm and the machine body;
the second driving device is connected to the control system.
Specifically, the grain leveling shovel can be lifted and hinged on the machine body, and when the machine body is buried, the grain leveling shovel can be lowered to the height of the machine body to reduce retreating resistance and realize quick escaping.
As an alternative, the second driving device comprises a driving cylinder, the driving cylinder comprises a cylinder seat and a piston rod, the cylinder seat is connected to the machine body, and the free end of the piston rod is connected to the supporting arm.
Specifically, the supporting arm is driven through the stretching of the piston rod of the air cylinder, the included angle between the supporting arm and the machine body is changed, and the lifting of the flat grain shovel is achieved.
Further, the stepless adjustment of the height of the grain leveling shovel can be realized through the air cylinder, so that the grain leveling shovel is suitable for leveling grain piles with different heights.
Alternatively, the guiding component comprises a laser radar and a micromechanical gyroscope, and the laser radar and the micromechanical gyroscope are respectively connected to the control system.
Specifically, when the robot moves forward, the laser radar detects a front obstacle through a laser beam continuously emitted, the height of a front grain pile is judged according to reflected light, and when the robot is buried, the position of the robot can be judged through the micro-mechanical gyroscope, so that the robot can be quickly separated from the grain pile.
As an alternative scheme, the sensor assembly comprises a plurality of pressure sensors, the pressure sensors are uniformly distributed on the top and the periphery of the machine body, and the pressure sensors are respectively connected to the control system.
Specifically, a plurality of pressure sensor evenly distributed is around and at the top of fuselage, can all-round sense the fuselage pressure variation all around, if the upper limit that the pressure value on the response fuselage exceeds the allowable pressure value, then explains that the robot is buried.
Alternatively, the screw propulsion rod comprises a cylindrical body and a spiral baffle arranged on the side surface of the cylindrical body.
Specifically, the spiral baffle is attached to the side of the cylindrical body by welding.
Further, the spiral baffle can be replaced by a plurality of blades which are sequentially arranged on the side surface of the cylindrical main body along the spiral line.
Alternatively, the diameter of the cylindrical body is gradually reduced at both ends.
Specifically, the two ends of the cylindrical main body of the spiral propelling rod gradually contract, the outer diameter of the spiral baffle plate on the spiral propelling rod also contracts, and the spiral baffle plate is convenient to embed grain particles in the rotating driving process so as to obtain reverse power by pushing the grain particles.
Alternatively, the first drive means comprises an engine and a gearbox, the engine being connected to the screw propulsion rod via the gearbox, the engine and the gear change being arranged in the protective cover.
In particular, the gearbox is a gear gearbox, but a chain drive may also be used instead of a gear drive.
Furthermore, the engine and the variable speed are arranged in the protective cover, so that the grain particles can be prevented from entering a power system to cause faults.
Alternatively, the first driving means are two, each of which is connected to one of the screw propulsion rods.
Specifically, the two spiral pushing rods are respectively driven, so that the two spiral pushing rods can synchronously rotate to realize forward pushing or backward pushing, and one spiral pushing rod can be independently driven to rotate to realize steering.
Alternatively, the fuselage is flat with tips at the front and rear ends.
Specifically, in order to reduce resistance to escape after being buried, the fuselage is designed to be flat with two sharp corners, and the sharp corners are not sharp corners but rounded transitions. The fuselage of the present invention is not limited to this structure, and may be in other shapes such as a streamline shape and a spindle shape that can reduce resistance and accommodate machine components.
Examples
FIG. 1 shows a side view of the grain leveling robot of the present embodiment; fig. 2 shows a top view of the grain leveling robot of the present embodiment.
As shown in fig. 1 and 2, the body 2 of the grain leveling robot is flat, and the front end and the rear end are pointed ends; the front end of the machine body 2 is provided with a grain leveling component, and the grain leveling component comprises a grain leveling shovel 1, a supporting arm and a second driving device; one end of the supporting arm is hinged on the machine body 2, the other end of the supporting arm is connected to the flat grain shovel 1, and the second driving device is connected to the supporting arm and drives the flat grain shovel to lift by changing the included angle between the supporting arm and the machine body. The second driving device is connected to the control system and comprises a driving cylinder, the driving cylinder comprises a cylinder seat and a piston rod, the cylinder seat is connected to the machine body 2, and the free end of the piston rod is connected to the supporting arm.
The driving mechanism comprises a first driving device and a pair of spiral propelling rods, the pair of spiral propelling rods 4 are parallel to each other and arranged on two sides of the machine body 2, the two spiral propelling rods 4 are driven to rotate by the first driving device respectively, the first driving device comprises an engine 6 and a gear box 5, the engine 6 is connected to the spiral propelling rods 4 through the gear box 5, and the engine 6 and the gear box 5 are arranged in the protective cover. The engine 6 passes through gear box 5 with power and transmits two spiral propulsion pole 4 of fuselage below, makes it constantly to push the rear with grain granule through helical motion from the front to obtain the power that gos forward, and in addition, spiral propulsion pole 4 still can the counter-rotation, in order to drive the robot rearward movement, helps the robot to break away from the grain heap that is buried, and every spiral propulsion pole 4 can stop alone or rotate, so that the robot turns to.
Wherein, spiral pushing ram 4 includes cylindric main part and sets up the spiral baffle on cylindric main part side, and the diameter at cylindric main part both ends reduces gradually.
The guiding component 3 comprises a laser radar and a micro-mechanical gyroscope which are connected with the control system, the laser radar is arranged at the top of the machine body 2, when the robot moves forward, a laser beam continuously emitted by the laser radar on the machine body can detect a front obstacle, the height of a front grain pile is judged according to reflected light, if the height meets the leveling condition, the grain pile is leveled forward, and if the height exceeds the requirement, the direction is changed to detour to search the direction with the minimum gradient for leveling the grain continuously; when the robot is buried, the position of the robot can be judged through the micro-mechanical gyroscope, so that the robot can be quickly separated from the grain pile.
The pressure sensor 7 of each installation all around of fuselage 2, and connect respectively in control system, if all pile up certain weight grain on four pressure sensor 7, make the upper limit that the pressure value on the fuselage 2 surpassed the allowable pressure value, then explain the robot is buried, can automatic start this moment prevent burying the procedure, will put down grain shovel 1 earlier and transfer to the fuselage 2 height, judge the fuselage position through the micro-mechanical gyroscope, select suitable direction, utilize the powerful power of hob to drill out the grain heap again.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A flat grain robot, characterized by comprising:
the grain leveling device comprises a machine body, wherein a grain leveling component is arranged at the front end of the machine body, a guide component and a sensor component are arranged on the machine body, the guide component is used for determining the positions of a grain pile and the machine body, and the sensor component is used for monitoring whether the machine body is buried;
the driving mechanism comprises a first driving device and a pair of spiral pushing rods, the spiral pushing rods are arranged on two sides of the machine body in parallel, the first driving device is used for driving the spiral pushing rods to rotate, and when the spiral pushing rods rotate on a grain surface, grain particles can be pushed to obtain a pushing force in the opposite direction to drive the machine body to move;
and the control system is respectively connected with the guide assembly, the sensor assembly and the driving mechanism and controls the moving direction of the machine body through the driving mechanism according to the information fed back by the guide assembly and the sensor assembly.
2. The flat grain robot of claim 1, wherein the flat grain assembly comprises a flat grain shovel, a support arm, and a second drive; one end of the supporting arm is hinged to the machine body, the other end of the supporting arm is connected to the grain leveling shovel, the second driving device is connected to the supporting arm, and the grain leveling shovel is driven to lift by changing an included angle between the supporting arm and the machine body;
the second driving device is connected to the control system.
3. The flat grain robot of claim 2, wherein the second drive device comprises a drive cylinder, the drive cylinder comprises a cylinder block and a piston rod, the cylinder block is connected to the body, and a free end of the piston rod is connected to the support arm.
4. The flat grain robot of claim 1, wherein the guidance assembly comprises a laser radar and a micromechanical gyroscope, the laser radar and the micromechanical gyroscope being separately connected to the control system.
5. The flat grain robot of claim 1, wherein the sensor assembly comprises a plurality of pressure sensors, the plurality of pressure sensors are evenly distributed on the top and around the body, and the plurality of pressure sensors are respectively connected to the control system.
6. The flat grain robot of claim 1, wherein the spiral propulsion rod includes a cylindrical body and a spiral baffle disposed on a side of the cylindrical body.
7. The flat grain robot of claim 6, wherein the diameter of the cylindrical body is tapered at both ends.
8. The flat grain robot of claim 1, wherein the first drive device comprises an engine and a gearbox, the engine is connected to the auger shaft through the gearbox, and the engine and the gearbox are disposed in a protective cover.
9. The flat grain robot of claim 1 or 8, wherein the number of the first driving devices is two, and each of the first driving devices is connected to one of the spiral propelling rods.
10. The flat grain robot of claim 1, wherein the body is flat and has tips at front and rear ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111008661.5A CN113682844A (en) | 2021-08-31 | 2021-08-31 | Grain leveling robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111008661.5A CN113682844A (en) | 2021-08-31 | 2021-08-31 | Grain leveling robot |
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| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN108781787A (en) * | 2018-08-03 | 2018-11-13 | 武汉轻工大学 | A kind of mobile grain-levelling machine device people smooth for silo |
| CN108871862A (en) * | 2018-06-12 | 2018-11-23 | 安徽聚力粮机科技股份有限公司 | A kind of grain depot grain face mobile device platform |
| CN108886976A (en) * | 2018-08-03 | 2018-11-27 | 武汉轻工大学 | Grain-levelling machine device people and grain-levelling machine device people's system |
| CN109823872A (en) * | 2019-03-22 | 2019-05-31 | 浪潮软件集团有限公司 | A kind of intelligence grain-levelling machine device people and flat grain control system |
| 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 |
-
2021
- 2021-08-31 CN CN202111008661.5A patent/CN113682844A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102880179A (en) * | 2012-09-19 | 2013-01-16 | 山东康威通信技术股份有限公司 | Multifunctional intelligent routing inspection robot used in power tunnel |
| CN108871862A (en) * | 2018-06-12 | 2018-11-23 | 安徽聚力粮机科技股份有限公司 | A kind of grain depot grain face mobile device platform |
| CN108781787A (en) * | 2018-08-03 | 2018-11-13 | 武汉轻工大学 | A kind of mobile grain-levelling machine device people smooth for silo |
| CN108886976A (en) * | 2018-08-03 | 2018-11-27 | 武汉轻工大学 | Grain-levelling machine device people and grain-levelling machine device people's system |
| CN109823872A (en) * | 2019-03-22 | 2019-05-31 | 浪潮软件集团有限公司 | A kind of intelligence grain-levelling machine device people and flat grain control system |
| 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 |
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Effective date of registration: 20230106 Address after: No. 12, Building 1, Agricultural Means Area, Agricultural Trade Market, No. 1, Dongxihu Avenue, Dongxihu District, Wuhan, Hubei Province, 430040 Applicant after: Wuhan Yingtai Zhonghe Agricultural Technology Co.,Ltd. Address before: 430023 No. 68 Xuefu South Road, Changqing Garden, Hankou, Wuhan, Hubei. Applicant before: WUHAN POLYTECHNIC University |
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Application publication date: 20211123 |