CN113696996B - Storage detection robot - Google Patents
Storage detection robot Download PDFInfo
- Publication number
- CN113696996B CN113696996B CN202111005652.0A CN202111005652A CN113696996B CN 113696996 B CN113696996 B CN 113696996B CN 202111005652 A CN202111005652 A CN 202111005652A CN 113696996 B CN113696996 B CN 113696996B
- Authority
- CN
- China
- Prior art keywords
- joint bearing
- output shaft
- wheel
- driving motor
- robot
- 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.)
- Active
Links
- 238000001514 detection method Methods 0.000 title claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 15
- 230000001681 protective effect Effects 0.000 claims description 2
- 239000000523 sample Substances 0.000 claims 2
- 238000004519 manufacturing process Methods 0.000 abstract description 3
- 238000009529 body temperature measurement Methods 0.000 abstract 1
- 230000007547 defect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000009194 climbing Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 230000008569 process Effects 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a storage detection robot, which comprises a robot chassis and a four-wheel driving steering lifting mechanism; the four wheel driving steering lifting mechanisms have the same structure; according to the warehousing detection robot disclosed by the invention, the driving motor and the lifting driving motor are started, the position of the crank rocker is changed, the up-and-down shaking of the spiral tire is realized, the robot can freely move in and out of a grain bulk of a granary, and the temperature and humidity detection of a fixed point position in the granary is accurately realized. The internal temperature measurement mode of the traditional granary is changed, and the technical problems that the granary grain condition detection efficiency is low, grains are damaged more, the detection robot structure is complex to control, and the manufacturing difficulty and the cost are high in the prior art are solved. The robot has the advantages of simple structure, convenient operation, more flexible movement and higher temperature and humidity detection efficiency and is more accurate.
Description
Technical Field
The invention relates to grain condition detection inside and outside a granary, belongs to the field of grain storage detection, and particularly relates to grain condition detection of grain storage temperature and humidity.
Background
China is a big agricultural country, the annual grain yield is large, so how to guarantee the quality of grains in the storage stage is very important, the technical means for obtaining real-time grain storage data in China is old at present, and the temperature measuring cable and the temperature and humidity sensor are mainly embedded in a granary in advance. The method for obtaining grain condition data by paving a large number of temperature and humidity sensors has a plurality of defects.
The bionic spiral robot for detecting the information of the granary part of the university of Jilin partially solves the defects (refer to patent document CN 105235771A), and comprises at least three groups of spiral propellers, so that the spiral propellers walk in the granary; and the sensor group is arranged outside the shell and used for detecting the ecological information of the grains in the granary. However, the robot must always swim in the grain piling mode in the detection process, and the robot is always subjected to larger resistance from grains, so that the robot is unfriendly to energy consumption and is not beneficial to the integrity of the grains.
An intelligent detection and monitoring system for grain conditions of a grain depot based on mobile robot technology (refer to patent document CN 105739579A) at Henan university of industry, although an inspection robot can walk on the surface of piled grains and can perform downward 'ground drilling' detection, as two systems of a crawler type walking system and a conical spiral detection system are respectively adopted, the whole structure and control are complex, and the manufacturing difficulty and cost are high.
Although the robot adopts a set of screw systems to solve the walking and detection problems, the detection mechanism is a part of the robot, the detection efficiency is low due to the fact that the robot needs to be released and retracted, the detection accuracy of the grain condition is influenced, the robot cannot enter a grain pile to detect, the detection workload is high, and the automatic detection function is weak.
Disclosure of Invention
The invention provides a storage detection robot capable of freely detecting the temperature and the humidity in a granary aiming at the defects of the prior art, and aims to solve the technical problems of low granary grain condition detection efficiency, more grain damage, complex structure and control, and higher manufacturing difficulty and cost in the prior art.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the invention relates to a storage detection robot, which comprises a robot chassis and four wheel-driven steering lifting mechanisms; the four wheel driving steering lifting mechanisms have the same structure;
each wheel driving steering lifting mechanism comprises a wheel, a wheel fixing device, a sliding block track fixing device, a lifting driving motor fixing device, a joint bearing shaft, a joint bearing fixing sleeve, a crank connecting pin, a sliding block connecting piece, a crank sliding block, a sliding block connecting pin, a crank rocker, a lifting driving motor output shaft, an output shaft fixing sleeve, an output shaft coupler and a forward driving motor;
the lifting driving motor is fixed on the chassis through a lifting driving motor fixing device, an output shaft of the lifting driving motor is connected with a crank rocker, the crank rocker is connected with a crank slider through a crank connecting pin, the crank slider is arranged in a slider track, and the slider track is fixedly installed on the chassis through a slider track fixing device; the crank sliding block is connected with the sliding block connecting piece through a sliding block connecting pin; the sliding block connecting piece is connected with one end of the joint bearing shaft;
the joint bearing shaft is arranged in the joint bearing fixing sleeve; the joint bearing shell becomes a fulcrum of the lifting motion of the output shaft; the joint bearing fixing sleeve is arranged on the chassis through a wheel fixing device;
the forward driving motor is fixedly arranged in the knuckle bearing shaft, an output shaft of the forward driving motor is connected with a wheel output shaft through a coupler, an output shaft fixing sleeve is arranged on the outer side of the wheel output shaft, and the output shaft fixing sleeve is connected with the knuckle bearing shaft; the output shaft of the wheel is provided with a wheel.
The wheel consists of a plurality of blades, all of which are mounted on an output shaft in a helical path.
Preferably, the number of the blades is 48, and the angle difference between adjacent blades is 30 degrees.
Preferably, the joint bearing shaft is arranged in the joint bearing fixing sleeve, and the specific connection mode is as follows: the joint bearing shaft is fixedly connected with the joint bearing inner shell, the joint bearing inner shell is arranged in the joint bearing outer shell, and the joint bearing outer shell is arranged in the joint bearing fixing sleeve through a fixing screw.
Preferably, a plurality of sensors are arranged on the chassis.
Preferably, a protective cover is provided on the outer side of the wheel and the sensor.
Has the advantages that: the warehousing detection robot realizes the up-and-down shaking of the spiral tire by starting the driving motor and the lifting driving motor and changing the position of the crank rocker, and the robot can freely move inside and outside the granary heap to realize the temperature and humidity detection of a fixed point position. Changes the traditional internal temperature measuring mode of the granary. The robot has the advantages of simple structure, convenient operation, more flexible movement and higher temperature and humidity detection efficiency and is more accurate.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a main structure view of an embodiment of the present invention;
FIG. 2 is a schematic diagram of a wheel lifting structure;
fig. 3 is a schematic view of a forward drive mechanism.
Detailed Description
The invention is further explained below with reference to the drawings
As shown in fig. 1, 2 and 3, the warehousing detection robot includes the warehousing detection robot of the present invention, including a robot chassis 2 and four wheel-driven steering lifting mechanisms; the four wheel driving steering lifting mechanisms have the same structure;
each wheel driving steering lifting mechanism comprises a wheel 1, a wheel fixing device 3, a sliding block track fixing device 4, a lifting driving motor fixing device 5, a joint bearing inner shell 6, a joint bearing outer shell 7, a fixing screw 8, a joint bearing shaft 9, a joint bearing fixing sleeve 20, a sliding block connecting pin 22, a sliding block connecting piece 23, a crank sliding block 24, a crank connecting pin 26, a crank rocker 27, a lifting driving motor 28, a lifting driving motor output shaft 29, an output shaft fixing sleeve 31, an output shaft 32, an output shaft coupler 33 and an advancing driving motor 34;
the lifting driving motor 28 is fixed on the chassis 2 through a lifting driving motor fixing device 5, an output shaft 29 of the lifting driving motor is connected with a crank rocker 27, the crank rocker 27 is connected with a crank slider 24 through a crank connecting pin 26, the crank slider 24 is arranged in a slider track, and the slider track is fixedly installed on the chassis through a slider track fixing device 4; the crank slider 24 is connected with the slider connecting piece 23 through the slider connecting pin 22; the slide block connecting piece 23 is connected with one end of the joint bearing shaft 9;
the joint bearing shaft 9 is fixedly connected with the joint bearing inner shell 6, the joint bearing inner shell 6 is arranged in the joint bearing outer shell 7, and the joint bearing outer shell 7 is arranged in the joint bearing fixing sleeve 20 through a fixing screw 8; the joint bearing shell 7 becomes a fulcrum of the lifting motion of the output shaft; the joint bearing fixing sleeve 20 is arranged on the chassis through the wheel fixing device 3;
the forward driving motor 34 is fixedly arranged in the joint bearing shaft, an output shaft of the forward driving motor 34 is connected with a wheel output shaft 32 through a coupler 33, an output shaft fixing sleeve 31 is arranged on the outer side of the wheel output shaft, and the output shaft fixing sleeve 31 is connected with the joint bearing shaft; wheels are provided on the wheel output shaft 32.
The wheel 1 consists of 48 blades, all the blades are arranged on an output shaft according to a spiral path, and the angle difference of adjacent blades is 30 degrees; the rotary advancing movement of the wheels is realized, during the movement, grains are discharged from the spiral path of the spiral wheels, the blades of the wheels are large, the damage to the grains is small, and the detection and the movement of the robot in the granary are realized. The whole robot adopts four-wheel drive and four-wheel steering lifting, realizes the maximum free movement of the robot in the granary, and has more detection points and higher efficiency.
Detailed description of the preferred embodiments
When grain surface or grain bulk inside of the granary moves forward, the control panel controls the forward driving motor to rotate, the output shaft is driven to rotate through the coupling connecting device, the spiral wheel is driven to move forward, and linear forward movement is achieved.
When the grain needs to be drilled into the grain bin, the linear forward driving systems of the front wheel and the rear wheel work normally to keep forward movement. Meanwhile, the control panel controls the lifting driving motor to work to drive an output shaft of the lifting driving motor to rotate, the crank block mechanism drives the crank block to move up and down through the rotating motion of the crank block mechanism, the crank block connecting piece is connected with one end of the joint bearing shaft, the joint bearing fixing device is used as a fulcrum, the up-and-down swing of the spiral wheel is achieved through the lifting of the joint bearing shaft, and the submerging and climbing functions of the detection robot are guaranteed. The detection robot realizes the steering motion of the robot through the differential rotation of the forward driving motor.
Claims (5)
1. A storage detection robot, its characterized in that: comprises a robot chassis (2) and four wheel-driven steering lifting mechanisms; the four wheel driving steering lifting mechanisms have the same structure;
each wheel driving, steering and lifting mechanism comprises a wheel (1), a wheel fixing device (3), a slider track fixing device (4), a lifting driving motor fixing device (5), a joint bearing shaft (9), a joint bearing fixing sleeve 20, a crank connecting pin (26), a slider connecting piece (23), a crank slider (24), a slider connecting pin (22), a crank rocker (27), a lifting driving motor (28), a lifting driving motor output shaft (29), an output shaft fixing sleeve (31), an output shaft (32), an output shaft coupler (33) and an advancing driving motor (34);
the lifting driving motor (28) is fixed on the chassis (2) through a lifting driving motor fixing device (5), an output shaft (29) of the lifting driving motor is connected with a crank rocker (27), the crank rocker (27) is connected with a crank slider (24) through a crank connecting pin (26), the crank slider (24) is arranged in a slider track, and the slider track is fixedly installed on the chassis through a slider track fixing device (4); the crank slide block is connected with a slide block connecting piece (23) through a slide block connecting pin (22); the slide block connecting piece is connected with one end of a joint bearing shaft (9);
the joint bearing shaft (9) is arranged in the joint bearing fixing sleeve; the joint bearing shell (7) becomes a fulcrum of the lifting motion of the output shaft; the joint bearing fixing sleeve 20 is arranged on the chassis through a wheel fixing device;
the forward driving motor (34) is fixedly arranged in the joint bearing shaft, an output shaft of the forward driving motor (34) is connected with a wheel output shaft (32) through a coupler (33), an output shaft fixing sleeve (31) is arranged on the outer side of the wheel output shaft, and the output shaft fixing sleeve (31) is connected with the joint bearing shaft; wheels are arranged on the wheel output shaft (32);
the wheel consists of a plurality of blades, all of which are mounted on an output shaft in a helical path.
2. The warehousing detection robot of claim 1, wherein: the number of the blades is 48, and the angle difference between adjacent blades is 30 degrees.
3. The warehousing detection robot of claim 1, wherein: the joint bearing shaft (9) is arranged in the joint bearing fixing sleeve, and the specific connection mode is as follows: the joint bearing shaft (9) is fixedly connected with the joint bearing inner shell (6), the joint bearing inner shell (6) is arranged in the joint bearing outer shell (7), and the joint bearing outer shell (7) is arranged in the joint bearing fixing sleeve (20) through a fixing screw (8).
4. The warehousing probe robot of claim 1, wherein: the chassis is provided with a plurality of sensors.
5. A warehousing probe robot as claimed in claim 1 or 4, characterized by: except for the wheel and the sensor, a protective cover is arranged on the outer side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005652.0A CN113696996B (en) | 2021-08-30 | 2021-08-30 | Storage detection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111005652.0A CN113696996B (en) | 2021-08-30 | 2021-08-30 | Storage detection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113696996A CN113696996A (en) | 2021-11-26 |
| CN113696996B true CN113696996B (en) | 2022-07-05 |
Family
ID=78656910
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111005652.0A Active CN113696996B (en) | 2021-08-30 | 2021-08-30 | Storage detection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113696996B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5853503A (en) * | 1981-09-28 | 1983-03-30 | Mitsui Eng & Shipbuild Co Ltd | Amphibian car |
| JP2010247808A (en) * | 2009-04-17 | 2010-11-04 | Seiichi Kurohara | Carrying tool with spiral wheel for going up/down stairs |
| CN102285387A (en) * | 2011-05-27 | 2011-12-21 | 广东工业大学 | Spiral-walking motion mechanism |
| CN102486220A (en) * | 2010-12-06 | 2012-06-06 | 北京福生泉创科技有限公司 | Mechanical structure of three-dimensional crank slide block |
| CN105501422A (en) * | 2016-01-18 | 2016-04-20 | 山东大学（威海） | All deflection propeller vector boost mechanism and underwater navigation vehicle |
| CN106828659A (en) * | 2017-03-28 | 2017-06-13 | 新疆交通职业技术学院 | A kind of new desert moves ahead dolly |
| CN108639149A (en) * | 2018-04-23 | 2018-10-12 | 西南交通大学 | A kind of full steering mechanism of piping lane routing inspection trolley |
| CN110670709A (en) * | 2019-09-27 | 2020-01-10 | 中国地质大学（武汉） | Pipeline dredging vehicle based on crank-rocker mechanism |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
-
2021
- 2021-08-30 CN CN202111005652.0A patent/CN113696996B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5853503A (en) * | 1981-09-28 | 1983-03-30 | Mitsui Eng & Shipbuild Co Ltd | Amphibian car |
| JP2010247808A (en) * | 2009-04-17 | 2010-11-04 | Seiichi Kurohara | Carrying tool with spiral wheel for going up/down stairs |
| CN102486220A (en) * | 2010-12-06 | 2012-06-06 | 北京福生泉创科技有限公司 | Mechanical structure of three-dimensional crank slide block |
| CN102285387A (en) * | 2011-05-27 | 2011-12-21 | 广东工业大学 | Spiral-walking motion mechanism |
| CN105501422A (en) * | 2016-01-18 | 2016-04-20 | 山东大学（威海） | All deflection propeller vector boost mechanism and underwater navigation vehicle |
| CN106828659A (en) * | 2017-03-28 | 2017-06-13 | 新疆交通职业技术学院 | A kind of new desert moves ahead dolly |
| CN108639149A (en) * | 2018-04-23 | 2018-10-12 | 西南交通大学 | A kind of full steering mechanism of piping lane routing inspection trolley |
| CN110670709A (en) * | 2019-09-27 | 2020-01-10 | 中国地质大学（武汉） | Pipeline dredging vehicle based on crank-rocker mechanism |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113696996A (en) | 2021-11-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113696996B (en) | Storage detection robot | |
| CN113739793B (en) | Method and system for collecting shovel loading operation track of wheel loader | |
| CN113803648B (en) | Quick-positioning leakage detection device for urban oil pipeline construction | |
| CN108538183B (en) | Angle-adjustable pipe belt machine fault simulation experiment device based on inclination working condition | |
| CN204240939U (en) | A kind of device for measuring piston outside diameter and diameter of ring groove | |
| CN209858268U (en) | Self-propelled full-section sampling machine | |
| CN205341308U (en) | Automatic inspection equipment of round steel ultrasonic wave | |
| CN101746608A (en) | Large-span portal type scraper reclaimer | |
| CN116558871A (en) | Sampling device for hydraulic loop geological investigation | |
| CN207564461U (en) | A kind of clamshell cylindrical material Intelligent logistics trolley | |
| CN100450902C (en) | Bulk material loading and anloading method and tracting bucket wheel material stacking and taking machine | |
| CN115723151A (en) | Mining telescopic wind measuring robot | |
| CN116430006B (en) | Intelligent remote monitoring device for environmental protection ecological water and soil conservation | |
| CN106959178A (en) | A kind of device for measure-ball pin swing torque | |
| CN204882466U (en) | Hole -bored axle from end to end device of detecting a flaw | |
| CN206243468U (en) | A kind of dual-purpose patrol unmanned machine of empty rail | |
| CN2449209Y (en) | Bulk material level tester | |
| CN219395618U (en) | Robot moving mechanism | |
| CN215885095U (en) | Belt conveyor with driving wheel and driven wheel distinguishing device | |
| CN208427975U (en) | A kind of gear type double-strand turntable | |
| CN209909292U (en) | Valve position feedback device adopting non-contact angle sensor | |
| CN209208367U (en) | A kind of mechanical device for the installation of grain harvest locomotive wheel | |
| CN218986755U (en) | Steering structure of road roller | |
| CN112985863B (en) | A device for water sluicegate detects | |
| WO2024139232A1 (en) | Docking robot |
Legal Events
| 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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20240220 Address after: Room 401-14, Building 3, No. 1390, Cangxing Street, Cangqian Street, Yuhang District, Hangzhou City, Zhejiang Province, 310000 Patentee after: Zhejiang Carbon Horse Technology Co.,Ltd. Country or region after: China Address before: 310018 No. 2 street, Xiasha Higher Education Zone, Hangzhou, Zhejiang Patentee before: HANGZHOU DIANZI University Country or region before: China |