CN116573431A - A grain-turning robot - Google Patents
A grain-turning robot Download PDFInfo
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- CN116573431A CN116573431A CN202310580246.XA CN202310580246A CN116573431A CN 116573431 A CN116573431 A CN 116573431A CN 202310580246 A CN202310580246 A CN 202310580246A CN 116573431 A CN116573431 A CN 116573431A
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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
- B65G65/00—Loading or unloading
- B65G65/28—Piling or unpiling loose materials in bulk, e.g. coal, manure, timber, not otherwise provided for
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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
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
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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
- B65G65/00—Loading or unloading
- B65G65/02—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads
- B65G65/16—Loading or unloading machines comprising essentially a conveyor for moving the loads associated with a device for picking-up the loads with rotary pick-up conveyors
- B65G65/22—Screws
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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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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Drying Of Solid Materials (AREA)
Abstract
Description
技术领域technical field
本发明属于翻粮机械技术领域，特别涉及一种翻粮机器人。The invention belongs to the technical field of grain turning machines, in particular to a grain turning robot.
背景技术Background technique
我国是粮食大国，粮食生产关乎国家安全，粮食产后干燥降水是粮食生产的重要环节，其方式主要有机械化烘干和自然光晾晒干燥2种。由于目前我国粮食的机械烘干率仍然较低，因此晾晒工艺一直以来都是粮食贮藏和种子加工等领域普遍采用的方式，这种方式沿袭了几千年，具有经济方便、简单实用、可以充分利用场地和太阳光能等特点。在我国，无论是专业的农场粮仓还是个体种粮农户都普遍采用晾晒方法，因此常年晾晒粮食总量基数巨大。粮食漏天晾晒需要人工不断翻粮以保证粮食晾晒的均匀性，由此带来的劳动强度较大，人工翻倒费时费力，且效率较低。现有机械式翻粮作业是采用拖拉机悬挂翻粮装置进行翻粮作业，由于粮食晾晒厚度的局限性以及拖拉机车身较重，会出现碾压粮食的现象，造成粮食破碎、损伤，影响粮食品质。同时现有翻粮设备均为大型设备，价格昂贵。my country is a large grain country, and grain production is related to national security. Drying and precipitation after grain production is an important part of grain production. There are two main methods of drying: mechanized drying and natural light drying. Since the mechanical drying rate of grain in my country is still low at present, the drying process has always been a method commonly used in the fields of grain storage and seed processing. This method has been used for thousands of years. It is economical, convenient, simple and practical, and can fully Take advantage of the characteristics of the site and solar energy. In our country, whether it is a professional farm granary or an individual grain farmer, the air-drying method is generally used, so the total amount of air-dried grains throughout the year is huge. Grain drying requires manual continuous turning of the grain to ensure the uniformity of the grain drying. The resulting labor intensity is relatively high, and manual overturning is time-consuming and laborious, and the efficiency is low. The existing mechanical grain turning operation is to use the tractor hanging grain turning device to carry out the grain turning operation. Due to the limitation of the thickness of the grain drying and the heavy weight of the tractor body, there will be a phenomenon of rolling the grain, causing the grain to be broken and damaged, and affecting the quality of the grain. Simultaneously existing grain turning equipment is all large-scale equipment, and is expensive.
发明内容Contents of the invention
本发明的目的是克服现有技术的缺陷，提供了一种翻粮机器人，其在行驶过程中能够实现高效翻粮作业，并且对粮食无损伤。The object of the present invention is to overcome the defects of the prior art, and provide a grain-turning robot, which can realize high-efficiency grain-turning operations during driving, and has no damage to the grain.
本发明提供的技术方案为：The technical scheme provided by the invention is:
一种翻粮机器人，包括：A grain turning robot, comprising:
机架；frame;
两组螺旋轮，其分别设置在所述机架的两侧；Two sets of spiral wheels are respectively arranged on both sides of the frame;
其中，每组所述螺旋轮包括：第一螺旋轮和第二螺旋轮；所述第一螺旋轮和所述第二螺旋轮同轴间隔设置；Wherein, each set of the helical wheels includes: a first helical wheel and a second helical wheel; the first helical wheel and the second helical wheel are coaxially arranged at intervals;
所述第一螺旋轮和第二螺旋轮分别包括：芯轴和多个螺旋叶片；The first helical wheel and the second helical wheel respectively include: a core shaft and a plurality of helical blades;
所述多个螺旋叶片呈螺旋状同向缠绕设置在所述芯轴的外侧；螺旋叶片的螺距P和芯轴的外径D的比值满足P/D≥4，螺旋叶片的高度h和轴径D的比值满足h/D≥0.5；The plurality of helical blades are helically wound in the same direction and arranged on the outside of the mandrel; the ratio of the pitch P of the helical blades to the outer diameter D of the mandrel satisfies P/D≥4, and the height h of the helical blades and the shaft diameter The ratio of D satisfies h/D≥0.5;
同组的第一螺旋轮和第二螺旋轮的螺旋叶片旋向相同，并且两个第一螺旋轮的螺旋叶片旋向相反；The helical blades of the first helical wheel and the second helical wheel of the same group rotate in the same direction, and the helical blades of the two first helical wheels rotate in opposite directions;
两个驱动装置，其与所述两组螺旋轮一一对应设置；Two driving devices, which are provided in one-to-one correspondence with the two groups of helical wheels;
其中，所述驱动装置位于同组的第一螺旋轮和第二螺旋轮之间，所述驱动装置的输出轴的两端分别延伸至所述驱动装置外部，与所述第一螺旋轮的芯轴和所述第二螺旋轮的芯轴连接。Wherein, the driving device is located between the first helical wheel and the second helical wheel of the same group, and the two ends of the output shaft of the driving device respectively extend to the outside of the driving device, and the core of the first helical wheel The shaft is connected to the mandrel of the second spiral wheel.
优选的是，所述两个驱动装置的输出轴平行设置。Preferably, the output shafts of the two drive devices are arranged in parallel.
优选的是，所述的翻粮机器人，还包括：Preferably, the described grain-turning robot also includes:
两组传动轴，其与所述两组螺旋轮一一对应设置；Two sets of transmission shafts, which are arranged in one-to-one correspondence with the two sets of spiral wheels;
其中，每组所述传动轴包括：第一传动轴和第二传动轴，所述第一传动轴和所述第二传动轴分别同轴固定连接在所述输出轴的两端；Wherein, each set of transmission shafts includes: a first transmission shaft and a second transmission shaft, and the first transmission shaft and the second transmission shaft are coaxially fixedly connected to both ends of the output shaft;
所述芯轴为空心轴，所述第一螺旋轮的芯轴套接在所述第一传动轴上，所述第二螺旋轮的芯轴套接在所述第二传动轴上。The core shaft is a hollow shaft, the core shaft of the first helical wheel is sleeved on the first transmission shaft, and the core shaft of the second helical wheel is sleeved on the second transmission shaft.
优选的是，所述第一螺旋轮的芯轴与所述第一传动轴之间以及所述第二螺旋轮的芯轴与所述第二传动轴之间分别通过键连接。Preferably, the core shaft of the first helical wheel and the first transmission shaft and the core shaft of the second helical wheel and the second transmission shaft are respectively connected by keys.
优选的是，所述的翻粮机器人，还包括：Preferably, the described grain-turning robot also includes:
两个翻粮轮，其一一对应的同轴连接在两个所述第二传动轴上；所述翻粮轮上具有多个翻粮叶片，所述翻粮叶片沿所述翻粮轮的周向间隔设置；Two grain-turning wheels, which are coaxially connected to the two second transmission shafts in one-to-one correspondence; there are a plurality of grain-turning blades on the described grain-turning wheel, and the grain-turning blades are along the direction of the grain-turning wheel Circumferential interval setting;
其中，所述第二螺旋轮位于所述驱动装置与所述翻粮轮之间。Wherein, the second spiral wheel is located between the driving device and the grain turning wheel.
优选的是，翻粮轮包括：Preferably, the turning wheel includes:
翻粮轮轴，其为空心轴；所述翻粮轮轴同轴套接在所述第二传动轴上远离所述驱动装置的一端；The grain-turning wheel shaft is a hollow shaft; the grain-turning wheel shaft is coaxially sleeved on the second transmission shaft at an end away from the driving device;
其中，所述翻粮叶片固定连接在所述翻粮轮轴的外壁上。Wherein, the grain turning blade is fixedly connected to the outer wall of the grain turning wheel shaft.
优选的是，所述翻粮叶片为矩形叶片，所述矩形叶片的一条边固定连接在所述翻粮轮轴上，并且所述矩形叶片与所述翻粮轮轴的连接边与所述翻粮轮轴的轴线方向平行。Preferably, the grain-turning blade is a rectangular blade, one side of the rectangular blade is fixedly connected to the grain-turning wheel shaft, and the connection side between the rectangular blade and the grain-turning wheel shaft is connected to the grain-turning wheel shaft axis parallel to each other.
优选的是，所述翻粮叶片沿所述翻粮轮轴的周向均匀间隔设置。Preferably, the grain-turning blades are evenly spaced along the circumference of the grain-turning wheel shaft.
优选的是，所述翻粮轮轴的一端封闭，另一端具有内螺纹；Preferably, one end of the turning wheel shaft is closed, and the other end has an internal thread;
其中，所述第二传动轴的端部具有外螺纹，所述翻粮轮轴通过螺纹连接在所述第二传动轴上。Wherein, the end of the second transmission shaft has an external thread, and the grain turning wheel shaft is connected to the second transmission shaft through threads.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)本发明提供的翻粮机器人，采用螺旋驱动原理，机器人在行驶过程中即可对粮食产生翻动作用，并分别在机器人的两个动力轴端增加翻粮轮，增加翻粮深度和翻粮效率，机器人整体结构简单，质量轻，对粮无损伤。(1) The grain-turning robot provided by the present invention adopts the principle of screw drive, and the robot can turn the grain during the driving process, and adds grain-turning wheels at the two power shaft ends of the robot respectively to increase the grain-turning depth and the turning effect. Grain efficiency, the overall structure of the robot is simple, light in weight, and has no damage to the grain.
(2)本发明提供的翻粮机器人，采用高叶轴比螺旋轮，增加叶片与粮食的接触，提高驱动力的同时增加翻粮效率。(2) The grain-turning robot provided by the present invention adopts a helical wheel with a high blade-to-axis ratio to increase the contact between the blades and the grain, and increase the driving force while increasing the grain-turning efficiency.
(3)本发明提供的翻粮机器人，左右螺旋轮各为两段，驱动装置设置于两段左旋的中部，机器人整体中心位移形心，整体布局更加合理，行驶平稳。(3) In the grain-turning robot provided by the present invention, the left and right helical wheels are each in two sections, and the driving device is arranged in the middle of the two sections of left-hand rotation. The whole center of the robot is displaced from the centroid, the overall layout is more reasonable, and the driving is stable.
附图说明Description of drawings
图1为本发明所述的翻粮机器人的总体结构示意图。FIG. 1 is a schematic diagram of the overall structure of a grain turning robot according to the present invention.
图2为本发明所述的翻粮机器人的俯视图。Fig. 2 is a top view of the grain turning robot according to the present invention.
图3为本发明所述的第一螺旋轮的叶轴比例的示意图。Fig. 3 is a schematic diagram of the impeller shaft ratio of the first helical wheel according to the present invention.
图4为本发明所述的传动轴与驱动装置的连接结构示意图。Fig. 4 is a schematic diagram of the connection structure between the transmission shaft and the driving device according to the present invention.
图5为本发明所述的翻粮轮的结构示意图。Fig. 5 is a structural schematic diagram of the grain turning wheel according to the present invention.
具体实施方式Detailed ways
下面结合附图对本发明做进一步的详细说明，以令本领域技术人员参照说明书文字能够据以实施。The present invention will be further described in detail below in conjunction with the accompanying drawings, so that those skilled in the art can implement it with reference to the description.
如图1-5所示，本发明提供了一种翻粮机器人，其包括：机架110；两组螺旋轮120，两个驱动装置130及两个翻粮轮140。As shown in FIGS. 1-5 , the present invention provides a grain-turning robot, which includes: a frame 110 ; two sets of spiral wheels 120 , two driving devices 130 and two grain-turning wheels 140 .
两组螺旋轮120分别设置在机架110的两侧；其中，每组螺旋轮120包括：第一螺旋轮121和第二螺旋轮122；第一螺旋轮121和第二螺旋轮122同轴间隔设置。Two groups of helical wheels 120 are respectively arranged on both sides of the frame 110; wherein, each group of helical wheels 120 includes: a first helical wheel 121 and a second helical wheel 122; the first helical wheel 121 and the second helical wheel 122 are coaxially spaced set up.
第一螺旋轮121和第二螺旋轮122的结构相同，下面仅以第一螺旋轮121的结构为例作进一步说明。The structure of the first helical wheel 121 and the second helical wheel 122 are the same, and the structure of the first helical wheel 121 is taken as an example below for further description.
第一螺旋轮121包括芯轴121a和多个螺旋叶片121b；多个螺旋叶片121b呈螺旋状同向缠绕设置在芯轴121a的外侧；螺旋叶片121b的螺距P和芯轴121a的外径D的比值满足P/D≥4，螺旋叶片121b的高度h和轴径D的比值满足h/D≥0.5。通过采用高叶轴比的螺旋轮能够大大提高螺旋叶片的翻粮作用，提高翻粮效率。The first helical wheel 121 includes a core shaft 121a and a plurality of helical blades 121b; a plurality of helical blades 121b are helically wound in the same direction on the outside of the core shaft 121a; the pitch P of the helical blade 121b and the outer diameter D of the core shaft 121a The ratio satisfies P/D≧4, and the ratio of the height h of the helical blade 121b to the shaft diameter D satisfies h/D≧0.5. By adopting a helical wheel with a high blade-to-axis ratio, the grain-turning effect of the spiral blade can be greatly improved, and the grain-turning efficiency can be improved.
同组的第一螺旋轮121和第二螺旋轮122的螺旋叶片旋向相同，并且两个第一螺旋轮121的螺旋叶片旋向相反。即同轴设置的第一螺旋轮121和第二螺旋轮122的螺旋叶片的旋向相同，位于机架110两侧的两个第一螺旋轮121的螺旋叶片的旋向相反，位于机架110两侧的两个第二螺旋轮122的螺旋叶片的旋向相反。The helical blades of the first helical wheel 121 and the second helical wheel 122 in the same group have the same helical direction, and the helical blades of the two first helical wheels 121 are opposite in direction. That is, the helical blades of the first helical wheel 121 and the second helical wheel 122 that are coaxially arranged have the same direction of rotation, and the helical blades of the two first helical wheels 121 on both sides of the frame 110 have opposite directions of rotation, The helical blades of the two second helical wheels 122 on both sides rotate in opposite directions.
两个驱动装置130与两组螺旋轮120一一对应设置；其中，驱动装置130位于同组的第一螺旋轮121和第二螺旋轮122之间，驱动装置130的输出轴的两端分别延伸至驱动装置130外部，与第一螺旋轮121的芯轴121a和第二螺旋轮122的芯轴连接。驱动装置130同时驱动与其连接的第一螺旋轮121和第二螺旋轮122转动。其中，两个驱动装置130的输出轴平行设置，相对应的两组螺旋轴120平行设置。The two driving devices 130 are provided in one-to-one correspondence with the two groups of helical wheels 120; wherein, the driving device 130 is located between the first helical wheel 121 and the second helical wheel 122 of the same group, and the two ends of the output shaft of the driving device 130 extend respectively To the outside of the driving device 130 , it is connected with the core shaft 121 a of the first helical wheel 121 and the core shaft of the second helical wheel 122 . The driving device 130 simultaneously drives the first helical wheel 121 and the second helical wheel 122 connected thereto to rotate. Wherein, the output shafts of the two driving devices 130 are arranged in parallel, and the corresponding two sets of screw shafts 120 are arranged in parallel.
在本实施例中，所述的翻粮机器人还包括：两组传动轴150，其与所述两组螺旋轮120一一对应设置。其中，每组传动轴150包括：第一传动轴151和第二传动轴152，第一传动轴151和第二传动轴152分别同轴固定连接在驱动装置130的输出轴的两端。第一螺旋轮121的芯轴121a和第二螺旋轴122的芯轴为空心轴，第一螺旋轮121通过芯轴121a套接在第一传动轴151上，与第一传动轴151同步转动；第二螺旋轮122通过芯轴套接在第二传动轴152上，与第二传动轴152同步转动。In this embodiment, the grain-turning robot further includes: two sets of transmission shafts 150 , which are provided in one-to-one correspondence with the two sets of helical wheels 120 . Wherein, each group of transmission shafts 150 includes: a first transmission shaft 151 and a second transmission shaft 152 , and the first transmission shaft 151 and the second transmission shaft 152 are coaxially fixedly connected to both ends of the output shaft of the driving device 130 . The mandrel 121a of the first helical wheel 121 and the mandrel of the second helical shaft 122 are hollow shafts, the first helical wheel 121 is sleeved on the first transmission shaft 151 through the mandrel 121a, and rotates synchronously with the first transmission shaft 151; The second spiral wheel 122 is sleeved on the second transmission shaft 152 through the mandrel, and rotates synchronously with the second transmission shaft 152 .
作为一种优选，第一传动轴151和第二传动轴152上分别沿轴向开设有键槽151a和152a；第一螺旋轮121的芯轴与所述第一传动轴151之间以及所述第二螺旋轮122的芯轴与所述第二传动轴152之间分别通过键连接。As a preference, the first transmission shaft 151 and the second transmission shaft 152 are respectively provided with key grooves 151a and 152a along the axial direction; The core shafts of the two helical wheels 122 are respectively connected to the second transmission shaft 152 by keys.
在一种实施例中，驱动装置130包括电机和蜗轮蜗杆减速机，减速机的蜗杆即为驱动装置130的输出轴。第一传动轴151和第二传动轴152分别同轴固定连接在所述蜗杆的两端。In one embodiment, the driving device 130 includes a motor and a worm gear reducer, and the worm of the reducer is the output shaft of the driving device 130 . The first transmission shaft 151 and the second transmission shaft 152 are coaxially and fixedly connected to two ends of the worm.
作为一种优选，减速机的蜗杆设置为中空结构，第一传动轴151和第二传动轴152为一体式结构，即每组传动轴150为一个整体轴结构；第一传动轴151和第二传动轴152组成的一体式传动轴整体结构从所述蜗杆中穿过，传动轴整体结构与蜗杆通过键连接的方式传动。通过这种整体式的结构能够增大传动轴的强度，并且便于组合安装。As a preference, the worm of the speed reducer is set as a hollow structure, and the first transmission shaft 151 and the second transmission shaft 152 are of an integral structure, that is, each group of transmission shafts 150 is an integral shaft structure; the first transmission shaft 151 and the second transmission shaft The integral structure of the transmission shaft formed by the transmission shaft 152 passes through the worm, and the transmission of the overall structure of the transmission shaft and the worm is driven by a key connection. The strength of the transmission shaft can be increased through this integral structure, and combined installation is convenient.
两个翻粮轮140一一对应的同轴连接在两组传动轴中的第二传动轴152的一端，即第二螺旋轮122位于同侧设置的驱动装置130与翻粮轮140之间。其中，翻粮轮140上具有多个翻粮叶片141，翻粮叶片141沿翻粮轮140的周向间隔设置。翻粮轮140转动时能够将粮食向外抛出，能够提高翻粮效率；使用时可根据翻粮深度更换不同齿高(叶片高度)的翻粮轮140，进一步提高翻粮效率。The two grain turning wheels 140 are coaxially connected to one end of the second transmission shaft 152 in the two sets of transmission shafts, that is, the second spiral wheel 122 is located between the driving device 130 and the grain turning wheel 140 arranged on the same side. Wherein, the grain turning wheel 140 has a plurality of grain turning blades 141 , and the grain turning blades 141 are arranged at intervals along the circumferential direction of the grain turning wheel 140 . When the grain turning wheel 140 rotates, the grain can be thrown outwards, which can improve the grain turning efficiency; during use, the turning grain turning wheels 140 of different tooth heights (blade heights) can be replaced according to the grain turning depth, so as to further improve the grain turning efficiency.
在一种实施例中，翻粮轮140还包括翻粮轮轴142；翻粮轮轴142为空心轴；翻粮轮轴142同轴套接在第二传动轴152上远离驱动装置130的一端；其中，翻粮叶片141固定连接在翻粮轮轴142的外壁上。其中，翻粮叶片141为矩形叶片，所述矩形叶片的一条边固定连接在翻粮轮轴142上，并且矩形叶片141与翻粮轮轴142的连接边与翻粮轮轴142的轴线方向平行，以增大翻粮叶片141与粮食的接触面积。多个翻粮叶片141沿翻粮轮轴142的周向均匀间隔设置。In one embodiment, the grain-turning wheel 140 also includes a grain-turning wheel shaft 142; the grain-turning wheel shaft 142 is a hollow shaft; the grain-turning wheel shaft 142 is coaxially sleeved on the end of the second transmission shaft 152 away from the driving device 130; wherein, The grain turning blade 141 is fixedly connected on the outer wall of the grain turning wheel shaft 142 . Wherein, the grain-turning blade 141 is a rectangular blade, and one side of the rectangular blade is fixedly connected to the grain-turning wheel shaft 142, and the connection side between the rectangular blade 141 and the grain-turning wheel shaft 142 is parallel to the axial direction of the grain-turning wheel shaft 142, to increase Large grain turning blade 141 and grain contact area. A plurality of grain-turning blades 141 are evenly spaced along the circumference of the grain-turning wheel shaft 142 .
作为一种优选，翻粮轮轴142的一端封闭，另一端具有内螺纹。其中，第二传动轴152的端部具有外螺纹，翻粮轮轴142通过螺纹连接在所述第二传动轴152上。通过螺纹连接的方式安装翻粮轮轴142，能够便于更换不同齿高的翻粮轮140，以适应不同的翻粮深度。翻粮轮轴142的外端封闭能够防止粮食进入翻粮轮轴142的内部。As a preference, one end of the turning wheel shaft 142 is closed, and the other end has an internal thread. Wherein, the end of the second transmission shaft 152 has an external thread, and the turning wheel shaft 142 is connected to the second transmission shaft 152 through threads. The grain-turning wheel shaft 142 is installed through threaded connection, which can facilitate the replacement of grain-turning wheels 140 with different tooth heights to adapt to different grain-turning depths. The sealing of the outer end of the grain-turning wheel shaft 142 can prevent grain from entering the inside of the grain-turning wheel shaft 142 .
翻粮轮140位于翻粮机器人的尾部，另一端为翻粮机器人头部，翻粮作业时，两侧螺旋轮向同时内转动，粮食颗粒则向外翻动，翻粮机器人朝头部方向前进。同时，在翻粮轮140的作用下，可向外抛粮，提升翻粮效果。需要转弯时，两侧螺旋轮同方向转动即可。The grain-turning wheel 140 is positioned at the tail of the grain-turning robot, and the other end is the head of the grain-turning robot. During the grain-turning operation, the helical wheels on both sides rotate inwards simultaneously, and the grain particles are turned outwards, and the grain-turning robot advances toward the head. At the same time, under the action of the grain turning wheel 140, the grain can be thrown outwards to improve the grain turning effect. When it is necessary to turn, the helical wheels on both sides can be rotated in the same direction.
本发明采用螺旋驱动原理，翻粮机器人在行驶过程中即可对粮食产生翻动作用，并分别在机器人的两个传动轴端增加翻粮轮，增加翻粮深度和翻粮效率，翻粮机器人整体结构简单，质量轻，对粮无损伤。翻粮机器人左右螺旋轮各为两段，驱动装置设置于两段左旋的中部，机器人整体中心位移形心，整体布局更加合理，行驶平稳。采用高叶轴比螺旋轮，增加叶片与粮食的接触，相对于中、低叶片比(P/D在1至2之间，h/D在0.1至0.2之间)的螺旋轴(浮筒轴)能够提高驱动力(行驶动力)，同时增加翻粮效率。The invention adopts the principle of spiral drive, and the grain-turning robot can turn the grain during the driving process, and adds grain-turning wheels at the two transmission shaft ends of the robot to increase the depth and efficiency of the grain-turning robot. Simple structure, light weight, no damage to grain. The left and right helical wheels of the grain-turning robot are divided into two sections, and the driving device is set in the middle of the two left-handed sections. The overall center of the robot is displaced from the centroid, the overall layout is more reasonable, and the driving is stable. The use of a high blade shaft ratio screw wheel increases the contact between the blade and the grain, compared to the screw shaft (pontoon shaft) with a medium and low blade ratio (P/D between 1 and 2, h/D between 0.1 and 0.2) It can improve the driving force (driving power) and at the same time increase the efficiency of grain turning.
尽管本发明的实施方案已公开如上，但其并不仅仅限于说明书和实施方式中所列运用，它完全可以被适用于各种适合本发明的领域，对于熟悉本领域的人员而言，可容易地实现另外的修改，因此在不背离权利要求及等同范围所限定的一般概念下，本发明并不限于特定的细节和这里示出与描述的图例。Although the embodiment of the present invention has been disclosed as above, it is not limited to the use listed in the specification and implementation, it can be applied to various fields suitable for the present invention, and it can be easily understood by those skilled in the art Therefore, the invention is not limited to the specific details and examples shown and described herein without departing from the general concept defined by the claims and their equivalents.
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