CN216634396U - Left-right telescopic crawler-type grain leveling robot - Google Patents

Abstract

The utility model discloses a left-right telescopic crawler-type grain leveling robot, which comprises a chassis, a left crawler unit, a right crawler unit, a driving mechanism and a parking unit, wherein the left crawler unit is arranged on the chassis; the left crawler unit and the right crawler unit are respectively connected with the chassis in a sliding manner, and the sliding direction is set to be a left-right direction; the driving mechanism is respectively connected with the left crawler unit and the right crawler unit and is arranged to drive the two crawler units to synchronously move away from and synchronously move close to each other in the left-right direction; the parking unit is detachably connected with the chassis and is configured to be telescopic in the height direction and capable of extending to the supporting robot to suspend the two crawler units. The left crawler unit and the right crawler unit can be synchronously stretched, namely the width between the two crawler units is adjustable; the parking mechanism holds up the robot to suspend the crawler unit in the air, so that the crawler unit can stretch conveniently.

Description

Left-right telescopic crawler-type grain leveling robot

Technical Field

The utility model relates to the field of grain leveling robots, in particular to a crawler-type grain leveling robot with a left telescopic structure and a right telescopic structure.

Background

At present, most of the leveling work of the grain depot in China is finished manually, and the method has the disadvantages of large workload, high labor intensity, high labor cost and high time cost. In order to solve the problem, some grain leveling robots appear on the market. The grain leveling robot mainly comprises a walking unit, a grain pumping unit, a grain throwing unit and a material pushing unit. When the grain leveling robot works, the grain pumping unit sucks grains from a certain grain pile and transfers the grains to the grain throwing unit, the grain throwing unit throws the grains to the position of the concave pit through the moving conveying belt, and finally, the grain leveling robot pushes the grains to be level by the material pushing unit while walking back and forth.

The walking unit of the grain leveling robot can adopt a crawler type, so that the robot can walk on the uneven grain surface conveniently. The wider walking unit is beneficial to keeping the gravity center of the grain leveling robot stable in the walking and working processes, but the width of a main grain bin door is smaller, for example, the width of the grain bin door is about 800mm, so that the width of the existing grain leveling robot is generally smaller than 800mm in order to enable the robot to pass through the grain bin door, and the grain leveling robot with the width has the defect of insufficient stability.

SUMMERY OF THE UTILITY MODEL

In order to solve at least one technical problem in the prior art, the utility model provides a crawler-type grain leveling robot with a left telescopic structure and a right telescopic structure.

The left-right telescopic crawler-type grain leveling robot comprises a chassis, a left crawler unit, a right crawler unit, a driving mechanism and a parking unit; the left crawler unit and the right crawler unit are respectively connected with the chassis in a sliding mode, and the sliding direction is set to be the left-right direction; the driving mechanism is respectively connected with the left crawler unit and the right crawler unit and is arranged to drive the two crawler units to synchronously move away from and synchronously move close to each other in the left-right direction; the parking unit is detachably connected with the chassis and is configured to be telescopic in the height direction and capable of extending to the supporting robot to suspend the two crawler units.

The beneficial effects of this embodiment are: the left crawler unit and the right crawler unit can synchronously extend and retract, namely the width between the two crawler units is adjustable; the parking mechanism supports the robot to enable the crawler unit to be suspended, and the crawler unit can stretch conveniently.

In some embodiments, the two track units are moved away synchronously to a set limit position into a fully extended state in which the two track units are connected by a detachable connecting frame.

In some embodiments, the left track unit and the right track unit are slidably connected to the chassis by a sliding pair of a guide rail disposed at the bottom of the chassis and a slider disposed on the track unit, respectively, wherein the guide rail extends in the left-right direction.

In some embodiments, the driving mechanism includes a motor, a transmission mechanism and a screw pair, the screw pair includes a bidirectional screw and two screw nuts, the bidirectional screw extends between the two track units in the left-right direction and is rotatably disposed at both ends, the two screw nuts are respectively in threaded fit with two sections of threaded areas of the bidirectional screw with opposite spiral directions, one screw nut is connected with the left track unit, the other screw nut is connected with the right track unit, and the motor is in transmission connection with the bidirectional screw through the transmission mechanism.

In some embodiments, the transmission mechanism includes a driving bevel gear disposed on the output shaft of the motor and a driven bevel gear disposed coaxially on the lead screw and engaged with the driving bevel gear.

In some embodiments, the parking unit comprises at least four support rods which are distributed at the left and right sides of the walking unit, connected with the chassis and telescopic in the height direction.

In some embodiments, the support bar comprises: the first upright column is arranged at the lower part of the supporting rod and comprises a first pipe cavity; the second upright column is arranged at the upper part of the supporting rod and comprises a second pipe cavity, the second upright column and the first upright column are mutually nested and are in sliding fit, and the second upright column is also connected with the walking unit; and the riser is fixed in the upper end of second stand, the riser includes: the second screw rod nut is connected with the first upright post; the second screw rod extends along the axial direction in the two cavities and is in threaded fit with a second screw rod nut; and the transmission part is connected with the handle or the motor and is configured to convert the rotation of the handle or the motor around the horizontal axis into the rotary motion of the second screw rod around the vertical axis. The support rod of the embodiment can be manually or electrically operated to extend and retract.

In some embodiments, the front end and the rear end of the chassis are respectively provided with a first metal pipe extending along the left-right direction, the side surface of the support rod is vertically provided with a second metal pipe, the pipe wall of the first metal pipe close to the pipe openings at the two sides is provided with a first pin hole, the pipe wall of the second metal pipe is provided with a second pin hole, the second metal pipe is inserted into the first metal pipe, and the first pin hole is connected with the second pin hole through a bolt. The support rod of the embodiment is quick-release.

In some embodiments, the track unit comprises: the first beam extends along the advancing direction of the crawler unit, and is connected with the driving mechanism and the chassis in a sliding manner; the servo motor and the speed reducer are arranged below one end of the first beam; a second beam disposed outside and lower than the first beam, the second beam extending in a traveling direction of the crawler unit; the driving wheel is arranged at one end, close to the servo motor, of the second beam and is in transmission connection with the speed reducer; the guide wheel is arranged at the other end of the second beam; the floating wheel is rotatably arranged above the second beam; the swinging guide rail is arranged below the second beam, extends along the advancing direction of the crawler unit and can swing in the advancing direction; and the crawler belt is enclosed around the driving wheel, the floating wheel, the guide wheel and the swing guide rail.

In some embodiments, the robot further comprises a grain throwing unit, a grain pumping unit and a material pushing unit, wherein a bracket is arranged on the chassis, the grain throwing unit and the grain pumping unit are arranged on the bracket, and the material pushing unit is arranged at one end of the robot.

Drawings

Fig. 1 shows a perspective view of a left-right retractable tracked grain leveling robot according to some embodiments of the present invention.

Fig. 2 shows an exploded view of the main components of a left-right retractable crawler-type grain leveling robot according to some embodiments of the present invention.

Fig. 3 shows an exploded view of the walking unit and the parking unit of the crawler-type grain leveling robot with retractable left and right according to some embodiments of the utility model.

Fig. 4 shows a perspective view of the drive mechanism of the left-right telescopic crawler-type grain leveling robot according to some embodiments of the present invention.

Fig. 5 shows a perspective view of the track unit of the left-right telescopic tracked grain leveling robot according to some embodiments of the utility model.

Fig. 6 shows an internal structure schematic diagram of a track unit of the left-right telescopic crawler-type grain leveling robot according to some embodiments of the utility model.

Fig. 7 shows a perspective view of the track of the left-right telescopic tracked grain leveling robot according to some embodiments of the utility model.

Fig. 8 shows a schematic internal structure diagram of a supporting rod of a crawler-type grain leveling robot capable of stretching left and right according to some embodiments of the utility model.

Description of the symbols:

the crawler unit 100, a chassis 101, a left crawler unit 102, a right crawler unit 103, a driving mechanism 104, a guide rail 105, a slider 106, a motor 107, a transmission mechanism 108, a bidirectional lead screw 109, a lead screw nut 110, a driving bevel gear 111, a driven bevel gear 112, a ball bearing 113, a first beam 114, a second beam 115, a tripod 116, a servo motor 117, a speed reducer 118, a driving wheel 119, a guide wheel 120, a guide wheel support 121, a screw 122, an outer sleeve 123, a floating wheel 124, a swing guide rail 125, a crawler 126, a sealing plate 127, inner teeth 128, a connecting frame 129, a parking unit 200, a support rod 201, a second metal tube 202, a first metal tube 203, a first pin hole 204, a second pin hole 205, a first upright post 206, a lifter 207, a handle 208, a second lead screw 209, a second lead screw nut 210, a transmission part 211, a first tube cavity 212, a second upright post 213, a second tube cavity 214, a gasket 215, a pushing unit 300, a driving unit, a, The grain throwing unit 400, the grain pumping unit 500, the fan motor 501, the fan 502, the open type air seal machinery 503 and the grain suction pipe 504

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings.

Figures 1 and 2 show perspective and exploded views, respectively, of a robot according to some embodiments of the present invention. Referring to fig. 1 and 2, the crawler-type grain leveling robot with the retractable left and right sides comprises a walking unit 100, a parking unit 200, a pushing unit 300, a grain throwing unit 400 and a grain pumping unit 500. The walking unit 100 supports the pushing unit 300, the grain throwing unit 400 and the grain drawing unit 500 and carries the pushing unit, the grain throwing unit 400 and the grain drawing unit to walk on the grain surface. The grain pumping unit 500 is used for transferring grains from the grain pile to the grain throwing unit 400. In some embodiments, the grain pumping unit 500 can mechanically transport grains by driving a motor to rotate blades in an auger mechanism. In other embodiments, the grain pumping unit 500 can attract the grain to the grain throwing unit 500 by means of the fan motor 501, the fan 502, the open air shutter 503 and the bendable grain suction pipe 504 (as shown in fig. 1 and 2). The pushing unit 300 is used for pushing the grain to be flat, and the length of the pushing unit 300 exceeds the width of the robot, for example, the length can reach 2 meters, so that the pushing unit 300 is detachably connected with the walking unit 100. Before the robot enters the granary, the pushing unit 300 is firstly detached, the robot walks through the granary door, and the pushing unit 300 is manually conveyed into the granary; after the robot enters the granary, the pushing unit 300 is installed at one end of the walking unit 100. Similarly, when the robot leaves the granary, the pushing unit 300 is also detached firstly.

Fig. 3 shows an exploded view of a walking unit of a robot according to some embodiments of the present invention. In some embodiments, referring to fig. 3, the walking unit 100 includes a chassis 101, a left track unit 102, a right track unit 103, and a drive mechanism 104. In some embodiments, the chassis 101 may be formed by welding square steel pipes, for example, the chassis 101 is shaped like a rectangular grid. The left crawler belt unit 102 and the right crawler belt unit 103 are slidably coupled to the chassis 101, respectively, and a sliding direction is set to a left-right direction. The drive mechanism 104 is provided between and connected to the left track unit 102 and the right track unit 103, and is capable of driving the left track unit 102 and the right track unit 103 to move away from and close to each other in the left-right direction in synchronism with each other. The two crawler units synchronously move away from each other to a set limit position to enter a fully extended state, and synchronously move close to each other to the set limit position to enter a fully retracted state. The extended limit position may be defined by a travel switch, i.e. a travel switch is provided at the extended limit position, and when the travel switch is triggered, the drive mechanism 104 immediately stops driving. In order to prevent the two track units from touching each other when they are simultaneously approaching, the extreme positions at which the two track units are retracted (fully retracted state) are also defined by an additional travel switch, which is triggered when the drive mechanism 104 stops driving immediately. Under the complete extension state, the distance between two track units is furthest, and the walking unit has great width, is favorable to keeping the focus stable when the robot works. In a fully contracted state, the distance between the two crawler units is the shortest, and the width of the walking unit is reduced to be smaller than the width of the granary door, so that the robot can smoothly pass through the granary door.

In some embodiments, the two track units are moved synchronously away to a set limit position into a fully extended state in which the two track units are connected by a detachable connecting bracket 129 shown in fig. 2. For example, the walking unit is provided with connecting frames 129 at both ends thereof, respectively, to keep the walking unit stable in a fully extended state. Furthermore, one of the connecting frames 129 is connected with the pushing unit 300, so that the two can be dismounted together, and the dismounting workload is reduced.

In some embodiments, the left and right track units 102 and 103 are connected to the chassis 101 through a guide mechanism to define the sliding direction of the left and right track units 103, respectively. Specifically, referring to fig. 3, the guiding mechanism includes a guide rail 105 fixed to the bottom of the chassis 101 and extending in the left-right direction, and a slider 106 disposed on the left crawler unit 102 and the right crawler unit 103, respectively, and slidably engaged with the guide rail 105. For example, the sliders 106 are four in number, two of the sliders 106 are arranged on the left crawler belt unit 102 at intervals in the crawler belt traveling direction, and the other two sliders 106 are arranged on the right crawler belt unit 103 at intervals in the crawler belt traveling direction. The guide rails 105 may be four short guide rails 105 that are disposed at the front end and the rear end of the chassis 101 and respectively correspond to the four sliders 106, or may be two long guide rails that are disposed at the front end and the rear end of the chassis 101. The slider 106 near the front end of the left crawler belt unit 102 and the slider 106 near the front end of the right crawler belt unit 103 are slidably engaged with the guide rail 105 at the front end of the chassis 101, respectively, and the slider 106 near the rear end of the left crawler belt unit 102 and the slider 106 near the rear end of the right crawler belt unit 103 are slidably engaged with the guide rail 105 at the rear end of the chassis 101, respectively.

In some embodiments, referring to fig. 3, a drive mechanism 104 is provided at the bottom of the chassis 101 between the left and right track units 102, 103 to drive the two track units synchronously closer to and away from each other perpendicular to the walking direction.

Fig. 4 illustrates a drive mechanism 104 for driving a track unit according to some embodiments of the present invention. Referring to fig. 4, the driving mechanism 104 includes a motor 107, a transmission mechanism 108, and a screw pair. The motor 107 is fixed at the bottom of the chassis 101, and the transmission mechanism 108 is used for connecting the motor 107 with the screw pair in a transmission way. The spindle pair comprises a bidirectional spindle 109 and two spindle nuts 110. The bidirectional screw 109 extends in the left-right direction between the two crawler units, for example, across the middle of the chassis 101 below the chassis 101. The bidirectional screw 109 has two threaded regions with opposite helical directions, one screw nut 110 being screwed onto the left-hand threaded region and the other screw nut 110 being screwed onto the right-hand threaded region. One of the lead screw nuts 110 is fixedly connected with the left track unit 102, and the other lead screw nut 110 is fixedly connected with the right track unit 103. The two-way screw 109 is rotatably connected at both ends thereof to the chassis 101, for example, via ball bearings 113, so that the two-way screw 109 can rotate about its central axis. The lead screw and the two lead screw nuts 110 are configured such that when turned in a certain direction (e.g., clockwise or counter-clockwise), the two lead screw nuts 110 move in a direction away from each other, moving the left and right crawler units 102 and 103 away from each other; when the lead screw is rotated in the opposite direction, the two lead screw nuts 110 move toward each other, so that the distance between the left and right crawler units 102 and 103 is reduced.

In some embodiments, referring to fig. 4, the transmission mechanism 108 is connected to the motor 107 and the bidirectional screw 109, respectively, for driving the screw to rotate. For example, the transmission mechanism 108 includes a driving bevel gear 111 disposed on the output shaft of the motor 107 and a driven bevel gear 112 coaxially sleeved on the bidirectional screw rod 109 and engaged with the driving bevel gear 111, and specifically, the driven bevel gear 112 is disposed between the left and right thread regions of the screw rod. When the motor 107 rotates, the driving bevel gear 111 drives the driven bevel gear 112 to rotate, so as to drive the screw rod to rotate.

Fig. 5 and 6 show a perspective view and an internal structure view of a track unit according to some embodiments of the present invention, respectively. The left crawler belt unit 102 and the right crawler belt unit 103 have the same structure, and the structure thereof is described by taking one crawler belt unit as an example. In some embodiments, referring to fig. 5 and 6, each track unit includes a first beam 114 and a second beam 115 disposed outside the first beam 114 and below the first beam 114, wherein both the first beam 114 and the second beam 115 extend in a direction of travel of the track unit. The first beam 114 and the second beam 115 may be metal pipes with square cross sections, and the two are connected by a plurality of tripods 116, so that the stand has good stability. In some embodiments, the first beams 114 of the two track units are connected by a detachable connecting frame 129 when the travel unit 100 is in the fully extended state. A feed screw nut 110 positioned in the middle of the first beam 114 and two sliders 106 respectively positioned at the front and rear sides of the feed screw nut 110 are arranged above the first beam 114. Referring to fig. 5, a servo motor 117 and a speed reducer 118 are disposed below one end of the first beam 114, for example, the speed reducer 118 may be an NMRV speed reducer. Referring to fig. 6, a driving wheel 119 in transmission connection with a speed reducer 118 is disposed at one end of the second beam 115 close to the servo motor 117, and a guide wheel 120 is disposed at the other end. The relative position of the guide wheels 120 can be appropriately adjusted in the extending direction of the second beam 115 as needed to adjust the degree of tightness of the track. For example, an outer sleeve 123 having a square cross section and extending along the extending direction of the second beam 115 is disposed above the end of the second beam 115. One end of the guide wheel support 121 is rotatably provided with a guide wheel 120, and the other end is provided with a screw 122, and a portion of the guide wheel support 121 penetrates through the outer sleeve 123. The screw 122 passes through a fixed part on the second beam 115, such as the tripod 116 adjacent to the guide wheel 120, and is fastened with nuts at both sides of the tripod 116. A plurality of rotatable floating wheels 124 are arranged above the second beam 115, and a swing guide rail 125 which can extend along the advancing direction of the crawler unit and can swing along the advancing direction is arranged below the second beam. In particular, the swing guide 125 is hinged to the second beam 115. The track 126 surrounds the drive wheel 119, the loose wheel 124, the guide wheel 120 and the swing rail 125 supported by the second beam 115. The driving wheel 119 is engaged with the track 126 (the engaging structure is omitted in the drawing) to drag the track 126 to move. FIG. 7 schematically illustrates a perspective view of a track according to some embodiments of the utility model. Fig. 7 illustrates the structure of the crawler belt, mainly for explaining the positions of the inner teeth 128, but details of the shapes of the inner teeth 128 are omitted. Referring to fig. 7, two rows of inner teeth 128 are provided on the inner side of the track 126 in the longitudinal direction of the track 126, and the swing rail 125 is fitted between the two rows of inner teeth 128.

In some embodiments, the front and rear portions of the crawler 126 each have an inclination away from the ground that makes it easier for the robot to walk on uneven grain piles. For example, the inclination angle does not exceed 35 °. The distance between both ends of the swing rail 125 is shorter than the distance between the driving wheel 119 and the guide wheel 120, so that the upper portion of the crawler 126 is longer than the lower portion of the crawler 126 (i.e., the landing portion of the crawler 126 when walking) to realize the inclination of the front and rear end portions of the crawler 126 away from the ground. In some embodiments, for the case where the number of the swing rails 125 per crawler unit is two or more (as shown in fig. 6, the number of the swing rails 125 per crawler unit is two), the distance between both ends of the swing rail 125 includes the length of each swing rail 125 and the interval between the swing rails 125.

In some embodiments, referring to fig. 5, sealing plates 127 are further disposed on the left and right sides of the track unit, respectively, so as to prevent grains from entering the track unit and prevent the track unit from being jammed.

In some embodiments, the drive wheels 119 of the left track unit 102 and the right track unit 103 are respectively arranged at different ends of the robot, i.e. one of the front drive and the other rear drive. The robot moves forward, backward, turns, etc. by controlling the difference in the rotational speed and the direction of rotation of the two servo motors 117. The two crawler units can extend outwards and also can retract inwards. The user can adjust the distance between the two crawler units according to the space requirement of the work site.

The parking unit 200 is connected to the traveling unit 100, is provided to be extendable and retractable in the height direction, and is extendable to lift the robot to suspend the traveling unit 100. The parking unit 200 is configured to be able to lift the robot to suspend the crawler unit in the air for left-right telescopic adjustment of the crawler unit. In some applications, the park unit 200 may also provide auxiliary support when the robot is flat to maintain robot stability.

In some embodiments, referring to fig. 3, the parking unit 200 includes four support rods 201 that are uniformly distributed on the left and right sides of the traveling unit 100, are connected to the chassis 101, and are retractable in the height direction. Referring to fig. 8, the supporting rod 201 includes a lifter 207 and a first upright 206 disposed at a lower portion of the supporting rod. The lifter 207 includes a second lead screw 209, a second lead screw nut 210, and a transmission portion 211. The first upright post 206 has a first lumen 212 extending along the length direction of the first upright post 206, the threaded hole of the second lead screw nut 210 is coaxial with the first lumen 212, and the second lead screw nut 210 is fixedly connected with the first upright post 206. When the second lead screw 209 is threadedly engaged with the second lead screw nut 210, the second lead screw 209 extends along the length of the first post 206 and into the first lumen 212. In some embodiments, the support rod 201 further comprises a second upright 213 disposed at the upper portion of the support rod, the second upright 213 comprises a second lumen 214, the first upright 213 is inserted into the second lumen 214, and the second upright 213 is slidably engaged with the second lumen 214. The upper end of the second upright column 213 is connected to the traveling unit 100, the lifter 207 is fixed to the upper end of the second upright column 213, and the second lead screw 209 extends in the axial direction of the second lumen 214. The transmission part 211 is connected to the handle 208 or the motor (not shown in the figure), and the transmission part 211 is configured to convert the rotation of the handle 208 or the motor along the horizontal axis into the rotation of the second lead screw 209 along the vertical axis. When the handle 208 is shaken clockwise or counterclockwise or the motor is rotated, the second lead screw 209 performs a rotation motion while moving axially relative to the first upright 206 due to the fact that the first upright 206 is supported on the ground or grain, resulting in a telescopic motion of the support rod 201 manually or electrically.

In some embodiments, the transmission portion 211 comprises two bevel gears, as shown in fig. 8. In other embodiments, the transmission portion 211 may be a worm gear mechanism.

The support rod 201 is detachably connected to the traveling unit 100. For example, referring to fig. 3, the front end and the rear end of the chassis 101 are respectively provided with a first metal pipe 203 extending along the left-right direction, and preferably, the first metal pipe 203 is a square pipe with a square cross section. Referring to fig. 3, the upper end of the supporting rod 201 is provided with a second metal tube 202 extending laterally perpendicular to the supporting rod 201, for example, the end of the second metal tube 202 is connected to the second upright 213. Preferably, the second metal tube 202 has a square cross-section and is sized slightly smaller than the cross-section of the first metal tube 203. The pipe wall of the first metal pipe 203 is provided with a first pin hole 204 near the pipe orifices on two sides, and the pipe wall of the second metal pipe 202 is provided with a second pin hole 205. The first pin hole 204 and the second pin hole 205 are provided on the walls of the respective metal pipes so that the first pin hole 204 and the second pin hole 205 can be aligned by adjusting the insertion depth of the second metal pipe 202. The second metal tube 202 is inserted into the first metal tube 203 of the chassis 101, the first pin hole 204 is maintained aligned with the second pin hole 205, and the pin is inserted into the first pin hole 204 and the second pin hole 205, thereby connecting the first metal tube 203 and the second metal tube 202 in a quick release manner. The width in the state where the parking unit 200 is coupled to the traveling unit 100 is greater than the width in the state where the traveling unit 100 is fully extended. Before the robot enters the granary, the parking unit 200 is detached. After the robot enters the granary, the parking unit 200 is mounted on the walking unit 100, then the parking unit 200 is extended and the robot is lifted up, and after the walking unit 100 is completely extended, the robot is put down.

In some embodiments, referring to fig. 3, the position of the support rod 201 in the left-right direction is also adjustable to match the extension and retraction of the two track units. Such a parking unit 200 includes an extended state and a retracted state as well as the traveling unit 100. Before the robot enters the granary, the parking unit 200 is in a contraction state, the width of the parking unit 200 is smaller than the width of the granary door, the parking unit 200 does not need to be detached at the moment, and the robot can carry the parking unit 200 to directly walk through the granary door; when the robot enters the granary, the parking unit is firstly extended, and then the walking unit 100 is unfolded. For example, at least one of the first pin holes 204 and the second pin holes 205 has at least two, for example, one first pin hole 204 of the wall of the first metal pipe 203 and a plurality of second pin holes 205 of the wall of the second metal pipe 202 are arranged at intervals along the length direction of the pipe; alternatively, the first pin holes 204 of the wall of the first metal pipe 203 are arranged in plurality at intervals along the pipe length direction, and one second pin hole 205 of the wall of the second metal pipe 202 is provided; alternatively, the first pin holes 204 of the wall of the first metal tube 203 are arranged at intervals along the tube length direction, and the second pin holes 205 of the wall of the second metal tube 202 are also arranged at intervals along the tube length direction, so that the support rod 201 can be adjusted in a left-right telescopic manner by changing the aligned pin holes.

In some embodiments, referring to fig. 8, the lower end of the support rod 201 is provided with a gasket 215. The gasket 215 has a large area to prevent the supporting bar 201 from being sunk into the grain.

What has been described above are merely some embodiments of the present invention. It will be apparent to those skilled in the art that various changes and modifications can be made without departing from the inventive concept thereof, and these changes and modifications can be made without departing from the spirit and scope of the utility model.

Claims (10)

1. The left-right telescopic crawler-type grain leveling robot is characterized by comprising a chassis, a left crawler unit, a right crawler unit, a driving mechanism and a parking unit;

the left crawler unit and the right crawler unit are respectively connected with the chassis in a sliding mode, and the sliding direction is set to be the left-right direction;

the driving mechanism is respectively connected with the left crawler unit and the right crawler unit and is arranged to drive the two crawler units to synchronously move away from and synchronously move close to each other in the left-right direction;

the parking unit is detachably connected with the chassis and is configured to be telescopic in the height direction and capable of extending to the supporting robot to suspend the two crawler units.

2. The left-right telescopic tracked grain leveling robot according to claim 1, wherein the two track units are synchronously far away to a set limit position to enter a fully extended state in which the two track units are connected by a detachable connecting frame.

3. The left-right telescopic crawler-type grain leveling robot according to claim 1, wherein the left crawler unit and the right crawler unit are respectively connected with the chassis in a sliding mode through a sliding pair consisting of a guide rail arranged at the bottom of the chassis and a sliding block arranged on the crawler unit, and the guide rail extends in the left-right direction.

4. The crawler-type grain leveling robot with the left and right telescopic functions as claimed in claim 1, wherein the driving mechanism comprises a motor, a transmission mechanism and a screw pair, the screw pair comprises a bidirectional screw and two screw nuts, the bidirectional screw extends in the left and right directions between the two crawler units, the two ends of the bidirectional screw are rotatably arranged, the two screw nuts are respectively in threaded fit with two sections of threaded areas of the bidirectional screw, the threaded areas have opposite spiral directions, one screw nut is connected with the left crawler unit, the other screw nut is connected with the right crawler unit, and the motor is in transmission connection with the bidirectional screw through the transmission mechanism.

5. The left-right telescopic crawler-type grain leveling robot according to claim 4, wherein the transmission mechanism comprises a driving bevel gear arranged on an output shaft of the motor and a driven bevel gear coaxially arranged on the screw rod and meshed with the driving bevel gear.

6. The left-right telescopic tracked grain leveling robot according to claim 1, wherein the parking unit comprises at least four support rods which are distributed on the left side of the left track unit and the right side of the right track unit, are connected with the chassis and are telescopic in the height direction.

7. The left-right telescopic tracked grain leveling robot according to claim 6, wherein the support rod comprises:

the first upright column is arranged at the lower part of the supporting rod and comprises a first pipe cavity;

the second upright column is arranged at the upper part of the supporting rod and comprises a second pipe cavity, the second upright column and the first upright column are mutually nested and are in sliding fit, and the second upright column is also connected with the chassis; and

the riser is fixed the upper end of second stand, the riser includes:

the second screw rod nut is connected with the first upright post;

the second screw rod extends along the axial direction in the two cavities and is in threaded fit with the second screw rod nut; and

and the transmission part is connected with a handle or a motor and is configured to convert the rotation of the handle or the motor around a horizontal axis into the rotary motion of the second screw rod around a vertical axis.

8. The left-right telescopic crawler-type grain leveling robot according to claim 6, wherein a first metal pipe extending in the left-right direction is respectively arranged at the front end and the rear end of the chassis, a second metal pipe is vertically arranged on the side surface of the supporting rod, a first pin hole is formed in the pipe wall of the first metal pipe close to the pipe openings at the two sides, a second pin hole is formed in the pipe wall of the second metal pipe, the second metal pipe is inserted into the first metal pipe, and the first pin hole is connected with the second pin hole through a bolt.

9. The left-right telescopic tracked grain leveling robot according to claim 1, wherein the track unit comprises:

a first beam extending in a direction of travel of the track unit, the first beam being connected to the drive mechanism and slidably connected to the chassis;

the servo motor and the speed reducer are arranged below one end of the first beam;

a second beam disposed outside and lower than the first beam, the second beam extending in a traveling direction of the crawler unit;

the driving wheel is arranged at one end, close to the servo motor, of the second beam and is in transmission connection with the speed reducer;

The guide wheel is arranged at the other end of the second beam;

the floating wheel is rotatably arranged above the second beam;

the swinging guide rail is arranged below the second beam, extends along the advancing direction of the crawler unit and can swing in the advancing direction; and

and the crawler belt is surrounded on the driving wheel, the floating wheel, the guide wheel and the swing guide rail.

10. The left-right telescopic crawler-type grain leveling robot according to any one of claims 1 to 9, further comprising a walking unit, and a grain throwing unit, a grain pumping unit and a material pushing unit which are supported by the walking unit, wherein the walking unit comprises the chassis, the left crawler unit, the right crawler unit and the driving mechanism, and the material pushing unit is detachably connected with the walking unit.

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