CN219142282U - Automatic selective inspection robot for grain depot - Google Patents

Abstract

The application relates to the field of detection equipment, in particular to an automatic spot check robot for a grain depot, which comprises a crawler, an auxiliary insertion device and a material taking assembly, wherein the auxiliary insertion device comprises a guide cylinder and a driving assembly, the guide cylinder is vertically arranged on the crawler, and a spiral plate is wound on the outer side wall of the guide cylinder along the length direction of the guide cylinder; the guide cylinder can rotate around the axis of the spiral plate, and the rotation of the guide cylinder can drive the spiral plate to rotate; the driving assembly is arranged on the crawler and used for driving the guide cylinder to rotate, the material taking assembly is arranged inside the guide cylinder and used for collecting grains inside the grain pile after the guide cylinder is inserted into the grain pile. The grain depot automatic spot check robot has the effect of improving the stability in the working process of the grain depot automatic spot check robot.

Description

Automatic selective inspection robot for grain depot

Technical Field

The application relates to the technical field of detection equipment, in particular to an automatic sampling inspection robot for a grain depot.

Background

The granary is a special building for storing grains, and in the grain storage process, the granary generally has moisture resistance, fire resistance and the like due to the physical properties, physiological properties and other characteristics of grains. And the grain pile is required to be periodically sampled and checked by a worker so as to reduce the phenomenon that grains get damp and moldy. The manual work is heavier to the grain heap sample burden, and inefficiency moreover. The efficiency of the stack inspection is improved if robotics can be used to sample the stack.

The related art discloses a grain depot inspection robot, and it mainly includes that the tracked vehicle promotes power spare and sampling spoon, promotes the power spare and installs on the tracked vehicle, and sampling spoon rotates and installs on promoting the power spare. The pushing power piece is used for driving the sampling spoon to vertically move. During the working process of the inspection robot, the inspection robot moves to a designated position in the granary according to the instruction of a worker, then the power piece is pushed to drive the sampling spoon to extend into grains, and the sampling spoon is rotated to finish sampling grains.

The height of grains piled in the granary is generally 3-5 meters, and in the process of pushing the power piece to push the sampling spoon to stretch into the grain pile in the related art, if the sampling depth is deeper, the crawler is subjected to the reaction force of pushing the power piece, and the rollover condition is easy to occur, so that the inspection robot in the related art is poor in stability in the sampling process.

Disclosure of Invention

In order to improve the stability in the grain sampling process, the application provides an automatic sampling inspection robot for a grain depot.

The application provides an automatic spot check robot in grain depot adopts following technical scheme:

the automatic grain depot sampling inspection robot comprises a crawler, an auxiliary insertion device and a material taking assembly, wherein the auxiliary insertion device comprises a guide cylinder and a driving assembly, the guide cylinder is vertically arranged on the crawler, and a spiral plate is wound on the outer side wall of the guide cylinder along the length direction of the guide cylinder; the guide cylinder can rotate around the axis of the spiral plate, and the rotation of the guide cylinder can drive the spiral plate to rotate; the driving assembly is arranged on the crawler and used for driving the guide cylinder to rotate, the material taking assembly is arranged inside the guide cylinder and used for collecting grains inside the grain pile after the guide cylinder is inserted into the grain pile.

Through adopting above-mentioned technical scheme, when needs take a sample the grain of granary inside, the control tracked vehicle removes to the appointed position of grain heap. The guide cylinder is rotated, and the guide cylinder can be driven to actively move vertically downwards under the action of the spiral plate. Therefore, the reaction force on the vertical direction, which is applied to the crawler in the process of inserting the guide cylinder into the grain pile, can be reduced, the rollover of the crawler is reduced, and the stability of the grain pile sampling device in the working process is improved.

Optionally, the auxiliary inserting device further comprises a guide head, the guide head is arranged on one side, close to the grain pile, of the guide cylinder, the area of the side, close to the guide cylinder, of the guide head is larger than that of the side, far away from the guide cylinder, of the guide head, a spiral plate is arranged on the side face of the guide head, the spiral plate on the guide head is connected end to end with the spiral plate on the guide cylinder and is identical in rotation direction, and the spiral plate on the guide head is conical on a vertical plane passing through the axis of the spiral plate.

By adopting the technical scheme, before the guide cylinder is inserted into the grain pile, the tip end of the guide head faces the grain pile, and the guide cylinder can be rotated to drive the guide head to rotate, so that the guide head guides the guide cylinder to be inserted into the grain pile.

Optionally, the auxiliary insertion device further comprises a mounting plate, the mounting plate is slidably connected to the crawler in the vertical direction, and the guide cylinder and the driving assembly are mounted on the mounting plate.

Through adopting above-mentioned technical scheme, made things convenient for the installation of guide cylinder and drive assembly through the mounting panel, mounting panel sliding connection is on the tracked vehicle moreover, can carry out spacingly to the guide cylinder at the in-process that the guide cylinder stretched into the grain and piled inside to make the guide cylinder insert the grain pile along vertical direction steadily.

Optionally, the driving assembly comprises a guiding driving piece, a first transmission gear and a second transmission gear, wherein the first transmission gear is installed on the guiding cylinder and is coaxial with a spiral plate on the guiding cylinder; the second transmission gear is arranged on the mounting plate and meshed with the first transmission gear, and the guide driving piece is arranged on the mounting plate and used for driving the second transmission gear to rotate.

By adopting the technical scheme, the driving piece drives the second transmission gear to rotate, thereby driving the first transmission gear to rotate and further realizing the rotation of the guide cylinder. The motor drives the guide cylinder to rotate, so that the burden of workers is reduced.

Optionally, the feeding opening is formed in the side wall of the guide cylinder, the blocking disc is slidably connected to the inner side wall of the guide cylinder along the length direction of the guide cylinder, and the feeding opening is blocked before the insertion depth of the guide cylinder reaches the designated depth.

By adopting the technical scheme, the plugging disc plugs the feed inlet in the process of inserting the guide cylinder into the grain pile. After the depth of inserting the guide cylinder into the grain pile reaches the designated depth, the blocking disc is moved to enable the blocking disc to be staggered with the feeding port, grains at the feeding port in the grain pile can enter the guide cylinder at the moment, sampling of the grain pile is achieved, the condition that grains enter the guide cylinder in the process of inserting the guide cylinder into the grain pile and sampling is inaccurate is caused.

Optionally, the material taking assembly further comprises a material blocking part, the material blocking part comprises a blocking part and a connecting part, the blocking part is located at one side of the plugging disc, which is close to the guide head, the blocking part is slidably connected in the guide cylinder along the length direction of the guide cylinder, the side surface of the blocking part is attached to the inner side wall of the guide cylinder, the connecting part is of a rod-shaped structure, and one end of the connecting part is connected with the plugging disc while the other end of the connecting part is connected with the blocking part.

Through adopting above-mentioned technical scheme, after guiding a section of thick bamboo inserts grain heap specified depth, remove the shutoff dish and make the feed inlet be located between shutoff dish and the separation stop portion, grain in the grain heap can get into the space between shutoff dish and the separation stop portion this moment. After the sampling is completed, the movable plugging disc enables the plugging disc to plug the feed inlet again, so that the situation that grains in the guiding cylinder flow out of the feed inlet after the guiding cylinder is pulled out of the grain pile is reduced. When the grain in the guide cylinder needs to be taken out, the blocking disc is moved to enable the discharge hole to be located between the blocking disc and the blocking part, and along with the movement of the blocking disc, the grain between the blocking disc and the blocking part can be taken out from the guide cylinder for observation and analysis by workers.

Optionally, the fender material piece sets up to a plurality ofly along the length direction of guide cylinder, and two adjacent fender material pieces interconnect forms between two adjacent separate the fender portion and stores up the appearance chamber.

Through adopting above-mentioned technical scheme, a plurality of fender material spare interconnect back forms a plurality of stores up appearance chambeies, when the sample, makes the guide cylinder insert behind the first appointed degree of depth and removes the shutoff dish and make the feed inlet correspond with first store up appearance chambeies, and the grain of grain heap can have the feed inlet to get into first store up appearance chambeies this moment. The guiding cylinder is inserted to a second designated depth, and then the plugging disc is moved to enable the feeding hole to correspond to the second sample storage cavity, so that grains with different depths are sampled in sequence. The working efficiency of the staff is improved.

Optionally, be provided with the removal subassembly in the guide cylinder, the removal subassembly includes drive lead screw and screw driver, drive lead screw sets up along the length direction of guide cylinder, and drive lead screw passes shutoff dish and a plurality of fender material piece in proper order, the screw hole has been seted up to corresponding drive lead screw on fender material piece and the shutoff dish, drive lead screw threaded connection is at threaded hole, screw driver installs and is used for driving drive lead screw rotation on the mounting panel.

Through adopting above-mentioned technical scheme, the driving piece drives the rotation of drive lead screw, and the rotation of drive lead screw can drive and get the material subassembly and remove to realize the automatic sampling of grain heap, improve staff's efficiency, alleviate staff's burden.

Drawings

Fig. 1 is a schematic overall structure of an embodiment of the present application.

Fig. 2 is a schematic structural view of an auxiliary insert assembly according to an embodiment of the present application.

Fig. 3 is an enlarged view of portion a of fig. 2 in accordance with an embodiment of the present application.

Fig. 4 is an enlarged view of portion B of fig. 2 in an embodiment of the present application.

Reference numerals: 1. a crawler; 2. an auxiliary insertion device; 21. a guide cylinder; 22. a guide head; 23. a mounting plate; 24. a drive assembly; 241. a guide driver; 242. a first transmission gear; 243. a second transmission gear; 3. a material taking assembly; 31. a plugging disc; 32. a material blocking piece; 321. a connection part; 322. a barrier section; 33. a feed inlet; 34. a sample storage cavity; 4. a sliding support; 5. a moving assembly; 51. driving a screw rod; 52. and a screw driving member.

Detailed Description

The present application is described in further detail below in conjunction with figures 1-4.

The embodiment of the application discloses a grain pile sampling device.

Referring to fig. 1 and 2, an automatic spot inspection robot for a grain depot includes a crawler 1, an auxiliary insertion device 2, and a material taking assembly 3, the auxiliary insertion device 2 is installed on the crawler 1, and the material taking assembly 3 is installed on the auxiliary insertion device 2. The auxiliary inserting device 2 is used for guiding the material taking assembly 3 to enter the grain pile, and the material taking assembly 3 is used for sampling grains in the grain pile after the material taking assembly 3 enters the grain pile. The crawler 1 is also provided with a camera and a controller. The camera is used to help the staff to observe where the crawler 1 is located. The controller is used to control movement of crawler 1, operation of auxiliary insertion device 2, and operation of take-out assembly 3. When the grain pile sampling device is used, a worker controls the grain pile sampling device to move to a designated position through the controller. And then controlling the auxiliary inserting device 2 to guide the material taking assembly 3 to move into the grain pile, and finally controlling the material taking assembly 3 to collect grains in the grain pile, so as to finish sampling at the specified position of the grain pile.

Referring to fig. 1 and 2, the auxiliary insertion device 2 includes a guide cylinder 21, a mounting plate 23, and a driving assembly 24, a sliding bracket 4 is welded to the crawler 1, and the mounting plate 23 is slidably coupled to the sliding bracket 4 in a vertical direction. The guide cylinder 21 is a cylindrical housing structure, the guide cylinder 21 is disposed below the mounting plate 23 in the vertical direction, and the guide cylinder 21 is rotatable about its own axis. A spiral plate is welded to the outer wall of the guide cylinder 21 along the axis of the guide cylinder 21. The driving member is mounted on a side of the mounting plate 23 remote from the guide cylinder 21, and the driving assembly 24 is used for driving the guide cylinder 21 to rotate. The take-off assembly 3 is mounted inside a guide cylinder 21. The guide cylinder 21 can rotate to drive the spiral plate to rotate. The spiral plate rotates in the grain pile to drive the guide cylinder 21 to be inserted into the grain pile, so that the material taking assembly 3 enters the grain pile.

Referring to fig. 2 and 3, the driving assembly 24 includes a guide driving piece 241, a first transmission gear 242, and a second transmission gear 243, the first transmission gear 242 is coaxially sleeved at one end of the guide cylinder 21 near the mounting plate 23, and the first transmission gear 242 is welded with the guide cylinder 21. The second gear is provided on the side of the guide cylinder 21, and the two transmission gears are meshed with each other. The guide driving member 241 is mounted on the mounting plate 23 for driving the second transmission gear 243 to rotate. In this embodiment, the guide driving member 241 is a motor, the housing of which is welded to the side of the mounting plate 23 remote from the guide cylinder 21, and the output shaft of which is welded coaxially with the second transmission gear 243 through the mounting plate 23. The rotation of the output shaft of the motor can drive the second transmission gear 243 to rotate, and then drive the first transmission gear 242 to rotate, and the rotation of the first transmission gear 242 can drive the guide cylinder 21 to rotate.

Referring to fig. 2 and 4, the auxiliary insertion device 2 further includes a guide head 22, the guide head 22 having a conical structure, a large end of the guide head 22 being welded to an end of the guide cylinder 21 remote from the mounting plate 23. The guide head 22 is wound with a spiral plate along the side wall of the guide head 22, and the spiral plate is tapered in a plane vertical and passing through the axis of the guide head 22. The spiral plate on the guide head 22 is connected end to end with the spiral plate on the guide cylinder 21 and is rotated in the same direction. As the guide drum 21 rotates, the tip of the guide head 22 is first inserted into the pile, and the guide drum 21 is then inserted into the pile.

Referring to fig. 2 and 4, a feed port 33 is provided in the outer side wall of the guide cylinder 21 at a position close to the guide head 22, and the feed port 33 communicates with the inside of the guide cylinder 21. The material taking assembly 3 comprises a plugging disc 31, the plugging disc 31 is of a circular ring structure, the plugging disc 31 is coaxially sleeved and embedded in the guide cylinder 21, and the plugging disc 31 can slide along the length direction of the guide cylinder 21. The plugging tray 31 is used to plug the feed port 33 before the guide cylinder 21 is inserted into the grain pile to a prescribed depth. After the guide cylinder 21 is inserted into the grain pile to a specified depth, the plugging disc 31 is moved so that the plugging disc 31 does not plug the feed inlet 33 any more, and grains in the grain pile can enter the guide cylinder 21 from the feed inlet 33, so that the grain pile can be sampled.

Referring to fig. 2 and 4, the material taking assembly 3 further includes a material blocking member 32, the material blocking member 32 is disposed on a side of the plugging tray 31 away from the mounting plate 23, and the material blocking member 32 is used for storing a grain sample. The blocking member 32 includes a blocking portion 322 and a connecting portion 321, the blocking portion 322 has a disc-shaped structure, the blocking portion 322 is coaxially disposed inside the guide cylinder 21, and a side surface of the blocking portion 322 is attached to an inner side wall of the guide cylinder 21. The connecting portion 321 is arranged between the baffle portion 322 and the plugging disc 31, the connecting portion 321 is of a cylindrical rod-shaped structure, one end of the connecting portion 321 is welded with the plugging disc 31, and the other end of the connecting portion 321 is welded with the baffle portion 322. A sample storage chamber 34 is formed between the shutoff disc 31 and the barrier 322. After the guide cylinder 21 is inserted into the grain pile to a specified depth, the blocking disc 31 is moved along the length direction of the guide cylinder 21 to drive the blocking piece 32 to move, and when a discharge hole is positioned between the blocking disc 31 and the blocking part 322, the blocking disc 31 is stopped from moving; at this time, the grains in the grain pile can flow into the sampling cavity, and the grain sampling is completed after the grain sample is filled into the sample storage cavity 34. After the sampling is completed, the movable plugging disc 31 continues to plug the feed inlet 33, then the guide cylinder 21 is pulled out of the grain pile, after the guide cylinder 21 is pulled out, the movable plugging disc 31 drives the blocking piece 32 to move, and then the grains in the guide cylinder 21 are driven to move, so that the grains in the guide cylinder 21 are finally discharged from the feed inlet 33 for observation by staff.

Referring to fig. 2 and 4, in order to enable the grain pile sampling device to sample grains of different depths at one time, a plurality of stoppers 32 may be provided along the length direction of the guide drum 21, and adjacent two stoppers 32 may be connected to each other, i.e., the connection portion 321 of the adjacent stopper 32 may be welded with the barrier portion 322 of another stopper 32. A sample storage cavity 34 is formed between two adjacent baffle parts 322, and after the grains in the grain pile are filled in one sample storage cavity 34, the guide cylinder 21 is rotated to enable the guide cylinder 21 to be continuously inserted into the grain pile. When the guide cylinder 21 is inserted into the second specified depth of the grain pile, the plugging disc 31 is moved so that the feed inlet 33 is positioned at a position corresponding to the second sample storage cavity 34, and thus, the second sampling can be performed. The grain pile can be used for sampling grains with different depths without inserting the guide cylinder 21 into the grain pile for multiple times, so that the sampling efficiency of staff is improved, and the burden of the staff can be reduced.

Referring to fig. 2, 3 and 4, in order to facilitate movement of the take out assembly 3 by a worker, a moving assembly 5 is provided inside the guide cylinder 21. The moving assembly 5 includes a driving screw 51 and a screw driving member 52, the driving screw 51 is coaxially disposed inside the guide cylinder 21, and one end of the driving screw 51 sequentially passes through the plugging tray 31 and the plurality of material blocking members 32 and is rotatably connected to a side of the guide cylinder 21 away from the mounting plate 23. The blocking disc 31 and the blocking piece 32 are provided with threaded holes at positions corresponding to the driving screw rods 51, and the driving screw rods 51 are in threaded connection with the threaded holes. The material taking assembly 3 can be driven to move along the length direction of the guide cylinder 21 by rotating the driving screw 51. A screw driver 52 is mounted on the side of the mounting plate 23 remote from the guide cylinder 21, the screw driver 52 being adapted to drive the drive screw 51 in rotation. In this embodiment, the screw driver 52 is a motor, the housing of which is welded to the guide tube 21, and the output shaft of which is welded coaxially with the drive screw 51. The rotation of the output shaft of the motor can drive the driving screw rod 51 to rotate, so that the material taking assembly 3 is moved. In order to reduce the occurrence of the situation that the material blocking piece 32 rotates along with the driving screw 51 when the driving screw 51 rotates, the side wall of the grid blocking part is provided with a limit convex strip, the inner side wall of the guide cylinder 21 is provided with a limit groove along the length direction of the guide cylinder 21, the limit convex strip is embedded into the limit groove, and the limit convex strip can slide in the limit groove along the length direction of the guide cylinder 21.

The implementation principle of the automatic grain depot sampling inspection robot provided by the embodiment of the application is as follows: when the grain pile is required to be sampled, a worker controls the crawler 1 to move to a specified position of the grain pile, then controls the guide driving piece 241 to rotate, the guide cylinder 21 is inserted into the grain pile under the action of the threaded plate, and when the guide cylinder 21 is inserted to a first specified depth, the controller controls the screw driving piece 52 to rotate, so that the feed inlet 33 is positioned at a position corresponding to the first sample storage cavity 34, and at the moment, grains in the grain pile can have the feed inlet 33 to enter the first sample storage cavity 34. When the first sample storage chamber 34 is filled, the guide driving piece 241 is controlled to drive the guide cylinder 21 to rotate, so that the guide cylinder 21 is inserted into the second designated depth, and then the driving screw 51 is rotated to perform the second sampling.

The foregoing are all preferred embodiments of the present application, and are not intended to limit the scope of the present application in any way, therefore: all equivalent changes in structure, shape and principle of this application should be covered in the protection scope of this application.

Claims (8)

1. The utility model provides an automatic spot check robot in grain depot, includes crawler (1), its characterized in that: the automatic feeding device is characterized by further comprising an auxiliary inserting device (2) and a material taking assembly (3), wherein the auxiliary inserting device (2) comprises a guide cylinder (21) and a driving assembly (24), the guide cylinder (21) is vertically arranged on the crawler (1), and a spiral plate is wound on the outer side wall of the guide cylinder (21) along the length direction of the guide cylinder (21); the guide cylinder (21) can rotate around the axis of the spiral plate, and the rotation of the guide cylinder (21) can drive the spiral plate to rotate; the driving assembly (24) is arranged on the crawler (1) and used for driving the guide cylinder (21) to rotate, the material taking assembly (3) is arranged inside the guide cylinder (21), and the material taking assembly (3) is used for collecting grains inside the grain pile after the guide cylinder (21) is inserted into the grain pile.

2. The automated grain depot spot inspection robot of claim 1, wherein: the auxiliary inserting device (2) further comprises a guide head (22), the guide head (22) is arranged on one side, close to the grain pile, of the guide cylinder (21), the side surface area, close to the guide cylinder (21), of the guide head (22) is larger than the area, far away from the guide cylinder (21), of one side, far away from the guide cylinder (21), of the guide head (22), a spiral plate is arranged on the side surface of the guide head (22), the spiral plate on the guide head (22) is connected end to end with the spiral plate on the guide cylinder (21) and is identical in rotation direction, and the spiral plate on the guide head (22) is conical on a vertical plane passing through the axis of the spiral plate.

3. The automated grain depot spot inspection robot of claim 2, wherein: the auxiliary insertion device (2) further comprises a mounting plate (23), the mounting plate (23) is connected to the crawler (1) in a sliding mode in the vertical direction, and the guide cylinder (21) and the driving assembly (24) are mounted on the mounting plate (23).

4. The automated grain depot spot inspection robot of claim 3, wherein: the drive assembly (24) comprises a guide drive (241), a first transfer gear (242) and a second transfer gear (243), the first transfer gear (242) being mounted on the guide cylinder (21) and the first transfer gear (242) being coaxial with a spiral plate on the guide cylinder (21); the second transmission gear (243) is mounted on the mounting plate (23), the second transmission gear (243) is meshed with the first transmission gear (242), and the guide driving piece (241) is mounted on the mounting plate (23) and used for driving the second transmission gear (243) to rotate.

5. The automated grain depot spot inspection robot of claim 1, wherein: the material taking assembly (3) comprises a blocking disc (31), a feeding hole (33) is formed in the side wall of the guide cylinder (21), the blocking disc (31) is slidably connected to the inner side wall of the guide cylinder (21) along the length direction of the guide cylinder (21), and the feeding hole (33) is blocked before the insertion depth of the guide cylinder (21) reaches the designated depth.

6. The automated grain depot spot inspection robot of claim 5, wherein: the material taking assembly (3) further comprises a material blocking part (32), the material blocking part (32) comprises a blocking part (322) and a connecting part (321), the blocking part (322) is located on one side, close to the guide head (22), of the plugging disc (31), the blocking part (322) is slidably connected in the guide cylinder (21) along the length direction of the guide cylinder (21), the side face of the blocking part (322) is attached to the inner side wall of the guide cylinder (21), the connecting part (321) is of a rod-shaped structure, and one end of the connecting part (321) is connected with the plugging disc (31) while the other end of the connecting part is connected with the blocking part (322).

7. The automated grain depot spot inspection robot of claim 6, wherein: the material blocking pieces (32) are arranged in a plurality along the length direction of the guide cylinder (21), two adjacent material blocking pieces (32) are connected with each other, and a sample storage cavity (34) is formed between two adjacent separation blocking parts (322).

8. The automated grain depot spot inspection robot of claim 7, wherein: be provided with in guide cylinder (21) and remove subassembly (5), remove subassembly (5) including drive lead screw (51) and screw drive piece (52), drive lead screw (51) set up along the length direction of guide cylinder (21), and drive lead screw (51) pass shutoff dish (31) and a plurality of fender material piece (32) in proper order, the screw hole has been seted up corresponding drive lead screw (51) on fender material piece (32) and the shutoff dish (31), drive lead screw (51) threaded connection is at threaded hole, screw drive piece (52) are installed and are used for driving drive lead screw (51) rotation on mounting panel (23).

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