阅读说明：本技术 一种智慧粮仓侦测机器人 (Wisdom granary detects robot ) 是由 刘畅 于 2021-01-19 设计创作，主要内容包括：一种智慧粮仓侦测机器人,包括机体、推进装置和换向装置；机体包括依次连接的前部、中部和后部,中部内设有检测装置及控制单元；推进装置设有两个并均与控制单元电性连接,两个推进装置的一端均与前部连接,另一端均与后部连接,并且两个推进装置分别设于中部的两侧；换向装置设有两个并均与控制单元电性连接,两个换向装置对称连接于中部上靠近前部的两侧,并且推进装置与换向装置的推进方向相互不平行。通过推进装置使该智慧粮仓侦测机器人向前推进,通过控制两个换向装置的转速和转向,来调整该智慧粮仓侦测机器人的行进方向,使其可在钻至粮堆内的任意位置并进行检测。(An intelligent granary detection robot comprises a machine body, a propelling device and a reversing device; the machine body comprises a front part, a middle part and a rear part which are connected in sequence, and a detection device and a control unit are arranged in the middle part; the two propelling devices are arranged and are electrically connected with the control unit, one ends of the two propelling devices are connected with the front part, the other ends of the two propelling devices are connected with the rear part, and the two propelling devices are respectively arranged on two sides of the middle part; the reversing devices are provided with two reversing devices which are electrically connected with the control unit, the two reversing devices are symmetrically connected to two sides of the middle part close to the front part, and the propelling directions of the propelling devices and the reversing devices are not parallel to each other. The intelligent granary detection robot is pushed forward by the pushing device, and the advancing direction of the intelligent granary detection robot is adjusted by controlling the rotating speed and the rotating direction of the two reversing devices, so that the intelligent granary detection robot can drill to any position in a grain stack and perform detection.)

1. An intelligent granary detection robot is characterized by comprising a machine body (1), a propelling device (2) and a reversing device (3);

the machine body (1) comprises a front part (11), a middle part (12) and a rear part (13) which are sequentially connected, wherein a detection device and a control unit are arranged in the middle part (12); the two propelling devices (2) are electrically connected with the control unit, one ends of the two propelling devices (2) are connected with the front part (11), the other ends of the two propelling devices are connected with the rear part (13), and the two propelling devices (2) are respectively arranged on two sides of the middle part (12);

the two reversing devices (3) are electrically connected with the control unit, the two reversing devices (3) are symmetrically connected to the two sides of the middle portion (12) close to the front portion (11), and the propelling directions of the propelling devices (2) and the reversing devices (3) are not parallel to each other.

2. The intelligent granary detection robot according to claim 1, wherein the propelling device (2) comprises a first worm (20) and a first drive, one end of the first worm (20) is rotatably connected with the front part (11), the other end of the first worm (20) is rotatably connected with the rear part (13), the first drive is arranged in the machine body (1) and is in driving connection with the first worm (20), and the first drive is further electrically connected with the control unit.

3. The intelligent granary detection robot according to claim 1, wherein the reversing device (3) comprises a housing (30), a second worm (31) and a second drive, a first end of the housing (30) is connected to the middle portion (12), a second end of the housing (30) is far away from the middle portion (12), a rotating cavity (300) is formed in the housing (30), the second worm (31) is rotatably arranged in the rotating cavity (300), the second drive is arranged in the housing (30) and is in drive connection with the second worm (31), and the second drive is further electrically connected with the control unit.

4. The intelligent granary detection robot according to claim 2, wherein the first worms (20) are oppositely rotated and rotate in opposite directions.

5. The intelligent granary detecting robot according to claim 2, wherein an opening (110) is formed in the front portion (11) in a penetrating manner, a connecting boss (111) is further formed in the opening (110) of the front portion (11), and the first worm (20) is rotatably connected with the connecting boss (111).

6. The intelligent granary detection robot according to claim 2, wherein the front portion (11) is tapered.

7. The intelligent granary detection robot according to claim 3, wherein the first end of the housing (30) is further provided with a through slot (301), and the first worm (20) is disposed through the through slot (301).

Technical Field

The invention relates to the field of grain storage, in particular to an intelligent granary detection robot.

Background

In the field of grain storage, the current grain condition data acquisition mainly depends on embedding a temperature measuring cable and a temperature and humidity sensor in a granary in advance. The grain condition monitoring sensor is difficult to install, and is hung and embedded before the grain loading is adopted or embedded by a special tool after the grain loading. And the volume of the sensor is not easy to be overlarge, and the installation of the humidity and gas sensor is very inconvenient because only a temperature measuring cable is generally buried. The wireless communication has the defects of not only considering the problem of network bandwidth, but also considering the energy consumption requirement of each node in the granary, and the phenomena of monitoring failure caused by faults or insufficient electric quantity at one or more points, sensor failure and the like are inevitable when the wireless communication is in contact with grains for a long time.

The number of the measuring points in the granary is determined according to the number of the sensors, the number of the measuring points is limited by considering the reasons of cost, space and the like, the internal conditions of the granary cannot be comprehensively detected, particularly the dangerous points of the grain situation are detected, the misjudgment and the misregulation of the grain situation are caused, and the serious loss is caused.

Along with social progress, the scale of the currently built granary is larger and larger, the grain layer is thicker and thicker, and the detection of the grain condition of the deep part of the grain pile is more difficult.

Disclosure of Invention

Technical problem to be solved

In order to solve the problems, the intelligent granary detecting robot provided by the invention can drill to any position of a grain pile for detection.

(II) technical scheme

In order to achieve the purpose, the invention provides the following technical scheme: an intelligent granary detection robot comprises a machine body, a propelling device and a reversing device; the machine body comprises a front part, a middle part and a rear part which are connected in sequence, and a detection device and a control unit are arranged in the middle part; the two propelling devices are arranged and are electrically connected with the control unit, one ends of the two propelling devices are connected with the front part, the other ends of the two propelling devices are connected with the rear part, and the two propelling devices are respectively arranged on two sides of the middle part; the reversing devices are provided with two reversing devices which are electrically connected with the control unit, the two reversing devices are symmetrically connected to two sides of the middle part close to the front part, and the propelling directions of the propelling devices and the reversing devices are not parallel to each other.

Preferably, the propelling device comprises a first worm and a first drive, one end of the first worm is rotatably connected with the front part, the other end of the first worm is rotatably connected with the rear part, the first drive is arranged in the machine body and is in driving connection with the first worm, and the first drive is also electrically connected with the control unit.

Preferably, the reversing device comprises a shell, a second worm and a second drive, a first end of the shell is connected to the middle part, a second end of the shell is far away from the middle part, a rotating cavity is arranged in the shell, the second worm is rotatably arranged in the rotating cavity, the second drive is arranged in the shell and is in drive connection with the second worm, and the second drive is further electrically connected with the control unit.

Preferably, the two first worms have opposite rotation directions and also opposite rotation directions.

Preferably, the front part is provided with an opening which is arranged in a penetrating way, the front part is also provided with a connecting boss in the opening, and the first worm is rotatably connected with the connecting boss.

Preferably, the front portion is tapered.

Preferably, the first end of the housing is further provided with a through slot through which the first worm is arranged.

Advantageous effects

The invention has the beneficial effects that: an intelligent granary detection robot comprises a machine body, a propelling device and a reversing device; the machine body comprises a front part, a middle part and a rear part which are connected in sequence, and a detection device and a control unit are arranged in the middle part; the two propelling devices are arranged and are electrically connected with the control unit, one ends of the two propelling devices are connected with the front part, the other ends of the two propelling devices are connected with the rear part, and the two propelling devices are respectively arranged on two sides of the middle part; the reversing devices are provided with two reversing devices which are electrically connected with the control unit, the two reversing devices are symmetrically connected to two sides of the middle part close to the front part, and the propelling directions of the propelling devices and the reversing devices are not parallel to each other. The intelligent granary detection robot is pushed forward by the pushing device, and the advancing direction of the intelligent granary detection robot is adjusted by controlling the rotating speed and the rotating direction of the two reversing devices, so that the intelligent granary detection robot can drill to any position in a grain stack and perform detection.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention without limiting the invention in which:

FIG. 1 is a first schematic diagram of the overall structure of an embodiment of the present invention;

FIG. 2 is a schematic overall structure diagram of the second embodiment of the present invention;

FIG. 3 is a schematic structural diagram of the machine body;

FIG. 4 is a schematic structural view of the first worm;

FIG. 5 is a schematic structural view of a second worm;

in the figure, a machine body 1, a propelling device 2, a reversing device 3, a front part 11, a middle part 12, a rear part 13, a 110 opening, a 111 connecting boss, a first worm 20, a shell 30, a second worm 31, a 300 rotating cavity and a 301 through groove are arranged.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1 to 5, an intelligent granary detecting robot comprises a machine body 1, a propelling device 2 and a reversing device 3; the machine body 1 comprises a front part 11, a middle part 12 and a rear part 13 which are connected in sequence, wherein a detection device and a control unit are arranged in the middle part 12; the two propelling devices 2 are arranged and are electrically connected with the control unit, one ends of the two propelling devices 2 are connected with the front part 11, the other ends of the two propelling devices 2 are connected with the rear part 13, and the two propelling devices 2 are respectively arranged on two sides of the middle part 12; two reversing devices 3 are arranged and are electrically connected with the control unit, the two reversing devices 3 are symmetrically connected to two sides of the middle part 12 close to the front part 11, and the propelling directions of the propelling devices 2 and the reversing devices 3 are not parallel to each other.

Specifically, in the embodiment of the invention, the intelligent granary detection robot can be pushed forwards in the grain stack through the pushing device 2, the reversing devices 3 are symmetrically arranged at two sides of the machine body 1, and the gesture and the stress condition of the intelligent granary detection robot are adjusted by controlling the rotating speed and the rotating direction of the two reversing devices 3, so that the advancing direction of the intelligent granary detection robot is changed. Wherein, the reversing device 3 is arranged near the front part 11, and the propelling devices 2 and 3 are arranged in the mutually perpendicular propelling directions. When the two reversing devices 3 operate in the same direction, the front part 11 of the machine body 1 swings towards the pushing direction of the reversing devices 3, and the rear part 13 of the machine body 1 swings downwards relative to the front part 11 due to the pressure of grain piles, so that the advancing direction of the machine body 1 is twisted; when the two reversing devices 3 are in opposite running directions, the machine body 1 rotates along the axis line of the machine body 1, so that the posture of the machine body 1 is adjusted. And the machine body 1 is loaded with a related detection device for detecting grain conditions. Through the operation, the intelligent granary detecting robot can drill to any position in a grain pile and detect, and misjudgment and misregulation and control of grain conditions are prevented.

Furthermore, the propulsion device 2 comprises a first worm 20 and a first drive, one end of the first worm 20 is rotatably connected with the front part 11, the other end of the first worm 20 is rotatably connected with the rear part 13, the first drive is arranged in the machine body 1 and is in driving connection with the first worm 20, and the first drive is also electrically connected with the control unit. Because the grain pile is different from the water body, the propelling device 2 is required to have larger torsion when the grain pile advances, and the grain pile can rotate, so that the worm is selected to drive the grain pile in the embodiment, and when the first worm 20 rotates, grain particles around the first worm 20 can move towards the rear of the machine body 1, so that the machine body 1 moves forwards in the grain pile relatively.

Further, if the rotation directions of the two first worms 20 are the same and the rotation directions are also the same, the machine body 1 tends to deflect towards the rotation direction of the first worms 20, which is not beneficial to the control of the advancing direction of the machine body 1; if the two first worms 20 rotate in the same direction but in opposite directions, the body 1 may be in-situ rotated. Therefore, in the embodiment of the present invention, the rotation directions of the two first worms 20 are opposite, and the rotation directions are also opposite, by this arrangement, the thrusts of the two first worms 20 are opposite and the same, and the machine body 1 does not generate a deflection vector, which facilitates the control of the traveling direction of the machine body 1.

Furthermore, the reversing device 3 comprises a shell 30, a second worm 31 and a second drive, a first end of the shell 30 is connected to the middle part 12, a second end of the shell 30 is far away from the middle part 12, a rotating cavity 300 is arranged in the shell 30, the second worm 31 is rotatably arranged in the rotating cavity 300, the second drive is arranged in the shell 30 and is in drive connection with the second worm 31, and the second drive is also electrically connected with the control unit. The second worm 31 is a relatively flat worm structure to reduce the thickness of the housing 30 and reduce the forward resistance of the housing 30 as much as possible.

Furthermore, the front portion 11 is provided with an opening 110 penetrating therethrough, the front portion 11 is further provided with a connecting boss 111 in the opening 110, and the first worm 20 is rotatably connected to the connecting boss 111. Grain particles in the front of the machine body 1 can be pushed backwards by the first worm 20, and not only the grain particles around the first worm 20 are pushed backwards, so that the propelling force of the pushing device 2 is improved.

Furthermore, the front part 11 is arranged in a taper shape, and the contact surface of the front part 11 and the grain pile is in an arc shape, so that the resistance in front of the machine body 1 is reduced.

Further, the first end of the housing 30 is further provided with a through slot 301, and the first worm 20 is disposed through the through slot 301, so that the housing 30 can be synchronously disposed on the central line of the machine body 1 as the first worm 20, and the stress state of the housing 30 is more balanced.

It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. Although embodiments of the present invention have been shown and described, it would be appreciated by those skilled in the art that changes may be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the claims and their equivalents.