|Numéro de publication||CN105606157 A|
|Type de publication||Demande|
|Numéro de demande||CN 201610150348|
|Date de publication||25 mai 2016|
|Date de dépôt||16 mars 2016|
|Date de priorité||16 mars 2016|
|Numéro de publication||201610150348.8, CN 105606157 A, CN 105606157A, CN 201610150348, CN-A-105606157, CN105606157 A, CN105606157A, CN201610150348, CN201610150348.8|
|Inventeurs||张永宇, 武文斌, 焦丽, 张映霞, 范鸿闯, 吴彦举, 曹光宇, 郭佳俊|
|Exporter la citation||BiBTeX, EndNote, RefMan|
|Citations de brevets (6), Classifications (2), Événements juridiques (2)|
|Liens externes: SIPO, Espacenet|
技术领域 TECHNICAL FIELD
本发明属于机器人应用技术领域，尤其涉及一种多功能粮库粮情智能巡检机器人。  The present invention belongs to the field of robotics applications, in particular, relates to a multi-functional smart Granary inspection robot.
背景技术 Background technique
粮食是国家的重要战略性商品，而我国又是一粮食消费大国，粮食安全及粮食储备是国家为应对战争、救灾备荒和调节粮食市场而采取的有效措施。  Food is the country's strategically important commodities, while China is a big country food consumption, food security and national food reserves to cope with war, disaster prepare against natural disasters and effective measures to regulate the grain market taken. 粮食的安全储藏就是保证其处在正常的温度和湿度下，全面实时的掌握粮仓内的环境因素变化，对出现的温度、湿度等异常及时做出正确处理是保证粮食存储质量的关键。 Is to ensure the safe storage of food in its normal temperature and humidity, comprehensive real-time change control environmental factors inside the granary, temperature appears, humidity and other abnormal timely treatment is the key to making the right food storage quality assurance. 粮库粮情检测设备目前主要是取样器，也叫扦样。 Granary detection equipment is currently the main sampler, also called for sampling. 其中，分层取样器主要用于散装粮堆及散装粮车的取样，一次插入多层取样；电动扦样器适用于平房仓、地下仓、深层粮食取样和投药及在储运、质检等过程中进行扦取样品，也可用于布设监测电缆，局部设点投放杀虫药剂等;全自动粮食取样器专门用于车载包装粮食、散装粮食和车载粮食检验检测。 Wherein the stratified sampling is mainly used for bulk grain bulk grain cars and bulk sampling, once inserted into the multi-sampling; suitable for electric for sampling WAREHOUSE, underground bunkers, deep grain sampling and administration and in the storage and transportation, quality control, etc. samples were taken during the stick can also be used to monitor cable laid, the local set point serving insecticide etc; automatic grain sampler designed for automotive packaging food, bulk food and food inspection vehicle. 随着我国粮食的连年丰收，大型粮库的储粮规模也在发展扩大，对粮堆粮情检测就提出了更为广泛多样的要求。 With China's grain harvests year after year, the size of a large grain storage depot also expand the development of the grain bulk grain situation detected proposed a more wide variety of requirements. 目前我国大部份的粮库管理还是以人工为主的粗放型管理，采用扦样取粮主要是依赖人力，劳动强度大，尤其是大型粮库的检测不能得到及时且彻底的完成，从而会导致粮食霉变的发生，造成巨大的经济损失。 At present most of the grain-based management or artificial extensive management, the use of grain for sampling taken mainly dependent on human, labor-intensive, especially for large grain can not be detected promptly and thoroughly completed, which will lead to food mildew, causing huge economic losses. 电动扦样器虽然可以用于大型粮库，同样需耗费大量人力，而且对多次取样点的粮食进行分析方可获得信息，粮库的管理效率低下。 While it is possible for the electric device for sampling a large grain storage, also need to spend a lot of manpower, but also for multiple sampling points are analyzed before obtaining food information, inefficient management of grain.
本发明为了解决现有技术中的不足之处，提供一种多功能粮库粮情智能巡检机器人，能够在粮堆中自主移动、精确定位、钻进、实时检测储粮环境参数、取样和局部施药，能够在粮库粮堆不同位置、不同深度检测储粮三维空间的环境参数，并通过无线传输方式将探测数据传送到监控中心。  The present invention is to solve the prior art deficiencies, to provide a multi-functional smart Granary inspection robot, capable of autonomous mobile food pile, precise positioning, drilling, real-time detection of environmental parameters stored grain , sampling and topical application can be in different locations grain bulk grain, grain storage environment parameters at different depths to detect three-dimensional space, and through wireless transmission to detect the data transmitted to the monitoring center.
为解决上述技术问题，本发明采用如下技术方案:一种多功能粮库粮情智能巡检机器人，包括履带式行走系统、粮堆自动探测系统、粮堆粮面平整系统、电力供应系统、摄像监测系统、无线信号传输系统和控制系统；  In order to solve the above problems, the present invention adopts the following technical solution: a versatile Granary intelligent inspection robot, including crawler undercarriage system, automatic detection system heap of grain, grain bulk grain planing systems, power supply system, camera surveillance system, wireless signal transmission systems and control systems;
履带式行走系统包括长方形的底盘和位于底盘左右两侧的两条橡胶履带，底盘中心开设有圆孔，两条橡胶履带内均设有位于橡胶履带后端的驱动轮、位于橡胶履带前端的第一从动轮和位于橡胶履带中部并间隔设置的两个第二从动轮，底盘后端部两侧均设有一个底座，每个底座上均设有一个第一驱动电机，每个第一驱动电机的输出轴均通过第一联轴器与轴向设在一个驱动轮中心的轮轴传动连接； Caterpillar track system comprises a rectangular chassis and located on the right and left two rubber crawler chassis, chassis center opened a hole, within two rubber track have located the rear wheels rubber track, rubber track is located in front of the first the driven gear and the second driven wheel, both sides of the rear end portion of the chassis and is located in the middle of the rubber crawler has two spaced a base, each base has a first drive motor, each of the first drive motor the output shaft through the first coupling and a drive shaft axially located in the center of the drive wheel is connected;
粮堆自动探测系统包括固定连接在底盘上的呈长方体框架结构的钻架，钻架上表面水平设有安装板，安装板中心开设有通孔，安装板下表面中心垂直固定连接有伸缩节，伸缩节内设有钻进装置和传感检测装置，安装板上表面中部沿前后水平方向固定连接有两根固定杆，两根固定杆平行且间隔设置，固定杆的长度大于安装板的长度，两根固定杆后端部之间设有钢丝绳收放装置，两根固定杆前端部之间设有电缆收放装置； Grain bulk automatic detection system comprises fixedly connected to the chassis of the cuboid frame structure drilling rig, drilling rack level surface with a mounting plate, the mounting plate has a central opening through hole, the lower surface of the mounting plate is fixed vertically in the center connected with expansion joints, expansion joints equipped with drilling means and sensing means, the mounting plate surface along the central front in the horizontal direction is fixedly connected with two fixed bars, parallel bars and two fixed intervals, the length of the rod is greater than the fixed length of the mounting plate, retractable means provided between the rear end of the rope two fixed bars with retractable cable means between two stationary rod distal end portion;
粮堆粮面平整系统包括推粮板和用于翻转推粮板的第二驱动电机，粮堆粮面平整系统的动力机构采用若干根电动推杆组成多连杆机构驱动推粮板，可使推粮板进行倾斜、升降和折叠动作； Grain bulk grain planing system includes push plate and for reversing food grain push plate a second drive motor, grain bulk grain planing power system organizations to adopt a number of electric putter root formation of a multi-link mechanism driving push grain board, can push grain board tilt, lifting and folding operation;
摄像监测系统包括固定连接在安装板上表面前侧边缘和后侧边缘的两个固定座，每个固定座上均设有CCD摄像机、红外摄像机和照明灯； Camera monitoring system includes two anchor fixedly connected to the mounting plate surfaces of the front and rear edges of the side edges, each holder has a CCD camera, infrared cameras and lights;
无线信号传输系统包括均设在安装板中部的发射机、接收机和天线； Wireless signal transmission system comprises a mounting plate are located in the middle of a transmitter, a receiver and an antenna;
控制系统包括设在钻架上的控制面板，控制面板上设有用于控制履带式行走系统、粮堆自动探测系统、粮堆粮面平整系统及电源启闭的控制按键。 Control system includes a rack provided on the control panel of the drill with caterpillar track systems used to control, grain bulk automatic detection system, control buttons grain bulk grain planing systems and power opening and closing of the control panel.
伸缩节包括若干个外径不同的套筒，所有套筒均上下通透且具有同一中心线，任意相邻两个套筒中的较小外径套筒均插设在较大套筒内，位于最外层的套筒顶端固定连接在安装板的下表面中心，每个套筒上端内边缘和外边缘均设有定位凸缘，每个套筒下端的内边缘和外边缘均设有限位凸缘。  The expansion joint includes several different outside diameter of the sleeve, the sleeve are all transparent and has the same up and down the centerline, any adjacent two smaller outer diameter of the sleeve sleeve are inserted in larger sets cylinder, located on top of the outermost sleeve is fixedly connected to the center of the lower surface of the mounting plate, the upper end of each sleeve inner and outer edges are provided with locating flange, the inner and outer edges of the lower end of each sleeve are with a stop flange.
钢丝绳收放装置包括钢丝绳、第一缠绕筒和第一导向辊，两根固定杆后端部之间转动连接有第一转轴，第一缠绕筒套设在第一转轴上，安装板后侧固定连接有第一安装架，第一安装架上沿左右水平方向设有第三驱动电机，第三驱动电机的输出轴朝右设置并传动连接有第一蜗轮减速机，第一蜗轮减速机的输出轴通过第二联轴器与第一转轴左端传动连接，第一导向辊转动连接在两根固定杆中部之间，钢丝绳一端穿过安装板中心的通孔与伸缩节连接，钢丝绳另一端通过第一导向辊与第一缠绕筒连接。  retractable means includes wire rope, the first winding cylinder and a first guide roller, the rotation between two fixing the rear end portions connected to a first shaft, a first winding cylinder arranged around the first rotary shaft, the mounting plate rear side fixedly connected with a first mount the first mounting bracket along the left and right horizontal direction with a third drive motor, the output shaft of the third drive motor and the drive is connected to the right to set a first worm gear reducer, the first worm gear reducer the output shaft of the second machine is connected via a first coupling and shaft drive left, the first guide roller rotary connection between the two fixed central rod, one end of the rope through the through-hole mounting plate with expansion joints connecting the centers, the other rope connect one end of the first guide roller through the first reel.
电缆收放装置包括电缆、第二缠绕筒和第二导向辊，两根固定杆前端部之间转动连接有第二转轴，第二缠绕筒套设在第二转轴上，安装板前侧固定连接有第二安装架，第二安装架上沿左右水平方向设有第四驱动电机，第四驱动电机的输出轴朝右设置并传动连接有第二蜗轮减速机，第二蜗轮减速机的输出轴通过第三联轴器与第二转轴左端传动连接，第二导向辊转动连接在两根固定杆中部之间，电缆一端穿过安装板中心的通孔与伸缩节内的传感检测装置及钻进装置连接，电缆另一端通过第二导向辊与第二缠绕筒连接。  retractable cable means comprising a cable, and a second guide cylinder of the second winding roller, rotating between the two fixing rod distal end portion is connected to a second rotary shaft, the second winding cylinder arranged around the second rotary shaft, the front side of the mounting plate fixedly connected with a second mount, the second mounting bracket along the horizontal direction with a fourth about a drive motor, the output shaft of the fourth set and the drive motor rightward drive is connected to a second worm gear reducer, the second worm gear reducer coupling the output shaft through the third and the second left drive shaft connected to the second guide roller rotary connection between the two fixed central rod, one end of the cable through the sensing means and through-hole mounting plate expansion joints within the center drilling and connected the other end of the cable means is connected via a second guide roller and a second reel.
钻进装置包括第五驱动电机和锥形螺旋绞龙，最内层套筒的底端水平固定连接有第一隔离板并且中部水平固定连有第二隔离板，第五驱动电机垂直设在第一隔离板与第二隔离板之间，第五驱动电机的输出轴朝下并传动连接有第三蜗轮减速机，最内层的套筒内壁固定连接有位于第一隔离板上方的支撑板，第三蜗轮减速机固定连接在支撑板上，锥形螺旋绞龙的输入轴向上穿出第一隔离板中心并通过第四联轴器与第三蜗轮减速机的输出轴传动连接，第四联轴器固定连接在第一隔离板上表面，锥形螺旋绞龙与第一隔离板中心的连接处设有密封环。  The drilling apparatus comprises a fifth drive motor and a conical screw auger, the bottom level of the innermost sleeve is fixedly connected with a first insulation plate and middle level fixedly connected with a second separator and the fifth drive motor vertical isolation is provided between the first plate and the second plate isolated output shaft fifth drive motor connected to drive down and a third worm reducer, the innermost layer of the inner wall of the sleeve is fixedly connected in the first isolation plate side support plate, a third worm gear fixedly connected to the supporting plate, piercing the center of the plate on the first isolation conical screw auger input shaft and output shaft of the transmission are connected by a fourth coupling with the third worm reducer joints, couplings fourth fixed plate connected to the first surface of the release, the tapered screw auger and the first isolation center of the plate provided with a sealing ring.
电力供应系统包括电缆收放架、收紧装置和第六驱动电机，电缆收放架固定连接在底盘后侧中部，电缆收放架之间转动连接有第三转轴，第三转轴上套设有第三缠绕筒，第三缠绕筒上缠绕有电缆。  The power supply system includes a retractable cable planes, the tightening device and the sixth drive motor, retractable cable connection between the chassis frame fixed to the rear side of the middle frame retractable cable is connected to the third axis of rotation, the third axis sets with a third reel, the cable is wound on the third reel.
电力供应系统包括充电装置和固定连接在底盘后侧部的动力电池，动力电池后侧面上设有充电插头，充电装置前侧面上开设有充电接口，充电插头与充电接口插接配合采用上述技术方案，本发明具有如下优点: Power supply system includes a charging device and fixedly connected to the rear portion of the battery chassis, the rear surface of the battery with a charging plug, open on the front side of the charging device has a charging port, charging plug and charging port plug with the use of the technical proposal The present invention has the following advantages:
1、本发明的履带式行走系统，通过控制两个第一驱动电机同时正转或者反转时，第一驱动电机带动驱动轮转动从而通过橡胶履带带动底盘前进或后退，当控制一个第一驱动电机转动而另一个第一驱动电机停止转动时，可实现转弯动作，采用履带式行走系统便于在松软的粮堆表面上稳定行走，长方形的底盘可增加与粮堆表面的接触面积，采用两个第一驱动电机分别独立驱动，便于行走控制，整个履带式行走系统的高速较低，以利于降低重心和节省高度方向上的空间； 1, crawler travel system of the present invention, by controlling the two first drive motors at the same time forward or reverse, the first drive motor drives the drive wheel is rotated so as to drive the chassis through rubber track forward or backward, when a first driving control rotation of the motor and the other of the first drive motor is stopped, turning action can be achieved using caterpillar track system facilitates on the soft surface of the pile of grain stable walk, rectangular chassis to increase the surface area of contact with the grain bulk, using two the first drive motor is independently driven, easy walking control, low speed throughout the crawler travel system in order to facilitate lower center of gravity and save space in the height direction;
2、本发明可在粮堆表面上达到不同位置的探测点，到达探测点时，启动第五驱动电机，带动锥形螺旋绞龙转动，沿垂直方向在粮堆中产生向下的驱动力，锥形螺旋绞龙向下钻进带动伸缩节的各个套筒向下伸展开，到达预定深度对粮情参数进行检测，也可以进行传感器网络各节点上传感器在粮堆内部的布置，由锥形螺旋绞龙将传感器带入粮堆内部，避免在粮食进库前布置传感器产生大量电缆而影响粮食进库作业，完成各项操作后，控制第五驱动电机反转，从而带动锥形螺旋绞龙反方向转动，沿垂直方向在粮堆中产生向上的驱动力，伸缩节随之收缩逐渐退出粮堆，当锥形螺旋绞龙完全退出后，控制履带式行走系统自主移动到下一个监测点； 2, the present invention can reach probe points at different locations on the surface of the grain bulk, the arrival point probe, started fifth drive motor to drive the tapered screw auger rotates in the vertical direction in the heap of grain to produce a downward driving force, conical spiral auger driven by drilling down each sleeve expansion joints extend downward to reach a predetermined depth on the grain situation parameters for testing may be performed on each node in the sensor network sensor inside the grain heap arranged by the cone after the screw auger inside the sensor into the grain mass to avoid food into the library before the sensor is arranged to generate a large number of cables and the impact of food into the library operations, completion of the operation, control fifth drive motor reversal, which led to the tapered screw auger turn the opposite direction, the vertical direction in the heap of grain to produce a driving force upward, expansion joints along the grain bulk shrink gradually withdraw, when the tapered auger spiral completely out of control caterpillar track system with independent monitoring to move to the next point;
3、本发明的钢丝绳收放装置，控制第三驱动电机带动第一蜗轮减速机通过第二联轴器驱动第一缠绕筒转动，使得钢丝绳的收放速度与钻进装置后退和前进的速度同步，电缆收放装置控制第四驱动电机带动第二蜗轮减速机通过第三联轴器驱动第二缠绕筒转动，使得电缆的收放速度与转进装置后退和前进的速度同步，采用第一蜗轮减速机和第二蜗轮减速机可实现自锁； 3, wire rope retractable apparatus of the present invention, controls the third drive motor drives a first worm gear driven by a second coupling a first winding drum rotation, so that the retractable speed and the speed of the rope back and forward drilling device synchronization , retractable cable means for controlling the fourth drive motor drives a second worm gear drive through the third coupling the second winding drum rotation, so that the speed retractable cable and turn into the device back and forward speed synchronization, using the first worm gear reducer and a second worm gear reducer can achieve self-locking;
4、本发明的粮堆粮面平整系统在粮食入库时用于粮堆表面的平整作业，并且可以调整推粮板的垂直高度和倾斜角度，配合履带式行走系统可完成粮堆的表面平整，粮食在存储过程中时，本发明仅需执行巡检任务，粮堆粮面平整系统的连杆机构可折叠收存起来，以节省空间和方便其他功能的实现； 4, grain bulk grain planing system of the invention when used for the storage of food grain bulk surface smoothing work, and can adjust the vertical height and tilt angle grain push plates, with crawler travel system to be completed by the grain bulk surface roughness food during storage, the present invention is only to perform the scanning task, grain bulk grain planing system linkage folding accommodating up to save space and to facilitate the realization of other functions;
5、本发明的电力供应系统为本发明提供电源供应，可采用将电缆缠绕在电缆收放架上的第三缠绕筒上，通过第六驱动电机驱动第一缠绕筒转动，来控制电缆的收放，并且电缆的收放速度与履带式行走系统的后退和前进速度同步，本发明在现场工作时，电缆与现场的供电配电箱连接，在粮堆表面不同位置时，电缆的长度不一样，可通过控制电缆的收放来实现，并且电缆始终与现场的供电配电箱相连;本发明的电力供应系统也可采用自身安装动力电池，结构简单，使得本发明在移动的过程中不受电缆长度的制约，可任意到达指定位置，当本发明完成所有的作业任务或者当动力电池电力不足时，自主寻找充电装置将充电插头插入充电接口并完成充电； 5, the power supply system of the present invention, the present invention provides a power supply, the cable can be wound on the third reel retractable cable racks, rotating through the sixth reel drive motor for driving the first to receive control cable put and retractable cable speed is synchronized with the back and forward speed of the crawler travel system, when the present invention is in the field work, cable and on-site power distribution box connected at different locations grain bulk surface, the cable length is not the same , by controlling the retractable cable to achieve, and the cable is always connected to the field of power distribution box; power supply system of the present invention can also be used to install their own battery power, simple structure, so that the present invention is not in the process of moving restrict cable length can be arbitrarily arrived at the designated location, when the present invention is to complete all the jobs or tasks when there is insufficient battery power, self-charging device to find the charging plug into the charging interface and charging is completed;
6、本发明的摄像检测系统主要用于粮堆外部环境检测和本发明的自动避障，本发明的粮堆自动探测系统内的传感检测装置主要用于探测粮堆内部在不同深度的粮情参数，并通过无线信号传输系统实时传输给监控中心。 6, the imaging detection system of the present invention is mainly used for grain heap external environment detection and automatic obstacle avoidance present invention, sensing device of the present invention grain heap automatic detection system is mainly used to detect internal grain bulk grain at different depths situation parameters, and wireless signal transmission to the monitoring center system in real-time transmission.
附图说明 BRIEF DESCRIPTION
[0011 ]图1是本发明的结构示意图；  FIG. 1 is a schematic diagram of the present invention;
图2是图1中A处的放大图； Figure 2 is an enlarged view of A at 1;
图3是图1中B处的放大图； Figure 3 is an enlarged view at B 1;
图4是本发明的俯视结构示意图； 图5是本发明的后视结构示意图； Figure 4 is a schematic plan view of the structure of the present invention; Figure 5 is a rear schematic view of the structure of the present invention;
图6是本发明中钻进装置的结构示意图； Figure 6 is a block diagram of the present invention, the drilling apparatus;
图7是图6中C处的放大图； FIG. 7 is an enlarged view in FIG. 6 C at;
图8是本发明中粮堆粮面平整系统在折叠状态下的结构示意图； Figure 8 is a block schematic diagram of the heap of grain planing systems in the folded state of the present invention in the food;
图9是本发明中电力供应系统采用动力电池时的结构示意图； FIG. 9 is a block diagram of the present invention, the power supply system using battery power when;
图10是本发明中粮堆自动探测系统的锥形螺旋绞龙进入粮堆内部检测的结构示意图。 10 is the present invention, the grain bulk conical screw auger automatic detection system structural diagram of the heap of grain into the internal testing.
具体实施方式 detailed description
如图1-10所示，本发明的一种多功能粮库粮情智能巡检机器人，包括履带式行走系统、粮堆自动探测系统、粮堆粮面平整系统、电力供应系统、摄像监测系统、无线信号传输系统和控制系统。  shown in Figure 1-10, a multi-functional smart Granary inspection robot of the present invention includes a crawler undercarriage system, automatic detection system heap of grain, grain bulk grain planing system, power supply system, camera monitoring systems, wireless signal transmission system and a control system.
履带式行走系统包括长方形的底盘I和位于底盘I左右两侧的两条橡胶履带2，底盘I中心开设有圆孔，两条橡胶履带2内均设有位于橡胶履带2后端的驱动轮3、位于橡胶履带2前端的第一从动轮4和位于橡胶履带2中部并间隔设置的两个第二从动轮5，底盘I后端部两侧均设有一个底座6，每个底座6上均设有一个第一驱动电机7，每个第一驱动电机7的输出轴均通过第一联轴器8与轴向设在一个驱动轮3中心的轮轴9传动连接。  caterpillar track system comprises a rectangular chassis chassis located at I and I about two sides of the rubber track 2, chassis I opened a center hole, two rubber track is located within 2 has a rear end of the rubber track drive 2 3, the front end of the rubber crawler 2 located first driven wheel 4 and the rubber track is located in the middle of two spaced-apart two second driven wheel 5, the rear end portion of the wheel chassis side I have a base 6, each of the base 6 the first has a drive motor 7, each of the first drive output shaft of the motor 7 through the first axial coupling 8 and 9 provided in the drive shaft 3 a drive wheel hub connection.
粮堆自动探测系统包括固定连接在底盘I上的呈长方体框架结构的钻架10，钻架10上表面水平设有安装板11，安装板11中心开设有通孔，安装板11下表面中心垂直固定连接有伸缩节12，伸缩节12内设有钻进装置和传感检测装置14，安装板11上表面中部沿前后水平方向固定连接有两根固定杆47，两根固定杆47平行且间隔设置，固定杆47的长度大于安装板11的长度，两根固定杆47后端部之间设有钢丝绳收放装置，两根固定杆47前端部之间设有电缆收放装置。  grain heap automatic detection system comprises fixedly connected to the chassis I showed a rectangular frame structure 10 drilling rig, drilling rig 10 on a mounting surface of the horizontal plate 11, the center of the mounting plate 11 provided with a through hole 11 at the mounting plate central vertical surface 12 is fixedly connected expansion joints, expansion joints 12 are equipped with drilling means and sensing means 14, the front and rear surfaces of the mounting plate 11 is fixed to the middle of the horizontal direction is connected with two fixed rod 47, two fixed bars 47 parallel and spaced apart, the fixed rod 47 is longer than the length of the mounting plate 11, two rods fixed rope retractable means provided between the rear end portion 47, provided with two retractable cable fixing rod means 47 between the distal end portion.
粮堆粮面平整系统包括推粮板16和用于翻转推粮板16的第二驱动电机17，粮堆粮面平整系统的动力机构采用若干根电动推杆组成多连杆机构驱动推粮板16，可使推粮板16进行倾斜、升降和折叠动作。  grain bulk grain planing system includes a push plate 16 and the grain for food flipped push plate 16 of the second drive motor 17, the grain bulk grain planing power system organizations to adopt a number of root putting electric drive mechanism consisting of a multi-link food push plate 16, plate 16 can push grain tilt, lifting and folding operation.
摄像监测系统包括固定连接在安装板11上表面前侧边缘和后侧边缘的两个固定座24，每个固定座24上均设有CXD摄像机25、红外摄像机26和照明灯27。  camera monitoring system comprises a mounting plate 11 fixedly connected to the upper surface of the front edge and the rear edge of the two mounts 24, 24 are provided on each holder 25 CXD cameras, infrared cameras 26 and 27 lights.
无线信号传输系统包括均设在安装板11中部的发射机28、接收机29和天线30。  The wireless signal transmission system includes a mounting plate 11 are located in the middle of the transmitter 28, receiver 29 and antenna 30.
控制系统包括设在钻架10上的控制面板31，控制面板31上设有用于控制履带式行走系统、粮堆自动探测系统、粮堆粮面平整系统及电源启闭的控制按键32。  The control system includes a drilling rig 10 provided on the control panel 31 is provided on the control panel 31 for controlling the caterpillar track system, automatic detection system heap of grain, grain bulk grain planing power system and control buttons open and close 32 .
伸缩节12包括若干个外径不同的套筒33，所有套筒33均上下通透且具有同一中心线，任意相邻两个套筒33中的较小外径套筒33均插设在较大套筒33内，位于最外层的套筒33顶端固定连接在安装板11的下表面中心，每个套筒33上端内边缘和外边缘均设有定位凸缘34，每个套筒33下端的内边缘和外边缘均设有限位凸缘35。  expansion joint 12 includes a plurality of different outer diameter of the sleeve 33, the sleeve 33 are all transparent and has the same up and down the centerline, any adjacent two smaller outer diameter of the sleeve 33 in the sleeve 33 are inserted located in the larger sleeve 33, the outermost layer of the sleeve 33 is fixedly connected to the top center of the lower surface of the mounting plate 11, the upper end of each sleeve 33 and outer edges are provided with locating flange 34, each inner and outer edges of the lower end of the sleeve 33 are located finite bit flange 35.
钢丝绳收放装置包括钢丝绳36、第一缠绕筒38和第一导向辊39，两根固定杆47后端部之间转动连接有第一转轴48，第一缠绕筒38套设在第一转轴48上，安装板11后侧固定连接有第一安装架37，第一安装架37上沿左右水平方向设有第三驱动电机49，第三驱动电机49的输出轴朝右设置并传动连接有第一蜗轮减速机50，第一蜗轮减速机50的输出轴通过第二联轴器51与第一转轴48左端传动连接，第一导向辊39转动连接在两根固定杆47中部之间，钢丝绳36—端穿过安装板11中心的通孔与伸缩节12连接，钢丝绳36另一端通过第一导向辊39与第一缠绕筒38连接。  means comprises retractable rope rope 36, a first reel 38 and the first guide roller 39, is rotated between two fixed rod 47 is connected to the rear end portion of the first shaft 48, 38 sets of the first winding cylinder provided in the first on a rotating shaft 48, the rear side of the mounting plate 11 is fixedly connected with a first mounting bracket 37, the first mounting bracket 37 on the left and right along the horizontal direction with a third drive motor 49, the third drive motor output shaft 49 to the right to set up and drive connected to the first worm gear reducer 50, the first worm gear output shaft 50 of the second coupling 51 and the first drive shaft 48 is connected via the left first guide roller 39 rotatable connection between the two fixed central rod 47 , 36- rope end through the mounting plate 11 through the center hole 12 is connected with the expansion joints, wire 36 and the other end 39 of the first winding cylinder 38 is connected via a first guide roller.
电缆收放装置包括电缆23、第二缠绕筒41和第二导向辊42，两根固定杆47前端部之间转动连接有第二转轴52，第二缠绕筒41套设在第二转轴52上，安装板11前侧固定连接有第二安装架40，第二安装架40上沿左右水平方向设有第四驱动电机53，第四驱动电机53的输出轴朝右设置并传动连接有第二蜗轮减速机54，第二蜗轮减速机54的输出轴通过第三联轴器55与第二转轴52左端传动连接，第二导向辊42转动连接在两根固定杆47中部之间，电缆23—端穿过安装板11中心的通孔与伸缩节12内的传感检测装置14及钻进装置连接，电缆23另一端通过第二导向辊42与第二缠绕筒41连接。  retractable cable device includes a cable 23, a second reel 41 and a second guide roller 42, 47 is rotated between two fixed front end portion of the rod is connected to a second shaft 52, the second reel 41 provided in the second set on the shaft 52, the front side of the mounting plate 11 is fixedly connected with a second mounting bracket 40, a second mounting bracket 40 along the horizontal direction is provided around the fourth driving motor 53, the fourth drive motor output shaft 53 to the right to set up and connect the drive a second worm gear 54, the second worm gear output shaft 54 through the third coupling 55 is connected to the second left drive shaft 52, the second guide roller 42 is rotated in the connection between two stationary rod 47 central, 23- cable end through the center of the mounting plate 11 through hole and expansion joints sensing means 14 and 12 within the drilling device is connected, the cable 23 and the other end 41 is connected to the second reel 42 by the second guide roller.
钻进装置包括第五驱动电机13和锥形螺旋绞龙15，最内层套筒33的底端水平固定连接有第一隔离板56并且中部水平固定连有第二隔离板57，第五驱动电机13垂直设在第一隔离板56与第二隔离板57之间，第五驱动电机13的输出轴朝下并传动连接有第三蜗轮减速机58，最内层的套筒33内壁固定连接有位于第一隔离板56上方的支撑板59，第三蜗轮减速机58固定连接在支撑板59上，锥形螺旋绞龙15的输入轴向上穿出第一隔离板56中心并通过第四联轴器60与第三蜗轮减速机58的输出轴传动连接，第四联轴器60固定连接在第一隔离板56上表面，锥形螺旋绞龙15与第一隔离板56中心的连接处设有密封环61。  The drilling apparatus comprises fifth drive motor 13 and a conical screw auger 15, the bottom level of the innermost sleeve 33 is fixedly connected with a first isolation plate 56 and the middle level fixedly connected with a second insulation plate 57, fifth drive motor 13 is provided between the first vertical plate 56 and the second insulation spacer plate 57, the fifth drive motor output shaft 13 and drivingly connected with a third down worm gear 58, the innermost sleeve 33 the inner wall is fixedly connected in the first separator plate 56 above the support plate 59, a third worm gear 58 fixedly attached to the support plate 59, piercing the center of the first separator plate 56 and the input shaft 15 of the conical screw auger by the fourth clutch 60 and the third worm reducer output drive shaft 58 is connected to the fourth clutch 60 is fixedly connected to the first isolation plate 5656 central surface, conical screw auger 15 and the first insulation plate junction of a sealing ring 61.
电力供应系统包括电缆收放架18、收紧装置19和第六驱动电机20，电缆收放架18固定连接在底盘I后侧中部，电缆收放架18之间转动连接有第三转轴21，第三转轴21上套设有第三缠绕筒22，第三缠绕筒22上缠绕有电缆23。  The power supply system includes a retractable cable frame 18, the tightening device 19 and the sixth drive motor 20, cable retractable frame 18 is fixedly connected in the middle of the rear chassis I, retractable cable turret 18 is connected between a third shaft 21, and the third set with a third shaft 21 on the reel 22, the third reel wound with cable 23 22.
电力供应系统包括充电装置43和固定连接在底盘I后侧部的动力电池44，动力电池44后侧面上设有充电插头45，充电装置43前侧面上开设有充电接口46，充电插头45与充电接口46插接配合。  The power supply system includes a charging device 43 and fixedly connected to the rear portion of the power battery chassis I 44, 44 has the rear surface of the battery charging plug 45, opened a charging port 46 on the front side of the charging device 43, charging plug 45 and 46 docking with the charging port.
本实施例并非对本发明的形状、材料、结构等作任何形式上的限制，凡是依据本发明的技术实质对以上实施例所作的任何简单修改、等同变化与修饰，均属于本发明技术方案的保护范围。  The present embodiment is not the invention of shapes, materials and structure any restrictions formal, all pursuant to a simple modification of the technical spirit of the present invention of the above embodiments made an example of, equivalent changes and modifications belong to the present invention technology the scope of the protection scheme.
|Brevet cité||Date de dépôt||Date de publication||Déposant||Titre|
|CN105022392A *||22 avr. 2014||4 nov. 2015||广西科技大学||Granary environment trolley control method|
|CN105136521A *||24 août 2015||9 déc. 2015||杭州市粮食收储有限公司良渚分公司||Grain bin patrol and sampling device|
|CN202631005U *||6 juin 2012||26 déc. 2012||北京佳华储良科技有限公司||Grain stack detector|
|CN202841952U *||29 mai 2012||3 avr. 2013||湖北叶威粮油机械有限公司||Crawler-type grain flattening robot|
|CN205483065U *||16 mars 2016||17 août 2016||郑州艾蒂奥科技发展有限公司||Automatic controlization grain depot grain condition detection robot|
|US4866997 *||4 janv. 1988||19 sept. 1989||Kaufman Kevin W||Grain probe|
|25 mai 2016||C06||Publication|
|22 juin 2016||C10||Entry into substantive examination|