CN105606157A - Multifunctional grain depot and grain condition intelligent patrol robot - Google Patents
Multifunctional grain depot and grain condition intelligent patrol robot Download PDFInfo
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- CN105606157A CN105606157A CN201610150348.8A CN201610150348A CN105606157A CN 105606157 A CN105606157 A CN 105606157A CN 201610150348 A CN201610150348 A CN 201610150348A CN 105606157 A CN105606157 A CN 105606157A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
Abstract
The invention provides a multifunctional grain depot and grain condition intelligent patrol robot. The multifunctional grain depot and grain condition intelligent patrol robot includes a crawler type running system, a grain bulk automatic detection system, a grain bulk and grain surface flattening system, an electric power supply system, a shooting monitoring system, a wireless signal transmission system and a control system, wherein the crawler type running system includes a chassis and rubber crawler belts; the grain bulk automatic detection system includes a drill stand; a mounting plate is horizontally arranged on the upper surface of the drill stand; an expansion joint is fixedly connected with the center of the lower surface of the mounting plate vertically; a drilling device and a sensing detection device are arranged in the expansion joint; two dead levers are fixedly connected with the middle part of the upper surface of the mounting plate; and a wire rope collection device and a cable collection device are arranged between the two dead levers. The multifunctional grain depot and grain condition intelligent patrol robot has the advantages of autonomously moving in the grain bulks, accurately positioning, drilling, detecting the grain storage environmental parameters in real time, sampling, applying medication locally, being able to detect the environmental parameters of the grain storage three dimension space at different positions and different depths in the grain depot and grain bulks, and being able to transmit the detection data to a monitoring center in the wireless transmission mode.
Description
Technical field
The invention belongs to robot application technical field, relate in particular to a kind of multi-functional grain depot grain feelings intelligent inspection robot.
Background technology
Grain is national grand strategy commodity, and China is a grain consumption big country, and grain security and grain reserves are effective measures that country prepares against natural disasters and regulates grain market to take for reply war, the disaster relief. The safe storage of grain ensures that it is under normal temperature and humidity exactly, and the environmental factor in real-time grasp silo changes comprehensively, and it is the key that ensures grain storage quality that the temperature, the humidity etc. that occur are made to correct processing extremely in time. Grain conditions in grain depot checkout equipment is mainly sampler at present, is also sample. Wherein, layered sampler is mainly used in the sampling of bulk grain heap and bulk grain car, once inserts multilayer sampling; Electronic sampling sharp-pointed tube is applicable to horizontal warehouse, underground bin, the sampling of deep layer grain and dispensing and carries out skewer sample thief in the process such as accumulating, quality inspection, also can be used for laying monitoring cable, sets up an office and throw in insecticide etc. in part; Full-automatic grain sampler is specifically designed to vehicle-mounted packaging grain, bulk grain and vehicle mounted grain inspection. Along with scoring consecutive bumper harvests of China's grain, the grain storage scale of large granary also expands in development, and grain heap grain feelings are detected and just proposed more extensive various requirement. The grain depot management of China's major part is still taking the manually extensive style management as master at present, adopting sample to get grain is mainly to rely on manpower, and labour intensity is large, and especially the detection of large granary can not obtain completing in time and thoroughly, thereby the generation that can cause grain to go mouldy, causes huge economic loss. Although electronic sampling sharp-pointed tube can, for large granary, need expend a large amount of manpowers equally, and can acquired information to the grain analysis of sample point repeatedly, the efficiency of management of grain depot is low.
Summary of the invention
The present invention is in order to solve weak point of the prior art, a kind of multi-functional grain depot grain feelings intelligent inspection robot is provided, can be at autonomous in grain heap, accurately locate, creep into, detect in real time grain storage ambient parameter, sampling and local dispenser, can detect the three-dimensional ambient parameter of grain storage, and by wireless transmission method, detection data is sent to Surveillance center at grain depot grain heap diverse location, different depth.
For solving the problems of the technologies described above, the present invention adopts following technical scheme: a kind of multi-functional grain depot grain feelings intelligent inspection robot, comprises crawler type running system, grain heap automatic detection system, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system;
Crawler type running system comprises rectangular chassis and is positioned at two slat gum crawler belts of the left and right sides, chassis, center chassis offers circular hole, in two slat gum crawler belts, be equipped be positioned at rubber belt track rear end driving wheel, be positioned at the first driven pulley of rubber belt track front end and be positioned at rubber belt track middle part and spaced two the second driven pulleys, extreme end of chassis portion both sides are equipped with a base, on each base, be equipped with first drive motors, the output shaft of each the first drive motors is all in transmission connection by the first shaft coupling and the wheel shaft that is axially located at a driving wheel center;
Grain heap automatic detection system comprises the drilling cramp that is cuboid frame structure being fixedly connected on chassis, drilling cramp upper surface level is provided with installing plate, installing plate center offers through hole, installing plate lower surface central vertical is fixedly connected with telescopic joint, in telescopic joint, be provided with drilling apparatus and sensing detection device, installing plate upper surface middle part is fixedly connected with two fixed bars along front and back horizontal direction, parallel and the interval of two fixed bars arranges, the length of fixed bar is greater than the length of installing plate, between two fixed bar rearward end, be provided with steel wire rope draw off gear, between two fixed bar leading sections, be provided with cable reel installation,
Grain heap grain face planarization system comprises grain-pushing plate and the second drive motors for the grain-pushing plate that overturns, the actuating unit of grain heap grain face planarization system adopts some electric pushrods composition multi-connecting-rod mechanisms to drive grain-pushing plates, can make that grain-pushing plate tilts, lifting and jackknife action;
Camera monitoring system comprises two holders that are fixedly connected on installing plate upper surface forward edge and posterior edges, is equipped with ccd video camera, thermal camera and illuminating lamp on each holder;
Wireless signal transmission system comprises the emitter, receiver and the antenna that are all located at installing plate middle part;
Control system comprises the control panel being located on drilling cramp, and control panel is provided with the control button opening and closing for controlling crawler type running system, grain heap automatic detection system, grain heap grain face planarization system and power supply.
Telescopic joint comprises the sleeve that several external diameters are different, all sleeves are all upper and lower penetrating and have a same center line, less external diameter sleeve in two sleeves of arbitrary neighborhood is all plugged in larger sleeve, be positioned at the lower surface center that outermost sleeve top is fixedly connected on installing plate, each sleeve upper end inward flange and outward flange are equipped with locating flange, and inward flange and the outward flange of each sleeve lower end are equipped with defining flange.
Steel wire rope draw off gear comprises steel wire rope, the first winding cylinder and the first guide roller, between two fixed bar rearward end, be rotatably connected to the first rotating shaft, the first winding cylinder is set in the first rotating shaft, installing plate rear side is fixedly connected with the first installing rack, on the first installing rack, be provided with the 3rd drive motors along left and right horizontal direction, the output shaft of the 3rd drive motors is towards right setting and be connected with the first worm reduction gear, the output shaft of the first worm reduction gear is in transmission connection by the second shaft coupling and the first rotating shaft left end, the first guide roller is rotatably connected between two fixed bar middle parts, steel wire rope one end is connected with telescopic joint through the through hole at installing plate center, the steel wire rope other end is connected with the first winding cylinder by the first guide roller.
Cable reel installation comprises cable, the second winding cylinder and the second guide roller, between two fixed bar leading sections, be rotatably connected to the second rotating shaft, the second winding cylinder is set in the second rotating shaft, installing plate front side is fixedly connected with the second installing rack, on the second installing rack, be provided with the 4th drive motors along left and right horizontal direction, the output shaft of the 4th drive motors is towards right setting and be connected with the second worm reduction gear, the output shaft of the second worm reduction gear is in transmission connection by the 3rd shaft coupling and the second rotating shaft left end, the second guide roller is rotatably connected between two fixed bar middle parts, cable one end is connected with sensing detection device and drilling apparatus in telescopic joint through the through hole at installing plate center, the cable other end is connected with the second winding cylinder by the second guide roller.
Drilling apparatus comprises the 5th drive motors and cone-type spiral auger, the bottom level of innermost layer sleeve is fixedly connected with the first division board and middle part level is fixed with the second division board, the 5th drive motors is vertically located between the first division board and the second division board, the output shaft of the 5th drive motors down and be connected with the 3rd worm reduction gear, the sleeve lining of innermost layer is fixedly connected with the gripper shoe that is positioned at the first division board top, the 3rd worm reduction gear is fixedly connected in gripper shoe, the power shaft of cone-type spiral auger upwards passes the first division board center and is in transmission connection by the output shaft of tetrad axial organ and the 3rd worm reduction gear, tetrad axial organ is fixedly connected on the first division board upper surface, the junction at cone-type spiral auger and the first division board center is provided with sealing ring.
Electric power supply system comprises twisted and released of the cable frame, tightening device and the 6th drive motors, twisted and released of the cable frame is fixedly connected on rear side middle part, chassis, between twisted and released of the cable frame, be rotatably connected to the 3rd rotating shaft, in the 3rd rotating shaft, be arranged with the 3rd winding cylinder, on the 3rd winding cylinder, be wound with cable.
Electric power supply system comprises charging device and the electrokinetic cell that is fixedly connected on chassis rear sides, and electrokinetic cell trailing flank is provided with charging plug, on charging device leading flank, offers charging inlet, and charging plug is pegged graft and coordinated with charging inlet
Adopt technique scheme, tool of the present invention has the following advantages:
1, crawler type running system of the present invention, when controlling simultaneously forwards or the reversion of two the first drive motors, thereby the first drive motors drives driving wheel to rotate drives chassis advance or retreat by rubber belt track, when when controlling a first drive motors rotation, another first drive motors stops operating, can realize turning action, adopt crawler type running system to be convenient to stabilized walking on soft grain heap surface, rectangular chassis can increase with grain piles surperficial contact area, adopt two the first drive motors drive respectively, being convenient to walking controls, the high speed of whole crawler type running system is lower, be beneficial to lower the center of gravity and save the space in short transverse,
2, the present invention can pile the sensing point that reaches diverse location on surface at grain, while arriving sensing point, start the 5th drive motors, drive cone-type spiral auger to rotate, vertically in grain heap, produce downward driving force, cone-type spiral auger creeps into downwards and drives each sleeve of telescopic joint to trail downwards, arriving desired depth detects grain feelings parameter, also can carry out the each node upper sensor of sensor network and pile inner layout at grain, bring sensor into grain heap by cone-type spiral auger inner, avoid before grain enters storehouse placement sensor to produce a large amount of cables and affect grain and enter storehouse operation, complete after operations, control the 5th drive motors reversion, thereby drive cone-type spiral auger counter-rotation, vertically in grain heap, produce driving force upwards, telescopic joint shrinks thereupon and exits gradually grain heap, after cone-type spiral auger exits completely, control crawler type running system autonomous to next monitoring point,
3, steel wire rope draw off gear of the present invention, controlling the 3rd drive motors drives the first worm reduction gear to drive the first winding cylinder to rotate by the second shaft coupling, the speed that the folding and unfolding speed of steel wire rope is retreated and advance with drilling apparatus is synchronizeed, moving driven by motor the second worm reduction gear of cable reel installation control 4 wheel driven drives the second winding cylinder to rotate by the 3rd shaft coupling, the folding and unfolding speed that makes cable with turn that motion device retreats and the speed of advancing is synchronizeed, adopt the first worm reduction gear and the second worm reduction gear can realize self-locking;
4, grain heap grain face planarization system of the present invention is piled the smooth operation on surface in the time that grain is put in storage for grain, and can adjust vertical height and the angle of inclination of grain-pushing plate, coordinate crawler type running system can complete the surfacing of grain heap, grain is in storing process time, the present invention only needs to carry out patrol task, the collapsible harvesting of linkage of grain heap grain face planarization system is got up, to save space and the realization that facilitates other functions;
5, electric power supply system of the present invention is for the invention provides power supply supply, can adopt cable winding on the 3rd winding cylinder on twisted and released of the cable frame, drive the first winding cylinder to rotate by the 6th drive motors, carry out the folding and unfolding of control cables, and the folding and unfolding speed of cable is synchronizeed with retreating with pace of crawler type running system, when the present invention works at the scene, cable is connected with on-the-spot supplying electricity and power distribution case, in the time that grain is piled surperficial diverse location, the length of cable is different, can realize by the folding and unfolding of control cables, and cable is connected with on-the-spot supplying electricity and power distribution case all the time, electric power supply system of the present invention also can adopt and self electrokinetic cell is installed, simple in structure, make the present invention in mobile process, not be subject to the restriction of cable length, can arrive arbitrarily assigned address, when the present invention completes all job tasks or during when electrokinetic cell power shortage, independently finds charging device charging plug is inserted to charging inlet and completes charging,
6, image detecting system of the present invention is mainly used in grain and piles outside environment measuring and automatic obstacle-avoiding of the present invention, the intrasystem sensing detection device of grain heap automatic detection of the present invention is mainly used in surveying the inner grain feelings parameter at different depth of grain heap, and passes through wireless signal transmission system real-time Transmission to Surveillance center.
Brief description of the drawings
Fig. 1 is structural representation of the present invention;
Fig. 2 is the enlarged drawing at A place in Fig. 1;
Fig. 3 is the enlarged drawing at B place in Fig. 1;
Fig. 4 is plan structure schematic diagram of the present invention;
Fig. 5 is backsight structural representation of the present invention;
Fig. 6 is the structural representation of drilling apparatus in the present invention;
Fig. 7 is the enlarged drawing at C place in Fig. 6;
The structural representation of Tu8Shi China Oil and Food Import and Export Corporation of the present invention heap grain face planarization system under folded state;
Fig. 9 is structural representation when electric power supply system adopts electrokinetic cell in the present invention;
Figure 10 is that the cone-type spiral auger of China Oil and Food Import and Export Corporation of the present invention heap automatic detection system enters the inner structural representation detecting of grain heap.
Detailed description of the invention
As Figure 1-10 shows, the multi-functional grain depot grain of one of the present invention feelings intelligent inspection robot, comprises crawler type running system, grain heap automatic detection system, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system.
Crawler type running system comprises rectangular chassis 1 and is positioned at two slat gum crawler belts 2 of 1 left and right sides, chassis, 1 center, chassis offers circular hole, in two slat gum crawler belts 2, be equipped with the driving wheel 3 that is positioned at rubber belt track 2 rear ends, be positioned at the first driven pulley 4 of rubber belt track 2 front ends and be positioned at rubber belt track 2 middle parts and spaced two the second driven pulleys 5, 1 rearward end both sides, chassis are equipped with a base 6, on each base 6, be equipped with first drive motors 7, the output shaft of each the first drive motors 7 is all in transmission connection by the first shaft coupling 8 and the wheel shaft 9 that is axially located at driving wheel 3 centers.
Grain heap automatic detection system comprises and is fixedly connected on the One On The Chassis drilling cramp 10 that is cuboid frame structure, drilling cramp 10 upper surface levels are provided with installing plate 11, installing plate 11 centers offer through hole, installing plate 11 lower surface central vertical are fixedly connected with telescopic joint 12, in telescopic joint 12, be provided with drilling apparatus and sensing detection device 14, installing plate 11 upper surface middle part are fixedly connected with two fixed bars 47 along front and back horizontal direction, parallel and the interval of two fixed bars 47 arranges, the length of fixed bar 47 is greater than the length of installing plate 11, between two fixed bar 47 rearward end, be provided with steel wire rope draw off gear, between two fixed bar 47 leading sections, be provided with cable reel installation.
Grain heap grain face planarization system comprises grain-pushing plate 16 and the second drive motors 17 for the grain-pushing plate 16 that overturns, the actuating unit of grain heap grain face planarization system adopts some electric pushrods composition multi-connecting-rod mechanisms to drive grain-pushing plates 16, can make that grain-pushing plate 16 tilts, lifting and jackknife action.
Camera monitoring system comprises two holders 24 that are fixedly connected on installing plate 11 upper surface forward edge and posterior edges, is equipped with ccd video camera 25, thermal camera 26 and illuminating lamp 27 on each holder 24.
Wireless signal transmission system comprises the emitter 28, receiver 29 and the antenna 30 that are all located at installing plate 11 middle parts.
Control system comprises the control panel 31 being located on drilling cramp 10, and control panel 31 is provided with the control button 32 opening and closing for controlling crawler type running system, grain heap automatic detection system, grain heap grain face planarization system and power supply.
Telescopic joint 12 comprises the different sleeve of several external diameters 33, all sleeves 33 are all upper and lower penetrating and have a same center line, less external diameter sleeve 33 in two sleeves 33 of arbitrary neighborhood is all plugged in larger sleeve 33, be positioned at the lower surface center that outermost sleeve 33 tops are fixedly connected on installing plate 11, each sleeve 33 upper end inward flanges and outward flange are equipped with locating flange 34, and inward flange and the outward flange of each sleeve 33 lower ends are equipped with defining flange 35.
Steel wire rope draw off gear comprises steel wire rope 36, the first winding cylinder 38 and the first guide roller 39, between two fixed bar 47 rearward end, be rotatably connected to the first rotating shaft 48, the first winding cylinder 38 is set in the first rotating shaft 48, installing plate 11 rear sides are fixedly connected with the first installing rack 37, on the first installing rack 37, be provided with the 3rd drive motors 49 along left and right horizontal direction, the output shaft of the 3rd drive motors 49 is towards right setting and be connected with the first worm reduction gear 50, the output shaft of the first worm reduction gear 50 is in transmission connection by the second shaft coupling 51 and the first rotating shaft 48 left ends, the first guide roller 39 is rotatably connected between two fixed bar 47 middle parts, steel wire rope 36 one end are connected with telescopic joint 12 through the through hole at installing plate 11 centers, steel wire rope 36 other ends are connected with the first winding cylinder 38 by the first guide roller 39.
Cable reel installation comprises cable 23, the second winding cylinder 41 and the second guide roller 42, between two fixed bar 47 leading sections, be rotatably connected to the second rotating shaft 52, the second winding cylinder 41 is set in the second rotating shaft 52, installing plate 11 front sides are fixedly connected with the second installing rack 40, on the second installing rack 40, be provided with the 4th drive motors 53 along left and right horizontal direction, the output shaft of the 4th drive motors 53 is towards right setting and be connected with the second worm reduction gear 54, the output shaft of the second worm reduction gear 54 is in transmission connection by the 3rd shaft coupling 55 and the second rotating shaft 52 left ends, the second guide roller 42 is rotatably connected between two fixed bar 47 middle parts, cable 23 one end are connected with sensing detection device 14 and drilling apparatus in telescopic joint 12 through the through hole at installing plate 11 centers, cable 23 other ends are connected with the second winding cylinder 41 by the second guide roller 42.
Drilling apparatus comprises the 5th drive motors 13 and cone-type spiral auger 15, the bottom level of innermost layer sleeve 33 is fixedly connected with the first division board 56 and middle part level is fixed with the second division board 57, the 5th drive motors 13 is vertically located between the first division board 56 and the second division board 57, the output shaft of the 5th drive motors 13 down and be connected with the 3rd worm reduction gear 58, sleeve 33 inwalls of innermost layer are fixedly connected with the gripper shoe 59 that is positioned at the first division board 56 tops, the 3rd worm reduction gear 58 is fixedly connected in gripper shoe 59, the power shaft of cone-type spiral auger 15 upwards passes the first division board 56 centers and is in transmission connection by the output shaft of tetrad axial organ 60 and the 3rd worm reduction gear 58, tetrad axial organ 60 is fixedly connected on the first division board 56 upper surfaces, the junction at cone-type spiral auger 15 and the first division board 56 centers is provided with sealing ring 61.
Electric power supply system comprises twisted and released of the cable frame 18, tightening device 19 and the 6th drive motors 20, twisted and released of the cable frame 18 is fixedly connected on 1 rear side middle part, chassis, between twisted and released of the cable frame 18, be rotatably connected to the 3rd rotating shaft 21, in the 3rd rotating shaft 21, be arranged with on the 3rd winding cylinder 22, the three winding cylinders 22 and be wound with cable 23.
Electric power supply system comprises charging device 43 and is fixedly connected on the electrokinetic cell 44 of chassis 1 rear sides, electrokinetic cell 44 trailing flanks are provided with charging plug 45, on charging device 43 leading flanks, offer charging inlet 46, charging plug 45 is pegged graft and is coordinated with charging inlet 46.
The course of work of the present invention is: first connect electrical source of power, can manually control control system of the present invention operates, by two the first drive motors 7 in control system control crawler type running system, in the time controlling two the first 7 while of drive motors forwards or reversion, thereby the first drive motors 7 drives driving wheel 3 to rotate by rubber belt track 2 drives chassis 1 advance or retreat, when controlling that first drive motors 7 rotates and when another first drive motors 7 stops operating, can realize turning action, control grain heap grain face planarization system operate grain heap surperficial smooth, control the present invention and arrive the monitoring point that needs detection, start the 5th drive motors 13, drive cone-type spiral auger 15 to rotate, vertically in grain heap, produce downward driving force, start the 3rd drive motors 49 and the 4th drive motors 53 simultaneously, the 3rd drive motors 49 drives the first worm reduction gear 50 to drive the first winding cylinder 38 to rotate by the second shaft coupling 51, the speed that the folding and unfolding speed of steel wire rope 36 is retreated and advance with drilling apparatus is synchronizeed, the 4th drive motors 53 drives the second worm reduction gear 54 to drive the second winding cylinder 41 to rotate by the 3rd shaft coupling 55, the folding and unfolding speed that makes cable 23 with turn that motion device retreats and the speed of advancing is synchronizeed, cone-type spiral auger 15 creeps into downwards and drives each sleeve 33 of telescopic joint 12 to trail downwards, arriving desired depth detects grain feelings parameter, also can carry out the each node upper sensor of sensor network and pile inner layout at grain, bring sensor into grain heap by cone-type spiral auger 15 inner, complete after operations, controlling the 5th drive motors 13 reverses, thereby drive cone-type spiral auger 15 counter-rotation, vertically in grain heap, produce driving force upwards, telescopic joint 12 shrinks thereupon and exits gradually grain heap, control the 3rd drive motors 49 and the 4th drive motors 53 reverses simultaneously, steel wire rope 36 and cable 23 are synchronously drawn over to one's side motion, drilling apparatus exits grain heap gradually, after cone-type spiral auger 15 exits completely, control crawler type running system autonomous to next monitoring point, the present invention also can realize automatic operation by wireless signal transmission system reception control signal, pile surperficial monitoring point according to path planning autonomous to grain, arrive behind the monitoring point that needs to detect, control grain heap automatic detection system, start the 5th drive motors 13, make telescopic joint 12 along with cone-type spiral auger 15 progresses into grain heap inside and trails section by section, until reach the degree of depth that will detect, pile on inner detection position at grain, the sensor of cone-type spiral auger 15 inside detects the grain feelings parameter that this is selected, send to Surveillance center by wireless signal transmission system, then controlling the 5th drive motors 13 reverses, thereby drive cone-type spiral auger 15 counter-rotation, telescopic joint 12 shrinks thereupon and exits gradually grain heap, after cone-type spiral auger 15 exits completely, control crawler type running system autonomous to next monitoring point, in the time of grain heap surface irregularity, also can carry out the automatically smooth of grain heap surface by wireless signal transmission system control grain heap grain face planarization system, electric power supply system is for the invention provides power supply supply, can adopt cable 23 is wrapped on the 3rd winding cylinder 22 on cable 23 retractable frames 18, drive the 3rd winding cylinder 22 to rotate by the 6th drive motors 20, carry out the folding and unfolding of control cables 23, and the folding and unfolding speed of cable 23 is synchronizeed with retreating with pace of crawler type running system, when the present invention works at the scene, cable 23 is connected with on-the-spot supplying electricity and power distribution case, in the time that grain is piled surperficial diverse location, the length of cable 23 is different, can realize by the folding and unfolding of control cables 23, and cable 23 is connected with on-the-spot supplying electricity and power distribution case all the time, electric power supply system of the present invention also can adopt and self electrokinetic cell 44 is installed, simple in structure, make the present invention in mobile process, not be subject to the restriction of cable 23 length, can arrive arbitrarily assigned address, when the present invention completes all job tasks or during when electrokinetic cell 44 power shortage, independently finds charging device 43 charging plug 45 is inserted to charging inlet 46 and completes charging.
The present embodiment is not done any pro forma restriction to shape of the present invention, material, structure etc.; any simple modification, equivalent variations and modification that every foundation technical spirit of the present invention is done above embodiment, all belong to the protection domain of technical solution of the present invention.
Claims (7)
1. a multi-functional grain depot grain feelings intelligent inspection robot, is characterized in that: comprise crawler type running system, grain heap automatic detection system, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system;
Crawler type running system comprises rectangular chassis and is positioned at two slat gum crawler belts of the left and right sides, chassis, center chassis offers circular hole, in two slat gum crawler belts, be equipped be positioned at rubber belt track rear end driving wheel, be positioned at the first driven pulley of rubber belt track front end and be positioned at rubber belt track middle part and spaced two the second driven pulleys, extreme end of chassis portion both sides are equipped with a base, on each base, be equipped with first drive motors, the output shaft of each the first drive motors is all in transmission connection by the first shaft coupling and the wheel shaft that is axially located at a driving wheel center;
Grain heap automatic detection system comprises the drilling cramp that is cuboid frame structure being fixedly connected on chassis, drilling cramp upper surface level is provided with installing plate, installing plate center offers through hole, installing plate lower surface central vertical is fixedly connected with telescopic joint, in telescopic joint, be provided with drilling apparatus and sensing detection device, installing plate upper surface middle part is fixedly connected with two fixed bars along front and back horizontal direction, parallel and the interval of two fixed bars arranges, the length of fixed bar is greater than the length of installing plate, between two fixed bar rearward end, be provided with steel wire rope draw off gear, between two fixed bar leading sections, be provided with cable reel installation,
Grain heap grain face planarization system comprises grain-pushing plate and the second drive motors for the grain-pushing plate that overturns, the actuating unit of grain heap grain face planarization system adopts some electric pushrods composition multi-connecting-rod mechanisms to drive grain-pushing plates, can make that grain-pushing plate tilts, lifting and jackknife action;
Camera monitoring system comprises two holders that are fixedly connected on installing plate upper surface forward edge and posterior edges, is equipped with ccd video camera, thermal camera and illuminating lamp on each holder;
Wireless signal transmission system comprises the emitter, receiver and the antenna that are all located at installing plate middle part;
Control system comprises the control panel being located on drilling cramp, and control panel is provided with the control button opening and closing for controlling crawler type running system, grain heap automatic detection system, grain heap grain face planarization system and power supply.
2. the multi-functional grain depot grain of one according to claim 1 feelings intelligent inspection robot, it is characterized in that: telescopic joint comprises the sleeve that several external diameters are different, all sleeves are all upper and lower penetrating and have a same center line, less external diameter sleeve in two sleeves of arbitrary neighborhood is all plugged in larger sleeve, be positioned at the lower surface center that outermost sleeve top is fixedly connected on installing plate, each sleeve upper end inward flange and outward flange are equipped with locating flange, and inward flange and the outward flange of each sleeve lower end are equipped with defining flange.
3. the multi-functional grain depot grain of one according to claim 2 feelings intelligent inspection robot, it is characterized in that: steel wire rope draw off gear comprises steel wire rope, the first winding cylinder and the first guide roller, between two fixed bar rearward end, be rotatably connected to the first rotating shaft, the first winding cylinder is set in the first rotating shaft, installing plate rear side is fixedly connected with the first installing rack, on the first installing rack, be provided with the 3rd drive motors along left and right horizontal direction, the output shaft of the 3rd drive motors is towards right setting and be connected with the first worm reduction gear, the output shaft of the first worm reduction gear is in transmission connection by the second shaft coupling and the first rotating shaft left end, the first guide roller is rotatably connected between two fixed bar middle parts, steel wire rope one end is connected with telescopic joint through the through hole at installing plate center, the steel wire rope other end is connected with the first winding cylinder by the first guide roller.
4. the multi-functional grain depot grain of one according to claim 3 feelings intelligent inspection robot, it is characterized in that: cable reel installation comprises cable, the second winding cylinder and the second guide roller, between two fixed bar leading sections, be rotatably connected to the second rotating shaft, the second winding cylinder is set in the second rotating shaft, installing plate front side is fixedly connected with the second installing rack, on the second installing rack, be provided with the 4th drive motors along left and right horizontal direction, the output shaft of the 4th drive motors is towards right setting and be connected with the second worm reduction gear, the output shaft of the second worm reduction gear is in transmission connection by the 3rd shaft coupling and the second rotating shaft left end, the second guide roller is rotatably connected between two fixed bar middle parts, cable one end is connected with sensing detection device and drilling apparatus in telescopic joint through the through hole at installing plate center, the cable other end is connected with the second winding cylinder by the second guide roller.
5. the multi-functional grain depot grain of one according to claim 4 feelings intelligent inspection robot, it is characterized in that: drilling apparatus comprises the 5th drive motors and cone-type spiral auger, the bottom level of innermost layer sleeve is fixedly connected with the first division board and middle part level is fixed with the second division board, the 5th drive motors is vertically located between the first division board and the second division board, the output shaft of the 5th drive motors down and be connected with the 3rd worm reduction gear, the sleeve lining of innermost layer is fixedly connected with the gripper shoe that is positioned at the first division board top, the 3rd worm reduction gear is fixedly connected in gripper shoe, the power shaft of cone-type spiral auger upwards passes the first division board center and is in transmission connection by the output shaft of tetrad axial organ and the 3rd worm reduction gear, tetrad axial organ is fixedly connected on the first division board upper surface, the junction at cone-type spiral auger and the first division board center is provided with sealing ring.
6. the multi-functional grain depot grain of one according to claim 5 feelings intelligent inspection robot, it is characterized in that: electric power supply system comprises twisted and released of the cable frame, tightening device and the 6th drive motors, twisted and released of the cable frame is fixedly connected on rear side middle part, chassis, between twisted and released of the cable frame, be rotatably connected to the 3rd rotating shaft, in the 3rd rotating shaft, be arranged with the 3rd winding cylinder, on the 3rd winding cylinder, be wound with cable.
7. the multi-functional grain depot grain of one according to claim 6 feelings intelligent inspection robot, it is characterized in that: electric power supply system comprises charging device and is fixedly connected on the electrokinetic cell of chassis rear sides, electrokinetic cell trailing flank is provided with charging plug, on charging device leading flank, offer charging inlet, charging plug is pegged graft and is coordinated with charging inlet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150348.8A CN105606157B (en) | 2016-03-16 | 2016-03-16 | A kind of multi-functional grain conditions in grain depot intelligent inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610150348.8A CN105606157B (en) | 2016-03-16 | 2016-03-16 | A kind of multi-functional grain conditions in grain depot intelligent inspection robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106112956A (en) * | 2016-07-18 | 2016-11-16 | 郭羕 | Grain fumigation dispensing Work robot and medication administration method thereof |
| CN108344454A (en) * | 2018-04-21 | 2018-07-31 | 国网四川省电力公司电力科学研究院 | A kind of intelligent substation patrol positioning system based on UWB |
| CN108871862A (en) * | 2018-06-12 | 2018-11-23 | 安徽聚力粮机科技股份有限公司 | A kind of grain depot grain face mobile device platform |
| CN109795898A (en) * | 2019-01-29 | 2019-05-24 | 电子科大科园股份有限公司 | A kind of Jing Ping robot with collapsible impurity removal mechanism |
| CN109823872A (en) * | 2019-03-22 | 2019-05-31 | 浪潮软件集团有限公司 | A kind of intelligence grain-levelling machine device people and flat grain control system |
| CN111044177A (en) * | 2020-01-02 | 2020-04-21 | 梅雪竹 | Method and system for discovering artificial intelligent temperature inspection flaws in food industry |
| CN112193863A (en) * | 2020-10-09 | 2021-01-08 | 辽宁工程技术大学 | Grain surface leveling machine for grain depot |
| CN113390470A (en) * | 2021-08-17 | 2021-09-14 | 南京艾龙信息科技有限公司 | Grain condition detection system for grain storage supervision |
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| CN202841952U (en) * | 2012-05-29 | 2013-04-03 | 湖北叶威粮油机械有限公司 | Crawler-type grain flattening robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106112956A (en) * | 2016-07-18 | 2016-11-16 | 郭羕 | Grain fumigation dispensing Work robot and medication administration method thereof |
| CN106112956B (en) * | 2016-07-18 | 2018-05-04 | 郭羕 | Grain fumigation dispensing Work robot and its medication administration method |
| CN108344454A (en) * | 2018-04-21 | 2018-07-31 | 国网四川省电力公司电力科学研究院 | A kind of intelligent substation patrol positioning system based on UWB |
| CN108344454B (en) * | 2018-04-21 | 2023-12-08 | 国网四川省电力公司电力科学研究院 | UWB-based intelligent substation inspection positioning system |
| CN108871862A (en) * | 2018-06-12 | 2018-11-23 | 安徽聚力粮机科技股份有限公司 | A kind of grain depot grain face mobile device platform |
| CN109795898A (en) * | 2019-01-29 | 2019-05-24 | 电子科大科园股份有限公司 | A kind of Jing Ping robot with collapsible impurity removal mechanism |
| CN109823872A (en) * | 2019-03-22 | 2019-05-31 | 浪潮软件集团有限公司 | A kind of intelligence grain-levelling machine device people and flat grain control system |
| CN109823872B (en) * | 2019-03-22 | 2024-04-12 | 浪潮软件集团有限公司 | Intelligent grain leveling robot and grain leveling control system |
| CN111044177A (en) * | 2020-01-02 | 2020-04-21 | 梅雪竹 | Method and system for discovering artificial intelligent temperature inspection flaws in food industry |
| CN112193863A (en) * | 2020-10-09 | 2021-01-08 | 辽宁工程技术大学 | Grain surface leveling machine for grain depot |
| CN113390470A (en) * | 2021-08-17 | 2021-09-14 | 南京艾龙信息科技有限公司 | Grain condition detection system for grain storage supervision |
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