CN205483065U - Automatic controlization grain depot grain condition detection robot - Google Patents
Automatic controlization grain depot grain condition detection robot Download PDFInfo
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- CN205483065U CN205483065U CN201620202960.0U CN201620202960U CN205483065U CN 205483065 U CN205483065 U CN 205483065U CN 201620202960 U CN201620202960 U CN 201620202960U CN 205483065 U CN205483065 U CN 205483065U
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Abstract
Automatic controlization grain depot grain condition detection robot piles automatic detection system, the grain heap grain face system that levels, power supply system, the monitoring system that makes a video recording, radio signal transmission system and control system including crawler -type traveling system, grain, crawler -type traveling system includes chassis and rubber track, grain is piled automatic detection system and is included the drilling cramp, and drilling cramp upper surface level is equipped with the mounting panel, and the perpendicular fixedly connected with telescopic joint in mounting panel lower surface center is equipped with in and creeps into device and sensing and detecting device, and two dead levers of mounting panel upper surface middle part fixedly connected with are equipped with wire rope winding and unwinding devices and cable winding and unwinding devices between two dead levers. The utility model discloses can independently removal, accurate positioning in grain is piled, creep into, real -time detection stores up grain environmental parameter, give medicine to the poor free of charge in the sample circuit part, can pile different positions at grain depot grain, the different degree of depth detects the environmental parameter who stores up grain three dimensions to convey the surveillance center through wireless transmission with sounding data.
Description
Technical field
This utility model belongs to robot application technical field, particularly relates to automatic control grain conditions in grain depot measuring robots.
Background technology
Grain is the grand strategy commodity of country, and China is a grain big country, grain security and grain reserves be country be that reply war, the disaster relief are prepared against natural disasters and regulate grain market and the effective measures taked.The safe storage of grain is ensuring that it is under normal temperature and humidity, the most real-time environmental factors grasped in silo change, and the temperature occurred, humidity etc. are made the correct key processing and being to ensure that grain storage quality extremely in time.Grain conditions in grain depot detection equipment is presently mainly sampler, is also sample.Wherein, layered sampler is mainly used in bulk grain heap and the sampling of 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 offers medicine and carry out skewer during accumulating, quality inspection etc. take sample it can also be used to lay monitoring cable, and locally set up an office input insecticide etc.；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 the detection of grain heap grain feelings is just proposed the most huge variety of requirement.The grain depot management that China is most at present is still based on extensive management manually, using sample to take grain and rely primarily on manpower, labor intensity is big, and the especially detection of large granary can not obtain completing in time and thoroughly, thus the generation that grain can be caused to go mouldy, cause huge economic loss.Although electronic sampling sharp-pointed tube may be used for large granary, need to expend a large amount of manpower equally, and be analyzed obtaining information to the grain of repeatedly sample point, the efficiency of management of grain depot is low.
Utility model content
This utility model is in order to solve weak point of the prior art, automatic control grain conditions in grain depot measuring robots is provided, can in grain heap autonomous, be accurately positioned, creep into, detection grain storage ambient parameter, sampling and local drug delivery in real time, in grain depot grain heap diverse location, the different depth detection three-dimensional ambient parameter of grain storage, and by wireless transmission method, detection data can be sent to Surveillance center.
For solving above-mentioned technical problem, this utility model adopts the following technical scheme that automatic control grain conditions in grain depot measuring robots, including crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system；
Crawler type running system includes rectangular chassis and is positioned at two slat gum crawler belts of the left and right sides, chassis, center chassis offers circular hole, it is equipped with in two slat gum crawler belts and is positioned at the driving wheel of rubber belt track rear end, is positioned at the first driven pulley of rubber belt track front end and is positioned in the middle part of rubber belt track and spaced two the second driven pulleys, both sides, extreme end of chassis portion are equipped with a base, being equipped with one first on each base and drive motor, each first drives the output shaft of motor to be all in transmission connection by the first shaft coupling and the wheel shaft being axially disposed at a driving wheel center；
The automatic detection system of grain heap includes the drilling cramp in 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 center is vertically fixedly connected with telescopic joint, drilling apparatus and sensing detection device it is provided with in telescopic joint, installing plate upper surface middle part is fixedly connected with two fixing bars along anterior-posterior horizontal direction, two fixing bar is parallel and interval is arranged, the length of fixing bar is more than the length of installing plate, it is provided with steel wire rope draw off gear between two fixing rod rear end portions, it is provided with cable reel installation between two fixing bar leading sections；
Camera monitoring system includes two the fixing seats being fixedly connected on installing plate upper surface forward edge and posterior edges, and each fixing seat is equipped with ccd video camera, thermal camera and illuminating lamp；
Wireless signal transmission system includes transmitter, receiver and the antenna being each provided in the middle part of installing plate；
Control system includes the control panel being located on drilling cramp, and control panel is provided with for controlling the control button that crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system and power supply open and close.
Telescopic joint includes the sleeve that several external diameters are different, all sleeves are the most penetrating and have same centrage, less external diameter sleeve in two sleeves of arbitrary neighborhood is all plugged in bigger sleeve, it is positioned at outermost sleeve top and is fixedly connected on the lower surface center of 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 includes steel wire rope, first winding cylinder and the first guide roller, it is rotatably connected to the first rotating shaft between two fixing rod rear end portions, first winding cylinder is set in the first rotating shaft, the first installing rack it is fixedly connected with on rear side of installing plate, it is provided with the 3rd driving motor along left and right horizontal direction on first installing rack, 3rd drives the output shaft of motor towards right setting and to 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, between first guide roller is rotatably connected in the middle part of two fixing bars, steel wire rope one end is connected through the through hole at installing plate center with telescopic joint, the steel wire rope other end is connected by the first guide roller and the first winding cylinder.
Cable reel installation includes cable, second winding cylinder and the second guide roller, it is rotatably connected to the second rotating shaft between two fixing bar leading sections, second winding cylinder is set in the second rotating shaft, the second installing rack it is fixedly connected with on front side of installing plate, it is provided with 4 wheel driven galvanic electricity machine along left and right horizontal direction on second installing rack, the output shaft of 4 wheel driven galvanic electricity machine is towards right setting and is 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, between second guide roller is rotatably connected in the middle part of two fixing bars, cable one end is connected through the through hole at installing plate center with the sensing detection device in telescopic joint and drilling apparatus, the cable other end is connected by the second guide roller and the second winding cylinder.
Drilling apparatus includes the 5th driving motor and cone-type spiral auger, the lower horizontal of innermost layer sleeve is fixedly connected with the first division board and middle part level is fixed with the second division board, 5th drives motor to be vertically located between the first division board and the second division board, 5th drives the output shaft of motor down and to be connected with the 3rd worm reduction gear, the sleeve lining of innermost layer is fixedly connected with the gripper shoe being positioned at above the first division board, 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 the output shaft by the 4th shaft coupling and the 3rd worm reduction gear is in transmission connection, 4th shaft coupling 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 includes that twisted and released of the cable frame, tightening device and the 6th drive motor, twisted and released of the cable frame is fixedly connected on middle part on rear side of chassis, it is rotatably connected to the 3rd rotating shaft between twisted and released of the cable frame, the 3rd rotating shaft is arranged with the 3rd winding cylinder, the 3rd winding cylinder is wound with cable.
Electric power supply system includes charging device and is fixedly connected on the electrokinetic cell of chassis rear lateral portion, and electrokinetic cell trailing flank is provided with charging plug, and charging device leading flank offers charging inlet, and charging plug coordinates with charging inlet grafting
Using technique scheme, this utility model has the advantage that
1, crawler type running system of the present utility model, when rotating forward simultaneously by controlling two first driving motors or invert, first driving driven by motor driving wheel rotates thus drives chassis to advance or retrogressing by rubber belt track, when control one first driving electric machine rotation during another the first driving motor stalls, turning action can be realized, crawler type running system is used to be easy to stabilized walking on soft grain heap surface, rectangular chassis can increase and the contact area on grain heap surface, two first are used to drive motor independently to drive, it is easy to travelling control, the high speed of whole crawler type running system is relatively low, it is beneficial to lower the center of gravity and save the space in short transverse；
null2、This utility model can reach the sensing point of diverse location on grain heap surface，When arriving sensing point，Start the 5th driving motor，Cone-type spiral auger is driven to rotate，In grain heap, vertically produce downward driving force，Cone-type spiral auger is drilled down into driving each sleeve of telescopic joint to trail downwards，Arrive desired depth grain feelings parameter is detected，Sensor can also be carried out on each node of sensor network in the layout within grain heap，By cone-type spiral auger, sensor is brought into inside grain heap，Placement sensor before grain enters storehouse is avoided to produce a large amount of cables and affect grain and enter storehouse operation，After completing operations，Control the 5th driving motor reversal，Thus drive cone-type spiral auger opposite direction to rotate，In grain heap, vertically produce driving force upwards，Telescopic joint shrinks therewith and is gradually backed out 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 utility model, controlling the 3rd driving driven by motor the first worm reduction gear drives the first winding cylinder to rotate by the second shaft coupling, make the folding and unfolding speed of steel wire rope and the speed sync of drilling apparatus backward and forward, cable reel installation control 4 wheel driven move driven by motor the second worm reduction gear by the 3rd shaft coupling drive second winding cylinder rotate, make the folding and unfolding speed of cable and rotate into the speed sync of device backward and forward, using the first worm reduction gear and the second worm reduction gear can realize self-locking；
4, grain heap grain face of the present utility model planarization system is used for the leveling operation on grain heap surface when grain is put in storage, and vertical height and the angle of inclination of grain-pushing plate can be adjusted, coordinate crawler type running system can complete the surfacing of grain heap, when grain is in storing process, this utility model only needs to perform patrol task, the collapsible harvesting of linkage of grain heap grain face planarization system is got up, to save space and to facilitate the realization of other functions；
5, electric power supply system of the present utility model provides power supply supply for this utility model, can use on the 3rd winding cylinder cable being wrapped on twisted and released of the cable frame, motor is driven to drive the first winding cylinder to rotate by the 6th, control the folding and unfolding of cable, and the folding and unfolding speed of cable and the backward and forward speed sync of crawler type running system, when this utility model works at the scene, cable is connected with on-the-spot supplying electricity and power distribution case, when grain heap surface diverse location, the length of cable is different, can realize by controlling the folding and unfolding of cable, and cable is connected with on-the-spot supplying electricity and power distribution case all the time；Electric power supply system of the present utility model may be used without self and installs electrokinetic cell, simple in construction, this utility model is not restricted by cable length during movement, can arbitrarily arrive appointment position, when this utility model completes all of job task or during when electrokinetic cell electric power deficiency, charging plug is inserted charging inlet and completes charging by autonomous charging device of finding；
6, image detecting system of the present utility model is mainly used in the outside environment measuring of grain heap and automatic obstacle-avoiding of the present utility model, sensing detection device in the automatic detection system of grain heap of the present utility model is mainly used in the grain feelings parameter inside detection grain heap at different depth, and by wireless signal transmission system real-time Transmission to Surveillance center.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model；
Fig. 2 is the enlarged drawing in Fig. 1 at A；
Fig. 3 is the enlarged drawing in Fig. 1 at B；
Fig. 4 is plan structure schematic diagram of the present utility model；
Fig. 5 is backsight structural representation of the present utility model；
Fig. 6 is the structural representation of drilling apparatus in this utility model；
Fig. 7 is the enlarged drawing in Fig. 6 at C；
Tu8Shi this utility model China Oil and Food Import and Export Corporation's heap grain face planarization system structural representation in a folded configuration；
Fig. 9 is structural representation during electric power supply system employing electrokinetic cell in this utility model；
Figure 10 is that the cone-type spiral auger of this utility model China Oil and Food Import and Export Corporation automatic detection system of heap enters the internal structural representation detected of grain heap.
Detailed description of the invention
As Figure 1-10 shows, automatic control grain conditions in grain depot measuring robots of the present utility model, including crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system.
Crawler type running system includes rectangular chassis 1 and is positioned at two slat gum crawler belts 2 of the left and right sides, chassis 1, center, chassis 1 offers circular hole, the driving wheel 3 being positioned at rubber belt track 2 rear end it is equipped with in two slat gum crawler belts 2, it is positioned at the first driven pulley 4 of rubber belt track 2 front end and is positioned in the middle part of rubber belt track 2 and spaced two the second driven pulleys 5, rearward end both sides, chassis 1 are equipped with a base 6, it is equipped with one first on each base 6 and drives motor 7, each first drives the output shaft of motor 7 to be all in transmission connection by the first shaft coupling 8 and the wheel shaft 9 being axially disposed at driving wheel 3 center.
The automatic detection system of grain heap includes being fixedly connected on the One On The Chassis drilling cramp 10 in cuboid frame structure, drilling cramp 10 upper surface level is provided with installing plate 11, installing plate 11 center offers through hole, installing plate 11 lower surface center is vertically fixedly connected with telescopic joint 12, drilling apparatus and sensing detection device 14 it is provided with in telescopic joint 12, installing plate 11 upper surface middle part is fixedly connected with two fixing bars 47 along anterior-posterior horizontal direction, two fixing bar 47 is parallel and interval is arranged, the length of fixing bar 47 is more than the length of installing plate 11, it is provided with steel wire rope draw off gear between two fixing bar 47 rearward end, it is provided with cable reel installation between two fixing bar 47 leading sections.
Grain heap grain face planarization system includes grain-pushing plate 16 and for overturning the second driving motor 17 of grain-pushing plate 16, the actuating unit of grain heap grain face planarization system uses some electric pushrod composition multi-connecting-rod mechanisms to drive grain-pushing plate 16, and grain-pushing plate 16 can be made to carry out tilting, lift and jackknife action.
Camera monitoring system includes two the fixing seats 24 being fixedly connected on installing plate 11 upper surface forward edge and posterior edges, and each fixing seat 24 is equipped with ccd video camera 25, thermal camera 26 and illuminating lamp 27.
Wireless signal transmission system includes transmitter 28, receiver 29 and the antenna 30 being each provided in the middle part of installing plate 11.
Control system includes the control panel 31 being located on drilling cramp 10, and control panel 31 is provided with for controlling the control button 32 that crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system and power supply open and close.
Telescopic joint 12 includes the sleeve 33 that several external diameters are different, all sleeves 33 are the most penetrating and have same centrage, less external diameter sleeve 33 in two sleeves 33 of arbitrary neighborhood is all plugged in bigger sleeve 33, it is positioned at outermost sleeve 33 top and is fixedly connected on the lower surface center of installing plate 11, each sleeve 33 upper end inward flange and outward flange are equipped with locating flange 34, and inward flange and the outward flange of each sleeve 33 lower end are equipped with defining flange 35.
nullSteel wire rope draw off gear includes steel wire rope 36、First winding cylinder 38 and the first guide roller 39，It is rotatably connected to the first rotating shaft 48 between two fixing bar 47 rearward end，First winding cylinder 38 is set in the first rotating shaft 48，The first installing rack 37 it is fixedly connected with on rear side of installing plate 11，It is provided with the 3rd driving motor 49 along left and right horizontal direction on first installing rack 37，3rd drives the output shaft of motor 49 towards right setting and to be connected with the first worm reduction gear 50，The output shaft of the first worm reduction gear 50 is in transmission connection with the first rotating shaft 48 left end by the second shaft coupling 51，Between first guide roller 39 is rotatably connected in the middle part of two fixing bars 47，Steel wire rope 36 one end is connected through the through hole at installing plate 11 center with telescopic joint 12，Steel wire rope 36 other end is connected with the first winding cylinder 38 by the first guide roller 39.
nullCable reel installation includes cable 23、Second winding cylinder 41 and the second guide roller 42，It is rotatably connected to the second rotating shaft 52 between two fixing bar 47 leading sections，Second winding cylinder 41 is set in the second rotating shaft 52，The second installing rack 40 it is fixedly connected with on front side of installing plate 11，It is provided with 4 wheel driven galvanic electricity machine 53 along left and right horizontal direction on second installing rack 40，The output shaft of 4 wheel driven galvanic electricity machine 53 is towards right setting and is connected with the second worm reduction gear 54，The output shaft of the second worm reduction gear 54 is in transmission connection with the second rotating shaft 52 left end by the 3rd shaft coupling 55，Between second guide roller 42 is rotatably connected in the middle part of two fixing bars 47，Cable 23 one end is connected through the through hole at installing plate 11 center with the sensing detection device 14 in telescopic joint 12 and drilling apparatus，Cable 23 other end is connected with the second winding cylinder 41 by the second guide roller 42.
nullDrilling apparatus includes the 5th driving motor 13 and cone-type spiral auger 15，The lower horizontal 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 57，5th drives motor 13 to be vertically located between the first division board 56 and the second division board 57，5th drives the output shaft of motor 13 down and to be connected with the 3rd worm reduction gear 58，Sleeve 33 inwall of innermost layer is fixedly connected with the gripper shoe 59 being positioned at above the first division board 56，3rd 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 center and the output shaft by the 4th shaft coupling 60 with the 3rd worm reduction gear 58 is in transmission connection，4th shaft coupling 60 is fixedly connected on the first division board 56 upper surface，The junction at cone-type spiral auger 15 and the first division board 56 center is provided with sealing ring 61.
Electric power supply system includes that twisted and released of the cable frame 18, tightening device 19 and the 6th drive motor 20, twisted and released of the cable frame 18 is fixedly connected on middle part on rear side of chassis 1, the 3rd rotating shaft 21 it is rotatably connected between twisted and released of the cable frame 18, it is arranged with the 3rd winding cylinder 22 in 3rd rotating shaft 21, the 3rd winding cylinder 22 is wound with cable 23.
Electric power supply system includes charging device 43 and is fixedly connected on the electrokinetic cell 44 of chassis 1 rear lateral portion, electrokinetic cell 44 trailing flank is provided with charging plug 45, offering charging inlet 46 on charging device 43 leading flank, charging plug 45 coordinates with charging inlet 46 grafting.
nullWork process of the present utility model is: first connect electrical source of power，Manually controllable control system of the present utility model operates，Two first driving motors 7 in crawler type running system are controlled by control system，When controlling two first and driving motor 7 rotate forward or invert simultaneously，First driving motor 7 drives driving wheel 3 to rotate thus drives chassis 1 advance or retreat by rubber belt track 2，When control one first driving motor 7 rotates, another the first driving motor 7 stops operating，Turning action can be realized，Control grain heap grain face planarization system operated grain heap surface smooth，Control this utility model and arrive the monitoring point needing detection，Start the 5th driving motor 13，Cone-type spiral auger 15 is driven to rotate，In grain heap, vertically produce downward driving force，Start the 3rd driving motor 49 and 4 wheel driven galvanic electricity machine 53 simultaneously，3rd drives motor 49 to drive the first worm reduction gear 50 to drive the first winding cylinder 38 to rotate by the second shaft coupling 51，Make the folding and unfolding speed of steel wire rope 36 and the speed sync of drilling apparatus backward and forward，4 wheel driven galvanic electricity machine 53 drives the second worm reduction gear 54 to drive the second winding cylinder 41 to rotate by the 3rd shaft coupling 55，Make the folding and unfolding speed of cable 23 and the speed sync rotating into device backward and forward，Cone-type spiral auger 15 is drilled down into driving each sleeve 33 of telescopic joint 12 to trail downwards，Arrive desired depth grain feelings parameter is detected，Sensor can also be carried out on each node of sensor network in the layout within grain heap，By cone-type spiral auger 15, sensor is brought into inside grain heap，After completing operations，Control the 5th driving motor 13 to invert，Thus drive cone-type spiral auger 15 opposite direction to rotate，In grain heap, vertically produce driving force upwards，Telescopic joint 12 shrinks therewith and is gradually backed out grain heap，Control the 3rd driving motor 49 simultaneously and 4 wheel driven galvanic electricity machine 53 inverts，Steel wire rope 36 and cable 23 synchronize to draw over to one's side motion，Drilling apparatus is gradually backed out grain heap，After cone-type spiral auger 15 exits completely，Control crawler type running system autonomous to next monitoring point；nullThis utility model also can receive control signal by wireless signal transmission system and realize being automatically brought into operation，Monitoring point according to path planning autonomous to grain heap surface，After arriving the monitoring point needing to detect，Control the automatic detection system of grain heap，Start the 5th driving motor 13，Telescopic joint 12 is made to progress into grain heap inside along with cone-type spiral auger 15 and trail section by section，Until reaching the degree of depth to be detected，On the detection position within grain heap，Sensor within cone-type spiral auger 15 detects this grain feelings parameter selected，It is sent to Surveillance center by wireless signal transmission system，Then control the 5th driving motor 13 to invert，Thus drive cone-type spiral auger 15 opposite direction to rotate，Telescopic joint 12 shrinks therewith and is gradually backed out grain heap，After cone-type spiral auger 15 exits completely，Control crawler type running system autonomous to next monitoring point，When grain heap surface irregularity，Grain heap grain face planarization system can also be controlled by wireless signal transmission system and carry out the most smooth of grain heap surface；Electric power supply system provides power supply supply for this utility model, can use and cable 23 is wrapped on the 3rd winding cylinder 22 on cable 23 retractable frame 18, motor 20 is driven to drive the 3rd winding cylinder 22 to rotate by the 6th, control the folding and unfolding of cable 23, and the folding and unfolding speed of cable 23 and the backward and forward speed sync of crawler type running system, when this utility model works at the scene, cable 23 is connected with on-the-spot supplying electricity and power distribution case, when grain heap surface diverse location, the length of cable 23 is different, can realize by controlling the folding and unfolding of cable 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 utility model may be used without self and installs electrokinetic cell 44, simple in construction, this utility model is not restricted by cable 23 length during movement, can arbitrarily arrive appointment position, when this utility model completes all of job task or during when electrokinetic cell 44 electric power deficiency, charging plug 45 is inserted charging inlet 46 and completes charging by autonomous charging device 43 of finding.
Shape of the present utility model, material, structure etc. are not made any pro forma restriction by the present embodiment; every any simple modification, equivalent variations and modification made above example according to technical spirit of the present utility model, belongs to the protection domain of technical solutions of the utility model.
Claims (7)
1. automatic control grain conditions in grain depot measuring robots, it is characterised in that: include crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system, electric power supply system, camera monitoring system, wireless signal transmission system and control system；
Crawler type running system includes rectangular chassis and is positioned at two slat gum crawler belts of the left and right sides, chassis, center chassis offers circular hole, it is equipped with in two slat gum crawler belts and is positioned at the driving wheel of rubber belt track rear end, is positioned at the first driven pulley of rubber belt track front end and is positioned in the middle part of rubber belt track and spaced two the second driven pulleys, both sides, extreme end of chassis portion are equipped with a base, being equipped with one first on each base and drive motor, each first drives the output shaft of motor to be all in transmission connection by the first shaft coupling and the wheel shaft being axially disposed at a driving wheel center；
The automatic detection system of grain heap includes the drilling cramp in 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 center is vertically fixedly connected with telescopic joint, drilling apparatus and sensing detection device it is provided with in telescopic joint, installing plate upper surface middle part is fixedly connected with two fixing bars along anterior-posterior horizontal direction, two fixing bar is parallel and interval is arranged, the length of fixing bar is more than the length of installing plate, it is provided with steel wire rope draw off gear between two fixing rod rear end portions, it is provided with cable reel installation between two fixing bar leading sections；
Camera monitoring system includes two the fixing seats being fixedly connected on installing plate upper surface forward edge and posterior edges, and each fixing seat is equipped with ccd video camera, thermal camera and illuminating lamp；
Wireless signal transmission system includes transmitter, receiver and the antenna being each provided in the middle part of installing plate；
Control system includes the control panel being located on drilling cramp, and control panel is provided with for controlling the control button that crawler type running system, the automatic detection system of grain heap, grain heap grain face planarization system and power supply open and close.
Automatic control grain conditions in grain depot measuring robots the most according to claim 1, it is characterized in that: telescopic joint includes the sleeve that several external diameters are different, all sleeves are the most penetrating and have same centrage, less external diameter sleeve in two sleeves of arbitrary neighborhood is all plugged in bigger sleeve, it is positioned at outermost sleeve top and is fixedly connected on the lower surface center of 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.
Automatic control grain conditions in grain depot measuring robots the most according to claim 1, it is characterized in that: steel wire rope draw off gear includes steel wire rope, first winding cylinder and the first guide roller, it is rotatably connected to the first rotating shaft between two fixing rod rear end portions, first winding cylinder is set in the first rotating shaft, the first installing rack it is fixedly connected with on rear side of installing plate, it is provided with the 3rd driving motor along left and right horizontal direction on first installing rack, 3rd drives the output shaft of motor towards right setting and to 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, between first guide roller is rotatably connected in the middle part of two fixing bars, steel wire rope one end is connected through the through hole at installing plate center with telescopic joint, the steel wire rope other end is connected by the first guide roller and the first winding cylinder.
nullAutomatic control grain conditions in grain depot measuring robots the most according to claim 1，It is characterized in that: cable reel installation includes cable、Second winding cylinder and the second guide roller，It is rotatably connected to the second rotating shaft between two fixing bar leading sections，Second winding cylinder is set in the second rotating shaft，The second installing rack it is fixedly connected with on front side of installing plate，It is provided with 4 wheel driven galvanic electricity machine along left and right horizontal direction on second installing rack，The output shaft of 4 wheel driven galvanic electricity machine is towards right setting and is 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，Between second guide roller is rotatably connected in the middle part of two fixing bars，Cable one end is connected through the through hole at installing plate center with the sensing detection device in telescopic joint and drilling apparatus，The cable other end is connected by the second guide roller and the second winding cylinder.
nullAutomatic control grain conditions in grain depot measuring robots the most according to claim 2，It is characterized in that: drilling apparatus includes the 5th driving motor and cone-type spiral auger，The lower horizontal of innermost layer sleeve is fixedly connected with the first division board and middle part level is fixed with the second division board，5th drives motor to be vertically located between the first division board and the second division board，5th drives the output shaft of motor down and to be connected with the 3rd worm reduction gear，The sleeve lining of innermost layer is fixedly connected with the gripper shoe being positioned at above the first division board，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 the output shaft by the 4th shaft coupling and the 3rd worm reduction gear is in transmission connection，4th shaft coupling 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.
Automatic control grain conditions in grain depot measuring robots the most according to claim 1, it is characterized in that: electric power supply system includes that twisted and released of the cable frame, tightening device and the 6th drive motor, twisted and released of the cable frame is fixedly connected on middle part on rear side of chassis, the 3rd rotating shaft it is rotatably connected between twisted and released of the cable frame, it is arranged with the 3rd winding cylinder in 3rd rotating shaft, the 3rd winding cylinder is wound with cable.
Automatic control grain conditions in grain depot measuring robots the most according to claim 1, it is characterized in that: electric power supply system includes charging device and is fixedly connected on the electrokinetic cell of chassis rear lateral portion, electrokinetic cell trailing flank is provided with charging plug, offering charging inlet on charging device leading flank, charging plug coordinates with charging inlet grafting.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620202960.0U CN205483065U (en) | 2016-03-16 | 2016-03-16 | Automatic controlization grain depot grain condition detection robot |
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| CN201620202960.0U CN205483065U (en) | 2016-03-16 | 2016-03-16 | Automatic controlization grain depot grain condition detection robot |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN109030100A (en) * | 2018-06-29 | 2018-12-18 | 河南华安机械有限公司 | Multiple spot grain heap grain sampler |
| CN110122082A (en) * | 2019-06-27 | 2019-08-16 | 郑州工大粮安科技有限公司 | A kind of silo multi-function robot |
| CN112904448A (en) * | 2021-03-31 | 2021-06-04 | 天龙 | Grain detection device |
-
2016
- 2016-03-16 CN CN201620202960.0U patent/CN205483065U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN109030100A (en) * | 2018-06-29 | 2018-12-18 | 河南华安机械有限公司 | Multiple spot grain heap grain sampler |
| CN110122082A (en) * | 2019-06-27 | 2019-08-16 | 郑州工大粮安科技有限公司 | A kind of silo multi-function robot |
| CN112904448A (en) * | 2021-03-31 | 2021-06-04 | 天龙 | Grain detection device |
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