Grain bin sampling robot

Abstract

The present invention discloses a grain sampling robot for a granary, which includes an outer housing, a sampling structure, and a moving structure. The outer housing extends along a first direction; the sampling structure is arranged inside the outer housing for sampling grains; the moving structure includes a plurality of screw propulsion mechanisms evenly distributed circumferentially on the outer housing. Each screw propulsion mechanism includes a plurality of propulsion screws rotatably installed on the outer housing. The number of propulsion screws is even. The plurality of propulsion screws extend along the first direction and the rotation directions of adjacent two propulsion screws are opposite. By driving the grain sampling robot for the granary to move through the grain pile in the granary by a plurality of screw propulsion mechanisms, compared with the existing sampling robots that can only walk on the grain surface, the grain sampling robot of the present application can sample at various positions inside the grain pile, with strong flexibility and facilitating grain sampling in each area.

Description

Technical Field

[0001] The present invention relates to the technical field of grain sampling in granaries, and more particularly to a grain sampling robot for granaries. Background Art

[0002] The country takes the people as the foundation, and the people take food as their heaven. Grain is not only an important strategic material related to the national economy and people's livelihood and national economic security, but also the most basic living material for the people. Food security is closely related to social harmony, political stability, and sustainable economic development. Therefore, food security is of great importance, and grain condition monitoring is an important part of the warehousing link.

[0003] The current grain condition monitoring system is difficult to meet the needs of large granaries. There is an urgent need for a sampling method that can provide real-time grain condition information at various positions in the granary. The commonly used sampling robots can only walk on the grain surface, with low flexibility, and need manual assistance to implement the fixed-point sampling method, resulting in low work efficiency and low applicability. The sampling method on the grain surface is easily restricted by the sampling stroke of the sampling robot. When the height of the grain pile in the granary is greater than the sampling stroke of the sampling robot, the sampling robot cannot sample the grains at the bottom of the grain pile. Summary of the Invention

[0004] The main object of the present invention is to provide a grain sampling robot for granaries, aiming to solve the problem that the existing grain sampling robots for granaries are not convenient for sampling inside the grain pile.

[0005] To achieve the above object, the present invention provides a grain sampling robot for granaries, which includes:

[0006] An outer housing extending along a first direction;

[0007] A sampling structure disposed inside the outer housing for sampling grains; and,

[0008] A moving structure including a plurality of screw propulsion mechanisms evenly distributed circumferentially on the outer housing. Each of the screw propulsion mechanisms includes a plurality of propulsion screws rotatably mounted on the outer housing. The number of the propulsion screws is an even number. The plurality of propulsion screws extend along the first direction and adjacent two of the propulsion screws rotate in opposite directions.

[0009] Optionally, first openings and second openings are respectively provided through both ends of the outer housing along the first direction;

[0010] The grain sampling robot for granaries further includes a screw conveyor mechanism disposed inside the outer housing for conveying grains from the first opening to the second opening.

[0011] Optionally, the screw conveyor mechanism includes:

[0012] An inner housing is disposed inside the outer housing. Third openings and fourth openings are provided at both ends of the inner housing in the first direction. First brackets and second brackets are fixedly installed on the inner walls at both ends of the inner housing in the first direction. A support shaft extending in the first direction is provided between the first bracket and the second bracket.

[0013] A spiral drum is disposed inside the inner housing. The support shaft penetrates through the spiral drum and is rotatably connected to the spiral drum. A spiral blade extending in the first direction and arranged in a spiral shape is further provided on the outer side wall of the spiral drum. The spiral blade is disposed between the spiral drum and the inner housing; and,

[0014] A third motor is disposed inside the spiral drum and is drivingly connected to the spiral drum to drive the spiral drum to rotate.

[0015] Optionally, the sampling structure includes a sampling mechanism disposed inside the outer housing and a second driving mechanism drivingly connected to the sampling mechanism. The second driving mechanism is used to drive the sampling mechanism to extend and retract in the first direction;

[0016] A sampling port extending in the first direction through to its interior is provided on one side of the outer housing. The sampling port allows the sampling mechanism to extend outside the outer housing to sample grains through the sampling mechanism.

[0017] Optionally, a sliding sleeve extending in the first direction is disposed inside the outer housing. The sliding sleeve is connected to the sampling port;

[0018] The sampling mechanism includes:

[0019] A sleeve extending in the first direction. The sleeve is sleeved outside the sliding sleeve and is slidably disposed along the sliding sleeve;

[0020] A driving part drivingly connected to the sleeve is used to drive the sleeve to rotate about the axis extending in the first direction; and,

[0021] A spiral blade shaft extending in the first direction is disposed inside the sliding sleeve. The spiral blade shaft is fixedly connected to the end of the sleeve away from the sampling port.

[0022] Optionally, the second driving mechanism includes:

[0023] A clamping member. One end of the clamping member is fixedly connected to the sleeve, and a threaded hole extending in the first direction is provided at the other end of the clamping member;

[0024] A lead screw extending in the first direction. The lead screw is in threaded engagement with the threaded hole; and,

[0025] A second motor is drivingly connected to the lead screw to drive the lead screw to rotate about an axis extending in a first direction.

[0026] Optionally, an outlet corresponding to the sliding sleeve penetrates through one end of the outer housing away from the sampling port;

[0027] A silo assembly is provided at one end of the outer housing away from the sampling port. The silo assembly includes a silo housing which is annularly arranged and fixed to one side of the outer housing away from the sampling port. A first grain storage port is formed on one side of the silo housing facing the outer housing, and the first grain storage port corresponds to the outlet.

[0028] Optionally, the silo assembly further includes a collection bin which is arranged inside the silo housing. The collection bin is annularly arranged and is circumferentially divided into a plurality of compartments. Each compartment is provided with a second grain storage port for communicating the compartment and the first grain storage port;

[0029] The grain silo sampling robot further includes a fourth motor which is drivingly connected to the collection bin to drive the collection bin to rotate about an axis in the first direction.

[0030] Optionally, the propulsion screw includes two half-screw rods connected end to end in a first direction, and a connection assembly is provided at one end where the two half-screw rods are connected.

[0031] Optionally, a first synchronous pulley is sleeved on each of the propulsion screws, and each of the screw propulsion mechanisms further includes a first driving mechanism;

[0032] Each of the first driving mechanisms includes a first motor, a second synchronous pulley and a synchronous belt arranged inside the outer housing. The first motor is drivingly connected to the second synchronous pulley, and the second synchronous pulley is drivingly connected to the first synchronous pulley through the synchronous belt. Optionally

[0033] In the technical solution of the present invention, the grain bin sampling robot includes a housing, a sampling structure, and a moving structure. The housing extends along a first direction. The sampling structure is disposed inside the housing for sampling grains. The moving structure includes a plurality of screw propulsion mechanisms evenly distributed circumferentially on the housing. Each screw propulsion mechanism includes a plurality of propulsion screws rotatably mounted on the housing. The number of the propulsion screws is an even number. The plurality of propulsion screws extend along the first direction and the rotation directions of adjacent two propulsion screws are opposite. By the opposite rotation of the propulsion screws, the grain bin sampling robot is driven to move forward and turn in the grain pile, so that the grain bin sampling robot can move to any position inside the grain pile, facilitating sampling of the areas that need to be detected inside the grain pile. After moving to a predetermined area, sampling is performed through the sampling structure. Compared with the existing sampling robots that can only walk on the grain surface, the grain bin sampling robot of the present application can sample at various positions inside the grain pile, with strong flexibility and facilitating sampling of grains in each area. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on the structures shown in these drawings without creative efforts.

[0035] Figure 1 FIG. is a schematic structural diagram of an embodiment of the grain bin sampling robot provided by the present invention;

[0036] Figure 2 FIG. Figure 1 is a schematic structural diagram of another perspective in FIG.

[0037] Figure 3 FIG. Figure 1 is a partial cross-sectional schematic diagram of the first driving mechanism in FIG.

[0038] Figure 4 FIG. Figure 1 is a partial cross-sectional schematic diagram of the screw conveyor mechanism in FIG.

[0039] Figure 5 FIG. Figure 1 is a partial structural schematic diagram of the sampling structure in FIG.

[0040] Figure 6 FIG. Figure 1 is a structural schematic diagram of the sampling structure in FIG.

[0041] Figure 7 FIG. Figure 6 is a structural schematic diagram of the sleeve, the sliding sleeve, and the spiral blade shaft in FIG.

[0042] Figure 8 is Figure 7 a schematic sectional structure diagram in

[0043] Figure 9 is Figure 1 a schematic structure diagram of the bin assembly in

[0044] Figure 10 is Figure 9 a schematic exploded structure diagram of the bin assembly in

[0045] Explanation of the reference numerals in the drawings:

[0046]

[0047]

[0048] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Specific embodiments

[0049] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention.

[0050] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, the directional indications are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indications will also change accordingly.

[0051] In addition, if there are descriptions such as "first", "second", etc. involved in the embodiments of the present invention, the descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In addition, the meaning of "and / or" appearing throughout the text includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, or solution B, or a solution where A and B are satisfied simultaneously. In addition, the technical solutions between the embodiments can be combined with each other, but it must be based on the fact that those of ordinary skill in the art can implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0052] Currently, the commonly used grain bin sampling robots can only move on the grain surface, with low flexibility. Moreover, they need manual assistance to implement the fixed-point sampling method, resulting in low work efficiency and poor applicability. The sampling method on the grain surface is easily restricted by the sampling stroke of the sampling robot. When the height of the grain pile in the grain bin is greater than the sampling stroke of the sampling robot, the sampling robot cannot sample the grains at the bottom of the grain pile.

[0053] To solve the above problems, the present invention provides a grain bin sampling robot 100. Figures 1 to 10 This is a specific embodiment of the grain bin sampling robot 100 provided by the present invention.

[0054] Please refer to Figures 1 to 3 , the grain bin sampling robot 100 includes a housing 1, a sampling structure 2 and a moving structure 3. The housing 1 has an olive shape and extends along a first direction. The sampling structure 2 is disposed inside the housing 1 for sampling grains. The moving structure 3 includes a plurality of screw propulsion mechanisms evenly distributed along the circumferential direction on the housing 1. Each screw propulsion mechanism includes a plurality of propulsion screws 31 rotatably installed on the housing 1. The number of the propulsion screws 31 is an even number. The plurality of propulsion screws 31 extend along the first direction and the rotation directions of two adjacent propulsion screws 31 are opposite.

[0055] It should be noted that the specific number of the propulsion screws 31 is not limited here. The number of the propulsion screws 31 can be set to an even number. The rotation directions of two adjacent propulsion screws 31 are opposite, and the plurality of propulsion screws 31 are evenly distributed along the circumferential direction to achieve torque balance when the grain bin sampling robot 100 moves in a straight line, and to avoid the unbalanced rotational forces of the plurality of propulsion screws 31 causing the grain bin sampling robot 100 to rotate during straight-line movement.

[0056] The number of the propulsion screws 31 is at least 4. Taking 4 propulsion screws 31 as an example, the steering method of the propulsion screws 31 is described. Taking two adjacent propulsion screws 31 as a group, and the other two propulsion screws 31 as another group, the rotational speeds of the propulsion screws 31 in the same group are the same. The steering of the multi-functional sampling robot is achieved by the rotational speed difference between different groups of propulsion screws 31. For example, the four propulsion screws 31 are sequentially arranged clockwise as the No. 1 propulsion screw 31, the No. 2 propulsion screw 31, the No. 3 propulsion screw 31, and the No. 4 propulsion screw 31. The No. 1 and No. 2 propulsion screws 31 are set as a group, and the No. 3 and No. 4 propulsion screws 31 are set as another group. The rotational speed difference between the two groups of propulsion screws 31 can achieve steering in one plane. Similarly, setting the No. 1 and No. 4 propulsion screws 31 as a group, and the No. 2 and No. 3 propulsion screws 31 as a group, the rotational speed difference between the two groups of propulsion screws 31 can achieve steering in another plane. When the rotational speeds of the four propulsion screws 31 are the same, the multi-functional sampling robot moves in a straight line as a whole.

[0057] In the technical solution provided by the present invention, the forward movement and steering of the grain bin sampling robot in the grain pile are realized by the opposite rotation of the propulsion screws 31, so that the grain bin sampling robot can move to any position inside the grain pile, which is convenient for sampling the areas that need to be detected inside the grain pile. After moving to the predetermined area, sampling is carried out through the sampling structure 2. Compared with the existing sampling robots that can only walk on the grain surface, the grain bin sampling robot of the present application can sample at various positions inside the grain pile, with strong flexibility and is convenient for sampling grains in each area.

[0058] In an embodiment of the present invention, a first synchronous pulley 322 is sleeved on each of the propulsion screws 31, and each of the screw propulsion mechanisms further includes a first driving mechanism 32; each of the first driving mechanisms 32 includes a first motor 321, a second synchronous pulley 323, and a synchronous belt 324 disposed inside the outer housing 1. The first motor 321 is drivingly connected to the second synchronous pulley 323, and the second synchronous pulley 323 is drivingly connected to the first synchronous pulley 322 through the synchronous belt 324. The plurality of first driving mechanisms 32 are evenly distributed inside the outer housing 1 to balance the weight. The first motor 321 is drivingly connected to the second synchronous pulley 323, and the second synchronous pulley 323 is drivingly connected to the first synchronous pulley 322 through the synchronous belt 324.

[0059] Please refer to Figure 4, in an embodiment of the present invention, in order to reduce the resistance of the grain bin sampling robot 100 moving inside the grain pile, both ends of the outer shell 1 in the first direction are respectively provided with a second opening 13 and a second opening. The grain bin sampling robot 100 further includes a screw conveyor mechanism 4 disposed inside the outer shell 1. The screw conveyor mechanism 4 is used to convey grains from the second opening 13 to the second opening. The screw conveyor mechanism 4 is disposed inside the outer shell 1 and is connected to the second opening 13 and the second opening to convey grains from the second opening 13 to the second opening. Since when the grain bin sampling robot 100 moves, the resistance formed by the grains in its advancing direction is too large, resulting in a problem that its moving speed is too slow. Especially when the grain bin sampling robot 100 moves upward, the resistance formed by its own gravity and the grains above makes it difficult for the grain bin sampling robot 100 to climb. Therefore, the screw conveyor mechanism 4 for reducing its moving resistance inside the grain pile is very necessary.

[0060] Further, the screw conveyor mechanism 4 includes an inner shell 41, a screw drum 42 and a third motor 43. The inner shell 41 is disposed inside the outer shell 1. The inner shell 41 is provided with a third opening and a fourth opening at both ends in the first direction. First brackets 411 and second brackets 412 are respectively fixedly installed on the inner walls at both ends of the inner shell 41 in the first direction. A support shaft 413 extending in the first direction is arranged between the first bracket 411 and the second bracket 412; the screw drum 42 is disposed inside the inner shell 41. The support shaft 413 penetrates through the screw drum 42 and is rotatably connected to the screw drum 42. A spiral blade 421 extending in the first direction and arranged in a spiral shape is further provided on the outer side wall of the screw drum 42. The spiral blade 421 is disposed between the screw drum 42 and the inner shell 41; the third motor 43 is disposed inside the screw drum 42 and is drivingly connected to the screw drum 42 to drive the screw drum 42 to rotate. Among them, the third opening and the fourth opening are respectively connected to the second opening 13 and the second opening to convey grains from the second opening 13 to the second opening through the spiral blade 421. The inner shell 41 and the screw drum 42 are coaxially arranged. If only the inner shell 41 is disposed inside the outer shell 1, when the grain bin sampling robot 100 moves, the grains in front can enter the inner shell 41 from the second opening 13 and be discharged through the inner shell 41 to the second opening. Such a simple setting can reduce the forward resistance. On this basis, the present invention is provided with the screw drum 42 and the third motor 43, which can convey the grains in the advancing direction of the multi-functional sampling robot from the second opening 13 to the second opening for discharge, further reducing the resistance.

[0061] Among them, the first bracket 411 is arranged inside one end of the inner housing 41 close to the second opening, and is in a disc shape. The second bracket 412 is arranged inside one end of the inner housing 41 close to the second opening 13, and is in a conical shape. The support shaft 413 is located on the axis of the inner housing 41 and the spiral drum 42. The support shaft 413 penetrates through the spiral drum 42, and a bearing is arranged between the support shaft 413 and the spiral drum 42, and they are rotationally connected through the bearing. The middle of the support shaft 413 is disconnected into two half shafts, and a motor bracket is arranged between the two half shafts at both ends. The motor bracket and the two half shafts are connected by bolts. The motor is arranged inside the motor bracket. An internal meshing synchronous pulley is arranged on the inner wall of the spiral drum 42. The motor is tooth-connected to the spiral drum 42 through the internal meshing synchronous pulley. The spiral blade 421 is similar to the blade of a screw conveyor. The motor drives the spiral drum 42 to rotate, driving the spiral blade 421 to rotate, so that the spiral blade 421 conveys grains from the second opening 13 to the second opening.

[0062] Please refer to Figures 5 - 8 , in an embodiment of the present invention, the sampling structure 2 includes a sampling mechanism 21 arranged inside the outer housing 1 and a second driving mechanism 22 drivingly connected to the sampling mechanism 21. The second driving mechanism 22 is used to drive the sampling mechanism 21 to expand and contract in the first direction. It should be noted that the specific structure of the second driving mechanism 22 is not limited here. The second driving mechanism 22 can be composed of a motor and a lead screw 222, or can be a telescopic motor, or can also be composed of a cylinder and a cylinder rod, as long as the second driving mechanism 22 can drive the sampling mechanism 21 to expand and contract. A sampling port 11 penetrating through to its interior in the first direction is arranged on one side of the outer housing 1. The sampling port 11 allows the sampling mechanism 21 to extend out of the outer housing 1. The sampling mechanism 21 is telescopic. When sampling is required, it can extend out from the sampling port 11 to take grains. When sampling is not required, it can retract into the outer housing 1, reducing the occupied space, facilitating carrying and transportation, and at the same time reducing the resistance of the grain bin sampling robot 100 during movement.

[0063] Furthermore, a sliding sleeve 212 extending in the first direction is provided inside the outer casing 1. One end of the sliding sleeve 212 is connected to the sampling port 11. The sampling mechanism 21 includes a sleeve 214, a driving part 211, and a spiral blade shaft 213. The sleeve 214 extends in the first direction. The sleeve 214 is sleeved outside the sliding sleeve 212 and is slidably arranged along the sliding sleeve 214. The driving part 211 is drivingly connected to the sleeve 214 to drive the sleeve 214 to rotate about the axis extending in the first direction. The spiral blade shaft 213 extends in the first direction. The spiral blade shaft 213 is arranged inside the sliding sleeve 212 and is fixedly connected to the end of the sleeve 214 away from the sampling port 11.

[0064] In this embodiment, both the sleeve 214 and the spiral blade shaft 213 extend in the first direction. The spiral blade shaft 213 is fixedly connected to the end of the sleeve 214 away from the sampling port 11, and the other end extends out of the sleeve 214. The sleeve 214 is sleeved outside the end of the sliding sleeve 212 away from the sampling port 11, so that the spiral blade shaft 213 extends out of the sliding sleeve 212. The inner diameter of the sleeve 214 is equal to the outer diameter of the sliding sleeve 212. The sleeve 214 is rotatably connected to the sliding sleeve 212, so that the sleeve 214 and the spiral blade shaft 213 can rotate relative to the sliding sleeve 212. The driving part 211 is drivingly connected to the sleeve 214 to drive the sleeve 214 to rotate, so as to sample grains through the spiral blade shaft 213.

[0065] Further, as a preferred embodiment, the second driving mechanism 22 includes a clamping member 223, a screw rod 222 and a second motor 221, one end of the clamping member 223 is fixedly connected to the sleeve 214, and the other end of the clamping member 223 is provided with a threaded hole passing through along the first direction; the screw rod 222 extends along the first direction, and the screw rod 222 is threadedly matched with the threaded hole; the second motor 221 drives the screw rod 222 to drive the screw rod 222 to rotate along the axis extending in the first direction. A coupling is provided between the second motor 221 and the screw rod 222. The second motor 221 and the screw rod 222 are driven by the coupling. The screw rod 222 is driven to rotate by the second motor 221. The screw rod 222 rotates to drive the clamping member 223 to move along the first direction, thereby driving the sampling mechanism 21 to extend and retract along the first direction. The driving unit 211 is provided on the clamping member 223 to follow the sleeve 214 to move along the first direction during the process of the sleeve 214 extending and retracting in the first direction. The driving unit 211 can be composed of a motor and a helical synchronous wheel, which is sleeved on the sleeve 214. The motor is geared with the helical synchronous wheel, and the motor and the sleeve 214 are driven by the helical synchronous wheel. At the same time, the driving unit 211 can also be composed of a motor, a belt and two pulleys, which are respectively provided on the motor shaft and the sleeve 214. The two pulleys are driven by the belt, so that the motor is connected to the sleeve 214.

[0066] See also Figures 9 - 10 In one embodiment of the present invention, an end of the outer shell 1 away from the sampling port 11 is provided with a discharge port 15 corresponding to the sliding sleeve 212; an end of the outer shell 1 away from the sampling port 11 is provided with a silo assembly 5, and the silo assembly 5 includes a silo shell 51, and the silo shell 51 is arranged in an annular shape and fixed to a side of the outer shell 1 away from the sampling port 11, and a first grain storage port 511 is opened on a side of the silo shell 51 facing the outer shell 1, and the first grain storage port 511 is arranged corresponding to the discharge port 15, so that the grain picked up by the sampling mechanism 21 can enter the silo assembly 5 for storage.

[0067] Furthermore, the silo assembly 5 further includes a collection bin 52. The collection bin 52 is disposed within the silo housing 51. The collection bin 52 is annularly arranged and circumferentially partitioned into a plurality of compartments 521. Each compartment 521 is provided with a second grain storage port 522 for communicating the compartment 521 and the first grain storage port 511. The grain sampling robot 100 further includes a fourth motor 53. The fourth motor 53 is drivingly connected to the collection bin 52 to drive the collection bin 52 to rotate about an axis in a first direction. In the technical solution of the present invention, the collection bin 52 is movably connected to the silo housing 51. The collection bin 52 is partitioned into a plurality of compartments 521. A second grain storage port 522 corresponding to the first grain storage port 511 penetrates through each of the plurality of compartments 521. The fourth motor 53 is used to drive the collection bin 52 to rotate, so that the first grain storage port 511 is aligned with different second grain storage ports 522 to store grains in different compartments 521. The fourth motor 53 can drive the collection bin 52 to rotate relative to the silo housing 51, so that the second grain storage ports 522 on different compartments 521 can be aligned with the first grain storage port 511. On the one hand, this setting can prevent grains from gathering at one second grain storage port 522 in the collection bin 52 and blocking it when a large amount of sampling is carried out, resulting in the inability of the subsequently sampled grains to enter. On the other hand, the grains sampled at different positions in the grain pile of the granary can be stored in different compartments 521 for storage, which is convenient for subsequent distinction and analysis.

[0068] It should be noted that a bottom cover is provided on the side of the collection bin 52 facing away from the silo housing 51. The bottom cover covers the collection bin 52 and is detachable, facilitating the removal of the grains stored in the collection bin 52.

[0069] The sampling process of the sampling mechanism 21 is as follows: The second driving mechanism 22 drives the sleeve 214 to move in a first direction, driving the sleeve 214 and the spiral blade shaft 213 to move towards the sampling port 11, so that the spiral blade shaft 213 extends out of the sampling port 11. The driving part 211 drives the sleeve 214 and the spiral blade shaft 213 to rotate, so that the grains in the grain pile are pushed by the spiral blade shaft 213 and move along the sliding sleeve 212 from the sampling port 11 to the discharge port 15 direction. Then the second driving motor drives the sliding sleeve 212 to move towards the discharge port 15 until the sleeve 214 is connected to the discharge port 15. At this time, the driving part 211 continuously drives the spiral blade shaft 213 to rotate until the sampled grains pass through the discharge port 15 and enter the collection bin 52.

[0070] In an embodiment of the present invention, the propulsion screw 31 includes two semi-helical rods connected end to end in a first direction, and a connecting component is provided at one end where the two semi-helical rods are connected. After the two semi-helical rods are connected, the raised helices on their surfaces are joined. The connecting component includes a key disposed between the two semi-helical rods, and the two semi-helical rods are connected by the key. In another embodiment, the connecting component may also be a screw connector, and the two semi-helical rods are connected by means of threaded connection.

[0071] In this embodiment, a first synchronous pulley 322 is sleeved between the two semi-helical rods. The first driving mechanism 32 includes a first motor 321, a second synchronous pulley 323 and a synchronous belt 324 disposed in the outer housing 1. A plurality of the first driving mechanisms 32 are evenly distributed inside the outer housing 1 to balance the weight. The first motor 321 is drivingly connected to the second synchronous pulley 323, and the second synchronous pulley 323 is drivingly connected to the first synchronous pulley 322 through the synchronous belt 324. Among them, the first synchronous pulley 322 is sleeved on one of the two semi-helical rods to drive the semi-helical rod sleeved with the first synchronous pulley 322 to rotate, and at the same time drive the other semi-helical rod to rotate synchronously through the key.

[0072] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structural transformation made by using the content of the specification and drawings of the present invention under the inventive concept of the present invention, or any direct / indirect application in other related technical fields is included in the patent protection scope of the present invention.

Claims

1. A grain bin sampling robot, characterized in that, Comprising: An outer housing extending in a first direction; A sampling structure provided inside the outer housing for sampling grains; And A moving structure including a plurality of screw propulsion mechanisms evenly distributed circumferentially on the outer housing. Each of the screw propulsion mechanisms includes a plurality of propulsion screws rotatably installed on the outer housing. The number of the propulsion screws is even. The plurality of propulsion screws extend in the first direction and the rotation directions of adjacent two propulsion screws are opposite; Both ends of the outer housing in the first direction are respectively penetrated with a first opening and a second opening; The grain bin sampling robot further includes a screw conveyor mechanism provided inside the outer housing for conveying grains from the first opening to the second opening; The sampling structure includes a sampling mechanism provided inside the outer housing and a second driving mechanism drivingly connected to the sampling mechanism. The second driving mechanism is used to drive the sampling mechanism to extend and retract in the first direction. A sampling port penetrating through to its interior in the first direction is provided on one side of the outer housing. The sampling port allows the sampling mechanism to extend outside the outer housing to sample grains through the sampling mechanism; A sliding sleeve extending in the first direction is provided inside the outer housing. The sliding sleeve is connected to the sampling port. The sampling mechanism includes: A sleeve extending in the first direction. The sleeve is sleeved outside the sliding sleeve and is slidably arranged along the sliding sleeve; A driving part drivingly connected to the sleeve for driving the sleeve to rotate about an axis extending in the first direction; and A spiral blade shaft extending in the first direction. The spiral blade shaft is provided inside the sliding sleeve and is fixedly connected to one end of the sleeve away from the sampling port.

2. The grain bin sampling robot according to claim 1, characterized in that, The screw conveyor mechanism includes: An inner housing provided inside the outer housing. The inner housing is provided with a third opening and a fourth opening at both ends in the first direction. First brackets and second brackets are respectively fixedly installed on the inner walls at both ends of the inner housing in the first direction. A support shaft extending in the first direction is arranged between the first bracket and the second bracket; A spiral drum provided inside the inner housing. The support shaft penetrates through the spiral drum and is rotatably connected to the spiral drum. A spiral blade extending in the first direction and arranged in a spiral shape is further provided on the outer side wall of the spiral drum. The spiral blade is arranged between the spiral drum and the inner housing; and A third motor provided inside the spiral drum and drivingly connected to the spiral drum to drive the spiral drum to rotate.

3. The grain bin sampling robot according to claim 1, characterized in that, The second driving mechanism includes: A clamping member. One end of the clamping member is fixedly connected to the sleeve. A threaded hole penetrating through in the first direction is provided at the other end of the clamping member; A lead screw extending in the first direction. The lead screw is in threaded cooperation with the threaded hole; and A second motor drivingly connected to the lead screw for driving the lead screw to rotate about an axis extending in the first direction.

4. The grain bin sampling robot according to claim 1, wherein A discharge port corresponding to the sliding sleeve is penetrated through at one end of the outer housing away from the sampling port; One end of the outer housing away from the sampling port is provided with a silo assembly. The silo assembly includes a silo housing which is arranged in a ring shape and fixed to one side of the outer housing away from the sampling port. A first grain storage port is formed on the side of the silo housing facing the outer housing, and the first grain storage port is arranged corresponding to the discharge port.

5. The grain bin sampling robot according to claim 4, wherein, The silo assembly further includes a collection bin which is arranged inside the silo housing. The collection bin is arranged in a ring shape and is circumferentially separated into a plurality of compartments. Each compartment is provided with a second grain storage port for communicating the compartment and the first grain storage port. The grain warehouse sampling robot further includes a fourth motor which is drivingly connected to the collection bin for driving the collection bin to rotate along the axis in the first direction.

6. The grain bin sampling robot according to claim 1, wherein, The propulsion screw includes two semi-helical screws connected end to end in the first direction, and a connection assembly is provided at the connected end of the two semi-helical screws.

7. The grain bin sampling robot according to claim 1, wherein, A first synchronous pulley is sleeved on each of the propulsion screws, and each of the screw propulsion mechanisms further includes a first driving mechanism. Each of the first driving mechanisms includes a first motor, a second synchronous pulley and a synchronous belt arranged inside the outer housing. The first motor is drivingly connected to the second synchronous pulley, and the second synchronous pulley is in transmission connection with the first synchronous pulley through the synchronous belt.

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