Spiral grain flattening machine and method for preventing spiral blade from sinking

Abstract

The present application discloses a spiral grain flattening machine and a method for preventing spiral blades from sinking, and belongs to the technical field of grain flattening machines. It comprises a shell, a first rotating shaft is installed on one side of the shell through a coupling, a second rotating shaft is installed on the other side of the shell through a screw rod transmission mechanism, one coupling and one screw rod transmission mechanism are located at the same end of the shell, the parts of one coupling and one screw rod transmission mechanism are driven by a driving mechanism, two driving mechanisms are synchronously driven by a control panel installed on the shell, and two screw rod transmission mechanisms are also synchronously driven by the control panel installed on the shell. The present application can perform planar steering and pitching motion in two dimensions of horizontal plane and vertical plane. The use of screw rod transmission mechanism to rotate and drive the ball nut saves labor, maintains good steering performance while overcoming sinking, and makes up for the defect that the grain flattening machine can only perform planar steering.

Description

Technical Field

[0001] This invention relates to a spiral grain leveling machine and a method for controlling the spiral blades to prevent them from getting stuck, belonging to the technical field of grain leveling machines. Background Technology

[0002] Existing grain-leveling robots are prone to sinking and tipping over during operations, increasing the difficulty of turning the walking mechanism and frequently resulting in being buried by scattered grain. This poses a significant challenge to the design of the walking mechanism for grain-leveling robots. The rationality of the walking mechanism design directly affects the grain-leveling effect of the silo leveling machine. The walking mechanism is not only crucial for ensuring the robot's normal movement but also serves as the carrier for the auger of the silo leveling machine. Existing grain-leveling robots operate with ease in environments with shallow grain layers, but they often sink and struggle to climb out when encountering large grain silos with deep grain accumulations. Research on this issue, both domestically and internationally, is scarce.

[0003] To address the above deficiencies, it is necessary to design a spiral grain leveling machine and a method to control the spiral blades to prevent them from getting stuck. Summary of the Invention

[0004] This invention addresses the technical problems mentioned in the background section, aiming to help a grain leveling machine overcome a sinking situation by adjusting the screw transmission mechanism to lift the spiral blades, while maintaining flexible control during movement and significantly improving grain leveling efficiency. The specific technical solution adopted is as follows:

[0005] A spiral grain leveling machine includes a housing. A first rotating shaft is mounted on both ends of one side of the housing via a coupling, and a second rotating shaft is mounted on both ends of the other side via a screw drive mechanism. One of the couplings and one of the screw drive mechanisms are located at the same end of the housing, and the parts on one of the couplings and one of the screw drive mechanisms are driven by a drive mechanism. Both drive mechanisms are driven synchronously by a control board mounted on the housing, and both screw drive mechanisms are also driven synchronously by a control board mounted on the housing. Spiral blades are mounted on both the first and second rotating shafts.

[0006] When the first and second rotating shafts are horizontal relative to the horizontal plane of the housing and neither rotates, the grain leveling machine is in a horizontal stationary state.

[0007] When the first and second rotating shafts are horizontal relative to the horizontal plane of the housing and are both driven to rotate by the drive mechanism, the grain leveling machine moves horizontally inside the grain silo.

[0008] When the first rotating shaft is horizontal relative to the horizontal plane of the housing, and the second rotating shaft is deflected relative to the horizontal plane of the housing with the assistance of the lead screw transmission mechanism, and both are driven to rotate by the drive mechanism, the grain leveling machine will then perform a climbing motion inside the grain silo.

[0009] As a preferred embodiment, the drive mechanism includes a first motor mounted on the end of the housing via a fixing plate. A reducer is mounted on the bottom of the housing, and the first motor is connected to the reducer. A coupling is mounted on one output end of the reducer, and a first rotating shaft is mounted on the coupling. The first rotating shaft extends out of the housing through a circular through hole located on the side wall of the housing and fixes the helical blades. A universal joint is mounted on the other output end of the reducer, and a second rotating shaft is mounted on one end of the universal joint. The lead screw transmission mechanism is also mounted on the second rotating shaft to drive the second rotating shaft to deflect relative to the horizontal plane of the housing with the assistance of the universal joint. The second rotating shaft extends out of the housing through an oblong hole located on the side wall of the housing and also fixes the helical blades.

[0010] As a preferred embodiment, the control board is electrically connected to the first motor located at both ends of the housing, and is used to control the two first motors to start and stop simultaneously, so as to keep the two spiral blades located at one end of the housing and the two spiral blades located at the other end of the housing rotating simultaneously, so as to make the grain leveling machine move horizontally in the grain silo.

[0011] As a preferred embodiment, the lead screw transmission mechanism includes a second motor, a screw, a ball nut, a first crossbar, a second crossbar, a connecting rod, and the fixed end sidewall of the second motor is mounted on the housing. One end of the screw is connected to the output end of the second motor, and the bottom of the screw is rotatably sleeved on a first bearing seat located at the bottom of the housing. The ball nut is threaded onto the screw, and a support seat is installed at the bottom of the ball nut. The support seat is slidably connected to the housing. One end of the first crossbar is connected to the ball nut, and one end of the second crossbar is mounted on a second bearing seat that is sleeved on the connecting rod via a bearing. The other ends of the first and second crossbars are rotatably sleeved on the two side walls of the connecting rod.

[0012] As a preferred example, the control board is electrically connected to the second motors located at both ends of the housing, and is used to control the two second motors to start and stop simultaneously, so as to keep the two spiral blades located at both ends of one side of the housing deflected simultaneously under the lead screw transmission mechanism, so as to make the grain leveling machine climb inside the grain silo.

[0013] As a preferred example, the spiral blade is a stacked spiral blade structure, which includes a second rotating shaft and multiple blades. The second rotating shaft has a square cross-section in the middle and circular cross-sections at both ends. Each blade has a flattened structure with a square hole at one end that matches the square shape on the second rotating shaft. The multiple blades spiral on the second rotating shaft one and a half times, and the number of blades is 55.

[0014] Furthermore, the stacked helical blade structure includes several blades, one end of each of the blades is sleeved on the second rotating shaft, and the blades are arranged around the second rotating shaft, with each pair of adjacent blades in contact with each other, and the included angle between each pair of adjacent blades is 10-30°.

[0015] A method for controlling the entrapment of helical blades includes the following steps:

[0016] S1. A control board is installed on the chassis in the middle of the housing. The control board communicates wirelessly with each other. Photosensitive sensors are respectively installed at the chassis of the housing and at the first motor. Both photosensitive sensors are connected to the control board for feedback to the control board when the chassis of the housing or the first motor is buried by grain.

[0017] A first gyroscope and a second gyroscope are placed at the front end of the helical blade. Both the first and second gyroscopes are electrically connected to the control board. When the gyroscopes detect a signal, they transmit it to the control board to measure the vertical rotational speed of the helical blade. A first accelerometer and a second accelerometer are placed at the rear end of the helical blade. The first and second accelerometers are electrically connected to the control board respectively. After the helical blade starts to rotate, the accelerometers detect a signal and transmit it to the control board to measure the horizontal acceleration of the helical blade.

[0018] A third and fourth gyroscope are placed on the second rotating shaft at the front end of the spiral blade. The third and fourth gyroscopes are also electrically connected to the control board. When the lead screw drive mechanism is working, it drives the second rotating shaft to rise and fall. The third and fourth gyroscopes detect the signal and transmit it to the control board to measure the pitch angle of the front lead screw drive mechanism.

[0019] Four pressure sensors are placed on the spiral blades and electrically connected to the control board. When the grain leveler encounters a sinking, the contact surface of the spiral blades is subjected to greater pressure. The four pressure sensors detect different signals and transmit them to the control board. The control board collects the signals and makes control decisions by measuring the fluid force and contact pressure on the spiral blades in order to determine and obtain the motion state of the leveler.

[0020] S2: The control board issues a command to adjust the PWM duty cycle and control the second motor to rotate at a constant speed in both forward and reverse directions, which in turn causes the ball nut to rise along the screw.

[0021] S3: Adjust the pitch angle of the spiral blades relative to the waist-shaped groove on the shell so that the grain leveler can climb out of the grain depression area;

[0022] S4: After getting out of the trap, adjust the angle of the helical blades to the initial state and continue the previous work.

[0023] Preferably, in S1, by combining and processing the measured values ​​of the first gyroscope, second gyroscope, third gyroscope, fourth gyroscope, first accelerometer, second accelerometer, first pressure sensor, second pressure sensor, third pressure sensor, and fourth pressure sensor, the horizontal state and anti-sinking climbing state of the grain leveling machine can be determined, mainly as follows:

[0024] When the output values ​​of the first and second accelerometers are between 0.05 and 0.15g, and the output values ​​of the third and fourth gyroscopes are both between 0.5 and 1.5 degrees / second, the grain leveling machine is horizontal; when the first and second gyroscopes measure a pitch angle of 5-6 degrees at the front end, the grain leveling machine is in an anti-sinking climbing state.

[0025] When the contact pressure measured by the first, second, third, and fourth pressure sensors exceeds the normal pressure by 10%-20%, the grain leveler is in an anti-sinking climbing state. At the same time, based on the measurement values ​​of the sensors at the spiral blades, it can be determined whether the movement of the grain leveler is stable.

[0026] Furthermore, when the output values ​​of the first and second accelerometers are 0.1g and the output values ​​of the third and fourth gyroscopes are both 1 degree / second, the grain leveling machine is horizontal; when the first and second gyroscopes measure a pitch angle of 6 degrees at the front end, the grain leveling machine is in an anti-sinking climbing state.

[0027] Preferably, in S2, the duty cycle of the PWM is 25% to 90%, the uniform speed of the second motor in forward / reverse rotation is 50% to 100% of the rated speed of the second motor, and the rated speed of the second motor is 4.2 r / s.

[0028] Preferably, in S3, the pitch angle is 10-30°.

[0029] Furthermore, in S3, the pitch angle is 30°.

[0030] Two gyroscopes (i.e., the first gyroscope and the second gyroscope) are placed at the front end of the helical blade. Both gyroscopes are electrically connected to the control board. When the gyroscopes detect a signal, they transmit it to the control board to measure the vertical rotational speed of the helical blade. Similarly, two accelerometers (i.e., the first accelerometer and the second accelerometer) are placed at the rear end of the helical blade. The first accelerometer and the second accelerometer are electrically connected to the control board. After the helical blade starts to rotate, the accelerometers detect a signal and transmit it to the control board to measure the horizontal acceleration of the helical blade.

[0031] (2) Place two more gyroscopes (i.e., the third gyroscope and the fourth gyroscope) on the second rotating shaft at the front end of the spiral blade. The third gyroscope and the fourth gyroscope are also electrically connected to the control board 8. When the screw drive mechanism is working, it drives the second rotating shaft to rise and fall. The third gyroscope and the fourth gyroscope detect the signal and transmit it to the control board to measure the pitch angle of the front screw drive mechanism.

[0032] (3) Four pressure sensors (i.e., first pressure sensor, second pressure sensor, third pressure sensor and fourth pressure sensor) are placed at the spiral blade. These four sensors are electrically connected to the control board. When the grain leveler encounters a sinking, the contact surface of the spiral blade is subjected to greater pressure. The four pressure sensors detect different signals and transmit them to the control board. The control board collects the signals and makes control decisions to measure the fluid force and contact pressure on the spiral blade in order to determine and obtain the motion state of the leveler.

[0033] By combining and processing the measurements from the first gyroscope, second gyroscope, third gyroscope, fourth gyroscope, first accelerometer, second accelerometer, first pressure sensor, second pressure sensor, third pressure sensor, and fourth pressure sensor, the horizontal status and anti-sinking climbing status of the grain leveling machine can be determined, mainly as follows:

[0034] For example, when the output values ​​of the first and second accelerometers are between 0.05 and 0.15g, and the output values ​​of the third and fourth gyroscopes are both between 0.5 and 1.5 degrees / second, the grain leveling machine is horizontal; when the pitch angle of the front end measured by the first and second gyroscopes exceeds 5 degrees, the grain leveling machine is in an anti-sinking climbing state.

[0035] When the contact pressure measured by the first, second, third, and fourth pressure sensors exceeds the normal pressure by 10%-20%, the grain leveler is in an anti-sinking climbing state. At the same time, based on the measurement values ​​of the sensors at the spiral blades, it can be determined whether the movement of the grain leveler is stable.

[0036] The beneficial effects of this invention are: it allows for planar turning and pitching movements in both horizontal and vertical dimensions. By utilizing a lead screw drive mechanism to rotate and drive the ball nut, it requires minimal effort, overcoming the sag while maintaining good steering performance, thus compensating for the limitation of grain leveling machines that can only perform planar turning. Attached Figure Description

[0037] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0038] Figure 2 This is a top view of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the present invention when the top of the housing is removed;

[0040] Figure 4 This is a schematic diagram of the structure of the present invention from another perspective when the top of the housing is removed;

[0041] Figure 5 for Figure 4 A schematic diagram of the structure of part A;

[0042] Figure 6 This is a schematic diagram of the control flow of the present invention;

[0043] Figure 7 This is a diagram showing the material velocity analysis on the helical blades in this invention;

[0044] Figure 8 This is a three-dimensional structural diagram of the second rotating shaft in this invention;

[0045] Figure 9 This is a three-dimensional structural diagram of a single blade in the spiral blade 2 of the present invention;

[0046] Figure 10 This is a flowchart illustrating the process of determining the robot's horizontal state or its anti-sinking climbing state in this invention.

[0047] In the figure: 1. Housing; 2. Spiral blade; 3. First connecting belt; 4. Second connecting belt; 5. Waist-shaped hole; 6. First motor; 7. Circular through hole; 8. Control board; 9. Second motor; 10. Universal joint; 11. Second rotating shaft; 12. Second crossbar; 13. Connecting rod; 14. First crossbar; 15. Ball nut; 16. Screw. Detailed Implementation

[0048] To facilitate a clear understanding of the technical means, creative features, objectives, and effects of this invention, the invention will be further described below in conjunction with specific illustrations.

[0049] Example 1

[0050] like Figure 1-5As shown, the spiral grain leveling machine includes a housing 1. A first rotating shaft is mounted on each end of one side of the housing 1 via a coupling, and a second rotating shaft 11 is mounted on each end of the other side via a screw drive mechanism. One coupling and one screw drive mechanism are located at the same end of the housing 1, and the parts on both couplings and screw drive mechanisms are driven by a drive mechanism. Both drive mechanisms are synchronously driven by a control board 8 mounted on the housing 1 (it should be noted that both drive mechanisms are electrically connected to the control board 8 via a first connecting belt 3). Both screw drive mechanisms are also synchronously driven by the control board 8 mounted on the housing 1 (it should be noted that both screw drive mechanisms are electrically connected to the control board 8 via a second connecting belt 4). Spiral blades 2 are mounted on both the first and second rotating shafts 11.

[0051] When the first and second rotating shafts 11 are horizontal relative to the horizontal plane of the housing 1 and neither rotates, the grain leveling machine is in a horizontal stationary state.

[0052] When the first rotating shaft and the second rotating shaft 11 are horizontal relative to the horizontal plane of the housing 1 and are both driven to rotate by the drive mechanism, the grain leveling machine moves horizontally inside the grain silo.

[0053] When the first rotating shaft is horizontal relative to the horizontal plane of the housing 1, and the second rotating shaft 11 is deflected relative to the horizontal plane of the housing 1 with the assistance of the screw transmission mechanism, and both are driven to rotate by the drive mechanism, the grain leveling machine will then perform a climbing motion inside the grain silo.

[0054] The drive mechanism includes a first motor 6, which is mounted on the end of the housing 1 via a fixing plate. A reducer is mounted on the bottom of the housing 1, and the first motor 6 is connected to the reducer. A coupling is mounted on one output end of the reducer, and a first rotating shaft is mounted on the coupling. The first rotating shaft extends out of the housing through a circular through hole 7 located on the side wall of the housing 1 and fixes the helical blade 2. A universal joint 10 is mounted on the other output end of the reducer. A second rotating shaft 11 is mounted on one end of the universal joint 10. A screw drive mechanism is also mounted on the second rotating shaft to drive the second rotating shaft 11 to deflect relative to the horizontal plane of the housing with the assistance of the universal joint 10. The second rotating shaft 11 extends out of the housing 1 through a waist-shaped hole 5 located on the side wall of the housing 1 and also fixes the helical blade 2.

[0055] The control board 8 is electrically connected to the first motor 6 located at both ends of the housing (it should be noted that the first motor 6 is electrically connected to the control board 8 through the first connecting belt 3). The control board 8 controls the two first motors 6 to start and stop simultaneously, so as to keep the two spiral blades 2 located at one end of the housing 1 and the two spiral blades 2 located at the other end of the housing rotating simultaneously, so as to make the grain leveling machine move horizontally in the grain silo.

[0056] The lead screw transmission mechanism includes a second motor 9, a screw 16, a ball nut 15, a first crossbar 14, a second crossbar 12, and a connecting rod 13. The fixed end sidewall of the second motor 9 is mounted on the housing 1. One end of the screw 16 is connected to the output end of the second motor 9. The bottom of the screw 16 is rotatably sleeved on a first bearing seat located at the bottom of the housing 1. The ball nut 15 is threaded onto the screw 16, and a support seat is installed at the bottom of the ball nut 15. The support seat is slidably connected to the housing 1. One end of the first crossbar 14 is connected to the ball nut 15. One end of the second crossbar 12 is mounted on a second bearing seat that is sleeved on the connecting rod 13 via a bearing. The other ends of the first crossbar 14 and the second crossbar 12 are rotatably sleeved on the two side walls of the connecting rod 13.

[0057] The control board 8 is electrically connected to the second motor 9 located at both ends of the housing 1 (it should be noted that the second motor 9 is electrically connected to the control board 8 through the second connecting belt 4). The control board 8 controls the two second motors 9 to start and stop simultaneously, so as to keep the two spiral blades 2 located at both ends of one side of the housing 1 deflected simultaneously under the lead screw transmission mechanism, so as to make the grain leveling machine climb inside the grain silo.

[0058] The spiral blade 2 is a stacked spiral blade structure, which includes several blades, one end of which is sleeved on the second rotating shaft 11. The several blades are arranged around the second rotating shaft 11, and each pair of adjacent blades are in contact with each other. The included angle between each pair of adjacent blades is 10°, in order to maintain the compactness of the blades.

[0059] Working principle: This leveling machine is mainly divided into horizontal mode and anti-sinking climbing mode, as follows:

[0060] (1) Horizontal state

[0061] In its normal horizontal state, the second rotating shaft 11 is coaxial with the universal joint 10. The first motor 6 (mainly a DC geared motor) is placed vertically, enabling speed adjustment and forward / reverse rotation. Its maximum torque is 70 kg, which is perfectly suitable for the movement of the warehousing robot. The two output shafts of the first motor 6 (mainly a DC geared motor) are horizontal to the ground. The front and rear ends are connected to the second rotating shaft 11 via the universal joint 10 and to the first rotating shaft via a coupling, respectively. In a horizontal position, the leveling robot does not require a lead screw transmission mechanism to perform pitch operation on the helical blades 2 mounted on the second rotating shaft 11. The differential steering operation of the left and right helical blades 2 can be performed through the speed regulation function of the first motor 6 (mainly a DC geared motor). Forward and backward movement can also be achieved through the forward and reverse rotation function of the first motor 6 (mainly a DC geared motor). (The control board 8 drives the first motor 6, causing the output end of the first motor 6 to start rotating, thereby driving the output end of the reducer to rotate, which in turn drives the first rotating shaft and the second rotating shaft 11 to rotate, thereby driving the helical blades 2 on the first rotating shaft and the second rotating shaft 11 to rotate. In this way, the first rotating shaft and the second rotating shaft 11 can perform forward, backward and differential steering operations in a horizontal position.) In addition, it can be determined whether it is in a horizontal position by placing multiple sensors. When the pitch angle of the helical blades 2 at the front end is within a certain threshold range, it can be considered horizontal. If it exceeds a certain threshold, it is tilted.

[0062] (2) Prevent getting stuck in the climbing state:

[0063] When the leveling robot gets stuck in the grain pile, a drive command is sent through the control board 8 to control the screw drive mechanism. The screw drive mechanism is connected to the second bearing seat through the connecting rod 13. When the differential steering control mechanism rises, the second bearing seat also rises. Since the second bearing seat is fitted onto the second rotating shaft 11, the second rotating shaft 11 is also raised. The change in the upward posture of the spiral blade 2 on the second rotating shaft 11 is achieved through the universal joint 10. The second rotating shaft 11 and the spiral blade 2 on it perform pitching motion within the waist-shaped groove 5 of the outer casing 1 (requires...). It should be noted that the size of the waist-shaped groove 5 is set according to the lead screw transmission mechanism. When the lead screw transmission mechanism stops working, the spiral blade 2 stops rising. When the second rotating shaft 11 is in the rising and stopped state, the lead screw transmission mechanism starts working, and the connecting rod 13 drives the second bearing seat to descend. As a result, the universal joint 10 also drives the second rotating shaft 11 to descend, and then the spiral blade 2 descends with the second rotating shaft 11. When the lead screw transmission mechanism stops working, the second rotating shaft 11 stops descending, so that the spiral blade 2 also stops descending with the second rotating shaft 11.

[0064] It should be noted that this description focuses on the process of the lead screw drive mechanism driving the second shaft 11 to rise. The process of the lead screw drive mechanism driving the second shaft 11 to fall is the reverse process and will not be described in detail here. The rising process is as follows:

[0065] The control board 8 controls the second motor 9 to start, and the output end of the second motor 9 begins to rotate, thereby driving the screw 16 to rotate on the first bearing seat, which in turn causes the ball nut 15 to rotate on the screw 16. Due to the constraint of the support seat under the ball nut 15, the ball nut 15 changes from rotation to linear movement on the screw 16, thus moving linearly on the first crossbar 14, which in turn drives the connecting rod to rotate, and then drives the second crossbar 12 to move linearly, which in turn drives the second bearing seat to move linearly relative to the vertical plane of the housing 1, i.e., lifting and lowering. With the assistance of the universal joint 10, it drives the second rotating shaft 11 and the spiral blade 2 on the second rotating shaft 11 to deflect relative to the vertical plane of the housing 1.

[0066] In addition, while the spiral blade 2 is pitching, the first motor 6 can be controlled to perform differential left and right steering, which greatly improves the flexibility of the grain leveling machine.

[0067] The optimal pitch angle depends on several factors, such as the type of grain, moisture content, particle size, humidity inside the storage area, and airflow conditions. Different grains and different conditions may require different pitch angles. Some related studies have shown that for general grains, an appropriate pitch angle can improve unloading efficiency and prevent grain from sinking to a certain extent. For example, some studies have shown that for grains such as wheat and corn, a pitch angle between 10 and 30 degrees is most suitable. This is because within this range, the grain can remain on the spiral blades 2 for a period of time, thereby increasing the contact area and friction between the grain and the spiral blades 2, improving unloading efficiency; at the same time, an appropriate pitch angle can also reduce grain slippage and falling, preventing grain from sinking. In addition, an appropriate pitch angle can also increase the ventilation and drying time of the grain, which is beneficial for maintaining grain quality.

[0068] Therefore, this grain leveling machine can perform planar turning and pitching movements in both horizontal and vertical dimensions. The use of a lead screw drive mechanism to rotate the ball nut 15 requires minimal effort, overcoming sinking while maintaining good steering performance, thus compensating for the limitation of grain leveling machines that can only perform planar turning.

[0069] Example 2

[0070] A method for controlling the entrapment of helical blades includes the following steps:

[0071] S1. A control board 8 is installed on the chassis in the middle of the housing 1. The control board 8 communicates wirelessly with each other. Photosensitive sensors are respectively set at the chassis of the housing 1, the spiral blade 2, and the first motor 6. All of the photosensitive sensors are connected to the control board 8 for communication. When the chassis of the housing 1, the spiral blade 2, or the first motor 6 is buried by grain, the photosensitive sensors will feed back to the control board 8.

[0072] Two gyroscopes (i.e., the first gyroscope and the second gyroscope) are placed at the front end of the helical blade 2. The first gyroscope and the second gyroscope are electrically connected to the control board 8. When the gyroscope detects a signal, it transmits it to the control board 8 to measure the vertical rotational speed of the helical blade 2. Two accelerometers (i.e., the first accelerometer and the second accelerometer) are placed at the rear end of the helical blade 2. Similarly, the first accelerometer and the second accelerometer are electrically connected to the control board 8. After the helical blade 2 starts to rotate, the accelerometer detects a signal and transmits it to the control board 8 to measure the horizontal acceleration of the helical blade.

[0073] Two more gyroscopes (i.e., the third gyroscope and the fourth gyroscope) are placed on the second rotating shaft 11 at the front end of the spiral blade 2. The third gyroscope and the fourth gyroscope are also electrically connected to the control board 8. When the lead screw transmission mechanism is working, it drives the second rotating shaft 11 to rise and fall. The third gyroscope and the fourth gyroscope detect the signal and transmit it to the control board 8 to measure the pitch angle of the front lead screw transmission mechanism.

[0074] Four pressure sensors (i.e., first pressure sensor, second pressure sensor, third pressure sensor, and fourth pressure sensor) are placed on the spiral blade 2. These four sensors are electrically connected to the control board 8. When the grain leveling machine encounters a sinking, the contact surface of the spiral blade 2 is subjected to greater pressure. The four pressure sensors detect different signals and transmit them to the control board 8. The control board 8 collects the signals to make control decisions and measures the fluid force and contact pressure on the spiral blade 2 to determine and obtain the motion state of the leveling machine.

[0075] S2: The control board 8 issues a command to adjust the PWM duty cycle and control the second motor 4 to rotate at a constant speed in both forward and reverse directions, thereby causing the ball nut 15 to rise along the screw 16.

[0076] S3: Adjust the pitch angle of the spiral blade 2 relative to the waist-shaped groove 5 on the shell 1 to 30° so that the grain leveling machine can climb out of the grain depression area.

[0077] S4: After getting out of the trap, adjust the spiral blade angle 3 back to the initial state and continue the previous work.

[0078] In S2, the PMW duty cycle is 25% to 90%, and the uniform speed of the second motor in forward / reverse rotation is between 50% and 100% of the rated speed of the second motor, that is, between 2.1 rpm and 4.2 rpm.

[0079] In S1, by combining and processing the measured values ​​from the first gyroscope, second gyroscope, third gyroscope, fourth gyroscope, first accelerometer, second accelerometer, first pressure sensor, second pressure sensor, third pressure sensor, and fourth pressure sensor, the horizontal status and anti-sinking climbing status of the grain leveling machine can be determined, mainly as follows:

[0080] For example, when the output values ​​of the first and second accelerometers are 0.1g and the output values ​​of the third and fourth gyroscopes are both 1 degree / second, the grain leveling machine is horizontal; when the pitch angle of the front end measured by the first and second gyroscopes exceeds 5 degrees, the grain leveling machine is in an anti-sinking climbing state.

[0081] When the contact pressure measured by the first, second, third, and fourth pressure sensors exceeds the normal pressure by 10%-20%, the grain leveler is in an anti-sinking climbing state. Simultaneously, the stability of the grain leveler's movement can be determined based on the measurements from the two sensors on the spiral blades. It is important to note that different gyroscopes, sensors, and accelerometers have varying degrees of accuracy and error, requiring selection and calibration according to specific requirements. Furthermore, a suitable algorithm needs to be designed to process and interpret the data from the gyroscopes, sensors, and accelerometers to achieve accurate horizontal attitude determination.

[0082] Spiral structure:

[0083] As the core component of this leveling machine, the rationality of its design affects the overall functionality of the device. For example... Figure 8 As shown, the spiral drive structure mainly consists of a second rotating shaft 11 and spiral blades 2 sleeved on the second rotating shaft 11. The diameter of the second rotating shaft 11 is only 8mm, which reduces the weight while increasing the contact area between the blades and the grain surface, thus enabling the mechanism to obtain greater support force, which is the key to ensuring the mechanism's walking ability.

[0084] The relationship between the pitch D of the helical blade and the helix angle η is as follows:

[0085]

[0086] In the formula, r1 is the radius of the circular shaft, 4mm, and h is the height of the helical blade, 50mm. According to relevant research, when the helix angle η is 30°, the mechanism has better driving performance and energy-saving effect. Based on this, the pitch is calculated to be 98mm. This patent has a wider pitch. Increasing the pitch width can increase the torque, because the torque is proportional to the product of the twist of the helix and the pitch. Increasing the pitch width can also improve the propulsion efficiency, because the greater the twist of the helix, the more effectively the propulsion force can be converted into kinetic energy.

[0087] As grain silos gradually increase in volume and grain pile thickness, unevenness often occurs after grain is delivered, significantly reducing silo utilization and leading to problems such as grain overheating and insect infestation, thus affecting grain quality. Therefore, leveling the grain pile is crucial. Grain surfaces are loose and exhibit rheological properties, making existing grain-leveling robots prone to sinking and tipping over. This not only increases the difficulty of turning the walking mechanism but also frequently results in the robot being buried by scattered grain. The spiral blade design addresses this issue with its numerous, large-diameter blades, which improves leveling efficiency. The central blade connecting shaft drives the blade rotation, resulting in a lightweight design and strong mobility in soft environments. It overcomes the problems of sinking, slipping, and tipping over existing grain-leveling robots while maintaining excellent steering performance.

[0088] Stacked blade structure

[0089] like Figure 7 As shown, let the rotational speed of the first or second shaft 11 be n (rpm), and the velocity of the bulk material at point A on the spiral surface at a certain moment be v.

[0090]

[0091] Since the circumferential velocity of a point on the spiral blade 2 that is at the same position as the bulk material is related to the radius r at that point, that is, the velocity at that point is... That is

[0092] therefore,

[0093]

[0094] The circumferential speed of the material is: Right now:

[0095]

[0096] Because of the coefficient of friction We can obtain,

[0097]

[0098] As shown in the diagram:

[0099] Therefore, the circumferential velocity of bulk materials can be simplified as:

[0100]

[0101] The axial velocity of the bulk material is:

[0102]

[0103] As can be seen from the above, the leveling effect during the helical drive process is related to the circumferential speed of the material, the pitch of the helical blade 2, the helical rotation speed, the radius of the material at the position of the helical blade 2, and the coefficient of friction between the material and the helical blade 2. However, in actual grain leveling operations, the only factor that can be changed in the design is the coefficient of friction between the material and the helical blade 2. Existing float-type helical blades have a drive wheel center composed of a hollow cylinder, which helps to reduce the weight of the machine body and provide "buoyancy," with several turns of helical blade 2 wound around the cylindrical float. Compared with existing float-type helical blades (such as the float-type helical blade in a segmented variable pitch helical drive leveling robot, patent publication number CN113396705A), the drive wheel center of this patent is made of a solid stainless steel shaft, but its diameter is much smaller than that of the float-type helical blade, and its weight is also lighter, while the length of the helical blade is much greater than that of the float-type helical blade. The length of the helical blades is directly proportional to the torque. Increasing both the blade area and torque allows for full utilization of the kinetic energy of the grain flow within the grain silo, increasing propulsion and thus significantly improving propulsion efficiency. Blade length is also related to helical stability, as it increases the effective range and stability of grain flow; longer blades provide better anti-overturning capabilities. Therefore, to ensure high grain-moving efficiency in the helical drive of the grain leveling machine, this patent employs stacked helical blades.

[0104] This stacked spiral blade is composed of individual blades stacked together, such as... Figure 1 As shown. Each blade layer is 3mm thick, with one and a half turns of the spiral coil, and the angle between each blade layer is 10 degrees, thus maintaining the compactness of the blades. To ensure the spiral blade 2 is firmly fixed to the first or second shaft 11 and enhance stability, the second shaft 11 is primarily square in structure and used to insert the spiral blade 2; both ends of the second shaft 11 are cylindrical and fixed with nuts, as shown. Figure 8 As shown.

[0105] Depend on Figure 9As can be seen, each blade in the spiral blade 2 has a square hole at its tail for matching the first or second rotating shaft 11. The square holes of every two adjacent blades in the spiral blade 2 differ by 10 degrees (the purpose of this 10-degree interval is to make the blades stacked more compactly, and the square shaft in the middle facilitates calculation; nine blades stacked together constitute 1 / 4 of a turn). There are a total of nine blades at different angles, which are stacked sequentially on the first or second rotating shaft 11 starting from 0 degrees. Too many individual blades in the spiral blade 2 would lead to driving difficulties and insufficient driving force; too few blades would also fail to improve the leveling efficiency. Therefore, to obtain the maximum leveling efficiency, the number of blades designed in this patent is set according to the number of spiral turns, with one and a half spiral turns and 55 blades.

[0106] The output shaft of the reducer on the first motor 6 on the housing 1 is connected to the second rotating shaft 11 by a universal joint; the output shaft of the reducer on the first motor 6 and the first rotating shaft are connected by a swivel coupling. Its spiral blade 2 can move forward and backward under the drive of the first rotating shaft or the second rotating shaft 11, and can also turn at a differential speed, but it does not have a pitch function. However, a screw transmission mechanism is added to the second rotating shaft 11, which can provide a pitch function.

[0107] Compared to the more common cylindrical helical blades used in China, the helical blades 2 designed in this patent are more flexible in steering, and the driving force of the four helical blades 2 is stronger, which can improve the traveling speed and working efficiency of the grain leveling machine. At the same time, the double helix mechanism avoids the unstable motion characteristics of the single helix mechanism.

[0108] The middle section of this grain leveling machine structure not only serves as a connection but also provides power, transmission, and control functions, making it the core area of ​​the entire structure. This area uses aluminum profiles to build the chassis, which is tightly connected to the fixed plate on the screw drive mechanism and the fixed plate of the first or second motor. The cross-shaped intersection ensures high rigidity and strength, making the chassis stable and resistant to overturning.

[0109] Because the grain silo is a sealed space with thick grain piles, a continuous flow of grain will pass over the surface of the grain leveling machine as it moves. To prevent grain from entering the core area of ​​the leveling machine, such as... Figure 1 As can be seen, a waist-shaped groove 5 is cut into the shell 1 in this area. The groove 5 has a length of 45mm and a width of 19mm. The length of the waist-shaped groove 5 is set according to the maximum degree of the lifting angle mentioned above. An industrial dustproof brush strip is installed on the surface of the waist-shaped groove 5 as a sealing material. Two layers can be installed. The entire second rotating shaft 11 or the first rotating shaft will not be restricted during pitching movement, and at the same time, it is not easy for external grain to enter the machine body. Finally, the shell 1 is set outside the core area of ​​the chassis, which can more effectively and comprehensively prevent grain from entering the grain leveling machine and ensure its normal operation.

[0110] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments, and various changes and modifications can be made without departing from the spirit and scope of the invention, all of which fall within the scope of the claims. The scope of protection of this invention is defined by the appended claims and their equivalents.

Claims

1. A method for preventing the sinking of a spiral blade in a spiral grain flattening machine, the spiral grain flattening machine comprising a housing, a first rotating shaft is installed at both ends of one side of the housing through a shaft coupling, a second rotating shaft is installed at both ends of the other side of the housing through a screw drive mechanism, one of the shaft couplings and one of the screw drive mechanisms are located at the same end of the housing, and the parts on one of the shaft couplings and one of the screw drive mechanisms are driven by a driving mechanism, both of the driving mechanisms are synchronously driven by a control panel installed on the housing, and the driving mechanism comprises a first motor; both of the screw drive mechanisms are also synchronously driven by the control panel installed on the housing, and the first rotating shaft and the second rotating shaft are both installed with spiral blades, and the screw drive mechanism comprises a second motor, a screw rod, a ball nut, the fixed end side wall of the second motor is installed on the housing, one end of the screw rod is connected with the output end of the second motor, the bottom of the screw rod is rotatably sleeved on a first bearing seat located at the bottom of the housing, and the ball nut is threadedly sleeved on the screw rod; When the first rotating shaft and the second rotating shaft are in a horizontal state relative to the horizontal plane of the housing and are not rotating, the grain flattening machine is in a horizontal static state at this time; When the first rotating shaft and the second rotating shaft are in a horizontal state relative to the horizontal plane of the housing and are rotating through the driving mechanism, the grain flattening machine moves horizontally in the grain storehouse at this time; When the first rotating shaft is horizontal relative to the horizontal plane of the shell, and the second rotating shaft is deflected relative to the horizontal plane of the shell with the aid of the screw drive mechanism, and both are driven to rotate by the driving mechanism, at this time the grain flattening machine performs a climbing motion in the grain bin; characterized in that, Comprising the following steps: S1: installing a control panel on the chassis in the middle of the housing, the control panel is in wireless communication with the control panel, light-sensitive sensors are arranged at the chassis of the housing and the first motor, and both of the light-sensitive sensors are in communication connection with the control panel, for feeding back to the control panel when the chassis or the first motor is buried by grain; A first gyroscope and a second gyroscope are placed at the front end of the spiral blade, the first gyroscope and the second gyroscope are both in electrical connection with the control panel, and when the first gyroscope and the second gyroscope detect signals respectively, the signals are transmitted to the control panel for measuring the rotational speed of the spiral blade in the vertical direction; a first accelerometer and a second accelerometer are placed at the rear end of the spiral blade, the first accelerometer and the second accelerometer are respectively in electrical connection with the control panel, and after the spiral blade starts to rotate, the accelerometer detects signals and transmits them to the control panel for measuring the acceleration of the spiral blade in the horizontal direction; A third gyroscope and a fourth gyroscope are placed on the second rotating shaft at the front end of the spiral blade, the third gyroscope and the fourth gyroscope are also respectively in electrical connection with the control panel, and when the screw drive mechanism works, the second rotating shaft is lifted, the third gyroscope and the fourth gyroscope detect signals and transmit them to the control panel for measuring the pitch angle of the front screw drive mechanism; Four pressure sensors are placed at the spiral blade, the four sensors are in electrical connection with the control panel, when the grain flattening machine sinks, the contact surface of the spiral blade is subjected to a large pressure, the four pressure sensors detect different signals and transmit them to the control panel, the control panel collects the signals for control decision, for measuring the fluid force and contact pressure received by the spiral blade to judge and obtain the motion state of the grain flattening machine; S2: the control board sends a command to adjust the PWM duty cycle to control the second motor to rotate at a constant speed, which makes the ball nut rise along the screw; S3: adjust the pitch angle of the spiral vane relative to the upper waist-shaped groove of the shell to make the grain leveling machine climb out of the grain depression area; S4: after getting out of the pit, adjust the pitch angle of the spiral vane to the initial state and continue the previous work.

2. The method for preventing the auger flight from sinking in the grain flatting machine according to claim 1, wherein: The first motor is installed at the end of the shell through the fixing plate, the reducer is installed at the bottom of the shell, and the first motor is connected with the reducer, one side output end of the reducer is installed with the shaft coupling, the first rotating shaft is installed on the shaft coupling, the first rotating shaft extends out of the shell through the circular through hole on the side wall of the shell, and the spiral vane is fixed; the other end output end of the reducer is installed with the universal joint, one end of the universal joint is installed with the second rotating shaft, the lead screw transmission mechanism is also installed on the second rotating shaft, which is used to drive the second rotating shaft to deflect relative to the horizontal plane of the shell under the assistance of the universal joint, and the second rotating shaft extends out of the shell through the waist-shaped hole on the side wall of the shell, and also fixes the spiral vane.

3. The method for preventing the auger flight from sinking in the grain flatting machine according to claim 2, wherein: The control board is electrically connected with the first motor located at the end of the shell, which is used to control the two first motors to open and close at the same time, so that the two spiral vanes located at one end of the shell and the two spiral vanes located at the other end of the shell rotate at the same time, so that the grain leveling machine moves horizontally in the grain depot.

4. The method for preventing the auger flight from sinking in the grain flatting machine according to claim 2, wherein: The lead screw transmission mechanism includes a first cross rod, a second cross rod and a connecting rod; the fixed end side wall of the second motor is installed on the shell, the ball nut is installed with a support seat at the bottom, the support seat is slidably connected to the shell, one end of the first cross rod is connected to the ball nut, one end of the second cross rod is installed on the second bearing seat which is connected to the connecting rod through the bearing sleeve, and the other end of the first cross rod and the other end of the second cross rod are rotatably sleeved on the two side walls of the connecting rod.

5. The method for preventing the auger flight from sinking in the grain flatting machine according to claim 4, wherein: The control board is electrically connected with the second motor located at the end of the shell, which is used to control the two second motors to open and close at the same time, so that the two spiral vanes located at the two ends of one side of the shell deflect at the same time under the lead screw transmission mechanism, so that the grain leveling machine moves in the grain depot.

6. The method for preventing the auger flight from sinking in the grain flatting machine according to claim 2, wherein: The spiral vane is a laminated spiral vane structure, and the laminated spiral vane structure includes a second rotating shaft and a plurality of vanes, and the structure of the second rotating shaft is a middle structure with a square cross section at both ends. The structure of each vane is a flat structure with a square hole at one end matched with the square shape of the second rotating shaft, the number of turns of the plurality of vanes on the second rotating shaft is one and a half, and the number of vanes is 55.

7. The method for controlling the spiral vane to prevent sinking in the spiral grain leveling machine according to claim 1, characterized in that, In S1, the horizontal state and the anti-sinking climbing state of the grain leveling machine can be determined by combining and processing the measurement values of the first, second, third and fourth gyroscopes, the first and second accelerometers, the first, second, third and fourth pressure sensors, mainly as follows: When the output values of the first and second accelerometers are 0.05-0.15g and the output values of the third and fourth gyroscopes are 0.5-1.5 degrees per second, the grain leveling machine is horizontal; when the first and second gyroscopes measure the pitch angle of the front end to be more than 3-5 degrees, the grain leveling machine is in the anti-trap climbing state; When the contact pressure measured by the four pressure sensors exceeds 10%-20% of the normal pressure, the grain leveling machine is in the anti-trap climbing state; at the same time, according to the measurement value of the sensor at the spiral blade, it can be judged whether the movement state of the grain leveling machine is stable.

8. The method for preventing the auger flight from sinking in a spiral grain unloading auger according to claim 1, wherein, In S2, the PMW duty cycle is 25%-90%, the uniform speed of the second motor in forward / reverse rotation is 50%-100% of the rated speed of the second motor, and the rated speed of the second motor is 4.2r / s.

9. The method for preventing the auger flight from sinking in a spiral grain unloading auger according to claim 1, wherein, In S3, the pitch angle is 10-30°.

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