A stealthy barn sampling robot

Abstract

The present invention provides a stealth-working barn sampling robot, which belongs to the technical field of sampling robots. The robot comprises a main body, an outer wall of the main body is fixedly connected with a plurality of shaft brackets, the shaft brackets are equidistantly arranged on the main body, a spiral shaft is rotatably connected inside the shaft bracket, a spiral blade is fixedly wound around the outer wall of the spiral shaft, a temperature sensor, a humidity sensor, and a pressure sensor are respectively arranged at the ends of the plurality of spiral shafts, the inner walls of the plurality of shaft brackets are all fixedly connected with a first motor, a reducer is arranged at the output end of the first motor, and the output shaft of the reducer is rotatably connected with the inner wall of the shaft bracket, and further comprises: a clutch vibration mechanism, which is arranged inside the main body, and the clutch vibration mechanism provides a vibration effect for the robot by increasing the rotation speed of the first motor; a collecting mechanism, which is arranged inside the main body, and the collecting mechanism is used to collect grain samples; a speed regulating mechanism, which is arranged inside the main body, and the speed regulating mechanism enables the robot to support the collection of grain samples at different depths.

Description

Technical Field

[0001] The present invention relates to the technical field of sampling robots, and in particular to a stealth-working barn sampling robot. Background Art

[0002] Sampling grain in silos is a vital agricultural activity that is directly related to grain quality control and storage safety. This process begins after the grain is harvested. When large quantities of grain are transported to silos for storage, ensuring that the grain remains in optimal condition throughout the storage period becomes one of the key tasks.

[0003] At present, the sampling method of barns is usually to start from the top of the grain bin and insert the sampler into the grain pile to collect samples at different depths. This method is simple and easy to use, and is suitable for situations where the height of the grain pile is relatively low. However, when the barn is deep, traditional samplers often cannot reach the bottom of the grain pile, which becomes a significant challenge. The bottom of the barn is a place of particular concern because it is often the area where grain problems are most likely to occur. First, grains may settle during storage, resulting in higher density and greater water content in the bottom grains. Higher humidity levels increase the risk of grain mold, especially when temperature and humidity conditions are suitable; secondly, the bottom grains are also more susceptible to insect pests. Many grain pests like warm and humid environments, and the bottom of the grain pile just provides such conditions. Once pests reproduce at the bottom, they can easily spread upwards and affect the quality of the entire grain pile. How to invent a submerged barn sampling robot to improve these problems has become an urgent problem for technicians in this field. Summary of the invention

[0004] In order to make up for the above shortcomings, the present invention provides a submersible barn sampling robot, which aims to solve the problem of inconvenient sampling at the bottom of the barn.

[0005] The present invention is achieved in that:

[0006] The present invention provides a barn sampling robot that works in a submerged manner, comprising a main body, which is arranged in a hexagonal column shape, and the outer side wall of the main body is fixedly connected to a plurality of shaft brackets, the shaft brackets are equidistantly arranged on the main body, a spiral shaft is rotatably connected inside the shaft bracket, and a spiral blade is fixedly wound around the outer side wall of the spiral shaft, and a temperature sensor, a humidity sensor, and a pressure sensor are respectively arranged at the ends of the plurality of spiral shafts, the shaft bracket is hollow, and the inner side walls of the plurality of shaft brackets are all fixedly connected to a first motor, a reducer is arranged at the output end of the first motor, the output shaft of the reducer is rotatably connected to the inner side wall of the shaft bracket, and the output shaft of the reducer is transmission-connected to the spiral shaft through a first belt, and also comprises: a clutch vibration mechanism, which is arranged inside the main body, and the clutch vibration mechanism provides a vibration effect for the robot by increasing the rotation speed of the first motor; a collecting mechanism, which is arranged inside the main body, and the collecting mechanism is used to collect grain samples; a speed regulating mechanism, which is arranged inside the main body, and the speed regulating mechanism enables the robot to support grain sample collection at different depths.

[0007] Preferably, the clutch vibration mechanism includes a plurality of first brackets fixedly connected to the inner wall of the main body, a clutch shaft is rotatably connected in the plurality of first brackets, the clutch shaft is connected to the output shaft of the reducer through a second belt drive, the end of the clutch shaft is fixedly connected to a clutch seat, a plurality of limit strips are fixedly connected to the side wall of the clutch seat, a plurality of clutch hammers are slidably arranged on the limit strips, a tension spring is arranged between the plurality of clutch hammers, and the plurality of clutch hammers are elastically connected through the tension spring.

[0008] Preferably, the clutch vibration mechanism also includes a plurality of second brackets fixedly connected to the inside of the main body, a vibration shaft is rotatably connected between the second brackets, a clutch disc is fixedly connected to the end of the vibration shaft, a plurality of clutch hammers are arranged on the inner side of the clutch disc, and a vibration hammer is fixedly sleeved on the outer wall of the vibration shaft.

[0009] Preferably, a plurality of second motors are arranged in the main body, and collection doors are slidably arranged at both ends of the main body, and the collection doors are arranged in a hexagonal cone shape. The output end of the second motor is transmission-connected with a telescopic rod, and the end of the telescopic rod is fixedly connected to the collection door. A plurality of baffles are fixedly connected in the main body, and a material storage space is arranged between the baffles, the main body and the collection door.

[0010] Preferably, the collecting mechanism comprises a plurality of compartment boxes fixedly connected to the inner wall of the main body, a collecting compartment is rotatably provided inside the compartment box, and a collecting port is provided on the collecting compartment.

[0011] Preferably, the speed regulating mechanism includes a gear box front cover and a gear box rear cover fixedly connected to the inside of the main body, the vibration shaft is rotatably connected to the gear box front cover and the gear box rear cover, the gear box rear cover is rotatably connected to a first speed regulating shaft, multiple first driven shafts, and multiple second speed regulating shafts, the outer wall of the first speed regulating shaft is fixedly sleeved with a first speed regulating gear, the outer walls of multiple first driven shafts are fixedly sleeved with a first driven gear, and the outer walls of multiple second speed regulating shafts are fixedly sleeved with a second speed regulating gear.

[0012] Preferably, the first speed regulating shaft and the vibration shaft are connected via a third belt transmission, and the first driven shaft and the second speed regulating shaft are connected via a fourth belt transmission.

[0013] Preferably, the first speed regulating gear is meshed with the first driven gear, the second speed regulating gear is meshed with the first driven gear, and the plurality of first driven shafts are equidistantly arranged in the circumferential direction of the rear cover of the gear box.

[0014] Preferably, the speed regulating mechanism also includes a pinion fixedly connected to the ends of multiple first driven shafts, the first driven gear and the pinion are located on both sides of the rear cover of the gear box, the side wall of the rear cover of the gear box is rotatably connected to the second driven gear, and a ring gear is provided at the end of the collection bin, and a toothless position is provided on the ring gear.

[0015] Preferably, the second driven gear is meshed with the ring gear, the pinion is rotatably arranged with the collecting bin, and the collecting port is gradually reduced on each collecting bin in the order in which the transmission mechanism drives the collecting bins in sequence.

[0016] The beneficial effect of the present invention is that during the diving process of the robot, the telescopic rod is controlled by the second motor to retract, thereby driving the collection door to retract inward, opening the storage space at the tail of the forward direction, and completing the grain collection work at a shallow position of the grain pile. When the robot is about to reach the bottom of the grain pile, the collection door is opened in the same way to realize the collection work at the bottom of the grain pile. Each collection bin can collect grains at different heights with the cooperation of the speed regulating mechanism, which facilitates the collection of grains and solves the current problem of inconvenient sampling at the bottom of the grain bin.

[0017] Furthermore, when the collecting port is opened, the clutch vibration mechanism not only causes the robot to vibrate, but also promotes the grains that are relatively unsmoothly flowing due to the squeezing force to enter the collecting bin, so that the collecting bin collects more grains, providing more grain quantity support for analyzing the grain storage environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of a stealth-working barn sampling robot provided by an embodiment of the present invention;

[0020] Figure 2 This is a schematic diagram of the internal structure of a barn sampling robot that works in a stealth mode provided by an embodiment of the present invention;

[0021] Figure 3 yes Figure 2 The enlarged view of point A in the middle;

[0022] Figure 4 It is a schematic diagram of the clutch hammer structure of a stealth-operating barn sampling robot provided by an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of a barn sampling robot that works in a stealth mode, provided in an embodiment of the present invention;

[0024] Figure 6 It is a schematic diagram of the front cover structure of a gearbox of a submersible barn sampling robot provided by an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the location of the collection bin of a barn sampling robot that works in a submerged manner provided by an embodiment of the present invention.

[0026] Figure 8 yes Figure 7 The enlarged view of point B in the middle;

[0027] Fig. 9 This is a schematic diagram of the shape of a collecting port of a barn sampling robot that works in a submerged manner provided by an embodiment of the present invention;

[0028] Fig.10 yes Fig. 9 Enlarged view of point C in the middle.

[0029] In the figure: 1, main body; 2, shaft bracket; 3, spiral shaft; 4, spiral blade; 5, temperature sensor; 6, humidity sensor; 7, pressure sensor; 8, first motor; 9, reducer; 10, first belt; 11, clutch shaft; 12, second belt; 13, first bracket; 14, vibration shaft; 15, clutch seat; 16, clutch disc; 17, vibration hammer; 18, second bracket; 19, clutch hammer; 20, tension spring; 21, limit strip; 22, first Second motor; 23. baffle; 24. telescopic rod; 25. collection door; 26. front cover of gear box; 27. rear cover of gear box; 28. first speed regulating shaft; 29. ​​first driven shaft; 30. second speed regulating shaft; 31. first speed regulating gear; 32. first driven gear; 33. second speed regulating gear; 34. compartment box; 35. collection compartment; 36. collection port; 37. second driven gear; 38. pinion; 39. ring gear; 40. toothless position. DETAILED DESCRIPTION

[0030] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0031] Embodiment 1, refer to Figure 1-Figure 4 A barn sampling robot for submersion includes a main body 1, which is arranged in a hexagonal column shape, and the outer wall of the main body 1 is fixedly connected to a plurality of shaft brackets 2, and the shaft brackets 2 are arranged equidistantly on the main body 1. A spiral shaft 3 is rotatably connected in the shaft bracket 2, and a spiral leaf 4 is fixedly wound around the outer wall of the spiral shaft 3. The ends of the plurality of spiral shafts 3 are respectively provided with a temperature sensor 5, a humidity sensor 6, and a pressure sensor 7, and the shaft bracket 2 is hollow. The inner walls of the plurality of shaft brackets 2 are all fixedly connected to a first motor 8, and a reducer 9 is arranged at the output end of the first motor 8. The output shaft of the reducer 9 is rotatably connected to the inner wall of the shaft bracket 2, and the output shaft of the reducer 9 is transmission-connected to the spiral shaft 3 through a first belt 10, and also includes:

[0032] The clutch vibration mechanism is arranged inside the main body 1, and the clutch vibration mechanism provides a vibration effect for the robot by increasing the rotation speed of the first motor 8, thereby reducing the resistance of the robot diving in the grain pile through vibration;

[0033] The clutch vibration mechanism includes a plurality of first brackets 13 fixedly connected to the inner wall of the main body 1, a clutch shaft 11 is rotatably connected in the plurality of first brackets 13, the clutch shaft 11 is connected to the output shaft of the reducer 9 through a second belt 12, a clutch seat 15 is fixedly connected to the end of the clutch shaft 11, a plurality of limit strips 21 are fixedly connected to the side wall of the clutch seat 15, a plurality of clutch hammers 19 are slidably arranged on the limit strips 21, a plurality of clutch hammers 19 are arranged between the plurality of clutch hammers 19, and the plurality of clutch hammers 19 are elastically connected through the tension springs 20, the clutch vibration mechanism also includes a plurality of second brackets 18 fixedly connected to the inside of the main body 1, a vibration shaft 14 is rotatably connected between the second brackets 18, a clutch disc 16 is fixedly connected to the end of the vibration shaft 14, a plurality of clutch hammers 19 are arranged on the inner side of the clutch disc 16, and a vibration hammer 17 is fixedly sleeved on the outer wall of the vibration shaft 14.

[0034] It should be noted that: first, the end of the robot is placed into the grain pile toward the center of the grain pile, and multiple first motors 8 are started. The rotation of the first motors 8 drives the reducer 9 to work. The reducer 9 drives the spiral shaft 3 to rotate through the first belt 10, and drives the spiral blades 4 to rotate. Multiple spiral blades 4 rotate in the same direction, so that the robot enters the interior of the grain pile. By controlling multiple first motors 8 to provide different rotation speeds, the steering function of the robot inside the grain pile is realized. The temperature and humidity inside the grain pile are detected by the temperature sensor 5 and the humidity sensor 6 to prevent the temperature and humidity inside the grain pile from being out of the normal range. The pressure feedback by the pressure sensor 7 is used to detect the pressure distribution inside the grain pile to prevent the robot from being unable to move forward normally due to excessive pressure accumulated inside the grain pile.

[0035] In this embodiment, when the robot dives deeper into the grain pile, the pressure it is subjected to gradually increases, which slows down the forward speed. By increasing the speed of the multiple first motors 8, the speed of the spiral blades 4 is increased. The reducer 9 also drives the clutch shaft 11 to rotate. The clutch shaft 11 drives the clutch hammer 19 to rotate through multiple limit bars 21. Under the action of centrifugal force, the multiple clutch hammers 19 overcome the tension of the tension spring 20 and separate outward. When contacting the clutch disc 16, the clutch disc 16 is driven to rotate under the action of friction, and the vibration shaft 14 is driven to rotate. The vibration shaft 14 drives the vibration hammer 17 thereon to rotate, providing a vibration force for the robot. While the robot is moving forward, the existence of the vibration force is conducive to overcoming the squeezing force of the grains during the forward movement, thereby increasing the forward speed and reducing the energy loss caused by the squeezing of the grains.

[0036] Example 2, refer to Figure 5-Figure 10A plurality of second motors 22 are arranged in the main body 1, and collection doors 25 are slidably arranged at both ends of the main body 1. The collection door 25 is arranged in a hexagonal cone shape. The output end of the second motor 22 is transmission-connected with a telescopic rod 24, and the end of the telescopic rod 24 is fixedly connected to the collection door 25. A plurality of baffles 23 are fixedly connected in the main body 1, and a material storage space is arranged between the baffles 23, the main body 1, and the collection door 25;

[0037] A collecting mechanism is arranged inside the main body 1, and is used to collect grain samples. The collecting mechanism includes a plurality of compartment boxes 34 fixedly connected to the inner wall of the main body 1, and a collecting compartment 35 is rotatably arranged inside the compartment box 34, and a collecting port 36 is opened on the collecting compartment 35;

[0038] The speed regulating mechanism is arranged inside the main body 1. The speed regulating mechanism enables the robot to support grain sample collection at different depths. The speed regulating mechanism includes a gear box front cover 26 and a gear box rear cover 27 fixedly connected to the main body 1. The vibration shaft 14 is rotatably connected to the gear box front cover 26 and the gear box rear cover 27. The gear box rear cover 27 is rotatably connected with a first speed regulating shaft 28, a plurality of first driven shafts 29, and a plurality of second speed regulating shafts 30. The outer wall of the first speed regulating shaft 28 is fixedly sleeved with a first speed regulating gear 31. The plurality of first driven shafts 29 and second speed regulating shafts 30 are rotatably connected to the gear box rear cover 27. 9 are all fixedly sleeved with a first driven gear 32 on their outer walls, and a plurality of second speed regulating shafts 30 are all fixedly sleeved with a second speed regulating gear 33 on their outer walls, the first speed regulating shaft 28 is connected to the vibration shaft 14 via a third belt transmission, the first driven shaft 29 is connected to the second speed regulating shaft 30 via a fourth belt transmission, the first speed regulating gear 31 is meshed with the first driven gear 32, the second speed regulating gear 33 is meshed with the first driven gear 32, and a plurality of first driven shafts 29 are equidistantly arranged in the circumferential direction of the gear box rear cover 27.

[0039] The speed regulating mechanism also includes a pinion 38 fixedly connected to the ends of multiple first driven shafts 29. The first driven gear 32 and the pinion 38 are located on both sides of the gear box rear cover 27. The side wall of the gear box rear cover 27 is rotatably connected to the second driven gear 37. A ring gear 39 is provided at the end of the collecting bin 35. A toothless position 40 is provided on the ring gear 39. The second driven gear 37 is meshed with the ring gear 39. The pinion 38 is rotatably arranged with the collecting bin 35. The collecting port 36 is gradually reduced on each collecting bin 35 in the order in which the transmission mechanism drives the collecting bin 35 in sequence.

[0040] It should be noted that: while the clutch vibration mechanism is working, the vibration shaft 14 also drives the first speed regulating shaft 28 to rotate through the third belt, and the first speed regulating shaft 28 drives the first driven shaft 29 to rotate through the meshing of the first speed regulating gear 31 and the first driven gear 32. The first driven shaft 29 drives the second speed regulating shaft 30 to rotate through the fourth belt, and meshes with the first driven gear 32 through the second speed regulating gear 33, and further drives the multiple first driven shafts 29 to rotate downward. Since the second speed regulating gear 33 is smaller than the first driven gear 32, the effect of decreasing the speed of the multiple first driven shafts 29 in the downward driving direction is achieved;

[0041] The rotation of the first driven shaft 29 also drives the pinion 38 to rotate, and the pinion 38 drives the second driven gear 37 to rotate, and drives the collecting bin 35 to rotate through the ring gear 39. As the rotation speeds of the multiple first driven shafts 29 decrease, the rotation speeds of the collecting bins 35 corresponding to the multiple first driven shafts 29 also gradually decrease. This decreasing method allows the collecting port 36 on the collecting bin 35 to open at different heights inside the grain pile, thereby providing grain collection effects at different heights, which is conducive to multi-faceted analysis of grain storage conditions.

[0042] It should be noted that: when the second driven gear 37 meshes with the ring gear 39 to rotate the collecting bin 35, when the collecting bin 35 rotates to the point where the collecting port 36 is exposed to the outside of the main body 1, the grains enter the interior of the collecting bin 35 through the collecting port 36, and when the second driven gear 37 rotates to the toothless position 40 on the ring gear 39, the collecting port 36 rotates to the position closed by the bin box 34, at which point the collecting bin 35 stops rotating due to the loss of the meshing transmission force, and the collecting bin 35 completes the grain collection work.

[0043] In this embodiment: when the robot dives, the second motor 22 controls the telescopic rod 24 to retract, driving the collection door 25 to retract inward, thereby opening the storage space at the end of the main body 1; the storage space at the tail of the forward direction is opened, and due to the effect of gravity, the grains fall into the storage space, and the second motor 22 is controlled to reset the collection door 25 to complete the grain collection work at a shallow position of the grain pile. When the robot is about to reach the bottom of the grain pile, the collection door 25 is opened in the same way. When the robot moves forward, the grains are pushed into the storage space to realize the collection work at the bottom of the grain pile. Each collection bin 35 can collect grains at different heights with the cooperation of the speed regulating mechanism, which is convenient for grain collection and solves the problem of inconvenient sampling at the bottom of the grain bin.

[0044] Furthermore, when the collecting port 36 is opened, the clutch vibration mechanism not only vibrates the robot, but also promotes the grains that are relatively unsmoothly flowing due to the squeezing force to enter the collecting bin 35, so that the collecting bin 35 collects more grains, providing more grain quantity support for analyzing the grain storage environment.

[0045] It should be noted that the specific model and specifications of the motor need to be selected and determined based on the actual specifications of the device, and the specific selection calculation method adopts the existing technology in this field, so it will not be described in detail.

[0046] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A barn sampling robot for stealth operation, comprising a main body (1), characterized in that: The main body (1) is arranged in a hexagonal column shape, and the outer side wall of the main body (1) is fixedly connected to a plurality of shaft supports (2), and the shaft supports (2) are arranged equidistantly on the main body (1). A spiral shaft (3) is rotatably connected inside the shaft support (2), and a spiral blade (4) is fixedly wound around the outer side wall of the spiral shaft (3). The ends of the plurality of spiral shafts (3) are respectively provided with a temperature sensor (5), a humidity sensor (6), and a pressure sensor (7). The shaft support (2) is arranged in a hollow shape, and the inner side walls of the plurality of shaft supports (2) are all fixedly connected to a first motor (8). A reducer (9) is arranged at the output end of the first motor (8), and the output shaft of the reducer (9) is rotatably connected to the inner side wall of the shaft support (2). The output shaft of the reducer (9) is transmission-connected to the spiral shaft (3) via a first belt (10), and further comprises: A clutch vibration mechanism is arranged inside the main body (1), and the clutch vibration mechanism provides a vibration effect for the robot by increasing the rotation speed of the first motor (8); A collecting mechanism, arranged inside the main body (1), and used for collecting grain samples; A speed regulating mechanism is arranged inside the main body (1), and the speed regulating mechanism enables the robot to support grain sample collection at different depths; The clutch vibration mechanism comprises a plurality of first brackets (13) fixedly connected to the inner wall of the main body (1), a clutch shaft (11) being rotatably connected inside the plurality of first brackets (13), the clutch shaft (11) being transmission-connected to the output shaft of the reducer (9) via a second belt (12), a clutch seat (15) being fixedly connected to the end of the clutch shaft (11), a plurality of limit bars (21) being fixedly connected to the side wall of the clutch seat (15), a plurality of clutch hammers (19) being slidably arranged on the limit bars (21), a tension spring (20) being arranged between the plurality of clutch hammers (19), and the plurality of clutch hammers (19) being elastically connected via the tension spring (20); The clutch vibration mechanism further comprises a plurality of second brackets (18) fixedly connected to the inside of the main body (1), a vibration shaft (14) being rotatably connected between the second brackets (18), a clutch disc (16) being fixedly connected to the end of the vibration shaft (14), a plurality of clutch hammers (19) being arranged on the inner side of the clutch disc (16), and a vibration hammer (17) being fixedly sleeved on the outer side wall of the vibration shaft (14).

2. The barn sampling robot for stealth operation according to claim 1 is characterized in that: A plurality of second motors (22) are arranged in the main body (1), and collection doors (25) are slidably arranged at both ends of the main body (1), the collection doors (25) being arranged in a hexagonal pyramid shape, the output end of the second motor (22) is drivingly connected to a telescopic rod (24), the end of the telescopic rod (24) is fixedly connected to the collection door (25), and a plurality of baffles (23) are fixedly connected in the main body (1), and a material storage space is arranged between the baffles (23), the main body (1) and the collection door (25).

3. The barn sampling robot for stealth operation according to claim 1 is characterized in that: The collecting mechanism comprises a plurality of compartment boxes (34) fixedly connected to the inner side wall of the main body (1), a collecting compartment (35) being rotatably arranged inside the compartment boxes (34), and a collecting port (36) being provided on the collecting compartment (35).

4. The barn sampling robot for stealth operation according to claim 3 is characterized in that: The speed regulating mechanism comprises a gear box front cover (26) and a gear box rear cover (27) fixedly connected to the inside of the main body (1); the vibration shaft (14) is rotatably connected to the gear box front cover (26) and the gear box rear cover (27); a first speed regulating shaft (28), a plurality of first driven shafts (29), and a plurality of second speed regulating shafts (30) are rotatably connected to the gear box rear cover (27); the outer wall of the first speed regulating shaft (28) is fixedly sleeved with a first speed regulating gear (31); the outer walls of the plurality of first driven shafts (29) are fixedly sleeved with a first driven gear (32); and the outer walls of the plurality of second speed regulating shafts (30) are fixedly sleeved with a second speed regulating gear (33).

5. The barn sampling robot for stealth operation according to claim 4 is characterized in that: The first speed regulating shaft (28) is connected to the vibration shaft (14) via a third belt transmission, and the first driven shaft (29) is connected to the second speed regulating shaft (30) via a fourth belt transmission.

6. The barn sampling robot for stealth operation according to claim 5 is characterized in that: The first speed regulating gear (31) is meshed with the first driven gear (32), the second speed regulating gear (33) is meshed with the first driven gear (32), and a plurality of the first driven shafts (29) are equidistantly arranged in the circumferential direction of the gear box rear cover (27).

7. The barn sampling robot for stealth operation according to claim 4 is characterized in that: The speed regulating mechanism further comprises a pinion gear (38) fixedly connected to the ends of the plurality of first driven shafts (29); the first driven gear (32) and the pinion gear (38) are located on both sides of a gear box rear cover (27); a second driven gear (37) is rotatably connected to a side wall of the gear box rear cover (27); a ring gear (39) is disposed at the end of the collection bin (35); and a toothless position (40) is disposed on the ring gear (39).

8. The barn sampling robot for stealth operation according to claim 7 is characterized in that: The second driven gear (37) is meshed with the ring gear (39), the pinion gear (38) is rotatably arranged with the collection bin (35), and the collection port (36) is gradually reduced on each collection bin (35) in the order in which the transmission mechanism drives the collection bins (35) in sequence.

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