Intelligent leveling robot with buffer shell

Abstract

The invention discloses an intelligent spreading robot with a buffer shell, and relates to the technical field of spreading robots, the intelligent spreading robot comprises a shell, the shell comprises an upper cover and a chassis, and the upper cover and the chassis are sealed to define a mounting space; the periphery of the base plate and the periphery of the upper cover are each provided with a protruding arc section, the arc section of the base plate and the arc section of the upper cover are combined to form a buffering convex arc, and the buffering convex arc is used for buffering impact between the intelligent spreading robot and a grain convex pile. According to the technical scheme provided by the invention, the arc sections are arranged on the peripheries of the bottom cover and the upper cover, and the arc sections of the bottom cover and the upper cover form the buffer convex arc, so that the buffer convex arc can absorb impact generated by collision of the bottom cover and the upper cover if the leveling robot collides with a valley heap in the leveling process; therefore, the possibility that the leveling robot is damaged due to collision with the grain heap is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of liquidation robots, and in particular to an intelligent liquidation robot. Background Art

[0002] Grain reserves are related to people's livelihood, so grain reserves have always been a top priority for social development. In the process of grain reserves, in order to preserve grain for a long time and to reduce mildew, pests and losses, grain is often stored in granaries by piling grain. In addition to reducing the possibility of grain mildew and pests, the grain piling storage method can also facilitate the classification, counting and transportation of grain.

[0003] In the process of transferring grain to the granary, the grain will form a pile. In order to make full use of the storage space in the granary, relevant mechanical equipment or robots are needed to level the pile. In addition, in order to facilitate the monitoring of the grain, relevant equipment or robots are also needed to sample the grain.

[0004] With the progress of mechanization and automation in the society as a whole, the degree of automation and mechanization in the storage and transportation of grain is also improving. At present, there are relevant equipment and production lines that can automatically transfer grain to the granary for stacking. However, there is a disadvantage of mechanized grain stacking at present, that is, during the mechanized grain stacking process, the grain will form multiple conical protrusions of different sizes in the granary, that is, the surface of the grain pile is uneven with a large drop, so that the storage space of the granary is not fully utilized, resulting in a certain degree of space waste. To solve this problem, the flattening robot came into being; the main purpose of the flattening robot is to flatten the surface of the grain pile during the mechanized grain stacking process, so that the surface of the grain pile is as flat as possible, so as to make full use of the storage space in the granary; in addition, the flattening robot can also complete the sampling, monitoring and surface turning of grain, etc., and has broad application prospects.

[0005] However, with the in-depth application of the warehouse-closing robot, that is, with the improvement of the degree of coordination between the warehouse-closing robot and the mechanized grain stacking process, during the warehouse-closing process of the warehouse-closing robot, the warehouse-closing robot needs to go to the protruding position on the surface of the grain pile in time, so the warehouse-closing robot generally has a faster speed; but the grain is granular, and the surface of the grain pile has mechanical properties that are completely different from the fluid surface and the solid surface, and the existing warehouse-closing robots generally use tracks or wheels to walk on the surface of the grain pile, which makes the warehouse-closing robot prone to slipping or sinking on the surface of the grain pile, which is not conducive to its movement, and the occurrence of these phenomena will make the warehouse-closing robot easy to lose control, thereby greatly increasing the possibility of collision between the warehouse-closing robot and the protruding part of the grain pile surface, and then increasing the probability of structural damage to the warehouse-closing robot due to collision.

[0006] In addition, during the grain stacking process or the grain storage process after the grain stacking is completed, phosphine gas will be used to fumigate the grain in the granary to inhibit the possible presence of insect eggs or live insects in the grain particles, thereby inhibiting the occurrence of insect pests. Phosphine is a colorless gas, extremely toxic, and has a fishy smell. It has a high efficacy against different stages of stored grain pests, and can enter the insect body through the insect respiratory system, acting on the respiratory chain and cytochrome oxidase of the cell mitochondria to kill the insects. However, it should be noted that phosphine gas is prone to corrode metals, especially copper, and there are a large number of basic components made of copper in the circuit boards and electronic components of the warehouse closing robot. Therefore, when the structure of the warehouse closing robot is damaged, it will greatly accelerate the corrosion rate of phosphine on the copper-containing basic components of the warehouse closing robot, thereby greatly shortening the service life of the warehouse closing robot. Summary of the invention

[0007] The main purpose of the present invention is to provide an intelligent warehouse-closing robot with a buffer shell, aiming to reduce the possibility of the intelligent warehouse-closing robot being damaged due to collision with a grain pile during the warehouse-closing process.

[0008] To achieve the above-mentioned purpose, the intelligent liquidation robot with a buffer shell proposed by the present invention comprises: A housing, the housing comprising an upper cover and a bottom plate, wherein the upper cover and the bottom plate are sealed and enclosed to form an installation space; A battery, the battery is arranged in the installation space, and the battery is used to supply power to the entire intelligent liquidation robot; An image sensor component, which is disposed on the upper cover and is used to detect obstacles around the intelligent liquidation robot; A communication component, the communication component is arranged on the upper cover, and the communication component is used for communicating with the outside world; Two groups of walking modules, the two groups of walking modules are respectively arranged on two opposite sides of the shell, and the walking modules are used to drive the movement of the intelligent liquidation robot; Among them, the outer periphery of the chassis and the upper cover both have protruding arc segments, and the arc segments of the chassis and the upper cover are combined to form a buffer convex arc, and the buffer convex arc is used to buffer the impact between the intelligent warehouse closing robot and the convex pile of grain. The walking module includes a turbine group, and the turbine group includes two turbines. The two turbines are coaxially arranged, and the two turbines have the same spiral direction, and the axial direction of the turbine is parallel to the length direction of the intelligent warehouse closing robot. The spiral directions of the turbines of the two turbine groups are opposite. When the two turbine groups rotate at the same speed and in opposite directions, the intelligent warehouse closing robot moves forward or backward. When the two turbine groups rotate in the same direction or the two turbine groups have a speed difference, the intelligent warehouse closing robot turns.

[0009] In one embodiment, the intelligent liquidation robot further includes a circuit board, which is communicatively connected to the communication component and the image sensor component, and the circuit board controls the rotation direction and rotation speed of the two turbine groups respectively after receiving the electrical signals from the communication component and the image sensor component.

[0010] In one embodiment, the walking module also includes a motor and a reduction gearbox. The motor is arranged in the installation space. The output end of the motor extends out of the outer casing and engages with the reduction gearbox. An output shaft and a follower shaft are respectively arranged on opposite sides of the reduction gearbox. The two turbines are respectively sleeved on the output shaft and the follower shaft.

[0011] In one embodiment, the turbine has two blades, and the spiral pattern of the blades is an equidistant spiral.

[0012] In one embodiment, the horizontal height of the axis of the turbine group is not higher than the horizontal height of the bottom surface of the casing.

[0013] In one embodiment, the material of the turbine is one of aluminum alloy, magnesium aluminum alloy, PPS, PPS resin long glass fiber, carbon fiber and nylon, and the intermediate cylinder diameter of the turbine is 30-70 mm.

[0014] In one embodiment, the blade width of the turbine is 40-100 mm, and the blade pitch of the turbine is 250-450 mm.

[0015] In one embodiment, a first sealing groove is opened on the chassis, a first sealing ring is arranged in the first sealing groove, and the top of the reduction box is crimped to the first sealing ring.

[0016] In one embodiment, the communication component includes a main body and an antenna, the main body is arranged in the installation space, the antenna is fixed to the top of the upper cover, the antenna is electrically connected to the main body, and a second sealing ring is arranged at the bottom of the antenna.

[0017] In one embodiment, the upper cover is provided with a detection slot for the image sensor assembly to extend out, and a third sealing ring is provided between the image sensor assembly and a slot wall of the detection slot.

[0018] The technical solution of the present invention is to arrange arc segments on the outer circumference of the bottom cover and the upper cover, and then combine the arc segments of the two to form a buffer convex arc, so that if the warehouse-closing robot collides with the grain pile during the warehouse-closing process, the buffer convex arc can absorb the impact generated by the collision between the two, thereby reducing the possibility of the warehouse-closing robot being damaged due to the collision with the grain pile. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0020] Figure 1 A schematic diagram of the overall structure of a warehouse closing robot with a buffer shell provided by the present invention; Figure 2 It is a structural explosion diagram of the present invention; Figure 3 for Figure 2 A magnified view of part A; Figure 4 A schematic cross-sectional structure diagram of a warehouse closing robot with a buffer shell provided by the present invention; Figure 5 for Figure 4 A magnified view of part B; Figure 6 for Figure 4 Enlarged view of part C; Figure 7 It is a structural schematic diagram of the present invention from the rear perspective; Figure 8 for Figure 7 Magnified view of part D.

[0021] Description of Figure Numbers: 1. Shell; 11. Upper cover; 111. Matching rib; 112. Clamping tooth; 113. Installation groove; 114. Cover plate; 115. Detection groove; 116. Third sealing ring; 12. Chassis; 121. Sealing rib; 122. Sealing strip; 123. Embedding groove; 124. First sealing groove; 125. First sealing ring; 13. Installation space; 14. Arc segment; 15. Buffering arc; 16. Buffering space; 17. Limiting protrusion; 18. Limiting groove; 2. Control module; 21. Image sensor component; 22. Communication component; 221. Main body; 222. Antenna; 223. Second sealing ring; 23. Circuit board; 3. Travel module; 31. Motor; 32. Reducer; 321. Bushing; 33. Turbine; 331. Blade; 4. Interface module; 5. Battery.

[0022] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only 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.

[0024] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0025] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0026] Reference Figures 1 to 4The present invention proposes an intelligent warehouse-closing robot with a buffer shell. In addition to being able to complete tasks such as warehouse-closing, it can reduce the possibility of collision with the raised parts of the grain pile surface, thereby ensuring its structural integrity. Specifically, the intelligent warehouse-closing robot with a buffer shell proposed by the present invention includes a shell 1, a battery, a control module 2 and two groups of walking modules 3. The control module 2 includes an image sensor component 21 and a communication component 22. The shell 1 includes an upper cover 11 and a chassis 12. The upper cover 11 and the chassis 12 are sealed to form an installation space 13. The battery is arranged in the installation space 13, and the battery is used to power the intelligent warehouse-closing robot as a whole. The image sensor component 21 is arranged on the upper cover 11, and the image sensor component 21 is used to detect obstacles around the intelligent warehouse-closing robot. The communication component 22 is also arranged on the upper cover 11, and the communication component 22 is used to communicate with the outside world. The two groups of walking modules 3 are respectively arranged on opposite sides of the shell 1, and the walking module 3 is used to drive the intelligent warehouse-closing machine The movement of people; wherein, the outer periphery of the chassis 12 and the upper cover 11 both have a protruding arc segment 14, and the arc segment 14 of the chassis 12 and the arc segment 14 of the upper cover 11 are combined to form a buffer convex arc 15, and the buffer convex arc 15 is used to buffer the collision between the intelligent warehouse-closing robot and the convex pile of grain; the walking module 3 includes a turbine group, and the turbine group includes two turbines 33, the two turbines 33 are coaxially arranged, and the two turbines 33 have the same spiral direction; in addition, the axial direction of the turbine 33 is parallel to the length direction of the intelligent warehouse-closing robot, and the spiral directions of the turbines 33 of the two turbine groups are opposite; when the two turbine groups rotate in opposite directions at the same speed, the intelligent warehouse-closing robot moves forward or backward; when the two turbine groups rotate in the same direction or there is a speed difference between the two turbine groups, the intelligent warehouse-closing robot turns. Due to the characteristics of the operation of the turbine 33, in fact, the walking process of the warehouse-closing robot of the present invention is the process of closing.

[0027] In the present invention, the warehouse-closing robot can rely on the image sensor component 21 to sense the surrounding environment, that is, to sense the surface conditions of the surrounding grain piles. When grain is piled up on the surface of the grain pile to form a protrusion, the warehouse-closing robot can sense it using the image sensor component 21. After sensing, the warehouse-closing robot will go to the protrusion formation area to perform a warehouse-closing operation, thereby completing the leveling of the grain pile surface. It should be noted that the warehouse-closing robot in the present invention can complete the automated warehouse-closing work through the image sensor component 21; for example, a program is pre-set for the warehouse-closing robot, and when the image sensor component 21 finds that a protrusion is formed on the surface of the grain pile, it starts to run until the protrusion is leveled and disappears; the setting of the image sensor component 21 improves the intelligence of the warehouse-closing robot.

[0028] Accordingly, based on the above, the closing robot needs to provide timely feedback on the status of grain in the granary, so the setting of the communication component 22 can enable the closing robot to send and receive information with the outside world. The operator can use the closing robot to monitor the real-time status in the granary, and can also use the communication component 22 to remotely control the closing robot to complete designated tasks; therefore, the setting of the communication component 22 actually facilitates information transmission and human-computer communication, and improves the informatization level of the closing robot.

[0029] In combination with the above, in order to control the working state and movement state of the closing robot, and to integrate the information collected by the closing robot, the control module 2 also includes a circuit board 23, and the circuit board 23 is communicatively connected with the communication component 22 and the image sensor component 21, that is, the circuit board 23 is similar to the "brain" of the closing robot. The relevant chips on the circuit board 23 can enable the closing robot to operate according to the preset working mode, and can also allow relevant personnel to directly operate the closing robot; specifically, when the circuit board 23 receives the electrical signals from the communication component 22 and the image sensor component 21, it can control the rotation direction and angle of the two turbine groups respectively; for example, the actual performance is that when the closing robot finds the protrusion on the surface of the grain pile, the two turbine groups are driven to rotate under the control of the circuit board 23, thereby controlling the closing robot to adjust the angle to align with the protrusion and complete the closing operation.

[0030] Reference Figures 2 to 6 , and what needs to be explained in combination is that the setting of the turbine 33 in the walking module 3 actually helps to reduce the possibility of the flattening robot colliding with the protruding parts of the grain pile surface; specifically, the grain pile surface has mechanical properties that are completely different from those of a solid surface or a fluid surface, which makes the wheeled flattening robot very susceptible to the impact of potholes on the grain pile surface during its movement on the grain pile surface. When the speed is too fast, the flattening robot will be affected by the bumps and its moving trajectory will be affected. Moreover, since the grain is granular, the wheeled flattening robot is prone to lose its grip while its moving trajectory is affected, thereby causing phenomena such as rollover. The resulting impact on the sealed shell 1 increases the possibility of damage to the installation space 13 and loss of airtightness; accordingly, during the operation of the crawler-type warehouse-closing robot, the characteristics of the tracks can well cope with the potholes on the surface of the grain pile, but based on the characteristics of the tracks themselves, the crawler-type warehouse-closing robot is heavy and its flexibility is reduced, and its rapid response capability and mobility are both limited by the tracks; and because the tracks have many structures and the grains are generally granular, the grains may be embedded in the transmission structure in the tracks, causing transmission failure, which greatly increases the maintenance cost of the warehouse-closing robot.

[0031] In combination with the above, in the warehouse closing robot proposed in the present invention, the walking module 3 also includes a motor 31 and a reduction box 32. The motor 31 is arranged in the installation space 13. The output end of the motor 31 extends out of the housing 1 and meshes with the reduction box 32. The reduction box 32 is provided with an output shaft and a follower shaft on opposite sides. The reduction box 32 transmits the power generated by the motor 31 to the output shaft. The two turbines 33 are respectively sleeved on the output shaft and the follower shaft. That is, in the same turbine group, one turbine 33 drives and the other turbine 33 follows. The setting of the turbine group in the walking module 3 can reduce the influence of the protrusions on the grain pile surface on its movement trajectory while simplifying the structure and overall weight as much as possible, and reduce the possibility of it being out of control; specifically, the turbine 33 in the turbine group actually rotates on the surface of the grain pile, and the turbine 33 is partially sunken into the grain pile, so that the operation of the turbine 33 actually depends on changing the distribution state of grain particles on the surface of the grain pile. Therefore, the warehouse-closing robot proposed by the present invention is not easily affected by the potholes or protrusions on the surface of the grain pile during operation, thereby reducing the possibility of the warehouse-closing robot colliding with the protrusions on the surface of the grain pile, and reducing the possibility of damage to the shell 1. Furthermore, the structure of the turbine 33 is very simple compared to the crawler, so it can greatly reduce the weight of the warehouse-closing robot, and can reduce the number of maintenance and maintenance costs of the warehouse-closing robot.

[0032] Reference Figures 2 to 6 In the present invention, the turbine 33 has two blades 331, and the spiral form of the two blades 331 is an equidistant spiral, which can be simply understood as that the two turbines 33 of the same turbine group are actually the same, so that the turbines 33 belonging to the same group have better unity and coordination when the warehouse closing robot moves; in addition, considering the characteristics of the turbine 33, when the warehouse closing robot moves, the rotation directions of the two groups of turbine groups are opposite; specifically, when the turbine 33 rotates, since the turbine 33 is partially immersed below the surface of the grain pile, in addition to generating forward or backward thrust when the turbine 33 rotates, it also generates force in its rotation direction, that is, the force that causes the warehouse closing robot to translate in the left and right directions, so the two groups of turbine groups need to rotate in opposite directions to offset each other, thereby completing the forward or backward movement of the warehouse closing robot.

[0033] Reference Figures 2 to 6Correspondingly, when the turbine 33 rotates and pushes the warehouse-flating robot forward or backward, the rotation of the turbine 33 will lift the grain on the surface of the grain pile. This is also the basis for the warehouse-flating robot proposed in the present invention to level the surface of the grain pile only by moving; and according to the different rotation directions of the two turbine groups, the turning of the grain can be divided into two states: external turning and internal turning; for the convenience of explanation, it is assumed that one group of turbine groups is named group A and the other group of turbine groups is named group B. When observed from the head of the warehouse-flating robot, group A is located on the left side of the warehouse-flating robot and group B is located on the right side of the warehouse-flating robot. When group A rotates counterclockwise and group B rotates clockwise, the two turbine groups will lift the grain particles to the sides of the warehouse-flating robot. This turning state is external turning, and vice versa. Inward turning; specifically, when the warehouse-flating robot passes over the protrusions on the surface of the grain pile, it will lift the grain, thereby leveling the surface of the grain pile.

[0034] It should be noted that, considering the balance of force, generally speaking, the directions of the output shafts of the two reduction gear boxes 32 remain the same. In simple terms, the two output shafts are located at the head of the closing robot or at the tail of the closing robot at the same time to maintain the balance of the closing robot's operation.

[0035] Taking into account that the flattening robot is in the process of leveling the surface of the grain pile, that is, the flattening robot often has uphill and downhill conditions during operation, and considering the overall size of the flattening robot, in order to ensure that the flattening robot can go up and downhill normally, the horizontal height of the axis of the turbine group is not higher than the horizontal height of the ground of the outer shell 1, that is, the horizontal height of the axis of the turbine 33 is not higher than the horizontal height of the bottom surface of the chassis 12. This setting can ensure that the flattening robot has sufficient approach angle and departure angle, which is sufficient to cope with the bulges formed by the natural accumulation of most grains.

[0036] Accordingly, considering that the turbine 33 is partially immersed in the grain pile, the rotation process of the turbine 33 is actually a process of continuous friction with the grain particles; in order to ensure the structural strength of the turbine 33, and considering that the granary environment may cause corrosion to the metal parts of the warehouse-closing robot, the material of the turbine 33 is one of aluminum alloy, magnesium-aluminum alloy, PPS, PPS resin long glass fiber, carbon fiber and nylon, and the above materials have good structural strength and wear resistance, and can effectively resist the corrosion of phosphine gas; further considering the overall size of the warehouse-closing robot, the middle cylinder diameter of the turbine 33 is 30-70mm, the width of the blade 331 of the turbine 33 is 40-100mm, and the pitch of the blade 331 of the turbine 33 is 250-450mm.

[0037] Reference Figures 2 to 6In order to reduce the possibility of phosphine corroding the copper wire in the motor 31, a first sealing groove 124 is opened on the chassis 12, and a first sealing ring 125 is arranged in the first sealing groove 124, and the top of the reduction box 32 is crimped with the first sealing ring 125; that is, a seal is arranged between the reduction box 32 and the chassis 12, which reduces the possibility of phosphine entering the installation space 13 from the gap between the reduction box 32 and the chassis 12 and corroding the internal structure of the motor 31, thereby ensuring the integrity and service life of the overall structure.

[0038] Furthermore, taking into account the different activities of metals, that is, the basic components in the control module 2 contain a large amount of copper, and the output shaft and the follower shaft are generally made of steel, in order to further reduce the possibility of corrosion of the basic components, the output shaft and the follower shaft, the chassis 12 is made of aluminum alloy or magnesium-aluminum alloy; first, aluminum alloy, that is, magnesium-aluminum alloy has excellent corrosion resistance; secondly, since the chassis 12 may often rub against the grain particles, the oxide layer on its surface may be often worn away, therefore, when corrosion occurs, due to the higher metal activity of aluminum or magnesium, it will corrode first instead of the basic components, the output shaft and the follower shaft, so that the chassis 12 replaces the basic components, the output shaft and the follower shaft and is corroded, and since the chassis 12 is visible, the corrosion of the chassis 12 has little effect on the overall operation of the liquidation robot, and therefore can effectively improve the overall service life of the liquidation robot. In addition, the output shaft and the follower shaft are generally hollow. In order to reduce the possibility of corrosion of the output shaft and the follower shaft, shaft sleeves 321 are provided at the ends of the output shaft and the follower shaft to isolate phosphine from entering the interior.

[0039] Reference Figures 2 to 6In order to ensure the sealing of the installation space 13, a sealing rib 121 is provided in the chassis 12, and a sealing strip 122 is provided at the top of the sealing rib 121. A matching rib 111 is provided in the upper cover 11. The matching rib 111 is crimped with the sealing strip 122, that is, when the upper cover 11 and the chassis 12 are installed and closed, the sealing rib 121 and the matching rib 111 will squeeze the sealing strip 122 at the same time, thereby completing the sealing of the installation space 13; for ease of understanding, it can be simply explained that the cooperation between the sealing rib 121, the sealing strip 122 and the matching rib 111 defines the installation space 13 in the space enclosed by the chassis 12 and the upper cover 11, thereby reducing the possibility of phosphine gas entering the installation space 13 and corroding related basic components. Considering that the installation process of the sealing strip 122 is actually crimping, in order to facilitate the installation of the sealing strip 122, the sealing strip 122 is provided with an embedding groove 123, and the top end of the sealing rib 121 is embedded in the embedding groove 123; during installation, the sealing strip 122 can be stretched to allow the sealing rib 121 to be embedded in the embedding groove 123, and then the upper cover 11 is installed, and as the upper cover 11 and the bottom plate 12 are fixed, the matching rib 111 will gradually be crimped with the sealing strip 122, thereby completing the sealing; Further considering that the sealing strip 122 may deviate during the fastening process of the upper cover 11 and the chassis 12, resulting in a decrease in air tightness, the ends of the sealing rib 121 and the matching rib 111 are connected with latch teeth 112, and the latch teeth 112 are used to fix the sealing strip 122. Therefore, during the fastening process of the upper cover 11 and the chassis 12, the latch teeth 112 can fix the sealing strip 122, reducing the possibility of the sealing strip 122 deviating and causing a decrease in air tightness, thereby ensuring the air tightness of the installation space 13.

[0040] It should be noted that the chassis 12, the upper cover 11, the sealing rib 121 and the matching rib 111 together form a buffer space 16, that is, the arc segment 14 of the chassis 12 and the upper cover 11 are combined to form a buffer convex arc 15, and the buffer convex arc 15, the sealing rib 121 and the matching rib 111 together form the buffer space 16. Combined with the above-mentioned setting description, the installation space 13 formed by the upper cover 11 and the chassis 12 can be used to protect the copper-containing electronic components inside the flattening robot, and the buffer convex arc 15 formed by the arc segment 14 of the chassis 12 and the upper cover 11 can absorb the impact generated when the flattening robot collides with the protruding part of the surface of the grain pile, thereby reducing the possibility of structural damage to the flattening robot due to collision, and further reducing the possibility of loss of airtightness due to structural damage, causing phosphine to enter the interior of the flattening robot and corrode the copper-containing basic components, thereby ensuring the service life of the flattening robot. Combined with the above description of the relevant settings of the turbine 33, in fact, the buffer space 16 formed by the buffer convex arc 15 and the walking mode of the turbine 33 can both reduce the possibility of the liquidation robot being hit or the loss of airtightness due to structural damage caused by the impact, and the functions of the two are complementary to each other.

[0041] Reference Figures 2 to 6 In addition, the setting of the buffer convex arc 15 improves the buffering performance of the buffer space 16. The setting of the buffer convex arc 15 can actually absorb kinetic energy through the deformation of the arc segments of the upper cover 11 and the chassis 12 during impact. The buffer space 16 provides space for the deformation of the arc segments and can prevent the impact from directly affecting the inside of the installation space 13. In order to improve the fit between the arc segments of the upper cover 11 and the arc segments of the chassis 12, the end of the arc segment 14 of the upper cover 11 is formed with a limited position protrusion 17, and the top of the arc segment 14 of the chassis 12 is formed with a limited position protrusion 17. A limiting groove 18 is provided at the end for the limiting protrusion 17 to be embedded in. The cooperation of the limiting protrusion 17 and the limiting groove 18 can improve the integrity between the arc segment 14 of the upper cover 11 and the arc segment 14 of the bottom plate 12, and can prevent food particles from entering the buffer space 16 from between the two arc segments 14; in addition, when the deformation amount of the arc segment 14 increases, the cooperation of the limiting protrusion 17 and the limiting groove 18 can limit the further deformation of the arc segment 14 to a certain extent, thereby reducing the possibility of the arc segment 14 breaking due to excessive deformation.

[0042] Furthermore, as mentioned above, the liquidation robot proposed in the present invention has an image sensor component 21 and a communication component 22. The image sensor component 21 needs to sense the external environment, and the communication component 22 needs to send and receive signals with the outside world. Therefore, the two actually need to interact with the outside world. If both are completely installed inside the upper shell, it may hinder the interaction between the two and the outside world. Therefore, a detection slot 115 is provided on the upper cover 11, and the image sensor component 21 can extend to the outside world and obtain image information through the detection slot 115; the communication component 22 includes a main body 221 and an antenna 222. The main body 221 is arranged in the installation space 13, and the antenna 222 is fixed to the top of the upper cover 11, and the antenna 222 is electrically connected to the main body 221, so that the antenna 222 can send and receive signals for the main body 221. In order to reduce the possibility of phosphine entering the installation space 13 and causing corrosion to the circuit board 23, a second sealing ring 223 is provided at the bottom of the antenna 222, and a third sealing ring 116 is provided between the image sensor component 21 and the groove wall of the detection groove 115. The second sealing ring 223 and the third sealing ring 116 improve the overall airtightness of the liquidation robot and reduce the possibility of phosphine entering the installation space 13.

[0043] Reference Figure 7 and Figure 8 Accordingly, in order to power the battery in the liquidation robot and to facilitate the circuit inspection and maintenance work of the liquidation robot, the upper cover 11 is provided with a mounting groove 113, and an interface module 4 is arranged in the mounting groove 113. The arrangement of the interface module 4 can facilitate the operator to perform maintenance work such as inspection and charging of the liquidation robot; considering that there are also metal parts in the interface module 4, in order to reduce the possibility of corrosion of the metal parts in the interface module 4 by phosphine, a cover plate 114 is detachably connected to the upper cover 11, and the cover plate 114 is used to seal the mounting groove 113.

[0044] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. An intelligent liquidation robot with a buffer shell, characterized in that: include A housing, the housing comprising an upper cover and a bottom plate, wherein the upper cover and the bottom plate are sealed and enclosed to form an installation space; A battery, the battery is arranged in the installation space, and the battery is used to supply power to the entire intelligent liquidation robot; An image sensor component, which is disposed on the upper cover and is used to detect obstacles around the intelligent liquidation robot; A communication component, the communication component is arranged on the upper cover, and the communication component is used for communicating with the outside world; Two groups of walking modules, the two groups of walking modules are respectively arranged on two opposite sides of the shell, and the walking modules are used to drive the movement of the intelligent liquidation robot; Among them, the outer periphery of the chassis and the upper cover both have protruding arc segments, and the arc segments of the chassis and the upper cover are combined to form a buffer convex arc, and the buffer convex arc is used to buffer the impact between the intelligent warehouse closing robot and the convex pile of grain. The walking module includes a turbine group, and the turbine group includes two turbines. The two turbines are coaxially arranged, and the two turbines have the same spiral direction, and the axial direction of the turbine is parallel to the length direction of the intelligent warehouse closing robot. The spiral directions of the turbines of the two turbine groups are opposite. When the two turbine groups rotate at the same speed and in opposite directions, the intelligent warehouse closing robot moves forward or backward. When the two turbine groups rotate in the same direction or the two turbine groups have a speed difference, the intelligent warehouse closing robot turns.

2. The intelligent liquidation robot with a buffer shell according to claim 1, characterized in that: The intelligent liquidation robot also includes a circuit board, which is communicatively connected with the communication component and the image sensor component. After receiving the electrical signals from the communication component and the image sensor component, the circuit board controls the rotation direction and rotation speed of the two turbine groups respectively.

3. The intelligent liquidation robot with a buffer shell as claimed in claim 2, characterized in that: The walking module also includes a motor and a reduction gearbox. The motor is arranged in the installation space. The output end of the motor extends out of the housing and engages with the reduction gearbox. An output shaft and a follower shaft are respectively arranged on opposite sides of the reduction gearbox. The two turbines are respectively sleeved on the output shaft and the follower shaft.

4. The intelligent liquidation robot with a buffer shell as claimed in claim 3, characterized in that: The turbine has two blades, and the spiral pattern of the blades is an equidistant spiral.

5. The intelligent liquidation robot with a buffer shell as claimed in claim 4, characterized in that: The horizontal height of the axis of the turbine group is not higher than the horizontal height of the bottom surface of the casing.

6. The intelligent liquidation robot with a buffer shell according to any one of claims 4 or 5, characterized in that: The material of the turbine is one of aluminum alloy, magnesium aluminum alloy, PPS, PPS resin long glass fiber, carbon fiber and nylon, and the middle cylinder diameter of the turbine is 30-70mm.

7. The intelligent liquidation robot with a buffer shell according to claim 6, characterized in that: The blade width of the turbine is 40-100 mm, and the blade pitch of the turbine is 250-450 mm.

8. The intelligent liquidation robot with a buffer shell as claimed in claim 3, characterized in that: A first sealing groove is provided on the chassis, a first sealing ring is arranged in the first sealing groove, and the top of the reduction box is pressed against the first sealing ring.

9. The intelligent liquidation robot with a buffer shell according to claim 1, characterized in that: The communication component includes a main body and an antenna. The main body is arranged in the installation space. The antenna is fixed to the top of the upper cover. The antenna is electrically connected to the main body. A second sealing ring is arranged at the bottom of the antenna.

10. The intelligent liquidation robot with a buffer shell according to claim 1, characterized in that: The upper cover is provided with a detection slot for the image sensor component to extend out, and a third sealing ring is arranged between the image sensor component and the slot wall of the detection slot.

Images