Intelligent leveling robot and method based on spiral material suction and material pushing

Abstract

The invention belongs to the technical field of mechanical equipment, and particularly relates to an intelligent leveling robot and method based on spiral material sucking and pushing. The grain elevator comprises a shell, a walking mechanism, a front flattening conveying mechanism, a rear bulldozing mechanism, a control system and a power supply system, a transition bin is arranged in the shell, and a grain elevator main machine is arranged in the transition bin; the upper surface of the rear side of the shell is rotationally connected with a throwing device, and the throwing device communicates with the grain suction main machine. A grain suction pipeline is arranged between the front flattening conveying mechanism and the grain suction main machine. The control system models a granary to determine a granary flattening plan and an optimal path, the walking mechanism accurately reaches the working position of a grain pile, the front flattening conveying mechanism works and pushes the grain pile face, grain particles entering the front flattening conveying mechanism enter the grain suction main machine through the grain suction pipeline, and the grain suction main machine conveys particle materials to the throwing device and then throws the particle materials to the low-lying position of the grain face. And the rear bulldozing device is used for further leveling the grain plane. The device is small in size, can adjust the height of a flat surface, and realizes full-automatic operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical equipment, and in particular relates to an intelligent warehouse closing robot and method based on spiral material suction and pushing. Background Art

[0002] Granaries are the most important grain storage facilities in my country. The design of the grain pile ventilation system of all domestic warehouses, as well as the grain storage management such as balanced ventilation, cooling and moisture dissipation, fumigation and pest control after the grain is received are all based on leveling the grain surface. Therefore, it is an important task to level the grain surface in time after the grain is received.

[0003] The existing methods for leveling grain surfaces are mostly manual leveling or leveling with manually operated mechanical equipment.

[0004] There are several problems with manual leveling of grain surface: first, it is time-consuming and labor-intensive, with high labor costs and a long time consumption; second, the working environment is poor, and the dust raised during work is not conducive to the occupational health management of personnel; third, when the grain surface is leveled mechanically, the leveling quality is poor, and grain is easily stuck on the leveling tools.

[0005] The main mechanical leveling equipment at home and abroad are as follows: 1. The foreign Grain Weevil robot relies on two spiral guide rods to move up and down in the granary. The disadvantage is that it cannot accurately control the moving direction and walking path, the leveling quality is poor, and the obstacle avoidance effect is poor. 2. The room-type leveling robot relies on the lifting mechanism to control the up and down movement of the leveling mechanism. The leveling mechanism levels the surface of the granary through the leveling plate. The disadvantage is that it takes up space and has high requirements for the construction of the granary itself. Summary of the invention

[0006] In order to solve the above technical problems, the present invention provides an intelligent warehouse closing robot and method based on spiral material suction and pushing.

[0007] To achieve the above object, the technical solution adopted by the present invention is: An intelligent warehouse closing robot based on spiral material suction and pushing, comprising The shell has a transition bin in it, and a main grain suction machine is in the transition bin; a spreading device is rotatably connected to the upper surface of the rear side of the shell, and the spreading device is connected to the main grain suction machine; The walking mechanism is connected to the bottom of the shell and is used to drive the displacement of the robot as a whole; The front leveling conveying mechanism is placed on the front end surface of the shell and connected to the walking mechanism; a grain suction pipeline is arranged between the front leveling conveying mechanism and the grain suction host, and the front leveling conveying mechanism is used to flatten the accumulated grain particles and convey the excess grain particles to the grain suction host through the grain suction pipeline; A rear push-flattening mechanism is connected to the walking mechanism and is disposed on the rear end surface of the shell body, and is used to further flatten the grain particles; The control system is connected to the shell and is respectively connected to the main machine for sucking grain, the spreading device, the walking mechanism and the front leveling conveying mechanism by electrical signals. It is used for visual obstacle avoidance, scanning and modeling of the grain surface in the granary, spreading control, displacement control of the walking mechanism and environmental measurement, so as to plan the optimal path and obstacle avoidance in the granary. The power supply system is electrically connected to the traveling mechanism, the main grain suction machine, the spreading device, the front leveling conveying mechanism and the control system.

[0008] The walking mechanism is a crawler-type walking mechanism, and at least a frame is arranged on the crawler-type walking mechanism; the frame is respectively connected to the shell and the power supply system.

[0009] The front leveling conveying mechanism includes a bucket, an electric cylinder and a spiral leveling device; the electric cylinder is fixed on the traveling mechanism and electrically connected to the power supply system; one end of the bucket is hinged on the traveling mechanism, and the other end of the bucket is connected to the output end of the electric cylinder; the spiral leveling device is horizontally rotatably connected in the bucket.

[0010] It also includes a grid plate; the grid plate is connected to the front end surface of the bucket and is used to prevent metal foreign objects from entering the bucket.

[0011] The spiral leveling device includes two spiral sections, a rotating shaft and a driving motor; the driving motor is connected to the walking mechanism and electrically connected to the power supply system; the two ends of the rotating shaft are rotatably connected to the two opposite inner walls of the bucket, and the two spiral sections are connected to both sides of the rotating shaft.

[0012] The rear push-flattening mechanism is an arc-shaped plate or a flat plate structure, and a plurality of grooves are formed on the bottom thereof.

[0013] The control system includes an obstacle avoidance sensor, a 3D vision intelligent sensor and a control unit; the 3D vision intelligent sensor is installed on the shell; the obstacle avoidance sensor is connected to the upper part of the front panel of the shell, and the control unit is connected inside the shell; the control unit is respectively connected to the obstacle avoidance sensor, the spreading device, the front leveling conveying mechanism, and the walking mechanism by electrical signals, and is used to control the operation of the spreading device, the front leveling conveying mechanism, and the walking mechanism.

[0014] The shell is connected to a car light, which is electrically connected to the power supply system; the spraying device includes a slewing support bearing and a spraying pipe, one end of the slewing support bearing is connected to the discharge port of the transition bin, and the other end is connected to the spraying pipe, so that the spraying angle can be rotated 360 degrees.

[0015] The power supply system includes a battery unit and a charging assembly; the battery unit is installed on the walking mechanism, and the charging assembly is connected to the shell; the battery unit and the charging assembly are connected by wires.

[0016] A method for closing a warehouse using an intelligent closing warehouse robot based on spiral material suction and pushing comprises the following steps: S1. Obtain the flatness data of the grain surface in the granary through the 3D visual intelligent sensor in the control system, and transmit it to the control unit to model the granary to determine the flattening plan and the optimal path; S2, the control system controls the walking mechanism to accurately reach the grain pile working position and starts the front leveling conveying mechanism to work; S3, the bucket pushes the grain pile surface, and the grain particles enter the bucket; the spiral section of the spiral leveling device rotates, and the accumulated grain particles are transported from both sides of the bucket to the middle of the bucket, and then the grain is transported to the grain suction host through the grain suction pipe; S4, the grain suction host sucks the granular materials through negative pressure airflow and transports them to the spreading device; S5, the spreading device spreads the grain to the low-lying position on the grain surface by rotating; S6. The rear push-leveling device helps to further level the grain surface.

[0017] Beneficial effects: (1) The present invention realizes automatic leveling of the grain surface in the granary through the coordinated operation of the shell, the walking mechanism, the front leveling conveying mechanism, the rear pushing mechanism, the control system and the power supply system.

[0018] (2) The present invention uses a control system to quickly locate the position of the grain pile, the walking mechanism accurately reaches the working position of the grain pile, and the front leveling conveying system and the rear pushing and leveling device operate efficiently, thereby achieving the purpose of leveling the grain surface.

[0019] (3) The present invention re-flattens the surface flattened by the front flattening conveying mechanism by setting a rear flattening mechanism, thereby achieving a better flattening effect.

[0020] (4) The present invention can spread grain to a low-lying area far away through a spreading device, thereby improving the efficiency of leveling.

[0021] (5) The present invention provides a spiral leveling device so that the grain particles entering the two sides of the bucket can be quickly gathered in the center of the bucket, and then spread through the grain suction pipe, the main grain suction machine and the spreading device, thereby greatly improving the leveling efficiency.

[0022] The above description is only an overview of the technical solution of the present invention. In order to more clearly understand the technical means of the present invention and implement it according to the contents of the specification, the following is a detailed description of the preferred embodiments of the present invention in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] 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 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 these drawings without paying creative work.

[0024] Figure 1 It is a schematic diagram of the structure of the present invention.

[0025] Figure 2 The structure of the rear push-flat device in the present invention is shown in FIG. Figure 1 .

[0026] Figure 3 The structure of the rear push-flat device in the present invention is shown in FIG. Figure 2 .

[0027] In the figure: 1. Charging assembly; 2. Transition bin; 3. Shell; 4. Obstacle avoidance sensor; 5. Grain suction pipe; 6. Bucket; 7. Spiral leveling device; 8. Battery unit; 9. Travel mechanism; 10. Rear push-leveling mechanism; 11. Spreading device; 12. Control unit; 13. Headlight; 14. Grid plate. DETAILED DESCRIPTION

[0028] 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.

[0029] Embodiment 1: according to Figure 1-Figure 3 The intelligent warehouse closing robot based on spiral suction and pushing of materials is shown, comprising The shell 3 has a transition bin 2 disposed therein, and a main grain suction machine is disposed therein; a spreading device 11 is rotatably connected to the upper surface of the rear side of the shell 3, and the spreading device 11 is connected to the main grain suction machine; A walking mechanism 9, which is connected to the bottom of the housing 3 and is used to drive the displacement of the entire robot; The front leveling conveying mechanism is placed on the front end surface of the housing 3 and is connected to the walking mechanism 9; a grain suction pipe 5 is provided between the front leveling conveying mechanism and the grain suction host, and the front leveling conveying mechanism is used to flatten the accumulated grain particles and convey the excess grain particles to the grain suction host through the grain suction pipe 5; A rear push-flattening mechanism 10 is connected to the walking mechanism 9 and is disposed on the rear end surface of the housing 3 to further flatten the grain particles; The control system is connected to the housing 3 and is respectively connected to the grain suction host, the spreading device 11, the walking mechanism 9 and the front leveling conveying mechanism by electrical signals, and is used for visual obstacle avoidance, scanning and modeling of the grain surface in the granary, spreading control, displacement control of the walking mechanism 9 and environmental measurement, so as to plan the optimal path of the granary and avoid obstacles; The power supply system is electrically connected to the traveling mechanism and the housing, and is used for the traveling mechanism 9, the grain suction host, the spreading device 11, the front leveling conveying mechanism and the control system.

[0030] The working principle of the present invention is as follows: The walking mechanism 9 is started and goes around the granary. The control system obtains the flatness information of the grain surface and models the granary to determine the flatness plan and the optimal path. After that, the walking mechanism 9 is controlled to accurately reach the working position of the grain pile, and the front leveling conveying mechanism is started to transport the grain accumulated at the front end of the front leveling conveying mechanism to the grain suction main unit in the transition bin 2 in the shell, and then the grain is sprinkled to a low-lying place in the distance through the spreading device 11, so as to achieve the working requirement of leveling the grain surface.

[0031] The present invention realizes automatic leveling of grain surface in the granary through the coordinated operation of the housing, the traveling mechanism, the front leveling conveying mechanism, the rear leveling mechanism, the control system and the power supply system. The grain pile position is quickly located by the control system, the traveling mechanism reaches the working position of the grain pile accurately, and the front leveling conveying system and the rear leveling device operate efficiently, thereby achieving the purpose of leveling the grain surface.

[0032] The control system in this embodiment adopts the existing technology, and at least includes a signal receiving module, a signal sending module and a calculation module. Intelligent calculations are performed through the acquired signals, and the grain silo is modeled to determine the closing plan and the optimal path, so that the walking mechanism can accurately reach the working position of the grain pile and perform related closing operations.

[0033] In specific applications, in order to reduce the overall weight, the housing 3 is made of a light aluminum alloy. The housing 3 seals and protects the components disposed therein.

[0034] The grain suction main machine in this embodiment adopts the existing technology, which at least includes a motor drive device, a feed port and a discharge port, and the feed port is connected to the upper end of the grain suction pipeline 5.

[0035] The power supply system is connected to the frame and the shell, and provides power for the walking mechanism 9, the main machine for sucking grain, the spreading device 11, the front leveling conveying mechanism and the control system.

[0036] The control system is used for visual obstacle avoidance, scanning and modeling of the grain surface in the granary, spreading control, displacement control of the walking mechanism 9 and environmental measurement to plan the optimal path and avoid obstacles in the granary.

[0037] Embodiment 2: according to Figure 1-Figure 3 The intelligent warehouse closing robot based on spiral suction and pushing of materials shown is different from the first embodiment in that the walking mechanism 9 adopts a crawler walking mechanism, and at least a frame is arranged on the crawler walking mechanism; the frame is respectively connected to the shell 3 and the power supply system.

[0038] In actual use, the walking mechanism 9 in this embodiment is moved by controlling the walking drive motor provided on the walking mechanism 9. The walking mechanism 9 adopts a crawler-type walking mechanism for the purpose of increasing the contact area with the grain surface. By controlling the moving direction of the left and right crawlers, the grain leveling robot can be moved forward and backward to provide power for the leveling action. By controlling the speed difference of the left and right crawlers, the grain leveling machine can be changed in direction. The whole operation is simple and convenient.

[0039] In some embodiments, the front leveling conveying mechanism includes a bucket 6, an electric cylinder and a spiral leveling device 7; the electric cylinder is fixed on the walking mechanism 9 and electrically connected to the power supply system; one end of the bucket 6 is hinged on the walking mechanism 9, and the other end of the bucket 6 is connected to the output end of the electric cylinder; the spiral leveling device 7 is horizontally rotatably connected in the bucket 6. When working, the bucket 6 pushes the grain pile surface, and the grain particles enter the bucket 6. The spiral leveling device 7 spirally rotates to transport the accumulated grain particles from both sides of the bucket 6 to the middle position of the bucket 6, and then transports the grain to the grain suction main machine in the transition bin 2 through the grain suction pipe 5. The grain suction main machine sucks the granular material through the negative pressure airflow and transports it to the throwing device 11. The throwing device can rotate 360 ​​degrees to throw the grain to the low-lying position of the grain surface. The bucket 6 can be raised and lowered under the push of the electric cylinder to adjust the height of the grain surface to be leveled.

[0040] In some embodiments, a grid plate 14 is also included; the grid plate 14 is connected to the front end surface of the bucket 6 and is used to block metal foreign objects from entering the bucket 6, thereby preventing metal and other foreign objects from entering the bucket 6 and causing damage to the equipment.

[0041] In some embodiments, the spiral leveling device 7 includes two spiral sections, a rotating shaft and a driving motor; the driving motor is connected to the frame of the traveling mechanism 9 and is electrically connected to the power supply system; the two ends of the rotating shaft are rotatably connected to the two opposite inner walls of the bucket 6, and the two spiral sections are connected to the two sides of the rotating shaft. The driving motor starts to drive the rotating shaft to rotate, thereby driving the two spiral sections to rotate, and the materials on both sides of the bucket 6 are transported to the middle of the bucket 6 and enter the grain suction pipe 5. The grain suction pipe 5 in this embodiment can be made of cowhide hose or steel hard pipe according to actual conditions, and is fixed to the frame of the traveling mechanism 9 with bolts, with one end facing the center of the rotating shaft and placed on the lower side of the rotating shaft, so as to facilitate the materials in the middle of the bucket 6 to be transported to the feed inlet of the grain suction main machine through the grain suction pipe.

[0042] In some embodiments, the rear push-flattening mechanism 10 is an arc plate or a flat plate structure, and a plurality of grooves are opened at the bottom. In actual use, after the operation of the front leveling conveying mechanism, the unevenness of the grain surface is reduced. The rear push-flattening mechanism 10 installed behind the frame of the walking mechanism 9 is an arc plate, which can also be replaced with a flat plate, and a plurality of grooves are arranged below. During the working process, the crawler walks to help further level the grain surface. The plurality of grooves arranged below help to evacuate and flow the grain particles during the leveling process to prevent accumulation. The device can be adjusted in height according to the height of the grain surface.

[0043] In some embodiments, the control system includes an obstacle avoidance sensor 4, a 3D visual intelligent sensor and a control unit 12; the 3D visual intelligent sensor is installed on the upper part of the front panel of the shell 3, and scans the grain surface of the granary by walking to obtain the flatness data of the grain surface, and transmits it to the control unit 12 for modeling, and determines the flattening plan and the optimal path; the obstacle avoidance sensor 4 is connected to the front panel of the shell 3, and the control unit 12 is connected inside the shell 3; the control unit 12 is respectively connected to the obstacle avoidance sensor 4, the spreading device 11, the front flattening conveying mechanism, and the walking mechanism 9 by electrical signals, and is used to control the operation of the spreading device 11, the front flattening conveying mechanism, and the walking mechanism 9. The obstacle avoidance sensor 4 can be a visual sensor, an infrared sensor, an ultrasonic sensor, a radar, etc., to achieve the purpose of external perception and visual obstacle avoidance, and the grain pile is modeled and the environment is measured through the acquired information, and the functions of granary modeling, optimal path planning, and obstacle avoidance are realized through intelligent algorithms.

[0044] In some embodiments, a headlight 13 is connected to the shell 3, and the headlight 13 is electrically connected to the power supply system; the spreading device 11 includes a slewing support bearing and a spraying pipe, one end of the slewing support bearing is connected to the discharge port of the transition bin 2, and the other end is connected to the spraying pipe, which can realize a 360-degree rotation of the spraying angle. According to the flatness data of the grain surface obtained by the 3D visual intelligent sensor, the control unit 12 controls it to spray in the low-lying areas of the grain surface to ensure the flatness of the grain surface.

[0045] The headlight 13 can be installed at the front, rear or both of the vehicle body according to actual needs. The design of the headlight 13 can ensure that the intelligent liquidation robot works in a dim environment, and can view the working site situation in real time from a distance, and can be controlled by a remote controller in manual mode.

[0046] In some embodiments, the power supply system includes a battery unit 8 and a charging assembly 1; the battery unit 8 is installed on the walking mechanism 9, and the charging assembly 1 is connected to the housing 3; the battery unit 8 and the charging assembly 1 are connected by wires. The power supply system provides production power for the grain leveling robot. In actual use, the power supply system can be connected to an external power cord or powered by its own battery, and can be remotely controlled or fully automatically.

[0047] Embodiment three: according to Figure 1-Figure 3 A method for closing a warehouse using an intelligent closing warehouse robot based on spiral suction and pushing of materials comprises the following steps: S1, obtain the flatness data of the grain surface in the granary through the 3D visual intelligent sensor in the control system, and transmit it to the control unit 12 to model the granary to determine the flattening plan and the optimal path; S2, the control system controls the walking mechanism 9 to accurately reach the grain pile working position, and starts the front leveling conveying mechanism to work; S3, the bucket 6 pushes the grain pile surface, and the grain particles enter the bucket 6; the spiral section of the spiral leveling device 7 rotates, and the accumulated grain particles are transported from both sides of the bucket 6 to the middle of the bucket 6, and then the grain is transported to the grain suction host through the grain suction pipe 5; S4, the grain suction host sucks the granular material through the negative pressure airflow and transports it to the spreading device 11; S5, the spreading device 11 spreads the grain to the low-lying position on the grain surface by rotating; S6. The rear push-leveling mechanism 10 helps to further level the grain surface.

[0048] The present invention realizes automatic leveling of grain surface in the granary through the coordinated operation of the housing, the traveling mechanism, the front leveling conveying mechanism, the rear leveling mechanism, the control system and the power supply system. The present invention quickly locates the grain pile position through the control system, the traveling mechanism accurately reaches the working position of the grain pile, and the front leveling conveying system and the rear leveling device operate efficiently, thereby achieving the purpose of leveling the grain surface.

[0049] In the absence of conflicts, technicians in this field can combine the relevant technical features in the above examples according to actual conditions to achieve corresponding technical effects. The specific combinations are not described here one by one.

[0050] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship, movement status, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0051] In addition, the descriptions of "first", "second", etc. in the present invention are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.

[0052] The above are only preferred embodiments of the present invention. The present invention will not be limited to the embodiments shown herein, but should conform to the widest scope consistent with the principles and novel features disclosed herein. Any simple modification, equivalent changes and modifications made to the above embodiments according to the technical essence of the present invention still fall within the scope of the technical solution of the present invention.

Claims

1. An intelligent warehouse closing robot based on spiral suction and pushing, characterized by: include A shell body (3), a transition bin (2) is arranged in the shell body (3), and a main grain suction machine is arranged in the transition bin (2); a spreading device (11) is rotatably connected to the upper surface of the rear side of the shell body (3), and the spreading device (11) is connected to the main grain suction machine; A walking mechanism (9), the walking mechanism (9) is connected to the bottom of the housing (3) and is used to drive the displacement of the entire robot; A frame connected to the traveling mechanism (9); A front leveling conveying mechanism, the front leveling conveying mechanism is disposed on the front end surface of the housing (3) and is connected to the frame; a grain suction pipe (5) is provided between the front leveling conveying mechanism and the main grain suction machine, the front leveling conveying mechanism is used to flatten the accumulated grain particles and convey the excess grain particles to the main grain suction machine through the grain suction pipe (5); A rear push-flattening mechanism (10), which is connected to the frame and disposed on the rear end surface of the housing (3) and is used to further flatten the grain particles; A control system is connected to the housing (3) and is respectively connected to the grain suction host, the spreading device (11), the walking mechanism (9) and the front leveling conveying mechanism via electrical signals; A power supply system is electrically connected to the walking mechanism (9), the main grain suction machine, the spreading device (11), the front leveling conveying mechanism and the control system.

2. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The walking mechanism (9) is a crawler-type walking mechanism, and at least a frame is provided on the crawler-type walking mechanism; the frame is respectively connected to the housing (3) and the power supply system.

3. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The front leveling conveying mechanism comprises a bucket (6), an electric cylinder and a spiral leveling device (7); the electric cylinder is fixed on a traveling mechanism (9) and electrically connected to a power supply system; one end of the bucket (6) is hinged on the traveling mechanism (9), and the other end of the bucket (6) is connected to an output end of the electric cylinder; the spiral leveling device (7) is horizontally rotatably connected inside the bucket (6).

4. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 3, characterized in that: It also includes a grid plate (14); the grid plate (14) is connected to the front end surface of the bucket (6) and is used to prevent metal foreign matter from entering the bucket (6).

5. An intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 3 or 4, characterized in that: The spiral leveling device (7) comprises two spiral sections, a rotating shaft and a driving motor; the driving motor is connected to the walking mechanism (9) and is electrically connected to the power supply system; the two ends of the rotating shaft are rotatably connected to two opposite inner side walls of the bucket (6), and the two spiral sections are connected to both sides of the rotating shaft.

6. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The rear push-flattening mechanism (10) is an arc-shaped plate or a flat plate structure, and a plurality of grooves are formed on the bottom thereof.

7. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The control system comprises an obstacle avoidance sensor (4), a 3D vision intelligent sensor and a control unit (12); the 3D vision intelligent sensor is mounted on the upper part of the front panel of the housing (3), and the 3D vision intelligent sensor is connected to the control unit (12) by electrical signals; the obstacle avoidance sensor (4) is connected to the upper part of the front panel of the housing (3), and the control unit (12) is connected inside the housing (3); the control unit (12) is respectively connected to the obstacle avoidance sensor (4), the throwing device (11), the front leveling conveying mechanism, and the walking mechanism (9) by electrical signals, and is used to control the operation of the throwing device (11), the front leveling conveying mechanism, and the walking mechanism (9).

8. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The housing (3) is connected to a headlight (13), which is electrically connected to a power supply system; the spraying device (11) comprises a slewing bearing and a spraying pipe, one end of the slewing bearing is connected to the discharge port of the transition bin (2), and the other end is connected to the spraying pipe, so that a 360-degree rotation of the spraying angle can be achieved.

9. The intelligent warehouse closing robot based on spiral suction and pushing of materials as claimed in claim 1, characterized in that: The power supply system comprises a battery unit (8) and a charging assembly (1); the battery unit (8) is mounted on a walking mechanism (9), and the charging assembly (1) is connected to a housing (3); the battery unit (8) and the charging assembly (1) are connected via an electric wire.

10. A warehouse closing method based on an intelligent warehouse closing robot with spiral suction and pushing as claimed in claim 5, characterized in that: The following steps are included: S1, obtaining the flatness data of the grain surface in the granary through the 3D visual intelligent sensor in the control system, and transmitting it to the control unit (12) to model the granary to determine the flatness planning and optimal path; S2, the control system controls the walking mechanism (9) to accurately reach the grain pile working position and starts the front leveling conveying mechanism to work; S3, the bucket (6) pushes the grain pile surface, and the grain particles enter the bucket (6); the spiral section of the spiral leveling device (7) rotates, and the accumulated grain particles are transported from the two sides of the bucket (6) to the middle of the bucket (6), and then the grain is transported to the grain suction main machine through the grain suction pipe (5); S4, the grain suction host sucks in the granular material through negative pressure airflow and transports it to the spreading device (11); S5, the spreading device (11) spreads the grain to the low-lying position on the grain surface by rotating; S6, the rear push-leveling mechanism (10) helps to further level the grain surface.

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