Intelligent spreading robot with multiple motion modes

Abstract

The invention discloses an intelligent leveling robot with multiple motion modes, and relates to the technical field of grain storage, the intelligent leveling robot comprises a machine shell, an electric control board, four driving assemblies and a spiral wheel assembly, the machine shell comprises a main body part and two mounting arms extending outwards from the two opposite sides of the main body part, the electric control board is mounted in the machine shell, and the spiral wheel assembly is mounted in the machine shell; the four driving assemblies are electrically connected to the electric control plate, each driving assembly comprises a driving motor, one mounting arm is correspondingly provided with two driving motors, the spiral wheel assembly comprises a first spiral wheel, a second spiral wheel, a third spiral wheel and a fourth spiral wheel, and the spiral direction of a spiral blade of the first spiral wheel is opposite to that of a spiral blade of the second spiral wheel. The spiral direction of the spiral blade of the first spiral wheel is opposite to that of the spiral blade of the fourth spiral wheel, and the spiral direction of the spiral blade of the first spiral wheel is the same as that of the spiral blade of the third spiral wheel; according to the technical scheme, the flexibility and the leveling efficiency of the leveling robot are improved.

Description

Technical Field

[0001] The invention relates to the technical field of grain storage, and in particular to an intelligent warehouse closing robot with multiple motion modes. Background Art

[0002] Existing spiral-driven granary robots cannot achieve a turning radius of 0, and the turning radius of different varieties of grain is different. For example, the turning radius of rice grain is much larger than that of corn grain, which makes it difficult to control the robot when changing grain varieties, thus affecting the robot's applicability to different types of grain. Summary of the invention

[0003] The main purpose of the present invention is to propose an intelligent liquidation robot with multiple motion modes, aiming to improve the flexibility and liquidation efficiency of the liquidation robot.

[0004] To achieve the above-mentioned purpose, the present invention proposes an intelligent liquidation robot with multiple motion modes, comprising: A housing, the housing comprising a main body and two mounting arms extending outwardly from opposite sides of the main body; An electric control panel installed in the casing; Four drive components, electrically connected to the electric control board, the drive components including drive motors, two of which are correspondingly mounted on one mounting arm; and A spiral wheel assembly, the spiral wheel assembly includes a first spiral wheel, a second spiral wheel, a third spiral wheel and a fourth spiral wheel, the spiral blade rotation direction of the first spiral wheel is opposite to the spiral blade rotation direction of the second spiral wheel, the spiral blade rotation direction of the first spiral wheel is opposite to the spiral blade rotation direction of the fourth spiral wheel, and the spiral blade rotation direction of the first spiral wheel is the same as the spiral blade rotation direction of the third spiral wheel; the first spiral wheel, the second spiral wheel, the third spiral wheel and the fourth spiral wheel are respectively connected to a drive motor, the first spiral wheel and the fourth spiral wheel are respectively located on both sides of the front end of the main body, the first spiral wheel and the second spiral wheel are located on the same side of the main body, and the third spiral wheel and the fourth spiral wheel are respectively connected to the front end of the main body. The wheel is located on the other side of the main body, and the intelligent liquidation robot with multiple motion modes has a linear motion mode, a lateral motion mode and a self-rotation mode; when in the linear motion mode, the first spiral wheel and the fourth spiral wheel have opposite directions, the first spiral wheel and the second spiral wheel have opposite directions, and the first spiral wheel and the third spiral wheel have the same direction; when in the lateral motion mode, the first spiral wheel and the second spiral wheel, and / or the third spiral wheel and the fourth spiral wheel rotate at the same speed and in the same direction; when in the self-rotation mode, the first spiral wheel and the fourth spiral wheel have the same direction, the first spiral wheel and the second spiral wheel have opposite directions, and the first spiral wheel and the third spiral wheel have opposite directions.

[0005] In one embodiment, the intelligent closing robot with multiple motion modes also includes a curved motion mode. When in the curved motion mode, the first spiral wheel and the fourth spiral wheel, and / or the third spiral wheel and the second spiral wheel rotate in the same direction but at different speeds.

[0006] In one embodiment, the intelligent closing robot with multiple motion modes also includes a turning mode. When in the turning mode, one of the second spiral wheel and the third spiral wheel is stationary, and the other of the two has a direction opposite to that of the first spiral wheel and the fourth spiral wheel, and the first spiral wheel and the fourth spiral wheel have the same direction.

[0007] In one embodiment, the intelligent closing robot with multiple motion modes includes a visual sensor, which is installed in the main body and located at the front end of the main body. The visual sensor is electrically connected to the electric control board, and the visual sensor can detect a range of 75° on both sides of the front; when it is detected that there is no high point on the grain surface in front, the rotation mode is started to detect the surrounding high points on the grain surface; when it is detected that there are high points on the grain surface within a range of 30° on both sides of the front, the straight line motion mode is started; when it is detected that there are high points on the grain surface within a range of 30° to 75° on both sides of the front, the curved motion mode is started; when an obstacle is detected in front, the lateral motion mode or the U-turn mode is started.

[0008] In one embodiment, the four driving motors are all arranged near the middle of the main body.

[0009] In one embodiment, the drive assembly further includes a plurality of transmission shafts, one of the drive motors is in transmission connection with one of the transmission shafts, and the first spiral wheel, the second spiral wheel, the third spiral wheel and the fourth spiral wheel are respectively connected to a corresponding one of the transmission shafts.

[0010] In one embodiment, the mounting arm includes a first mounting arm and a second mounting arm, the first mounting arm is connected to the main body, the second mounting arm is connected to a side of the first mounting arm away from the main body, and the drive motor is connected in the second mounting arm, and the angle between the first mounting arm and the second mounting arm is α, 90°≤α≤160°.

[0011] In one embodiment, 115°≤α≤135°.

[0012] In one embodiment, the drive assembly also includes a reducer, the drive motor and the transmission shaft are connected through the reducer, the sum of the lengths of the second mounting arm and the reducer is L, the diameters of the first spiral wheel, the second spiral wheel, the third spiral wheel and the fourth spiral wheel are all R, and L≤1.2R.

[0013] In one embodiment, 120 mm ≤ L ≤ 260 mm, and 120 mm ≤ R ≤ 300 mm.

[0014] In one embodiment, the housing has a mounting interface.

[0015] The warehouse-closing robot in the technical solution of the present invention has a linear motion mode, a lateral motion mode and a self-rotation mode; when in the linear motion mode, the first spiral wheel and the fourth spiral wheel have opposite directions, the first spiral wheel and the second spiral wheel have opposite directions, and the first spiral wheel and the third spiral wheel have the same directions; when in the lateral motion mode, the first spiral wheel and the second spiral wheel, and / or the third spiral wheel and the fourth spiral wheel rotate at the same speed and in the same direction; when in the self-rotation mode, the first spiral wheel and the fourth spiral wheel have the same directions, the first spiral wheel and the second spiral wheel have opposite directions, and the first spiral wheel and the third spiral wheel have opposite directions; so that when the warehouse-closing robot encounters an obstacle such as a silo wall, a large stone, etc., the electric control board controls the corresponding drive motor to rotate in the corresponding direction, so that the warehouse-closing robot switches to the lateral motion mode, so that the warehouse-closing robot can bypass the corresponding obstacle; when the warehouse-closing robot needs to be leveled in situ, the self-rotation mode is started, so that the grain under the warehouse-closing robot is turned over to all sides, thereby improving the use scenario of the warehouse-closing robot, and further improving the flexibility and efficiency of the warehouse-closing robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] 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.

[0017] Figure 1 A schematic diagram of the structure of an embodiment of an intelligent liquidation robot with multiple motion modes provided by the present invention; Figure 2 for Figure 1 A schematic diagram of the structure from another perspective; Figure 3 for Figure 1 The rotation direction and force direction diagram of each spiral wheel when the intelligent liquidation robot with multiple motion modes is in the linear motion mode; Figure 4 for Figure 1 The rotation direction and force direction diagram of each spiral wheel when the intelligent liquidation robot with multiple movement modes is in the horizontal movement mode; Figure 5 for Figure 1 The rotation direction and force direction diagram of each spiral wheel when the intelligent liquidation robot with multiple motion modes is in the self-rotation mode; Figure 6 for Figure 1 The rotation direction and force direction diagram of each spiral wheel when the intelligent liquidation robot with multiple motion modes is in the curve motion mode; Figure 7 for Figure 1 The rotation direction and force direction diagram of each spiral wheel when the intelligent liquidation robot with multiple movement modes is in the turning mode; Figure 8 for Figure 1 A schematic diagram of the structure of the middle spiral wheel from one perspective; Fig. 9 for Figure 1 Schematic diagram of the structure of the spiral wheel from another perspective.

[0018] Description of Figure Numbers: 11. Main body; 12. Mounting arm; 121. First mounting arm; 122. Second mounting arm; 21. Transmission shaft; 22. Speed ​​reducer; 31. First spiral wheel; 32. Second spiral wheel; 33. Third spiral wheel; 34. Fourth spiral wheel; 35. Propeller shaft; 36. Spiral blade; 40. Visual sensor.

[0019] 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

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Reference Figures 1 to 5 The present invention proposes an intelligent liquidation robot with multiple motion modes, including: A housing, the housing comprising a main body 11 and two mounting arms 12 extending outwardly from opposite sides of the main body 11; An electric control panel installed in the casing; Four drive components, electrically connected to the electric control board, the drive components including drive motors, and two of the drive motors corresponding to one of the mounting arms 12; and A spiral wheel assembly, the spiral wheel assembly includes a first spiral wheel 31, a second spiral wheel 32, a third spiral wheel 33 and a fourth spiral wheel 34, the rotation direction of the spiral blade 36 of the first spiral wheel 31 is opposite to the rotation direction of the spiral blade 36 of the second spiral wheel 32, the rotation direction of the spiral blade 36 of the first spiral wheel 31 is opposite to the rotation direction of the spiral blade 36 of the fourth spiral wheel 34, and the rotation direction of the spiral blade 36 of the first spiral wheel 31 is the same as the rotation direction of the spiral blade 36 of the third spiral wheel 33; the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 are respectively connected to a drive motor, the first spiral wheel 31 and the fourth spiral wheel 34 are respectively located on both sides of the front end of the main body 11, the first spiral wheel 31 and the second spiral wheel 32 are located on the same side of the main body 11, and the third spiral wheel 33 and the fourth spiral wheel 34 are located on the other side of the main body 11, and the intelligent liquidation robot with multiple motion modes has a linear motion mode, a lateral motion mode and a self-rotation mode; when in the linear motion mode, the first spiral wheel 31 and the fourth spiral wheel 34 have opposite directions, the first spiral wheel 31 and the second spiral wheel 32 have opposite directions, and the first spiral wheel 31 and the third spiral wheel 33 have the same direction; when in the lateral motion mode, the first spiral wheel 31 and the second spiral wheel 32, and / or the third spiral wheel 33 and the fourth spiral wheel 34 rotate at the same speed and in the same direction; when in the self-rotation mode, the first spiral wheel 31 and the fourth spiral wheel 34 have the same direction, the first spiral wheel 31 and the second spiral wheel 32 have opposite directions, and the first spiral wheel 31 and the third spiral wheel 33 have opposite directions.

[0024] The liquidation robot in the technical solution of the present invention has a linear motion mode, a lateral motion mode and a self-rotation mode; when in the linear motion mode, the first spiral wheel 31 and the fourth spiral wheel 34 rotate in opposite directions, the first spiral wheel 31 and the second spiral wheel 32 rotate in opposite directions, and the first spiral wheel 31 and the third spiral wheel 33 rotate in the same direction; when in the lateral motion mode, the first spiral wheel 31 and the second spiral wheel 32, and / or the third spiral wheel 33 and the fourth spiral wheel 34 rotate at the same speed and in the same direction; when in the self-rotation mode, the first spiral wheel 31 and the fourth spiral wheel 34 rotate in the same direction, and the first spiral wheel 31 and the second spiral wheel 32 rotate in the same direction. The second spiral wheel 32 has opposite directions, and the first spiral wheel 31 and the third spiral wheel 33 have opposite directions; so that when the warehouse-closing robot encounters obstacles such as the warehouse wall of the granary, large stones, etc., the electronic control board controls the corresponding drive motor to rotate in the corresponding direction, so that the warehouse-closing robot switches to the lateral movement mode, so that the warehouse-closing robot can bypass the corresponding obstacles; when the warehouse-closing robot needs to be leveled in place, the self-rotation mode is started, so that the grain under the warehouse-closing robot is turned to the surroundings, thereby improving the use scenario of the warehouse-closing robot, and then improving the flexibility and efficiency of the warehouse-closing robot.

[0025] Reference Figure 6 Furthermore, the intelligent liquidation robot with multiple motion modes also includes a curve motion mode. When in the curve motion mode, the first spiral wheel 31 and the fourth spiral wheel 34, and / or the third spiral wheel 33 and the second spiral wheel 32 rotate in the same direction but at different speeds. The electric control board controls the rotation direction and speed of different drive motors, so that the liquidation robot can perform curve motion in a differential manner, so that the liquidation robot can cope with different liquidation scenarios, thereby further improving the flexibility and liquidation efficiency of the liquidation robot. Among them, Figure 6 This is the rotation direction and force condition of the transmission shaft in the curve forward mode. If it is the curve backward mode, you only need to change the rotation direction and rotation speed of the four transmission shafts.

[0026] Reference Figure 7 Furthermore, the intelligent liquidation robot with multiple motion modes also includes a U-turn mode. When in the U-turn mode, one of the second spiral wheel 32 and the third spiral wheel 33 is stationary, and the other of the two is in the opposite direction to the first spiral wheel 31 and the fourth spiral wheel 34, and the first spiral wheel 31 and the fourth spiral wheel 34 are in the same direction. The electric control board controls the rotation direction and rotation speed of different drive motors to make the liquidation robot perform the U-turn mode, so that the liquidation robot can cope with different liquidation scenarios, thereby further improving the flexibility and liquidation efficiency of the liquidation robot.

[0027] Specifically, the intelligent closing robot with multiple motion modes includes a visual sensor 40, which is installed in the main body 11 and located at the front end of the main body 11. The visual sensor 40 is electrically connected to the electric control board. The visual sensor 40 can detect a range of 75° on both sides of the front; when it is detected that there is no high point on the grain surface in front, the rotation mode is started to detect the surrounding high points on the grain surface; when it is detected that there are high points on the grain surface within a range of 30° on both sides of the front, the straight line motion mode is started; when it is detected that there are high points on the grain surface within a range of 30° to 75° on both sides of the front, the curved motion mode is started; when an obstacle is detected in front, the lateral motion mode or the U-turn mode is started. It should be noted that starting the self-rotation mode can switch the direction of the warehouse-closing robot, so that the robot can be detected in different directions through the visual sensor 40 to detect whether there is a high point on the grain surface, and if there is, it will move to the high point for leveling; if no high point on the grain surface is detected, it means that the high point of the grain surface is below the warehouse-closing robot, and at this time, the warehouse-closing robot can start the self-rotation mode to level the bottom of the warehouse-closing robot. The visual sensor 40 can detect the grain surface situation in front of the warehouse-closing robot, and then control the electric control board to switch the corresponding mode, thereby improving the flexibility and efficiency of the warehouse-closing robot, and thus improving the applicability of the warehouse-closing robot.

[0028] In one embodiment, the four drive motors are arranged near the middle of the main body 11. By arranging the drive motors near the middle of the main body 11 and arranging the spiral wheel assemblies at both ends of the main body 11, the resistance encountered by the warehouse closing robot during movement is reduced, thereby improving the warehouse closing efficiency of the warehouse closing robot.

[0029] In one embodiment, the driving assembly also includes multiple transmission shafts 21, one of the driving motors is in transmission connection with one of the transmission shafts 21, and the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 are respectively connected to a corresponding one of the transmission shafts 21.

[0030] In one embodiment, the mounting arm 12 includes a first mounting arm 121 and a second mounting arm 122, wherein the first mounting arm 121 is connected to the main body 11, the second mounting arm 122 is connected to the side of the first mounting arm 121 away from the main body 11, and the drive motor is connected to the second mounting arm 122, and the angle between the first mounting arm 121 and the second mounting arm 122 is α, 90°≤α≤160°. If α>160°, the entire mounting arm 12 structure will appear to be relatively open, which may cause the robot to have an unstable center of gravity during walking or leveling, especially when working on uneven or soft grain piles, it is more likely to roll over or tilt. At the same time, a larger angle α means that the mounting arm 12 occupies more space in the horizontal direction, which may limit the robot's ability to operate in narrow or complex environments, such as corners or edges of a granary. If α is less than 90°, the angle α is too small, which will make the mounting arm 12 compact, thereby limiting the adaptability of the intelligent warehouse-closing robot with multiple motion modes on different terrains and grain piles. In particular, when it is necessary to cross a large obstacle or make a large turn, a too small angle may cause the robot to be unable to complete these actions. The compact mounting arm 12 structure may make the maintenance and replacement of key components such as the drive motor and transmission parts more difficult because of limited space and difficulty for operators to access these components. Therefore, by setting 90°≤α≤160°, while ensuring the stability of the intelligent warehouse-closing robot with multiple motion modes, the flexibility, work efficiency and maintenance convenience of the intelligent warehouse-closing robot with multiple motion modes are taken into account.

[0031] Further preferably, 115°≤α≤135°. Thus, while further ensuring the stability of the intelligent warehouse closing robot with multiple motion modes, the flexibility, working efficiency and maintenance convenience of the intelligent warehouse closing robot with multiple motion modes are further optimized.

[0032] Among them, the first mounting arm 121 is integrally arranged with the main body 11, and the first mounting arm 121 and the second mounting arm 122 are integrally arranged, thereby reducing the connection gap between the various components, thereby improving the sealing effect of the casing, reducing the impact of external debris on the internal components of the casing, and thereby improving the service life of the intelligent closing robot with multiple motion modes.

[0033] In one embodiment, the driving assembly further includes a reducer 22, the driving motor is connected to the transmission shaft 21 through the reducer 22, the sum of the lengths of the second mounting arm 122 and the reducer 22 is L, the diameters of the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 are all R, and L≤1.2R. If L>1.2R, the reducer 22 will protrude from the spiral wheel assembly, thereby increasing the resistance of the intelligent liquidation robot in multiple motion modes during movement, thereby increasing the energy consumption of the liquidation robot.

[0034] In one embodiment, 120mm≤L≤260mm, 120mm≤R≤300mm. If R>300mm, it means that the diameters of the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 are too large, resulting in a larger contact area between the spiral wheel and the grain surface, thereby increasing the energy consumption and material cost of the warehouse closing robot. If R<120mm, it means that the diameters of the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 are all too small. The smaller spiral wheel diameter provides a smaller support area, which may reduce the stability of the robot when walking on the grain and increase the risk of getting stuck in the grain pile; at the same time, the spiral wheel with a smaller diameter covers a smaller area when rotating, which may slow down the speed of turning the grain and reduce work efficiency. Therefore, in the technical solution of the present invention, 120mm≤R≤300mm, so that by reasonably setting the diameters of the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34, the stability and reliability of the liquidation robot during movement are improved, thereby improving the liquidation efficiency of the liquidation robot. If L>260mm, the reducer 22 will protrude from the spiral wheel assembly, thereby increasing the resistance of the intelligent liquidation robot in various motion modes during movement, thereby increasing the energy consumption of the liquidation robot; if L<120mm, the reducer 22 will not be able to be assembled with the spiral wheel assembly normally.

[0035] Reference Figure 2Specifically, the distance between the axis of the transmission shaft 21 and the lower end surface of the main body 11 in the thickness direction of the main body 11 is s1, 50mm≤s1≤80mm. If s1>80mm, it means that the axis of the transmission shaft 21 is relatively high relative to the lower end surface of the main body 11, which may cause the stability of the warehouse-closing robot to be insufficient during walking, especially when encountering uneven grain surfaces, and it is easy to tilt or even overturn; at the same time, a large s1 value may make the contact between the spiral wheel and the grain surface not close enough, resulting in a decrease in the driving force transmission efficiency, thereby reducing the walking speed and the warehouse-closing efficiency of the warehouse-closing robot. If s1<50mm, it means that the axis of the transmission shaft 21 is too close to the lower end surface of the main body 11, which may cause the spiral wheel to rub against the lower end surface of the main body 11 during rotation, causing unnecessary wear and shortening the service life of the robot; at the same time, a too small s1 value may limit the heat dissipation capacity of the internal space of the casing, especially when the drive motor generates a lot of heat when working for a long time. If the heat dissipation is poor, it may affect the performance and life of the motor. Therefore, in the technical solution of the present invention, 50mm≤s1≤80mm, so that by reasonably setting the distance between the axis of the transmission shaft 21 and the lower end surface of the main body 11 in the thickness direction of the main body 11, the stability and reliability of the closing robot during movement are improved, thereby improving the closing efficiency of the closing robot.

[0036] Reference Figure 8 and Fig. 9 In one embodiment, the first spiral wheel 31, the second spiral wheel 32, the third spiral wheel 33 and the fourth spiral wheel 34 all include a paddle shaft 35 and a spiral blade 36, the paddle shaft 35 is mounted on the transmission shaft 21, the spiral blade 36 is connected to the outer peripheral surface of the paddle shaft 35, and one paddle shaft 35 is provided with two spiral blades 36, and the pitch of two adjacent spiral blades 36 is s2, 250mm≤s2≤450mm. If s2>450mm, it means that the pitch between the spiral blades 36 is large, which means that the action range of the spiral wheel in the warehouse closing process is limited, resulting in insufficient traction force of the warehouse closing robot on the grain, reduced walking stability, and thus unable to effectively turn and mix the grain, thereby affecting the warehouse closing effect. If s2<250mm, it means that the pitch between the spiral blades 36 is small, so that during the warehouse closing process, the grain is easily accumulated between the spiral blades 36, causing blockage or increasing resistance, thereby reducing the walking efficiency and warehouse closing effect of the warehouse closing robot. Therefore, in the technical solution of the present application, 250mm≤s2≤450mm is used. By reasonably setting the pitch of the spiral blade 36, the stability and reliability of the closing robot during movement are improved, thereby improving the closing efficiency of the closing robot.

[0037] In one embodiment, the housing has a mounting interface. The mounting interface is used to install or mount a flattening component, wherein the flattening component may be a grain pusher, a nail rake or other tools. The user may install or mount the corresponding flattening component on the mounting interface as needed. It can be understood that the spiral wheel assembly is used to perform a preliminary flattening treatment on the grain surface, and then the grain surface is finely flattened by the flattening component.

[0038] 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 multiple motion modes, characterized in that: include: A casing, the casing comprising a main body (11) and two mounting arms (12) extending outwardly from opposite sides of the main body (11); An electric control panel installed in the casing; Four drive components, electrically connected to the electric control board, the drive components comprising drive motors, two of the drive motors being correspondingly mounted on one mounting arm (12); and A spiral wheel assembly, the spiral wheel assembly comprising a first spiral wheel (31), a second spiral wheel (32), a third spiral wheel (33) and a fourth spiral wheel (34); the rotation direction of the spiral blade (36) of the first spiral wheel (31) is opposite to the rotation direction of the spiral blade (36) of the second spiral wheel (32); the rotation direction of the spiral blade (36) of the first spiral wheel (31) is opposite to the rotation direction of the spiral blade (36) of the fourth spiral wheel (34); the rotation direction of the spiral blade (36) of the first spiral wheel (31) is the same as the rotation direction of the spiral blade (36) of the third spiral wheel (33); the first spiral wheel (31), the second spiral wheel (32), the third spiral wheel (33) and the fourth spiral wheel (34) are each respectively connected to a driving motor in a transmission manner; the first spiral wheel (31) and the fourth spiral wheel (34) are respectively located on both sides of the front end of the main body (11); the first spiral wheel (31) and the second spiral wheel (32) are located on the same side of the main body (11); The third spiral wheel (33) and the fourth spiral wheel (34) are located on the other side of the main body (11), and the intelligent liquidation robot with multiple motion modes has a linear motion mode, a lateral motion mode and a self-rotation mode; when in the linear motion mode, the first spiral wheel (31) and the fourth spiral wheel (34) rotate in opposite directions, the first spiral wheel (31) and the second spiral wheel (32) rotate in opposite directions, and the first spiral wheel (31) and the third spiral wheel (33) rotate in the same direction; when in the lateral motion mode, the first spiral wheel (31) and the second spiral wheel (32), and / or the third spiral wheel (33) and the fourth spiral wheel (34) rotate at the same speed and in the same direction; when in the self-rotation mode, the first spiral wheel (31) and the fourth spiral wheel (34) rotate in the same direction, the first spiral wheel (31) and the second spiral wheel (32) rotate in opposite directions, and the first spiral wheel (31) and the third spiral wheel (33) rotate in opposite directions.

2. The intelligent liquidation robot with multiple motion modes as claimed in claim 1, characterized in that: The intelligent liquidation robot with multiple motion modes also includes a curved motion mode. When in the curved motion mode, the first spiral wheel (31) and the fourth spiral wheel (34), and / or the third spiral wheel (33) and the second spiral wheel (32) rotate in the same direction but at different speeds.

3. The intelligent liquidation robot with multiple motion modes as claimed in claim 2, characterized in that: The intelligent liquidation robot with multiple motion modes also includes a turning mode. When in the turning mode, one of the second spiral wheel (32) and the third spiral wheel (33) is stationary, and the other of the two rotates in the opposite direction to the first spiral wheel (31) and the fourth spiral wheel (34). The first spiral wheel (31) and the fourth spiral wheel (34) rotate in the same direction.

4. The intelligent liquidation robot with multiple motion modes as claimed in claim 3, characterized in that: The intelligent liquidation robot with multiple motion modes comprises a visual sensor (40), wherein the visual sensor (40) is installed in the main body (11) and is located at the front end of the main body (11), wherein the visual sensor (40) is electrically connected to the electric control board, and wherein the visual sensor (40) can detect a range of 75° on both sides of the front; when it is detected that there is no grain surface high point in front, the self-rotation mode is activated to detect the surrounding grain surface high points; when it is detected that there are grain surface high points within a range of 30° on both sides of the front, the linear motion mode is activated; when it is detected that there are grain surface high points within a range of 30° to 75° on both sides of the front, the curved motion mode is activated; and when it is detected that there is an obstacle in front, the lateral motion mode or the U-turn mode is activated.

5. The intelligent liquidation robot with multiple motion modes as claimed in claim 1, characterized in that: The four driving motors are all arranged near the middle of the main body (11).

6. The intelligent liquidation robot with multiple motion modes as claimed in claim 1, characterized in that: The driving assembly further comprises a plurality of transmission shafts (21), one of the driving motors being in transmission connection with one of the transmission shafts (21), and the first spiral wheel (31), the second spiral wheel (32), the third spiral wheel (33) and the fourth spiral wheel (34) being respectively connected to a corresponding one of the transmission shafts (21).

7. The intelligent liquidation robot with multiple motion modes as claimed in claim 6, characterized in that: The mounting arm (12) comprises a first mounting arm (121) and a second mounting arm (122); the first mounting arm (121) is connected to the main body (11); the second mounting arm (122) is connected to a side of the first mounting arm (121) facing away from the main body (11); the drive motor is connected inside the second mounting arm (122); an angle α is formed between the first mounting arm (121) and the second mounting arm (122); 90°≤α≤160°.

8. The intelligent liquidation robot with multiple motion modes as claimed in claim 7, characterized in that: 115°≤α≤135°。 9. The intelligent liquidation robot with multiple motion modes as claimed in claim 7, characterized in that: The drive assembly further comprises a reducer (22), the drive motor and the transmission shaft (21) are connected in transmission via the reducer (22), the sum of the lengths of the second mounting arm (122) and the reducer (22) is L, the diameters of the first spiral wheel (31), the second spiral wheel (32), the third spiral wheel (33) and the fourth spiral wheel (34) are all R, and L≤1.2R.

10. The intelligent liquidation robot with multiple motion modes as claimed in claim 9, characterized in that: 120mm≤L≤260mm, 120mm≤R≤300mm.

11. The intelligent liquidation robot with multiple motion modes as claimed in claim 9, characterized in that: The housing is provided with a mounting interface.

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