Intelligent spreading robot suitable for various grain types

Abstract

The invention discloses an intelligent grain spreading robot suitable for various grain types, and relates to the technical field of grain spreading robotics.The intelligent grain spreading robot suitable for various grain types comprises a machine body, a driving motor and a turbine assembly, and the machine body comprises a chassis; the driving motor is mounted on the body; the turbine assembly comprises a shaft rod and a turbine arranged on the shaft rod in a sleeving mode. According to the technical scheme, the shaft rod of the turbine assembly is arranged on the lower side of the chassis, the mass of the intelligent leveling robot suitable for various grain types is limited, and the distance between the shaft rod and the chassis, the distance between the blade edge of the spiral blade and the shaft rod and the axial length of the sleeve are within a reasonable range; and friction generated between the chassis and the grain surface is reduced, so that it is guaranteed that the intelligent leveling robot suitable for various grain types has better driving performance and leveling efficiency when being applied to different grain types, and the intelligent leveling robot can be further applied to granaries for storing various grain types.

Description

Technical Field

[0001] The present invention relates to the technical field of warehouse closing robots, and in particular to an intelligent warehouse closing robot suitable for various types of grains. Background Art

[0002] The existing grain silo has an uneven grain surface after the grain is put into the silo, and needs to be leveled. However, the manual leveling operation is time-consuming and laborious. If the grain surface collapses, people will be buried by the grain, which is very dangerous. Therefore, a leveling robot is currently used to replace manual operations for subsequent standardized management, thereby eliminating the danger of manual operations.

[0003] Generally, the grain leveling robot is often used for various types of grains, such as rice, wheat, corn, soybeans, soy beans and mung beans. However, due to the different sizes, weights and frictions of each type of grain, different types or sizes of leveling robots are often required to complete the grain leveling operation. If the same leveling robot is used, the leveling efficiency of some grains may be low. Summary of the invention

[0004] The main purpose of the present invention is to propose an intelligent warehouse-closing robot suitable for various types of grains, aiming to efficiently turn over various types of grains through the intelligent warehouse-closing robot suitable for various types of grains.

[0005] To achieve the above-mentioned purpose, the present invention proposes an intelligent warehouse-closing robot applicable to various types of grains, wherein the mass g of the intelligent warehouse-closing robot applicable to various types of grains satisfies 15kg≤g≤30kg, and the intelligent warehouse-closing robot applicable to various types of grains comprises:

[0006] a fuselage, the fuselage comprising a chassis;

[0007] A driving motor, mounted on the fuselage;

[0008] a turbine assembly, which is transmission-connected to the driving motor, and comprises a shaft and a turbine sleeved on the shaft, wherein the shaft is located at the lower side of the chassis, and a distance D1 between the axis of the shaft and the chassis satisfies 50 mm ≤ D1 ≤ 80 mm;

[0009] The turbine comprises a sleeve and a spiral blade connected to the outer periphery of the sleeve, wherein the spiral blade extends from one end of the sleeve toward the other end opposite to the sleeve, and the distance between the blade edge of the spiral blade and the axis of the shaft is D2, and D2 satisfies 60mm≤D2≤100mm; the axial length of the sleeve (331) is L, and L satisfies 150mm≤L≤300mm.

[0010] The mass g of the intelligent closing robot applicable to various types of grains satisfies 16kg≤g≤28kg, the D1 satisfies 60mm≤D1≤70mm, the D2 satisfies 75mm≤D2≤95mm, and the L satisfies 220mm≤L≤280mm.

[0011] In one embodiment, the spiral blade rotates around the sleeve from one end of the sleeve to the other end opposite to the sleeve.

[0012] In one embodiment, the distance from the outer edge to the sleeve is D2, and D2 satisfies 60mm≤D2≤100mm.

[0013] In one embodiment, the axial length of the sleeve is L, and L satisfies 150mm≤L≤300mm.

[0014] In one embodiment, the thickness of the blade edge of the spiral blade is smaller than the thickness of the blade root of the spiral blade.

[0015] In one embodiment, the thickness of the spiral blade gradually increases from the blade edge to the blade root of the spiral blade.

[0016] In one embodiment, the thickness of the blade edge of the spiral blade is T1, and T1 satisfies 2mm≤T1≤6mm. The thickness of the blade root of the spiral blade is T2, and T2 satisfies 7mm≤T2≤13mm.

[0017] In one embodiment, the number of the spiral blades is set to two, and the two spiral blades are spaced apart in the circumferential direction of the sleeve.

[0018] In one embodiment, the distance between the two spiral blades is D3, and D3 satisfies 250 mm ≤ D3 ≤ 450 mm.

[0019] In one embodiment, the spiral blade has a leading edge and an outer edge, the leading edge is closer to the sleeve than the outer edge, and the outer edge and the leading edge are transitioned in a rounded manner.

[0020] In one embodiment, the material of the spiral blade is set to be any one of magnesium-aluminum alloy, PPS and carbon fiber.

[0021] In one embodiment, the intelligent warehouse closing robot applicable to various types of grains further includes a reducer, the motor shaft of the drive motor is transmission-connected to the reducer, and the reducer is transmission-connected to the shaft.

[0022] The technical solution of the present invention adopts the method of setting the shaft of the turbine assembly on the lower side of the chassis, limiting the mass of the intelligent warehouse-flattening robot suitable for various types of grains to be between 15kg and 30kg, limiting the distance between the shaft and the chassis to be between 50mm and 80mm, limiting the distance between the blade edge of the spiral blade and the shaft to be between 60mm and 100mm, and limiting the axial length of the sleeve to be between 180mm and 300mm, thereby reducing the friction generated between the chassis and the grain surface, thereby ensuring that the intelligent warehouse-flattening robot suitable for various types of grains has a better grain leveling rate and grain turning depth when applied to different types of grains, thereby enabling the intelligent warehouse-flattening robot suitable for various types of grains to be applied to granaries storing various grains. 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 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.

[0024] Figure 1 A schematic diagram of the structure of the intelligent warehouse closing robot applicable to various types of grains provided by the present invention at one viewing angle;

[0025] Figure 2 for Figure 1 Schematic diagram of the structure from another perspective;

[0026] Figure 3 for Figure 1 A schematic diagram of the structure of the turbine assembly and the drive motor;

[0027] Figure 4 for Figure 3 A schematic diagram of the structure of the turbine in one viewing angle;

[0028] Figure 5 for Figure 4 The schematic diagram of the structure of the turbine in another perspective;

[0029] Figure 6 This is a partial schematic diagram of the turbine assembly after the explosion.

[0030] Description of Figure Numbers:

[0031] 100. An intelligent storage robot suitable for handling various types of grains; 1. body; 11. upper shell; 12. chassis; 2. drive motor; 3. turbine assembly; 31. shaft; 32. bushing; 33. turbine; 331. sleeve; 332. spiral blade; 332a. leading edge; 332b. outer edge; 332c. blade edge; 332d. blade root; 34. end cap; 4. reducer.

[0032] 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

[0033] 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.

[0034] 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.

[0035] 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.

[0036] In existing granaries, the grain surface is often uneven and needs to be leveled. However, manual leveling is time-consuming and laborious. If the grain surface collapses, people may be buried by grain, which is very dangerous. Therefore, a leveling robot is currently used to replace manual operations for subsequent standardized management, thereby eliminating the danger of manual operations.

[0037] Generally, the grain leveling robot is often used for various types of grains, such as rice, wheat, corn, soybeans, soy beans and mung beans. However, due to the different sizes, weights and frictions of each type of grain, different types or sizes of leveling robots are often required to complete the grain leveling operation. If the same leveling robot is used, the leveling efficiency of some grains may be low.

[0038] In view of this, the present invention proposes an intelligent closing robot 100 suitable for various types of grains, the mass g of the intelligent closing robot 100 suitable for various types of grains satisfies 15kg≤g≤30kg, and the purpose is to efficiently turn over various types of grains through the closing robot 100 suitable for various types of grains.

[0039] See also Figures 1 to 3 In one embodiment of the present invention, the intelligent warehouse closing robot 100 suitable for various types of grains includes a body 1, a drive motor 2 and a turbine assembly 3, wherein the body 1 includes a chassis 12; the drive motor 2 is installed on the body 1; the turbine assembly 3 is transmission-connected to the drive motor 2, the turbine assembly 3 includes a shaft 31 and a turbine 33 sleeved on the shaft 31, the shaft 31 is located on the lower side of the chassis 12, the distance between the axis of the shaft 31 and the chassis 12 is D1, and D1 satisfies 50mm≤D1≤80mm, the turbine 33 includes a sleeve 331 and a spiral blade 332 connected to the outer periphery of the sleeve 331, and the spiral blade 332 extends from one end of the sleeve 331 toward the other end opposite to the sleeve 331.

[0040] It should be noted that the fuselage 1 is the shell of the intelligent warehouse closing robot 100 applicable to various types of grains, wherein the fuselage 1 is assembled by an upper shell 11 and a bottom plate 12, so as to facilitate the installation of batteries, circuit boards, and other electronic devices in the fuselage 1. The fuselage 1 includes a main body and two mounting parts extending outward from opposite sides of the main body, and the mounting parts are used to install the drive motor 2.

[0041] Therefore, in this embodiment, the intelligent warehouse-closing robot 100 applicable to various types of grains is provided with two sets of drive motors 2 and two sets of turbine assemblies 3. The two sets of drive motors 2 are respectively installed in two mounting parts. Specifically, the drive motor 2 is installed in the mounting part. The drive motor 2 has a motor shaft, and the turbine assembly 3 is driven to rotate by the motor shaft. Therefore, the two sets of turbine assemblies 3 are directly connected or indirectly connected to the motor shaft. In this embodiment, in order to realize the turning of the warehouse-closing robot 100 applicable to various types of grains and change the moving speed of the warehouse-closing robot 100 applicable to various types of grains, a reducer 4 is provided to be directly connected to the motor shaft, and the reducer 4 is connected to the turbine assembly 3, so that the rotation rate of the turbine assembly 3 can be adjusted, which can increase the rotation rate of the turbine assembly 3 or reduce the rotation rate of the turbine assembly 3. The reducer 4 is an existing speed-changing device that can realize the above-mentioned function, so the reducer 4 is not described in detail. In this embodiment, the drive motor 2 is placed vertically on the turbine assembly 3, and the rotation torque of the motor shaft is changed by the reducer 4, so as to realize the rotation of the turbine assembly 3.

[0042] See also Figure 6 It can be understood that the turbine assembly 3 of the warehouse-closing robot 100 applicable to various types of grains is used to turn over the grain with a higher grain surface so that the overall grain surface in the grain bin is not much different, and the turbine assembly 3 is also used to realize the warehouse-closing robot 100 applicable to various types of grains to move on the grain surface. Specifically, the turbine assembly 3 includes a shaft 31, a sleeve 32, a turbine 33 and an end cap 34, wherein the shaft 31 is directly connected to the reducer 4 by transmission, and then the shaft sleeve 32 and the turbine 33 are driven to rotate together by the shaft 31. Among them, the reducer 4 is located in the middle of the shaft 31, so two turbines 33 are respectively arranged on the opposite sides of the reducer 4. The setting of the sleeve 32 is on the one hand to reduce the weight of the turbine 33, and on the other hand, if the turbine 33 is directly connected to the shaft 31 by transmission, the shaft 31 will have a relatively serious friction loss with the turbine 33, and the provision of a sleeve 32 will reduce the friction loss between the shaft 31 and the turbine 33. Among them, the turbine 33 includes a sleeve 331 and a spiral blade 332 connected to the sleeve 331, wherein the spiral blade 332 extends from one end of the sleeve 331 to the other end, so that the spiral blade 332 can have better structural strength, and the design of this spiral blade 332 enables the intelligent flattening robot 100 suitable for a variety of grain types to have a better grain flattening rate.

[0043] It is understandable that when the mass of the intelligent warehouse-closing robot 100 applicable to multiple types of grains is too large, the turbine 33 of the intelligent warehouse-closing robot 100 applicable to multiple types of grains will be excessively buried in the grain in the granary, and even the intelligent warehouse-closing robot 100 applicable to multiple types of grains will be buried by the grain, thereby affecting the grain-closing rate of the intelligent warehouse-closing robot 100 applicable to multiple types of grains; and when the mass of the intelligent warehouse-closing robot 100 applicable to multiple types of grains is too small, the grain-turning depth of the turbine 33 of the intelligent warehouse-closing robot 100 applicable to multiple types of grains will be too shallow, thereby reducing the grain-closing efficiency of the intelligent warehouse-closing robot 100 applicable to multiple types of grains, so the mass g of the intelligent warehouse-closing robot 100 applicable to multiple types of grains is selected to be between 15kg and 30kg. g can be any value among 16kg, 18kg, 20kg, 22kg, 24kg, 26kg, 28kg and 30kg, which is not specifically limited here.

[0044] For further details, please refer to Figure 2 If the chassis 12 of the intelligent warehouse-closing robot 100 applicable to multiple types of grains contacts the grain surface, it may slow down the grain-closing rate of the intelligent warehouse-closing robot 100 applicable to multiple types of grains. Therefore, the shaft 31 of the turbine assembly 3 is set on the lower side of the chassis 12, so that all or most of the turbine 33 of the turbine assembly 3 is located on the lower side of the chassis 12. In this way, in order to ensure that the chassis 12 does not contact the grain surface, the distance D1 between the chassis 12 and the shaft 31 is set to be between 50mm and 80mm. When D1 is between 50mm and 80mm, compared with D1 less than 50mm and D1 greater than 80mm, the intelligent warehouse-closing robot 100 applicable to multiple types of grains has a good grain-closing rate and grain-turning depth, and has a higher working efficiency. D1 can be any value of 50mm, 55mm, 65mm, 70mm, 75mm, or other values ​​within 50mm to 80mm, which are not specifically limited here.

[0045] In one embodiment, see Figure 3 The distance between the blade edge 332c of the spiral blade 332 and the axis of the shaft 31 is D2, and D2 satisfies 60mm≤D2≤100mm.

[0046] It should be noted that the distance D2 from the outer edge 332b to the sleeve 331 should not be less than 60mm, otherwise the grain turning depth of the sleeve 331 is not good within this range, and D2 should not be greater than 100mm. Considering that in the above embodiment, it has been defined that the distance between the spiral blade 332 and the chassis 12 is preferably 50mm to 80mm, if the size of the spiral blade 332 is too large, it will cause the grain surface to contact the chassis 12, thereby causing greater friction between the chassis 12 and the fuselage 1, affecting the grain leveling rate of the spiral blade 332, and when the blade thickness is constant, increasing the size of the blade may affect the structural strength of the blade, so the distance D2 from the blade outer edge 332b to the sleeve 331 is selected to be within the range of 60mm to 100mm as a better range. D2 can be any value of 60mm, 70mm, 80mm, 90mm, 100mm, or other values ​​within the range of 60mm to 100mm, which is not specifically limited here.

[0047] Further, in one embodiment, please continue to refer to Figure 3 The axial length of the sleeve 331 is L, and L satisfies 150mm≤L≤300mm.

[0048] It can be understood that the axial length of the sleeve 331 has a great influence on the rotation shape of the spiral blade 332 on the sleeve 331. If the length of the sleeve 331 is too short, the spiral blade 332 will be too concentrated in the axial direction of the sleeve 331, making it impossible for the spiral blade 332 to carry too much grain in the process of turning the grain, which will reduce the grain leveling efficiency of the intelligent warehouse closing robot 100 suitable for various grain types. If the axial length of the sleeve 331 is too long, the spiral blade 332 will be too dispersed in the axial direction of the sleeve 331, reducing the turning force of the spiral blade 332, thereby also reducing the turning efficiency of the intelligent warehouse closing robot 100 suitable for various grain types. Therefore, it is better to set L in the range of 150mm to 300mm. Among them, L can be any value among 150mm, 200mm, 250mm, 300mm, or other values ​​within the range of 150mm to 300mm. Setting the axial length of the sleeve 331 within the range of 220mm to 280mm is the preferred range of the axial length of the sleeve 331, and the specific value is not specifically limited here.

[0049] As follows, some data within the limited range of the mass g of the intelligent closing robot 100 applicable to various types of grains, some data within the limited range of the distance D1 between the axis center of the shaft 31 and the chassis 12, some data between the blade edge 332c of the spiral blade 332 and the axis center of the shaft 31, and some data of the axial length L of the sleeve 331 are selected to implement multiple groups and obtain the following embodiments.

[0050] Embodiment 1: When g is 17kg, D1 is 65mm, D2 is 95mm, and L is 280mm, the operation status of the intelligent closing robot 100 applicable to various types of grains in the granary is reflected in Table 1 below.

[0051] Table 1 Example 1

[0052]

[0053] Embodiment 2: When g is 22kg, D1 is 50mm, D2 is 95mm, and L is 190mm, the operation status of the intelligent closing robot 100 applicable to various types of grains in the granary is reflected in Table 2 below.

[0054] Table 2 Example 2

[0055]

[0056] Example 3: When g is 28kg, D1 is 50mm, D2 is 65mm, and L is 240mm, the following Table 3 shows the operation status of the intelligent warehouse closing robot 100 suitable for various types of grains in the granary.

[0057] Table 3 Example 3

[0058]

[0059] Embodiment 4: When g is 28kg, D1 is 80mm, D2 is 80mm, and L is 240mm, the operation status of the intelligent closing robot 100 applicable to various types of grains in the granary is reflected in Table 4 below.

[0060] Table 4 Example 4

[0061]

[0062]

[0063] Example 5: When g is 22kg, D1 is 80mm, D2 is 80mm, and L is 190mm, the following Table 5 shows the operation of the intelligent warehouse closing robot 100 suitable for various types of grains in the granary.

[0064] Table 5 Example 5

[0065]

[0066] Example 6: When g is 17kg, D1 is 65mm, D2 is 65mm, and L is 280mm, the operation status of the intelligent closing robot 100 suitable for various types of grains in the granary is reflected in Table 6 below.

[0067] Table 6 Example 6

[0068]

[0069] Comparative Example 1: When g is 12kg, D1 is 35mm, D2 is 65mm, and L is 240mm, the operation status of the intelligent closing robot 100 suitable for various types of grains in the granary is reflected in Table 7 below.

[0070] Table 7 Comparative Example 1

[0071]

[0072] Comparative Example 2: When g is 40kg, D1 is 65mm, D2 is 130mm, and L is 400mm, the operation status of the intelligent closing robot 100 suitable for various types of grains in the granary is reflected in Table 8 below.

[0073] Table 8 Comparative Example 2

[0074]

[0075] It should be noted that the grain turning depth and the grain leveling quality per unit time are the two values ​​that have the greatest impact on the grain leveling efficiency of the intelligent warehouse leveling robot 100 applicable to various grain types, and the grain leveling quality per unit time can intuitively reflect the grain leveling efficiency of the intelligent warehouse leveling robot 100 applicable to various grain types. According to the data in Tables 1 to 8 above, it can be seen that when g, D1, D2 and L are within the range specified in the present embodiment, the intelligent warehouse-closing robot 100 suitable for multiple types of grains in the present embodiment operates in a granary storing rice, wheat, corn, soybeans, etc., and the difference between the grain turning depth and the grain quality per unit time is small, and the difference between the wheat that is better turned and the rice that is more difficult to turn does not exceed 2.5t / h; and when at least part of the values ​​of g, D1, D2 and L exceed the range specified in the present embodiment, the intelligent warehouse-closing robot 100 suitable for multiple types of grains in the present embodiment operates in a granary storing different types of grains, and at least one of the grain turning depth and the grain quality per unit time has a large change difference, and it can be obviously seen that the grain leveling efficiency is too low, or the grain turning depth is too shallow.

[0076] Specifically, please refer to Table 7. Since the fuselage 1 is light and the distance between the chassis 12 and the shaft 31 is too short, the spiral blade 332 is not deep enough into the grain, and the intelligent warehouse-closing robot 100 suitable for various types of grains is seriously obstructed during the movement. It can be clearly seen that the quality of the flat grain per unit time in all types of grains is at a low level, and the difference in the quality of the flat grain per unit time between rice and wheat is large; in Table 8, since the fuselage 1 is too heavy and the axial length of the sleeve 331 is too long, the turning force of the spiral blade 332 is difficult to turn over efficiently, especially in the face of grains that are more difficult to turn over. In Table 8, the difference in the quality of the flat grain per unit time between wheat and rice is large. Therefore, when g, L, D1 and D2 are in the limited range, the intelligent warehouse-closing robot 100 suitable for various types of grains can be efficiently used in granaries containing the above-mentioned types of grains.

[0077] The technical solution of the present invention is to set the shaft 31 of the turbine 33 assembly 3 on the lower side of the chassis 12, and limit the mass of the intelligent warehouse-leveling robot 100 suitable for various types of grains to be between 15kg and 30kg, limit the distance between the shaft 31 and the chassis 12 to be between 50mm and 80mm, limit the distance between the blade edge 332c of the spiral blade 332 and the shaft 31 to be between 60mm and 100mm, and limit the axial length of the sleeve 331 to be between 180mm and 300mm, thereby reducing the friction generated between the chassis 12 and the grain surface, thereby ensuring that the intelligent warehouse-leveling robot 100 suitable for various types of grains has a better grain leveling rate and grain turning depth when applied to different types of grains, so that the intelligent warehouse-leveling robot 100 suitable for various types of grains can be applied to granaries storing various grains.

[0078] Further, in one embodiment, see Figure 2 and Figure 3 The mass g of the intelligent closing robot 100 suitable for various types of grains satisfies 16kg≤g≤28kg, the D1 satisfies 60mm≤D1≤70mm, the D2 satisfies 75mm≤D2≤95mm, and the L satisfies 220mm≤L≤280mm.

[0079] As follows, some data within the limited range of the mass g of the intelligent closing robot 100 applicable to various types of grains, some data within the limited range of the distance D1 between the axis center of the shaft 31 and the chassis 12, some data between the blade edge 332c of the spiral blade 332 and the axis center of the shaft 31, and some data of the axial length L of the sleeve 331 are selected to implement multiple groups and obtain the following embodiments.

[0080] Embodiment 7: When g is 18kg, D1 is 65mm, D2 is 90mm, and L is 270mm, the following Table 1 shows the operation status of the intelligent warehouse closing robot 100 applicable to various types of grains in the granary.

[0081] Table 9 Example 7

[0082]

[0083] Embodiment 8: When g is 23kg, D1 is 60mm, D2 is 90mm, and L is 230mm, the operation status of the intelligent closing robot 100 applicable to various types of grains in the granary is reflected in Table 2 below.

[0084] Table 10 Example 8

[0085]

[0086]

[0087] Embodiment 9: When g is 27kg, D1 is 60mm, D2 is 75mm, and L is 250mm, the operation status of the intelligent warehouse closing robot 100 applicable to various types of grains in the granary is reflected in Table 3 below.

[0088] Table 11 Example 9

[0089]

[0090] Example 10: When g is 27kg, D1 is 70mm, D2 is 82mm, and L is 250mm, the following Table 4 shows the operation of the intelligent warehouse closing robot 100 suitable for various types of grains in the granary.

[0091] Table 12 Example 10

[0092]

[0093] Example 11: When g is 23kg, D1 is 70mm, D2 is 82mm, and L is 230mm, the following Table 5 shows the operation of the intelligent warehouse closing robot 100 suitable for various types of grains in the granary.

[0094] Table 13 Example 11

[0095]

[0096] Example 12: When g is 18 kg, D1 is 65 mm, D2 is 75 mm, and L is 270 mm, the following Table 6 shows the operation of the intelligent warehouse closing robot 100 suitable for various types of grains in the granary.

[0097] Table 14 Example 12

[0098]

[0099]

[0100] It should be noted that Tables 9 to 14 correspond to Tables 1 to 6 respectively. It can be clearly seen that after further limiting the values ​​of g, D1, D2 and L, the intelligent grain-leveling robot 100 suitable for a variety of grain types can obtain better grain turning depth and grain leveling rate, and the difference in grain leveling quality per unit time between rice, wheat, corn, soybeans and soybeans is further reduced. Therefore, the intelligent granary machine 100 proposed in the embodiment of the present invention has a higher grain leveling efficiency when operating in a granary storing the above-mentioned various grain crops.

[0101] In one embodiment, see Figure 4 The spiral blade 332 has a leading edge 332a and an outer edge 332b. The leading edge 332a is closer to the sleeve 331 than the outer edge 332b. The outer edge 332b and the leading edge 332a are chamfered.

[0102] It should be noted that the leading edge 332a and the outer edge 332b are both edges of the spiral blade 332, wherein the outer edge 332b is further away from the sleeve 331 than the leading edge 332a, and the distance between the outer edge 332b and the sleeve 331 is substantially the same, while the leading edge 332a is closer to the sleeve 331 than the outer edge 332b, and the leading edge 332a extends from the sleeve 331 to the outer edge 332b. The transition between the leading edge 332a and the outer edge 332b is designed with rounded corners, thereby improving the grain leveling rate and forward speed of the intelligent warehouse leveling robot 100 applicable to various grain types, and making the transition between the leading edge 332a and the outer edge 332b have better structural strength and are not easily deformed by the impact of grains.

[0103] In one embodiment, see Figure 3 and Figure 5 The spiral blade 332 rotates around the sleeve 331 from one end of the sleeve 331 to the other end opposite to the sleeve 331 for one circle.

[0104] It should be noted that, in the above embodiment, the spiral blade 332 extends from one end of the sleeve 331 toward the other end opposite to the sleeve 331. In this embodiment, the spiral blade 332 is limited to extend from one end of the sleeve 331 to the other end opposite to the sleeve 331, and within the range of the spiral blade 332 extending axially in the sleeve 331, the spiral blade 332 just rotates one circle. In this way, the grain leveling efficiency of the spiral blade 332 during rotation can be improved.

[0105] In one embodiment, see Figure 2 and Figure 4 , the thickness of the blade edge 332 c of the spiral blade 332 is less than the thickness of the blade root 332 d of the spiral blade 332 .

[0106] It can be understood that in order to make the spiral blade 332 have better structural strength, the thickness of the blade root 332d of the spiral blade 332 is made larger. In order to reduce the weight of the spiral blade 332 and prevent the intelligent warehouse closing robot 100 suitable for various types of grains from sinking excessively during grain closing operations, the thickness of the blade edge 332c of the spiral blade 332 is made smaller than the thickness of the blade root 332d of the spiral blade 332.

[0107] In one embodiment, please continue to refer to Figure 2 and Figure 4 The thickness of the spiral blade 332 gradually increases from the blade edge 332c to the blade root 332d of the spiral blade 332.

[0108] In the above embodiment, the thickness of the blade edge 332c of the spiral blade 332 is limited to be smaller than the thickness of the spiral blade 332 near the sleeve 331. Furthermore, in this embodiment, the thickness from the blade edge 332c of the spiral blade 332 to the blade root 332d of the spiral blade 332 gradually increases, so that the thickness of the spiral blade 332 has a uniform change, further enhancing the structural strength of the spiral blade 332, so that the spiral blade 332 is not easily deformed when impacted by grain.

[0109] In one embodiment, please continue to refer to Figure 2 and Figure 4 The thickness of the blade edge 332c of the spiral blade 332 is T1, and T1 satisfies 2mm≤T1≤6mm. The thickness of the blade root 332d of the spiral blade 332 is T2, and T2 satisfies 7mm≤T2≤13mm.

[0110] It can be understood that the spiral blade 332 has obvious thickness variation, so the thickness of the spiral blade 332 has a larger range, wherein the thickness at the blade edge 332c of the spiral blade 332 is approximately between 2mm and 6mm, and the thickness at the blade edge 332c of the spiral blade 332 can be any value among 2mm, 3mm, 4mm, 5mm and 6mm, or other values ​​between 2mm and 6mm, which is not specifically limited here; and the thickness of the blade root 332d of the spiral blade 332 is between 7mm and 13mm, and the thickness of the blade root 332d of the spiral blade 332 can be any value among 7mm, 8mm, 10mm, 11mm and 13mm, or other values ​​between 7mm and 13mm, which is not specifically limited here.

[0111] In one embodiment, see Figures 2 to 4 The number of the spiral blades 332 is set to two, and the two spiral blades 332 are spaced apart in the circumferential direction of the sleeve 331 .

[0112] Specifically, in the above embodiment, the number of spiral blades 332 can be one, two, or more, while in the present embodiment, the number of spiral blades 332 is limited to two. It can be understood that two spiral blades 332 can improve the grain leveling efficiency of the intelligent warehouse leveling robot 100 applicable to a variety of grain types compared to one spiral blade 332. If the number of spiral blades 332 is set to more, the distance between adjacent spiral blades 332 will be too small, which will affect the grain leveling efficiency of the intelligent warehouse leveling robot 100 applicable to a variety of grain types and reduce its workload per unit time. Therefore, setting the number of spiral blades 332 to two is the optimal value.

[0113] In one embodiment, please continue to refer to Figures 2 to 4 The distance between the two spiral blades 332 is D3, and D3 satisfies 250mm≤D3≤450mm.

[0114] It should be noted that the distance between the two spiral blades 332 should not be too small. If the distance between the spiral blades 332 is too small, it will result in that more grain cannot be turned over between the spiral blades 332, thereby affecting the workload of the intelligent grain turning robot per unit time. Due to the influence of the size of the sleeve 331, the distance between the two spiral blades 332 cannot be set too large. Therefore, it is better to set the distance between the two spiral blades 332 between 250mm and 450mm. D3 can be any value among 250mm, 300mm, 350mm, 400mm, and 450mm, or it can be other values ​​within 250mm to 450mm, and no specific limitation is made here.

[0115] In one embodiment, see Figure 1 The material of the spiral blade 332 is set to be any one of magnesium-aluminum alloy, PPS and carbon fiber.

[0116] Taking into account that the intelligent warehouse-closing robot 100 suitable for various types of grains will continue to move forward while turning the grains in the granary, the spiral blade 332 needs to have sufficient structural strength. Therefore, the material of the spiral blade 332 is set to any one of magnesium-aluminum alloy, PPS or carbon fiber. The above materials have good structural strength and yield strength. The spiral blade 332 can withstand a large impact force without deformation. At the same time, carbon fiber also has a lightweight effect, which can reduce the overall weight of the intelligent warehouse-closing robot 100 suitable for various types of grains, so that the intelligent warehouse-closing robot 100 suitable for various types of grains will not sink excessively, thereby improving the grain-closing efficiency of the intelligent warehouse-closing robot 100 suitable for various types of grains.

[0117] 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 warehouse closing robot (100) suitable for various types of grains, characterized in that: The mass g of the intelligent warehouse closing robot applicable to various types of grains satisfies 15kg≤g≤30kg. The intelligent warehouse closing robot (100) applicable to various types of grains comprises: A fuselage (1), the fuselage (1) comprising a chassis (12); A driving motor (2) mounted on the machine body (1); A turbine assembly (3) is transmission-connected to the drive motor (2), the turbine assembly (3) comprising a shaft (31) and a turbine (33) sleeved on the shaft (31), the shaft (31) being located at the lower side of the chassis (12), the distance between the axis of the shaft (31) and the chassis (12) being D1, and D1 satisfying 50 mm ≤ D1 ≤ 80 mm; The turbine (33) comprises a sleeve (331) and a spiral blade (332) connected to the outer periphery of the sleeve (331), wherein the spiral blade (332) extends from one end of the sleeve (331) toward the other end opposite to the sleeve (331), and the distance between the blade edge (332c) of the spiral blade (332) and the axis of the shaft (31) is D2, and D2 satisfies 60mm≤D2≤100mm; the axial length of the sleeve (331) is L, and L satisfies 180mm≤L≤350mm.

2. The intelligent warehouse closing robot (100) applicable to various types of grains according to claim 1, characterized in that: The mass g of the intelligent warehouse closing robot (100) applicable to various types of grains satisfies 16kg≤g≤28kg, the D1 satisfies 60mm≤D1≤70mm, the D2 satisfies 75mm≤D2≤95mm, and the L satisfies 220mm≤L≤280mm.

3. The intelligent warehouse closing robot (100) applicable to various types of grains according to claim 1, characterized in that: The spiral blade (332) rotates around the sleeve (331) from one end of the sleeve (331) to the other end opposite to the sleeve (331) for between half a circle and one circle.

4. The intelligent warehouse closing robot (100) applicable to various types of grains as claimed in claim 3, characterized in that: The thickness of the spiral blade (332c) gradually increases from the blade edge (332c) to the blade root (332d) of the spiral blade (332).

5. The intelligent warehouse closing robot (100) applicable to various types of grains as claimed in claim 4, characterized in that: The thickness of the blade edge (332c) of the spiral blade (332) is T1, and T1 satisfies 2mm≤T1≤6mm. The thickness of the blade root (332d) of the spiral blade (332) is T2, and T2 satisfies 7mm≤T2≤13mm.

6. The intelligent warehouse closing robot (100) applicable to various types of grains according to claim 1, characterized in that: The number of the spiral blades (332) is set to two, and the two spiral blades (332) are arranged at intervals in the circumferential direction of the sleeve (331).

7. The intelligent warehouse closing robot (100) applicable to various types of grains according to claim 6, characterized in that: The distance between the two spiral blades (332) is D3, and D3 satisfies 250mm≤D3≤450mm.

8. The intelligent warehouse closing robot (100) applicable to various types of grains according to claim 1, characterized in that: The spiral blade (332) has a leading edge (332a) and an outer edge (332b); the leading edge (332a) is closer to the sleeve (331) than the outer edge (332b); and the outer edge (332b) and the leading edge (332a) are in a chamfered transition.

9. The intelligent warehouse closing robot (100) applicable to various types of grains according to any one of claims 1 to 8, characterized in that: The material of the spiral blade (332) is set to be any one of magnesium aluminum alloy, PPS and carbon fiber.

10. The intelligent warehouse closing robot (100) applicable to various types of grains according to any one of claims 1 to 8, characterized in that: The intelligent warehouse closing robot (100) suitable for various types of grains further comprises a reducer (4), the motor shaft of the drive motor (2) is drivingly connected to the reducer (4), and the reducer (4) is drivingly connected to the shaft (31).

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