Granary inspection multifunctional robot
By designing a multi-functional granary inspection robot, using its automatic movement and collection functions, the problems of errors and safety hazards in artificial grain sampling are solved, and efficient and accurate grain sample collection is achieved.
Patent Information
- Application Number
- CN202411987217.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-31
- Publication Date
- 2025-05-09
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
In the existing technology, grain sampling in granary mainly relies on manual labor, with large errors and high safety hazards, especially in the case of small granary space and uneven grain accumulation, the operation difficulty and risk increase.
A multi-functional granary inspection robot is designed, equipped with a patrol mechanism and storage mechanism. The robot can automatically move and collect grain samples through the sampling mechanism in the storage box. During the collection process, the storage box can rotate 90 degrees, driving the No. 1 pole to be inserted into the grain, and the sealing door is controlled to open through the control mechanism to achieve deep sampling and storage of samples.
Automatically collecting grain samples through robots reduces errors and safety risks during manual collection, improves the accuracy and efficiency of sample collection, and can adapt to grain sample collection at different depths, increasing the general availability and efficiency of robots.
Smart Images
Figure CN119952736A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of granary inspection, and more specifically, to a granary inspection multifunctional robot. Background Art
[0002] The granary inspection robot is a high-tech device used for automated management of granaries. It is mainly used to monitor the environmental conditions in the granary and detect potential safety issues such as rodent and insect pests, fire, temperature and humidity. Its application can greatly improve the management efficiency of the granary, reduce the risk of manual inspections, and detect problems in a timely manner to prevent food losses.
[0003] Granary grain sampling can conduct a comprehensive quality inspection and assessment of stored grain to ensure that it meets safety, hygiene and quality standards. Through sampling, it is possible to detect whether the grain has mildew, pests, moisture, impurities, contamination and other problems, providing a basis for subsequent quality control, testing and management.
[0004] At present, the main method of collecting samples in granaries is manual sampling. However, manual sampling not only has large errors, but also has high safety risks when working above the grain pile. The flowing grain can easily cause accidents such as people falling or being buried. Especially when the granary space is small and the grain is unevenly piled, the operation difficulty and risk are further increased. However, the granary inspection robot can move freely in the granary without restrictions, which can better collect samples. Therefore, it is necessary to propose a granary inspection multifunctional robot to solve the above problems. Summary of the invention
[0005] In view of the problems existing in the prior art, the purpose of the present invention is to provide a multifunctional robot for grain silo inspection, which can solve the problem that the current manual grain sampling method in the grain silo has large errors and high safety hazards. It has the advantages of using the grain silo inspection robot to collect samples in the grain silo, reducing errors and safety risks.
[0006] To solve the above problems, the present invention adopts the following technical solutions: A multifunctional robot for granary inspection comprises an inspection mechanism, wherein the inspection mechanism comprises an inspection robot, and a mounting seat is installed at the front end of the inspection robot; A storage mechanism is provided on the top of the inspection robot, and the storage mechanism includes a storage box installed on the top of the inspection robot, and the bottom of one end of the storage box is rotatably connected to the mounting seat, and a first motor is installed at the front end of the inspection robot, and the output end of the first motor is installed at the bottom of one end of the storage box, and a limiting head is installed at the end of the storage box; A sampling mechanism is installed inside the storage box, and the sampling mechanism includes a No. 1 rod installed inside the storage box, and the No. 1 rod passes through the limiting head, and a sampling door is provided on the side of the bottom end of the No. 1 rod; A control mechanism is provided inside the side of the limiting head, and the control mechanism includes an electric push rod installed on the side of the limiting head, a sliding shell is slidably connected inside the limiting head, an output end of the electric push rod is installed on the side of the sliding shell, a spring block is slidably connected inside the sliding shell, and a lever is fixed on the side of the spring block; A closing mechanism is installed in the No. 1 rod, and the closing mechanism includes a first rod slidably connected to the inside of the No. 1 rod, a groove is provided at one end of the first rod, and a closing door is fixed to the other end of the first rod, and the closing door closes the sampling door.
[0007] As a preferred solution of the present invention, the inspection mechanism also includes two bow-shaped racks and a first spring symmetrically installed inside the inspection robot, the bow-shaped rack is elastically connected to the inside of the inspection robot through the first spring, and a plurality of ring gears are symmetrically installed inside the inspection robot, and every two of the ring gears are meshed and connected with the corresponding bow-shaped racks, a convex column is fixed on the inner side of the ring gear, and a plurality of lifting rods are symmetrically arranged inside the inspection robot, and the lifting rods pass through the corresponding ring gears, and a spiral groove is provided on the surface of the lifting rod, and the convex column is slidably connected in the corresponding spiral groove.
[0008] As a preferred solution of the present invention, the storage mechanism also includes a magnetic block installed on the surface of the limiting head, a second spring and a push plate are installed inside the storage box, the push plate is elastically connected to the inside of the storage box through the second spring, an electric telescopic rod is installed on the top surface of the storage box, a top plate is installed on the output end of the electric telescopic rod, a second motor and a lower rod gear are installed inside the limiting head, and the lower rod gear is installed on the output end of the second motor.
[0009] As a preferred embodiment of the present invention, the sampling mechanism also includes a sealing plate installed on the front side of the No. 1 rod, and a plurality of No. 2 rods are stacked and installed inside the storage box, the innermost layer of the No. 2 rod abuts against the push plate, and the No. 1 rod abuts against the outermost layer of the No. 2 rod, and a toothed plate is provided on the back of the No. 1 rod and the No. 2 rod, and the toothed plate is meshed and connected with the lower rod gear, and the tops of the No. 1 rod and the No. 2 rod are both provided with connecting grooves, and the tops of the No. 1 rod and the No. 2 rod are symmetrically provided with dividing plates and a third spring, and the dividing plates are elastically connected to the tops of the No. 1 rod and the No. 2 rod through the third spring, and a locking head is fixed to the bottom end of the dividing plate, and an active buckle is also installed inside the tops of the No. 1 rod and the No. 2 rod, and the active buckle abuts against the tops of the corresponding dividing plates, and the bottom end of the No. 2 rod is fixed with a connecting buckle, and the connecting buckle is provided with a keyhole.
[0010] As a preferred solution of the present invention, the control mechanism further includes a fourth spring, and the spring block is elastically connected to the interior of the sliding shell via the fourth spring.
[0011] As a preferred solution of the present invention, the closing mechanism also includes a second rod slidably connected to the inside of the No. 2 rod, the top side walls of the first rod and the second rod are provided with pull grooves, the top of the first rod and both ends of the second rod are provided with buckle grooves, a fifth spring is installed inside the No. 1 rod, and the first rod is elastically connected to the inside of the No. 1 rod through the fifth spring, a straight rack is fixed to the bottom of the sealing door, cross arms are installed on both sides of the sealing door, a lifting bar and a sixth spring are installed inside the end of the cross arm, and the lifting bar is elastically connected to the cross arm through the sixth spring.
[0012] As a preferred embodiment of the present invention, a classification mechanism is arranged inside the No. 1 rod, and the classification mechanism includes two placement grooves symmetrically arranged inside the No. 1 rod, and the bottom ends of the two placement grooves are connected, a plurality of sample boxes are stacked in one of the placement grooves, two lifting grooves are symmetrically arranged on the top of the front and back sides of the sample box, a bottom groove is arranged on the bottom surface of the sample box, and a notch is arranged on the side of the bottom surface of the sample box, a stop block and an eighth spring are installed inside the No. 1 rod, and the stop block is elastically connected to the other placement groove through the eighth spring.
[0013] As a preferred solution of the present invention, a shifting mechanism is installed inside the bottom end of the No. 1 rod, and the shifting mechanism includes a shifting gear and a right-angle rack arranged inside the bottom end of the No. 1 rod, the straight rack and the right-angle rack are both meshed and connected with the shifting gear, the top surface of the right-angle rack is rotatably connected to a rotating shaft through a torsion spring, a shift plate is fixed on the rotating shaft, and a baffle is fixed to the top surface of the right-angle rack.
[0014] As a preferred embodiment of the present invention, a marking mechanism is provided inside the bottom end of the No. 1 rod, and the marking mechanism includes a marking rack and a marking gear installed inside the bottom end of the No. 1 rod, the marking rack is meshingly connected with the marking gear, and the side circular array of the marking gear has a plurality of side blocks, and the bottom end of the No. 1 rod is also elastically connected with a slide plate through a ninth spring, and pressure blocks and stop blocks are staggeredly installed on the side of the slide plate, and a plurality of marking blocks and a tenth spring are equidistantly installed inside the No. 1 rod on the other side of the placement groove, and each of the marking blocks is elastically connected to the inside of the No. 1 rod through the corresponding tenth spring.
[0015] Compared with the prior art, the advantages of the present invention are: 1. A storage mechanism capable of rotating 90 degrees is installed on the inspection robot. When sampling is not required, the storage mechanism is located at the top of the inspection robot, which reduces space occupation, lowers the center of gravity, and improves the stability of the inspection robot. When sampling is required, the storage box rotates 90 degrees and is perpendicular to the inspection robot. Under the drive of the lower rod gear driven by the second motor, the No. 1 rod slides out of the storage box and penetrates into the grain. Then, the control mechanism controls the opening of the sealing door to open the sampling door, and the two-chamber samples of the required depth flow into the No. 1 rod, thereby completing the sampling operation. A plurality of No. 2 rods are also arranged in the storage box, which can automatically complete multi-level splicing, increase the length of the No. 1 rod, so that the No. 1 rod penetrates into different depths of the granary, and samples of grain samples at different depths are sampled, which greatly increases the versatility and efficiency of the present invention. It also avoids the risk of manual entry into the granary for sample collection in the traditional sampling operation, and relies on the inspection robot to independently complete the sample collection operation, which can minimize the deviation of the depth that is difficult to control manually and improve the accuracy of sample collection.
[0016] 2. Two placement slots are arranged inside the No. 1 rod. Multiple sample boxes are stacked in the placement slot near the sampling door. After the grain sample enters the No. 1 rod from the sampling door, it can be directly loaded into the sample box at the bottom of the placement slot. Moreover, by closing the sealing door, not only can the sample box in the placement slot far from the sampling door be driven to rise through the cross arm and the lifting bar to make room for the new sample box, but also the transposition mechanism can be driven to move, so that the sample box in the placement slot near the sampling door enters the placement slot far from the sampling door. That is, each time the sample is collected, the sealing door will be opened and closed once. By opening and closing the sealing door, the sample box filled with grain samples in the placement slot can be replaced, and a new sample box can be placed near the sampling door, ensuring that the samples collected each time can be stored in different sample boxes, so that they can be stored separately and clearly classified, which provides convenience for subsequent testing links and makes it easier for testing personnel to compare and summarize the various data and characteristics of grain at different positions and depths in the granary, thereby improving the ability and effect of preserving and protecting grain.
[0017] 3. A marking mechanism is also provided in the No. 1 rod. During the closing process of the sealing door, the transposition mechanism drives the sample box containing the sample to move to the placement slot away from the sampling door, and the marking rack contacts the marking block, so that the marking block contacts the side wall of the sample box containing the sample, thereby marking it. Every time a new sample box is replaced at the bottom of the placement slot away from the sampling door, the marking block will be printed with a mark on its surface, and the height of the marking block is different each time, so that the marking position on each sample box is different, so that it is convenient for the test personnel to distinguish which sample box corresponds to the grain samples of different depths, making the sample data clearer. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the internal structure of the inspection robot of the present invention; Figure 3 It is a schematic diagram of the matching structure of the convex column and the spiral groove of the present invention; Figure 4 It is a schematic diagram of the overall cross-section structure of the storage mechanism of the present invention; Figure 5 It is a schematic diagram of the control mechanism structure of the present invention; Figure 6 It is a schematic diagram of the partial structure of the sampling mechanism of the present invention; Figure 7 For the present invention Figure 6 The enlarged structural diagram at A in the middle; Figure 8 It is a schematic diagram of the matching structure of the connection groove and the connection buckle of the present invention; Fig. 9 It is a schematic diagram of the bottom structure of the second rod of the present invention; Fig.10 It is a schematic diagram of the partial cross-section structure of the No. 1 rod of the present invention; Fig.11 It is a schematic diagram of the coordination structure of the closing mechanism, the splitting mechanism, the transposition mechanism and the marking mechanism of the present invention; Fig.12 It is a schematic diagram of the front structure of the sample box of the present invention; Fig.13 It is a schematic diagram of the bottom structure of the sample box of the present invention; Fig.14 It is a partial structural schematic diagram of the closing mechanism of the present invention; Fig.15 It is a schematic diagram of the coordination structure of the transposition mechanism and the marking mechanism of the present invention; Fig.16 It is a partial structural schematic diagram of the marking mechanism of the present invention.
[0019] Description of the numbers in the figure: 1. Inspection mechanism; 11. Inspection robot; 12. Mounting seat; 13. Bow-shaped rack; 14. First spring; 15. Ring gear; 16. Boss; 17. Lifting rod; 18. Spiral groove; 19. Plate; 2. Storage mechanism; 21. Storage box; 22. First motor; 23. Limiting head; 24. Magnetic block; 25. Second spring; 26. Push plate; 27. Electric telescopic rod; 28. Top plate; 29. Second motor; 291. Lower rod gear; 3. Sampling mechanism; 31. No. 1 rod; 32. Closing plate; 33. No. 2 rod; 34. Tooth plate; 35. Connecting groove; 36. Dividing plate; 37. Third spring; 38. Lock head; 39. Active buckle; 391. Connecting buckle; 392. Keyhole; 393. Sampling door; 4. Control mechanism; 41. Electric push rod; 42. Sliding shell; 4 3. The fourth spring; 44. The spring block; 45. The lever; 5. The closing mechanism; 51. The first lever; 52. The second lever; 53. The pull groove; 54. The buckle groove; 55. The fifth spring; 56. The sealing door; 57. The straight rack; 58. The cross arm; 59. The lifting bar; 591. The sixth spring; 6. The classification mechanism; 61. The placement groove; 62. The sample box; 63. The lifting groove; 64. The bottom groove; 65. The missing groove; 66. The stop block; 67. The eighth spring; 7. The transposition mechanism; 71. The transposition gear; 72. The right-angle rack; 73. The rotating shaft; 74. The torsion spring; 75. The lever; 76. The baffle; 8. The marking mechanism; 81. The marking rack; 82. The marking gear; 83. The side block; 84. The slide plate; 85. The ninth spring; 86. The pressure block; 87. The stop block; 88. The marking block; 89. The tenth spring. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. 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] For example, see Figures 1 to 16 As shown, the present invention discloses a multifunctional robot for granary inspection, comprising an inspection mechanism 1, the inspection mechanism 1 comprises an inspection robot 11, and a mounting seat 12 is installed at the front end of the inspection robot 11; A storage mechanism 2 is provided on the top of the inspection robot 11. The storage mechanism 2 includes a storage box 21 installed on the top of the inspection robot 11. The bottom of one end of the storage box 21 is rotatably connected to the mounting seat 12. A first motor 22 is installed at the front end of the inspection robot 11. The output end of the first motor 22 is installed at the bottom of one end of the storage box 21. A limiting head 23 is installed at the end of the storage box 21. The storage box 21 is provided with a sampling mechanism 3, which includes a rod 31 installed inside the storage box 21, and the rod 31 passes through the limiting head 23, and a sampling door 393 is provided on the side of the bottom end of the rod 31; A control mechanism 4 is provided inside the side of the limiting head 23, and the control mechanism 4 includes an electric push rod 41 installed on the side of the limiting head 23, a sliding shell 42 is slidably connected inside the limiting head 23, an output end of the electric push rod 41 is installed on the side of the sliding shell 42, a spring block 44 is slidably connected inside the sliding shell 42, and a lever 45 is fixed on the side of the spring block 44; A closing mechanism 5 is installed inside the No. 1 rod 31 , and the closing mechanism 5 includes a first rod 51 slidably connected to the inside of the No. 1 rod 31 , a groove 53 is provided at one end of the first rod 51 , and a closing door 56 is fixed to the other end of the first rod 51 , and the closing door 56 closes the sampling door 393 .
[0022] The inspection robot 11 has multiple functions for the interior of the granary, such as temperature and humidity detection, rodent and insect pest monitoring, disaster warning, and data collection and analysis.
[0023] When it is necessary to sample the grain in the granary, the inspection robot 11 can be placed in the granary, and the inspection robot 11 automatically moves to the designated position. Then the first motor 22 drives the storage box 21 to rotate with the mounting seat 12 as the center, and the storage mechanism 2 originally lying on the top surface of the inspection robot 11 is rotated to be perpendicular to the front of the inspection robot 11. Then the second motor 29 inside the limiting head 23 is started, and the gear 291 of the lower rod cooperates with the toothed plate 34 on the back of the first rod 31, driving the first rod 31 to slide downward from the storage box 21 (according to the attached Figure 4 The first rod 31 is inserted into the grain. When it reaches the deepest position, the groove 53 exposed on the top side of the first rod 31 is aligned with the lever 45. At this time, the electric push rod 41 on the side of the limiting head 23 is started, driving the sliding shell 42 inside the limiting head 23 to slide upward (according to the attached Figure 5The sliding shell 42 drives the spring block 44 inside it to move synchronously, and the spring block 44 slides to the right due to the resistance against the inner wall of the limiting head 23, compressing the fourth spring 43 while driving the lever 45 to insert into the groove 53 (the shape of the spring block 44 is a triangular block at one end and a hollow special-shaped structure in the middle, and the other end is fixed with the lever 45, the sliding shell 42 is wrapped around the outer middle part of the spring block 44, and a baffle penetrating the hollow part of the spring block 44 is provided inside the sliding shell 42, and the fourth spring 43 is installed in the hollow position in the spring block 44, and the baffle resists the fourth spring 43), and the lever 45 moves upward, driving the first rod 51 inside the No. 1 rod 31 to slide upward through the groove 53, and the first rod 51 drives the sealing door 56 to slide upward, so that the sampling door 393 is opened, and the samples of the two chambers enter the No. 1 rod 31 through the sampling door 393. After a certain period of time, the electric push rod 41 drives the sliding shell 42 to reset. After the sliding shell 42 is reset, the inner wall of the limiting head 23 no longer contacts the spring block 44, and the fourth spring 43 drives the spring block 44 and the lever 45 to reset. The limit of the lever 45 is lost, and the pull groove 53 and the first rod 51 drive the sealing door 56 to reset. The sealing door 56 closes the sampling door 393, and the sample collection is completed. Finally, the second motor 29 drives the lower rod gear 291 to reverse, and the No. 1 rod 31 is pulled back into the storage box 21 to complete the entire grain sample collection operation. The grain collection process is completely completed automatically by the inspection robot 11 according to the program, avoiding the risk of manual entry into the granary for sample collection. At the same time, relying on the inspection robot 11 to autonomously complete the sample collection operation can minimize the deviation of the depth that is difficult to control manually and improve the accuracy of sample collection.
[0024] Example 2: This example is an explanation based on Example 1. For details, please refer to Figures 1 to 16 The inspection mechanism 1 also includes two bow-shaped racks 13 and a first spring 14 symmetrically installed inside the inspection robot 11. The bow-shaped rack 13 is elastically connected to the inside of the inspection robot 11 through the first spring 14. A plurality of ring gears 15 are also symmetrically installed inside the inspection robot 11. Every two ring gears 15 are meshed and connected with the corresponding bow-shaped racks 13. A boss 16 is fixed on the inner side of the ring gear 15. A plurality of lifting rods 17 are symmetrically arranged inside the inspection robot 11, and the lifting rods 17 pass through the corresponding ring gears 15. A spiral groove 18 is provided on the surface of the lifting rod 17, and the boss 16 is slidably connected to the corresponding spiral groove 18.
[0025] In the initial state, the storage box 21 is horizontally located on the top of the inspection robot 11, and the two sides of the storage box 21 squeeze the bow-shaped rack 13 inside the inspection robot 11 (the top of each bow-shaped rack 13 contacts the side of the storage box 21, and the two ends of the bottom are racks, which are respectively meshed and connected with the corresponding two ring gears 15), so that the bow-shaped rack 13 is inside the inspection robot 11, and the bow-shaped rack 13 compresses the first spring 14. When the first motor 22 drives the storage box 21 to rotate, the storage box 21 no longer contacts the bow-shaped rack 13, and the first spring 14 The bow-shaped rack 13 is pushed to move, and the top of the bow-shaped rack 13 slides out of the inspection robot 11, while driving the corresponding ring gear 15 to rotate, and the convex column 16 on the inner side of the ring gear 15 slides in the corresponding spiral groove 18, thereby driving the lifting rod 17 to slide downward, and the lifting rod 17 drives the plate body 19 to move, and finally the plate body 19 contacts the surface of the grain, increasing the contact area between the entire inspection mechanism 1 and the grain, improving stability, and providing a solid support and foundation for the No. 1 rod 31 to be inserted into the grain, thereby reducing the risk of shaking or tipping over of the inspection robot 11.
[0026] Example 3: This example is an explanation based on Example 1. For details, please refer to Figures 1 to 16 The storage mechanism 2 also includes a magnetic block 24 installed on the surface of the limiting head 23, a second spring 25 and a push plate 26 are installed inside the storage box 21, the push plate 26 is elastically connected to the inside of the storage box 21 through the second spring 25, an electric telescopic rod 27 is installed on the top surface of the storage box 21, and a top plate 28 is installed on the output end of the electric telescopic rod 27, a second motor 29 and a lower rod gear 291 are installed inside the limiting head 23, and the lower rod gear 291 is installed on the output end of the second motor 29.
[0027] The sampling mechanism 3 also includes a sealing plate 32 installed on the front of the No. 1 rod 31. A plurality of No. 2 rods 33 are stacked and installed inside the storage box 21. The innermost No. 2 rod 33 abuts against the push plate 26, and the No. 1 rod 31 abuts against the outermost No. 2 rod 33. A tooth plate 34 is provided on the back of the No. 1 rod 31 and the No. 2 rod 33. The tooth plate 34 is meshed and connected with the lower rod gear 291. The tops of the No. 1 rod 31 and the No. 2 rod 33 are both provided with a connecting groove 35. The No. 1 rod 31 and the No. 2 rod 33 are connected to each other. 3 are symmetrically provided with a split plate 36 and a third spring 37, the split plate 36 is elastically connected to the top of the No. 1 rod 31 and the No. 2 rod 33 through the third spring 37, a lock 38 is fixed to the bottom of the split plate 36, and a movable buckle 39 is also installed inside the top of the No. 1 rod 31 and the No. 2 rod 33, the movable buckle 39 abuts against the top of the corresponding split plate 36, and a connecting buckle 391 is fixed to the bottom of the No. 2 rod 33, and a keyhole 392 is provided on the connecting buckle 391.
[0028] The control mechanism 4 further includes a fourth spring 43 , and the spring block 44 is elastically connected to the inside of the sliding shell 42 via the fourth spring 43 .
[0029] The closing mechanism 5 also includes a second rod 52 slidably connected to the inside of the No. 2 rod 33, a pull groove 53 is provided on the top side walls of the first rod 51 and the second rod 52, a buckle groove 54 is provided at the top of the first rod 51 and the two ends of the second rod 52, a fifth spring 55 is installed inside the No. 1 rod 31, and the first rod 51 is elastically connected to the inside of the No. 1 rod 31 through the fifth spring 55, a straight rack 57 is fixed to the bottom of the sealing door 56, and cross arms 58 are installed on both sides of the sealing door 56, and a lifting bar 59 and a sixth spring 591 are installed inside the end of the cross arm 58, and the lifting bar 59 is elastically connected to the cross arm 58 through the sixth spring 591.
[0030] A classification mechanism 6 is arranged inside the No. 1 rod 31, and the classification mechanism 6 includes two placement grooves 61 symmetrically arranged inside the No. 1 rod 31, and the bottom ends of the two placement grooves 61 are connected, a plurality of sample boxes 62 are stacked in one of the placement grooves 61, two lifting grooves 63 are symmetrically arranged on the top of the front and back sides of the sample box 62, a bottom groove 64 is arranged on the bottom surface of the sample box 62, and a notch groove 65 is arranged on the side of the bottom surface of the sample box 62, a stop block 66 and an eighth spring 67 are installed inside the No. 1 rod 31, and the stop block 66 is elastically connected to the other placement groove 61 through the eighth spring 67.
[0031] A shifting mechanism 7 is installed inside the bottom end of the No. 1 rod 31, and the shifting mechanism 7 includes a shifting gear 71 and a right-angle rack 72 arranged inside the bottom end of the No. 1 rod 31. The spur rack 57 and the right-angle rack 72 are both meshed and connected with the shifting gear 71. The top surface of the right-angle rack 72 is rotatably connected to a rotating shaft 73 through a torsion spring 74. A shifting plate 75 is fixed on the rotating shaft 73, and a baffle 76 is fixed to the top surface of the right-angle rack 72.
[0032] There are multiple No. 2 rods 33 stacked inside the storage box 21. If the No. 2 rod 33 that abuts the push plate 26 is the first one at the innermost part of the storage box 21, then the No. 1 rod 31 is at the outermost part of the storage box 21. After the storage box 21 is filled with No. 2 rods 33, the second spring 25 is in a compressed state, so that several No. 2 rods 33 tend to slide to the outside of the storage box 21. When the No. 1 rod 31 is inserted into the grain to a certain depth, that is, the top of the No. 1 rod 31 (according to the orientation of the control mechanism 4 in the attached figure) is just flush with the height of the limiting head 23, the second motor 29 stops working, and the magnetic block 24 on the surface of the limiting head 23 is magnetically connected to the movable buckle 39 inside the top of the No. 1 rod 31, pulling the movable buckle 39 to the outside of the No. 1 rod 31, so that the third spring 37 connected to the movable buckle 39 is stretched, and at the same time, the movable buckle 39 resists and pushes the dividing plate 36 toward the center of the No. 1 rod 31, and the dividing plate 36 compresses the third spring 37 connected to it, and at the same time drives the lock head 38 to retract into the No. 1 rod 31. At the same time, the push plate 26 pushes the No. 2 rod 33 to move outside the storage box 21 under the elastic force of the second spring 25, so that the connecting buckle 391 at the bottom of the outermost No. 2 rod 33 slides into the connecting groove 35 at the top of the No. 1 rod 31. Then the second motor 29 is restarted, and continues to drive the No. 1 rod 31 to penetrate deeper into the grain through the cooperation of the lower rod gear 291 and the tooth plate 34, and moves downward together with the No. 2 rod 33 connected with the No. 1 rod 31, so that the movable buckle 39 is offset from the magnetic block 24, and the magnetic force disappears. Under the elastic force of the third spring 37, 39 is restored, and the squeezing of the movable buckle 39 is lost. Under the elastic force of the third spring 37, the dividing plate 36 drives the lock head 38 to pop out from the top of the No. 1 rod 31, and insert it into the keyholes 392 on both sides of the connecting buckle 391 in the connecting groove 35, and the connecting buckle 391 is firmly locked in the connecting groove 35, so that the No. 2 rod 33 is connected to the No. 1 rod 31 as a whole. The stroke of each rotation of the lower rod gear 291 driven by the second motor 29 is exactly the length of a No. 2 rod 33, that is, the length of each lower rod is based on the length of the No. 2 rod 33, which has the following three advantages: first, it can be well controlled that the movable buckle 39 inside the top of the No. 1 rod 31 or the No. 2 rod 33 is exactly within the magnetic force range of the magnetic block 24 each time it stops; second, it can ensure that the groove 53 exposed on the top side of the No. 1 rod 31 or the No. 2 rod 33 is exactly aligned with the lever 45 each time the second motor 29 stops, so that the lever 45 can be inserted into the groove 53; third, the depth of insertion into the grain can be better controlled and calculated. The subsequent No. 2 rods 33 are connected to the previous No. 2 rod 33 in the same manner as described above, so as to achieve the required length. The use of a splicable sampling mechanism 3 can increase the sampling depth, adapt to the sampling requirements of various depths, and greatly improve the sampling efficiency and accuracy.
[0033] During the process of the connecting buckle 391 entering the connecting groove 35, the bottom buckle groove 54 of the second rod 52 in the second rod 33 is buckled with the top of the first rod 51, and the top buckle groove 54 of the first rod 51 in the first rod 31 is buckled with the bottom of the second rod 52, so that the first rod 51 and the second rod 52 are connected as a whole, and the second rods 52 in other second rods 33 connected subsequently are connected in the above manner. When the first rod 31 reaches the specified depth, the lever 45 is inserted into the groove 53 on the side of the corresponding second rod 33 (corresponding to the second rod 33 with the top inside the limiting head 23), and the groove 53 is lifted upward, so that multiple second rods 52 interact in their respective second rods 33, and finally drive the first rod 51 inside the first rod 31 to rise, the first rod 51 compresses the fifth spring 55 inside the first rod 31, and drives the sealing door 56 to rise, and the sampling door 393 is opened. Two placement slots 61 are symmetrically arranged inside the bottom of the No. 1 rod 31. A plurality of sample boxes 62 (such as the attached sample box) are stacked in the placement slot 61 near the sampling door 393. Fig.10 As shown, several sample boxes 62 are sequentially arranged from bottom to top as the first, the second, ...), the sampling door 393 is aligned with the opening at the top of the sample box 62, and the external food enters through the sampling door 393 and directly flows into the first sample box 62 through the opening.
[0034] As the sealing door 56 slides upward, the cross arm 58 is driven to rise, and the cross arm 58 drives the lifting bar 59 to rise (the lifting bar 59 slides in the placement slot 61 away from the sampling door 393. When the grain sampling is performed for the first time, there is no sample box 62 in the placement slot 61 away from the sampling door 393, and the lifting bar 59 does not lift anything); at the same time, the sealing door 56 drives the spur rack 57 at its bottom to rise, and the spur rack 57 drives the right-angle rack 72 to slide leftward through the transposition gear 71 (according to the attached Fig.11The right-angled rack 72 drives the paddle 75 on its top toward the first sample box 62, and then the paddle 75 contacts the bottom edge of the sample box 62 to drive the rotating shaft 73 to rotate, so that the torsion spring 74 accumulates force. After the paddle 75 rotates, it no longer blocks the movement of the right-angled rack 72. Finally, the right-angled rack 72 drives the paddle 75 to move to the bottom of the first sample box 62. The paddle 75 just reaches the bottom of the bottom groove 64 and loses the contact with the bottom of the sample box 62. The torsion spring 74 drives the rotating shaft 73 to reverse, and the rotating shaft 73 drives the paddle 75 to reverse, so that the paddle 75 rotates into the bottom groove 64. When the sample collection is completed, the sealing door 56 descends to close the sampling door 393, and at the same time drives the cross arm 58 and the straight rack 57 to descend. The cross arm 58 drives the lifting bar 59 to reset, and the straight rack 57 drives the right-angle rack 72 to slide to the right through the transposition gear 71, and the right-angle rack 72 drives the paddle plate 75 on its top to slide to the right. In this direction of movement, the edge of the bottom groove 64 applies a leftward force to the paddle plate 75, causing the paddle plate 75 to rotate to the left. However, since a baffle 76 is provided on the left side of the paddle plate 75 to prevent the paddle plate 75 from rotating, the paddle plate 75 remains in a vertical state. Therefore, during the right-angle rack 72 sliding to the right, the paddle plate 75 can drive the first sample box 62 to move to another placement slot 61 (such as the attached Fig.10 As shown), and in the process, the falling lifting bar 59 is stuck in the lifting groove 63 at the top of the front and back of the sample box 62.
[0035] When the sampling position is changed or the sampling is performed for the second time (including subsequent sampling) at a different depth, the sealing door 56 rises again. According to the above process, the cross arm 58 drives the lifting bar 59 to rise, and the lifting bar 59 drives the sample box 62 in the placement slot 61 away from the sampling door 393 to rise through the lifting slot 63; at the same time, the straight rack 57 drives the right-angle rack 72 and the dial plate 75 to reset again through the transposition gear 71. As the lifting bar 59 drives the sample box 62 to rise, the side wall of the sample box 62 contacts and presses the stop block 66 in the placement slot 61 away from the sampling door 393 into the No. 1 rod 31, and the stop block 66 compresses the eighth spring 67. After the lifting bar 59 lifts the sample box 62 in the placement slot 61 away from the sampling door 393 to the maximum height, the stop block 66 loses the contact with the sample box 62, and under the elastic force of the eighth spring 67, the stop block 66 pops out from the inside of the No. 1 rod 31 and is inserted into the missing groove 65 at the bottom of the sample box 62, supporting the raised sample box 62, and leaving a space for a sample box 62 at the bottom of the placement slot 61 away from the sampling door 393, so that when the sealing door 56 is closed again, the next sample box 62 can be pushed into the placement slot 61 again. By moving the sampling door 393 upward, the switching mechanism 7 is reset and the sample box 62 in the placement slot 61 away from the sampling door 393 is driven to rise to make room; the sampling door 393 descends, and the sample box 62 is driven by the switching mechanism 7 to move to the placement slot 61 away from the sampling door 393, and the above process is repeated, so that grain samples at different positions or different depths are stored in sample boxes 62, separated and clearly classified, which provides convenience for subsequent detection links and makes it easier for detection personnel to compare and summarize various data and characteristics of grain at different positions and depths in the granary, thereby improving the ability and effect of preserving and protecting grain.
[0036] After the entire sampling operation is completed, the second motor 29 drives the lower rod gear 291 to reverse, and the lower rod gear 291 engages with the toothed plate 34 on each No. 2 rod 33 or the No. 1 rod 31 to pull the No. 1 rod 31 and the No. 2 rod 33 out of the grain. The second motor 29 drives the lower rod gear 291 to rotate each time, and the length of the No. 2 rod 33 is still used as a unit. Each time when the bottom of the top No. 2 rod 33 slides out of the limiting head 23, the movable buckle 39 inside the top of the second No. 2 rod 33 from the top to the bottom is aligned with the magnetic block 24, and the magnetic block 24 attracts the movable buckle 39 again, and finally the lock head 38 is released from the corresponding keyhole 392. The second rod 33 is pressed against the push plate 26, and the push plate 26 compresses the second spring 25. The lower rod gear 291 at the bottom of the second rod 33 is separated from the connecting groove 35 at the top of the second second rod 33, and the first second rod 33 slides into the storage box 21. Then, the same process is repeated. All the second rods 33 or the first rod 31 are finally returned to the storage box 21. Finally, the first motor 22 drives the storage box 21 to reverse, and the storage mechanism 2 lies flat on the top of the inspection robot 11 again.
[0037] Example 4: This example is an explanation based on Example 1. For details, please refer to Figures 1 to 16 A marking mechanism 8 is provided inside the bottom end of the No. 1 rod 31, and the marking mechanism 8 includes a marking rack 81 and a marking gear 82 installed inside the bottom end of the No. 1 rod 31, the marking rack 81 is meshed and connected with the marking gear 82, and the side circumferential array of the marking gear 82 is provided with a plurality of side blocks 83, and the bottom end of the No. 1 rod 31 is also elastically connected with a slide plate 84 through a ninth spring 85, and pressure blocks 86 and stop blocks 87 are staggeredly installed on the side of the slide plate 84, and a plurality of marking blocks 88 and a tenth spring 89 are equidistantly installed inside the No. 1 rod 31 on another side of the placement slot 61, and each marking block 88 is elastically connected to the inside of the No. 1 rod 31 through the corresponding tenth spring 89.
[0038] A plurality of marking mechanisms 8 are sequentially arranged on the side wall of the placement slot 61 away from the sampling door 393. Each time the sealing door 56 rises, the transposition mechanism 7 pushes the bottom sample box 62 into the placement slot 61 away from the sampling door 393, and the right-angle rack 72 will contact and push the slide plate 84 inside the first rod 31, causing the slide plate 84 to slide to the right (as shown in the attached figure). Fig.15 As shown in the direction, the slide plate 84 compresses the ninth spring 85, while driving the stop block 87 on its side away from the side block 83 on the side wall of the marking gear 82. At the same time, the pressing block 86 abuts against the side block 83, and by squeezing the side block 83, the marking gear 82 is driven to rotate counterclockwise (as shown in the attached figure). Fig.16As shown in the figure, after the transposition mechanism 7 is reset, the right-angle rack 72 no longer contacts the slide plate 84. Under the elastic force of the ninth spring 85, the slide plate 84 is reset. The slide plate 84 drives the pressing block 86 away from the side block 83. At the same time, the stop block 87 moves to the left, squeezing the side block 83 just contacted by the pressing block 86, so that the marking gear 82 rotates counterclockwise again by a certain angle. With each reciprocating sliding of the slide plate 84, the pressing block 86 cooperates with the stop block 87 to drive the marking gear 82 to rotate a certain angle through the side block 83, and then drives the marking rack 81 to rise. Each rotation of the marking gear 82 drives the marking rack 81 to rise to the same height. Each time the marking rack 81 rises, it will contact different marking blocks 88 from low to high in sequence, thereby pushing the marking block 88 in the direction away from the placement slot 61 of the sampling door 393. The marking block 88 compresses the tenth spring 89 and contacts the side of the sample box 62. Because each rise of the marking rack 81 means that a new sample box 62 will be replaced at the bottom of the placement slot 61 away from the sampling door 393, and each rise of the marking rack 81 will drive the marking blocks 88 of different heights to mark the side of the new sample box 62. Therefore, when the entire sampling operation is completed, the inspection personnel open the sealing plate 32 on the surface of the No. 1 rod 31 and take out several sample boxes 62 containing grain samples in the placement slot 61. Each sample box 62 has a mark printed on the side, and the mark height on each sample box 62 is different, so that the inspection personnel can distinguish which sample box 62 corresponds to the grain samples of different depths, making the sample data clearer.
[0039] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not limitations on the implementation methods of the present invention. For ordinary technicians in the relevant field, other different forms of changes or modifications can be made on the basis of the above description. It is impossible to list all the implementation methods here. All obvious changes or modifications derived from the technical solution of the present invention are still within the protection scope of the present invention.
Claims
1. A multifunctional robot for grain silo inspection, comprising an inspection mechanism (1), characterized in that: The inspection mechanism (1) comprises an inspection robot (11), and a mounting seat (12) is mounted on the front end of the inspection robot (11); A storage mechanism (2) is provided on the top of the inspection robot (11), the storage mechanism (2) comprising a storage box (21) mounted on the top of the inspection robot (11), the bottom of one end of the storage box (21) being rotatably connected to the mounting seat (12), a first motor (22) being mounted on the front end of the inspection robot (11), an output end of the first motor (22) being mounted on the bottom of one end of the storage box (21), and a limiting head (23) being mounted on the end of the storage box (21); A sampling mechanism (3) is installed inside the storage box (21), and the sampling mechanism (3) comprises a No. 1 rod (31) installed inside the storage box (21), and the No. 1 rod (31) passes through the limiting head (23), and a sampling door (393) is provided on the side of the bottom end of the No. 1 rod (31); A control mechanism (4) is provided inside the side of the limiting head (23), the control mechanism (4) comprising an electric push rod (41) mounted on the side of the limiting head (23), a sliding shell (42) is slidably connected inside the limiting head (23), an output end of the electric push rod (41) is mounted on the side of the sliding shell (42), a spring block (44) is slidably connected inside the sliding shell (42), and a lever (45) is fixed to the side of the spring block (44); A closing mechanism (5) is installed inside the No. 1 rod (31), and the closing mechanism (5) comprises a first rod (51) slidably connected to the inside of the No. 1 rod (31), a groove (53) is provided at one end of the first rod (51), and a closing door (56) is fixed at the other end of the first rod (51), and the closing door (56) closes the sampling door (393).
2. The multifunctional robot for grain silo inspection according to claim 1 is characterized in that: The inspection mechanism (1) further comprises two bow-shaped racks (13) and a first spring (14) symmetrically mounted inside the inspection robot (11); the bow-shaped rack (13) is elastically connected to the inside of the inspection robot (11) via the first spring (14); a plurality of ring gears (15) are symmetrically mounted inside the inspection robot (11); every two of the ring gears (15) are meshingly connected to the corresponding bow-shaped racks (13); a boss (16) is fixed on the inner side of the ring gear (15); a plurality of lifting rods (17) are symmetrically arranged inside the inspection robot (11); the lifting rods (17) penetrate the corresponding ring gears (15); a spiral groove (18) is provided on the surface of the lifting rod (17); and the boss (16) is slidably connected to the corresponding spiral groove (18).
3. The multifunctional granary inspection robot according to claim 1 is characterized in that: The storage mechanism (2) further comprises a magnetic block (24) mounted on the surface of the limiting head (23); a second spring (25) and a push plate (26) are mounted inside the storage box (21); the push plate (26) is elastically connected to the inside of the storage box (21) via the second spring (25); an electric telescopic rod (27) is mounted on the top surface of the storage box (21); a top plate (28) is mounted on the output end of the electric telescopic rod (27); a second motor (29) and a lower rod gear (291) are mounted inside the limiting head (23); the lower rod gear (291) is mounted on the output end of the second motor (29).
4. The multifunctional robot for grain silo inspection according to claim 3 is characterized in that: The sampling mechanism (3) further comprises a sealing plate (32) mounted on the front of the No. 1 rod (31); a plurality of No. 2 rods (33) are stacked and mounted inside the storage box (21); the innermost No. 2 rods (33) abut against the push plate (26); the No. 1 rod (31) abuts against the outermost No. 2 rod (33); tooth plates (34) are arranged on the backs of the No. 1 rod (31) and the No. 2 rod (33); the tooth plates (34) are meshedly connected with the lower rod gear (291); the tops of the No. 1 rod (31) and the No. 2 rod (33) are both provided with connecting grooves (35); the No. 1 rod (31) and the No. 2 rod (33) are connected to each other; A split plate (36) and a third spring (37) are symmetrically arranged inside the top of the No. 2 rod (33); the split plate (36) is elastically connected to the top of the No. 1 rod (31) and the No. 2 rod (33) through the third spring (37); a lock head (38) is fixed to the bottom of the split plate (36); a movable buckle (39) is also installed inside the top of the No. 1 rod (31) and the No. 2 rod (33); the movable buckle (39) abuts against the top of the corresponding split plate (36); a connecting buckle (391) is fixed to the bottom of the No. 2 rod (33); a keyhole (392) is provided on the connecting buckle (391).
5. The multifunctional robot for grain silo inspection according to claim 1 is characterized in that: The control mechanism (4) further comprises a fourth spring (43), and the spring block (44) is elastically connected to the interior of the sliding shell (42) via the fourth spring (43).
6. The multifunctional robot for grain silo inspection according to claim 4 is characterized in that: The closing mechanism (5) further comprises a second rod (52) slidably connected to the inside of the second rod (33); a pull groove (53) is provided on the top side walls of the first rod (51) and the second rod (52); a buckle groove (54) is provided on the top of the first rod (51) and both ends of the second rod (52); a fifth spring (55) is installed inside the first rod (31); the first rod (51) is elastically connected to the inside of the first rod (31) through the fifth spring (55); a spur rack (57) is fixed to the bottom of the sealing door (56); cross arms (58) are installed on both sides of the sealing door (56); a lifting bar (59) and a sixth spring (591) are installed inside the end of the cross arm (58); the lifting bar (59) is elastically connected to the cross arm (58) through the sixth spring (591).
7. The multifunctional robot for grain silo inspection according to claim 6, characterized in that: A classification mechanism (6) is arranged inside the No. 1 rod (31), and the classification mechanism (6) comprises two placement grooves (61) symmetrically arranged inside the No. 1 rod (31), and the bottom ends of the two placement grooves (61) are connected, a plurality of sample boxes (62) are stacked in one of the placement grooves (61), two lifting grooves (63) are symmetrically arranged at the top of the front and back sides of the sample box (62), a bottom groove (64) is arranged on the bottom surface of the sample box (62), and a notch groove (65) is arranged on the side of the bottom surface of the sample box (62), and a stop block (66) and an eighth spring (67) are installed inside the No. 1 rod (31), and the stop block (66) is elastically connected to the other placement groove (61) through the eighth spring (67).
8. The multifunctional robot for grain silo inspection according to claim 6, characterized in that: A shifting mechanism (7) is installed inside the bottom end of the No. 1 rod (31), and the shifting mechanism (7) comprises a shifting gear (71) and a right-angle rack (72) arranged inside the bottom end of the No. 1 rod (31), the straight rack (57) and the right-angle rack (72) are both meshed and connected with the shifting gear (71), the top surface of the right-angle rack (72) is rotatably connected to a rotating shaft (73) via a torsion spring (74), a shifting plate (75) is fixed on the rotating shaft (73), and a baffle (76) is fixed on the top surface of the right-angle rack (72).
9. The multifunctional robot for grain silo inspection according to claim 7, characterized in that: A marking mechanism (8) is arranged inside the bottom end of the No. 1 rod (31), and the marking mechanism (8) comprises a marking rack (81) and a marking gear (82) installed inside the bottom end of the No. 1 rod (31), the marking rack (81) is meshingly connected with the marking gear (82), and a side circumferential array of the marking gear (82) has a plurality of side blocks (83), and the bottom end of the No. 1 rod (31) is also elastically connected to a slide plate (84) via a ninth spring (85), and a pressure block (86) and a stop block (87) are staggeredly installed on the side of the slide plate (84), and a plurality of marking blocks (88) and a tenth spring (89) are equidistantly installed inside the No. 1 rod (31) on the other side of the placement slot (61), and each of the marking blocks (88) is elastically connected to the inside of the No. 1 rod (31) via the corresponding tenth spring (89).