Bionic granary detection robot

Abstract

The bionic granary detection robot comprises a robot body and a detection part, the detection part is connected to the robot body and moves along with the robot body, and the robot body comprises an expansion mechanism, a telescopic moving mechanism and a supporting auxiliary mechanism; the expansion mechanism is columnar and is provided with a peripheral wall which can be expanded and contracted in the radial direction of the columnar shape; the supporting auxiliary mechanism is connected to one axial end of the expansion mechanism through the telescopic moving mechanism, and the supporting auxiliary mechanism is a multi-finger clamping jaw mechanism; the telescopic moving mechanism at least comprises three telescopic rods, one ends of the telescopic rods are connected with the expansion mechanism, the other ends of the telescopic rods are hinged to the supporting auxiliary mechanism, and the telescopic rods control the distance between the supporting auxiliary mechanism and the expansion mechanism and the orientation of the supporting auxiliary mechanism when stretching out and drawing back. The razor clam detection robot can simulate the action of razor clams to move in a granary to meet the environmental parameter detection requirements of all positions.

Description

Technical Field

[0001] The present invention relates to a granary detection robot, belonging to the technical field of propulsion devices. Background Art

[0002] During the long cycle of grain storage, ensuring the stability and safety of the internal environment of the granary is of inestimable value for maintaining grain quality and preventing losses. Most traditional granary detection methods rely on manual inspection by directly entering the granary interior.

[0003] The low efficiency of manual detection is a problem that cannot be ignored. Granaries are often large in scale with mountains of grain piled up. Inspectors need to spend a lot of time and energy to complete a comprehensive inspection of the granary. This not only increases labor costs but also may lead to an extended detection cycle, making it difficult to detect potential problems in a timely manner. There are also certain safety risks when manually entering the granary interior for inspection. The internal environment of the granary is complex, and there may be safety hazards such as lack of oxygen and toxic gases. Once the inspectors fail to take sufficient protective measures or encounter unexpected situations, safety accidents may occur, causing casualties.

[0004] If fixed-mounted sensors are used for detection, it is difficult to change the detection points and adjust the detection positions as needed because the detection positions are fixed. Summary of the Invention

[0005] Aiming at the defects of the above-mentioned existing technologies, the present invention provides a bionic granary detection robot, aiming to solve the problem that the detection device is difficult to move in the grain pile.

[0006] The technical solution of the present invention is as follows: A bionic granary detection robot includes a robot body and a detection component. The detection component is connected to the robot body and moves with the robot body. The robot body includes an expansion mechanism, a telescopic movement mechanism, and a support and auxiliary mechanism; The expansion mechanism is columnar and has an outer peripheral wall that can expand and contract in the radial direction of the column; The support and auxiliary mechanism is connected to one end of the axial direction of the expansion mechanism through the telescopic movement mechanism, and the support and auxiliary mechanism is a multi-finger claw mechanism; The telescopic movement mechanism includes at least three telescopic rods. One end of the telescopic rod is connected to the expansion mechanism, and the other end of the telescopic rod is hinged to the support and auxiliary mechanism. When the telescopic rod expands and contracts, it controls the distance between the support and auxiliary mechanism and the expansion mechanism and the orientation of the support and auxiliary mechanism.

[0007] Furthermore, the expansion mechanism includes an inner support, an outer peripheral wall is sleeved outside the inner support, the outer peripheral wall includes a plurality of rigid wall plates arranged at circumferential intervals, the rigid wall plates are connected by a flexible film, a plurality of rigid moving members are arranged on the inner support, and the rigid moving members are fixedly connected to the rigid wall plates. By circumferentially arranging the rigid wall plates and driving the outer expansion and inner contraction of the rigid wall plates by the rigid moving members, the grain particles can be evenly pushed outward in all directions to form an activity space, improving the traveling efficiency.

[0008] Furthermore, the rigid wall plates are evenly distributed at equal circumferential intervals along the outer peripheral wall.

[0009] Furthermore, the expansion mechanism includes a driving motor and a driving disk, the driving motor drives the driving disk to rotate, the rigid moving member is provided with a guide pin, the driving disk is provided with an arc-shaped guide groove, and the guide pin is guided by the arc-shaped guide groove. When the driving disk rotates, it pushes the guide pin to move radially. By adopting the rotation guidance of the driving disk, the structure is compact and the outer peripheral wall can act synchronously in all directions.

[0010] Furthermore, the telescopic moving mechanism includes a telescopic sleeve, one end of the telescopic sleeve is connected to the expansion mechanism, the other end of the telescopic sleeve is connected to the support auxiliary mechanism, the telescopic sleeve and the expansion mechanism form a sealed space, and the telescopic rod is arranged in the sealed space. The telescopic movement of the telescopic rod in the sealed space will not be affected by the grain particles, improving the reliability.

[0011] Furthermore, a telescopic rod upper base is arranged inside the expansion mechanism, one end of the telescopic rod is connected to the telescopic rod upper base, and at least a part of the telescopic rod is arranged inside the expansion mechanism. By arranging a part of the telescopic rod inside the expansion mechanism, the axial distance of the expansion mechanism can be fully utilized, the overall length of the machine when the telescopic rod is in the contracted state can be shortened, and the distance of a single travel can be ensured, improving the moving efficiency.

[0012] Furthermore, the multi-finger jaw mechanism includes a frame, a telescopic driving member, a transmission member and mechanical jaws, a plurality of mechanical jaws are arranged circumferentially on the frame, the middle of the mechanical jaws is hinged to the frame, the telescopic driving member is connected to the tail end of the mechanical jaws through the transmission member, and when the telescopic driving member expands and contracts, it drives the mechanical jaws to rotate and expand or contract inward.

[0013] Furthermore, the outer back surface of the mechanical jaw is provided with a serrated structure, and when the mechanical jaw expands, the tips of the serrations of the serrated structure face the expansion mechanism.

[0014] Furthermore, the detection component is arranged on the outer side surface of the outer peripheral wall.

[0015] Furthermore, the detection component includes a temperature sensor and a humidity sensor.

[0016] Compared with the prior art, the advantages of the technical solution provided by the present invention are as follows: By the system operation of the expansion mechanism and the telescopic movement mechanism to simulate the movement of razor clams in sandy soil, the robot can move freely in the grain pile, and then detect the environmental parameters of the grain pile through the detection components carried by itself. Compared with fixed-point detection, the detection points are more flexible, which is conducive to accurately grasping the situation of the grain pile. The way of pushing the grain particles around to move forward has little disturbance to the grain pile, and it is not necessary to turn the grain pile greatly to reach the deep inside of the grain pile, which is conducive to obtaining more accurate detection data. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 Schematic structural diagram of the bionic grain bin detection robot for the embodiment.

[0018] Figure 2 Schematic internal structural diagram of the bionic grain bin detection robot for the embodiment.

[0019] Figure 3 Schematic structural diagram when the expansion mechanism of the bionic grain bin detection robot for the embodiment contracts.

[0020] Figure 4 Schematic structural diagram when the expansion mechanism of the bionic grain bin detection robot for the embodiment expands.

[0021] Figure 5 Schematic structural diagram of the support auxiliary mechanism of the bionic grain bin detection robot for the embodiment.

[0022] Figure 6 Schematic structural diagram of the first forward state of the bionic grain bin detection robot for the embodiment.

[0023] Figure 7 Schematic structural diagram of the second forward state of the bionic grain bin detection robot for the embodiment.

[0024] Figure 8 Schematic structural diagram of the third forward state of the bionic grain bin detection robot for the embodiment.

[0025] Figure 9 Schematic structural diagram of the fourth forward state of the bionic grain bin detection robot for the embodiment.

[0026] Figure 10 Schematic structural diagram of the telescopic movement mechanism and the support auxiliary mechanism when the bionic grain bin detection robot for the embodiment turns. DETAILED DESCRIPTION OF THE INVENTION

[0027] The present invention will be further described below in conjunction with embodiments. It should be understood that these embodiments are only used to illustrate the present invention and not to limit the scope of the present invention. After reading this description, various equivalent modifications of this description by those skilled in the art fall within the scope defined by the appended claims of this application.

[0028] Embodiment, please refer to Figures 1 to 5 As shown, the bionic grain bin detection robot of this embodiment includes a robot body and a detection component 1. The robot body is a bearing device for the detection component 1, and the robot body provides driving force for traveling in the grain pile. The detection component 1 is driven by the robot body to move to various positions of the grain pile to collect and detect the environmental parameters at multiple positions in the grain pile, so as to master a more comprehensive and accurate situation of the grain pile.

[0029] The robot body includes an expansion mechanism 2, a telescopic movement mechanism 3, and a support and auxiliary mechanism 4 that are connected in sequence. The expansion mechanism 2 is columnar and has an outer peripheral wall that can expand and contract in the radial direction of the column. Inside the grain pile, by expanding the outer peripheral wall outward, the grain particles are pushed, and when the outer peripheral wall contracts inward, the gap between the expansion mechanism 2 and the grain particles can be increased, facilitating the movement of the robot body.

[0030] Specifically, the expansion mechanism 2 includes an inner support 201, a driving motor 202, a driving disk 203, and an outer peripheral wall. The outer peripheral wall is composed of a number of rigid wall plates 204 and a flexible membrane 205. The rigid wall plates 204 and the flexible membrane 205 are arranged at intervals in the circumferential direction to form a cylinder, that is, the flexible membrane 205 is connected between the sides of two rigid wall plates 204, and the rigid wall plates 204 are equally distributed along the circumferential direction of the outer peripheral wall. A rigid moving member 206 is fixedly connected to the inner side of each rigid wall plate 204. The inner support 201 is columnar, and radial guide grooves are provided on the inner support 201. The rigid moving member 206 is slidably arranged in the radial guide grooves, so that the rigid moving member 206 can move radially along the inner support 201, thereby driving the rigid wall plate 204 to move radially.

[0031] A guide pin 206a is provided on the top side of the rigid moving member 206. The driving disk 203 is rotatably arranged at one end of the inner support 201. The outer periphery of the driving disk 203 is machined into a gear. The rotating shaft of the driving motor 202 is installed with a driving gear 207, and the driving gear 207 meshes with the driving disk 203 to realize the rotation of the driving disk 203. An arc-shaped guide groove 203a corresponding to the number of the rigid moving members 206 is formed on the driving disk 203. The two ends of the arc-shaped guide groove 203a have different distances from the rotation center of the driving disk 203. The guide pin 206a of the rigid moving member 206 is arranged in the arc-shaped guide groove 203a and cooperates with the arc-shaped guide groove 203a. When the driving disk 203 rotates, restricted by the arc-shaped guide groove 203a on the driving disk 203 and the radial guide groove on the inner support 201, the driving disk 203 pushes the guide pin 206a to move radially along the driving disk 203, so that the rigid moving member 206 moves radially. The radial movement of the rigid moving member 206 drives the rigid wall plate 204 to expand and contract. The presence of the flexible film 205 uses its own stretchability to keep the outer peripheral wall form a complete wall surface. The top of the outer peripheral wall is connected by a flexible top film 208, and the connection at the bottom of the outer peripheral wall is described in the following. In this way, a space isolated from the outside is formed inside the outer peripheral wall to prevent grain particles from entering during movement and causing jamming of the moving parts.

[0032] The detection component 1 may include a temperature sensor and a humidity sensor, or may include sensors for detecting other environmental parameters of the grain heap. The detection component 1 is installed on the outer side surface of the rigid wall plate 204.

[0033] The telescopic moving mechanism 3 is connected between the expansion mechanism 2 and the support and auxiliary mechanism 4. It includes at least three telescopic rods 301, an upper base 302 of the telescopic rod, and a telescopic sleeve 303. In this embodiment, the upper base 302 of the telescopic rod is fixedly installed on the inner support 201 of the expansion mechanism 2 and is located inside the outer peripheral wall. There are three telescopic rods 301. The top end of the telescopic rod 301 is fixedly connected to the upper base 302 of the telescopic rod, and the bottom end of the telescopic rod 301 is connected to the support and auxiliary mechanism 4. In the expansion mechanism 2, the inner support 201 is generally arranged at a position close to the top end of the outer peripheral wall (the end far from the support and auxiliary mechanism 4). Therefore, at least a part of the telescopic rod 301 is located inside the outer peripheral wall. At the same time, the top end of the telescopic sleeve 303 is connected to the bottom end of the outer peripheral wall of the expansion mechanism 2, and the other end of the telescopic sleeve 303 is connected to the support and auxiliary mechanism 4. Thus, the telescopic sleeve 303 and the outer peripheral wall of the expansion mechanism 2 jointly form a sealed space. The telescopic rod 301 is located in this sealed space and can also prevent grain particles from entering and affecting the expansion and contraction of the telescopic rod 301.

[0034] The support and auxiliary mechanism 4 is a multi-fingered claw mechanism. The multi-fingered claw mechanism includes a frame 401, a telescopic driving member 402, a transmission member 403, and a mechanical claw 404. The frame 401 has an annular structure for installing a plurality of mechanical claws 404. A lower base 405 is fixedly connected to the frame 401 for connecting the telescopic rod 301. The lower base 405 is not shown in Figure 5 . The bottom end of the telescopic sleeve 303 is also connected to the lower base 405. The telescopic rod 301 is hinged to the lower base 405 through a spherical hinge 304.

[0035] A plurality of mechanical claws 404 are circumferentially and equally distributed on the frame 401. The middle part of the mechanical claw 404 is hinged to the frame 401. A telescopic driving member 402 is arranged inside the frame 401. The telescopic driving member 402 can be a linear motor. The moving end of the linear motor is connected to a plurality of transmission members 403. The transmission member 403 is hinged to the moving end of the linear motor. The bottom end of the transmission member 403 is also hinged to the tail end of the mechanical claw 404. The moving direction of the linear motor is the axial direction of the frame 401. When the linear motor operates, the tail end of the mechanical claw 404 is pushed to move through the transmission member 403, so that the mechanical claw 404 rotates, realizing the actions of outward expansion or inward contraction. All the mechanical claws 404 act synchronously. When the mechanical claws 404 contract, they form a shape similar to a bullet head, which is convenient for moving inside the grain pile. The outer back surface of the mechanical claw 404 is provided with a serrated structure 404a. When the mechanical claw 404 expands, the tips of the teeth of the serrated structure 404a face the expansion mechanism 2. The serrated structure 404a increases the support firmness of the mechanical claw 404 when it expands outward in the grain pile.

[0036] Please combine with Figures 6 to 10 As shown, the movement process of the bionic grain bin inspection robot is as follows. Initially, the telescopic rod 301 of the telescopic moving mechanism 3 is in a contracted state. Most of the telescopic rod 301 is located inside the outer peripheral wall. The support and auxiliary mechanism 4 at one end in the axial direction of the expansion mechanism 2 is closest to the expansion mechanism 2. At this time, the overall length of the bionic grain bin inspection robot in the axial direction of the expansion mechanism 2 is the shortest, and the shorter length makes its steering flexibility higher. The mechanical claws 404 of the support and auxiliary mechanism 4 are in a contracted state.

[0037] When moving straight forward, as Figure 7 shown, all the telescopic rods 301 of the telescopic moving mechanism 3 extend synchronously. One end of the contracted support and auxiliary mechanism 4 is easier to drill into the grain pile. Therefore, the support and auxiliary mechanism 4 moves downward (taking the direction shown in the figure as an example) away from the expansion mechanism 2. Subsequently, the contracted support and auxiliary mechanism 4 expands outward, so that each mechanical claw 404 rotates and opens, as Figure 8 shown. And the driving motor 202 works to make the driving disk 203 rotate. The rigid moving member 206 moves radially to make the rigid wall plate 204 expand uniformly outward, pushing the surrounding of the grain particles outward to form a movable space.

[0038] As Figure 9 shown, after the rigid wall panel 204 expands outwardly, under the reverse action of the drive motor 202, the rigid wall panel 204 contracts inwardly, and the telescopic rod 301 of the telescopic movement mechanism 3 also retracts. Since a gap is formed between the retracted expansion mechanism 2 and the grain particles, and the extended support and auxiliary mechanism 4 generates a large movement resistance in the grain pile, at this time, the synchronous retraction of the telescopic rod 301 is more likely to drive the expansion mechanism 2 to move downward (taking the illustrated direction as an example), rather than causing the support and auxiliary mechanism 4 to move upward. Thus, the forward movement (downward movement) of the entire bionic grain bin inspection robot is achieved. By controlling the length of the telescopic rod 301, the forward movement distance of the bionic grain bin inspection robot can be controlled.

[0039] When the bionic grain bin inspection robot needs to turn, as Figure 10 shown, when the telescopic rod 301 extends, the multiple telescopic rods 301 do not extend synchronously and with the same amplitude. By using the different extension amplitudes of the telescopic rod 301, the axial direction of the lower base 405 connected to the telescopic rod 301 through the ball hinge 304 can be controlled, and thus the axial direction of the support and auxiliary mechanism 4 can be deviated from the axial direction of the expansion mechanism 2. Generally, the deviation angle for one movement should not be too large and can be controlled at about 5°. When the telescopic rod 301 retracts, all the telescopic rods 301 are simultaneously retracted to the initial state, so that a certain axial offset can be generated during the movement of the expansion mechanism 2. After repeated operations for many times, a large-scale turn of the bionic grain bin inspection robot can be achieved.

Claims

1. A bionic granary inspection robot, characterized in that: It includes a robot body and a detection component, wherein the detection component is connected to the robot body and moves with the robot body, and the robot body includes an expansion mechanism, a telescopic movement mechanism and a support auxiliary mechanism; The expansion mechanism is columnar and has an outer peripheral wall that can expand and contract in the radial direction of the column; The supporting auxiliary mechanism is connected to one axial end of the expansion mechanism through the telescopic movement mechanism, and the supporting auxiliary mechanism is a multi-finger clamping mechanism; The telescopic moving mechanism includes at least three telescopic rods, one end of which is connected to the expansion mechanism, and the other end of which is hinged to the support auxiliary mechanism. When the telescopic rods are extended or retracted, the distance between the support auxiliary mechanism and the expansion mechanism and the direction of the support auxiliary mechanism are controlled.

2. The bionic granary inspection robot according to claim 1 is characterized in that: The expansion mechanism includes an inner support, the outer peripheral wall is sleeved outside the inner support, the outer peripheral wall includes a plurality of circumferentially spaced rigid wall panels, the rigid wall panels are connected by flexible membranes, a plurality of rigid moving parts are arranged on the inner support, and the rigid moving parts are fixedly connected to the rigid wall panels.

3. The bionic granary inspection robot according to claim 2 is characterized in that: The rigid wall panels are equally distributed along the circumference of the outer peripheral wall.

4. The bionic granary inspection robot according to claim 1, characterized in that: The expansion mechanism includes a driving motor and a driving disk, the driving motor drives the driving disk to rotate, the rigid moving part is provided with a guide pin, the driving disk is provided with an arc guide groove, the guide pin is guided by the arc guide groove, and the driving disk drives the guide pin to move radially when rotating.

5. The bionic granary inspection robot according to claim 1, characterized in that: The telescopic movement mechanism includes a telescopic sleeve, one end of which is connected to the expansion mechanism, and the other end of which is connected to the supporting auxiliary mechanism. The telescopic sleeve and the expansion mechanism form a closed space, and the telescopic rod is arranged in the closed space.

6. The bionic granary inspection robot according to claim 1, characterized in that: A telescopic rod upper base is arranged in the expansion mechanism, one end of the telescopic rod is connected to the telescopic rod upper base, and at least a part of the telescopic rod is arranged in the expansion mechanism.

7. The bionic granary inspection robot according to claim 1, characterized in that: The multi-finger gripper mechanism includes a frame, a telescopic drive member, a transmission member and a mechanical claw. A plurality of the mechanical claws are arranged circumferentially of the frame. The middle portion of the mechanical claw is hinged to the frame. The telescopic drive member is connected to the tail end of the mechanical claw through a transmission member. When the telescopic drive member is telescoped, it drives the mechanical claw to rotate outward or inward.

8. The bionic granary inspection robot according to claim 7, characterized in that: The outer back surface of the mechanical claw is set as a sawtooth structure. When the mechanical claw is extended outward, the tooth tip of the sawtooth structure is arranged toward the expansion mechanism.

9. The bionic granary inspection robot according to claim 1, characterized in that: The detection component is arranged on the outer side surface of the outer peripheral wall.

10. The bionic granary inspection robot according to claim 1, characterized in that: The detection component includes a temperature sensor and a humidity sensor.

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