Grain depot inspection robot and control system thereof

Abstract

The invention discloses a grain depot inspection robot and a control system thereof, and relates to the field of robots. The grain depot inspection robot and the control system thereof comprise a robot body, and multifunctional mechanical arms are installed on the two sides of the robot body. According to the grain depot inspection robot and the control system thereof, the multifunctional mechanical arms on the two sides are controlled by the control system to conduct form change, so that the whole power arm can have multiple use forms when walking, climbing, downhill and being buried and released, and therefore the whole robot body freely advances and retreats in a grain pile; meanwhile, the power arm serves as a storage part of the sampling unit, the size of the whole robot body is reduced, the power arm serves as a power part stretching into a grain pile during sampling, deep sampling is achieved, meanwhile, a tunneling unit of the sampler does not need to be further designed, the cost is lower, and the effective inspection mileage is longer.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and in particular to a robot for grain depot inspection and a control system thereof. Background Art

[0002] A grain warehouse inspection robot is a robot that walks inside a grain warehouse. Traditional grain warehouse inspection robots are equipped with special walking units to prevent the robot from getting stuck in grain when walking in the grain warehouse. At the same time, detection sensors are installed on the robot to detect environmental indicators such as temperature, humidity, and harmful gases inside the grain warehouse.

[0003] However, in a grain warehouse, since the grain on the surface is less affected by the accumulation effect, simple air detection on the surface is inaccurate, so regular sampling and inspection of the grain is required; however, in order to achieve the sampling function, the robot needs to be designed with a sampler. In order to obtain deeper grain samples, the sampler needs to be designed with an additional probe mechanism, which drives the sampling piece into the deep of the grain for sampling. This makes the entire robot more expensive and the robot load increases, which shortens the overall effective inspection mileage of the robot. For this purpose, a grain warehouse inspection robot and its control system are specially provided. Summary of the Invention

[0004] In response to the shortcomings of the existing technology, the present invention provides a grain warehouse inspection robot and its control system, which solves the problem that the existing grain warehouse inspection robot only uses detection instruments to detect the air environment in the grain warehouse, the structure is not accurate enough, and the additional grain sampling unit will greatly increase the overall cost and shorten the effective mileage.

[0005] To achieve the above objectives, the present invention is implemented through the following technical solutions: a grain depot inspection robot, comprising a robot body, multifunctional mechanical arms mounted on both sides of the robot body, the multifunctional mechanical arms comprising cantilevers and power arms rotatably mounted on the cantilevers, the cantilevers rotatably mounted on the robot body so that two sets of the power arms and the robot body form arbitrary angles, the outer surfaces of the power arms being integrally formed with continuous threaded blades so that when the power arms rotate parallel to the robot body, the threaded blades push the robot body to move;

[0006] A tunneling shell is installed at the front end of the power arm, and the diameter of the tunneling shell gradually decreases at the end away from the power arm. A sampling unit is movably connected to the tunneling shell, and the sampling unit includes a sampling seat and a sample storage cylinder installed in a circular array inside the sampling seat. A sampling tube is provided in the middle of multiple sample storage cylinders, and the threaded blade extends to the surface of the tunneling shell, so that when the power arm rotates perpendicular to the robot body, it rotates into the grain pile through the threaded blade, and then samples are taken through the sampling tube and stored in the sample storage cylinder.

[0007] Preferably, the robot body includes a main shell, a battery is installed inside the end of the main shell, a transparent acrylic shell is installed at the front end of the main shell, a servo torsion motor and a visual probe are installed inside the main shell, the output end of the servo torsion motor is transmission-connected to the cantilever end, the transparent acrylic shell cover is arranged on the outer surface of the visual probe, and the middle part of the transparent acrylic shell protrudes upward to form an observation station for the visual probe to perform rotational observation.

[0008] Preferably, a base is fixedly provided at the outer end of the cantilever, a steering motor is fixedly installed in the base, a torsion seat is connected to the bottom bearing of the base, the output end of the steering motor is fixedly installed on the torsion seat, and the power arm is rotatably provided in the torsion seat.

[0009] Preferably, a fixed tube is fixedly installed in the torsion seat, a drive shaft is rotatably arranged in the fixed tube, the power arm bearing is connected to one end of the fixed tube, and one end of the drive shaft extends into the power arm, a coupling is installed between the drive shaft and the power arm, a variable frequency motor is fixedly installed on the outer end of the fixed tube, the other end of the drive shaft is fixedly connected to the output end of the variable frequency motor, and a wind breaker is fixedly installed on the outside of the variable frequency motor.

[0010] Preferably, the diameter of one end of the power arm away from the fixed tube expands outward to form an assembly portion, the tunneling shell is mounted on the assembly portion by screws, and a storage chamber for storing the sampling seat is formed between the two, and the sampling tube extends outward from the storage chamber and passes through the tunneling shell.

[0011] Preferably, the tunneling shell includes an assembly tube and a conical tunneling section integrally formed with the end of the assembly tube, and the outer surface of the conical tunneling section is integrally formed with dense tunneling threads, and the dense tunneling threads are connected to the threaded blades.

[0012] Preferably, a positioning groove is provided on the outer wall of the sampling seat, and a positioning ridge is integrally formed inside the assembly tube, and the positioning ridge is movably inserted in the positioning groove. A battery seat is fixedly provided on one section of the sampling seat, and a battery pack is fixedly embedded inside the battery seat. An electric telescopic rod is fixedly installed on the end of the battery seat, and the electric telescopic rod is movably inserted in the power arm. The output end of the electric telescopic rod movably passes through the sampling seat, and a rotating motor is fixedly provided in the output end of the electric telescopic rod. The sampling tube bearing is connected to the end of the electric telescopic rod, and the output end of the rotating motor is fixedly connected to the sampling tube.

[0013] Preferably, a section of the sampling seat away from the electric telescopic rod is installed with an annular cover for fixing the sample storage cylinder by screws, a feed port facing the sample storage cylinder is provided inside the sampling seat, a sampling groove is provided on the outer wall of the sampling tube, and the sampling groove is driven to rotate by a rotating motor to face any feed port, a wiring groove is provided on the outer wall of the output end of the electric telescopic rod, and a wire connecting the battery pack and the rotating motor is provided in the wiring groove.

[0014] Preferably, a plurality of detection sensors are installed at the top end of the main shell, a walking support roller is installed at the bottom end of the main shell, a gyroscope is installed at the top of the main shell, a frame is fixedly provided inside the main shell, two groups of servo torsion motors are fixedly provided at both ends of the frame, a support seat is fixedly provided on the outer wall of the frame, the visual probe is rotatably provided in the support seat, and an adjustment motor for driving the visual probe to rotate is fixedly provided on one side of the support seat.

[0015] Preferably, the control system for the grain depot inspection robot includes:

[0016] Control module, which is an intelligent mainboard used to control and connect with all sensor elements and electrical components on the robot body;

[0017] A detection module, configured to analyze and process detection data from the plurality of detection sensors;

[0018] A visual module, which is used to control the gyroscope and the visual probe to achieve visual control of the robot body;

[0019] The communication module is a wireless communication module provided on the intelligent mainboard, and is used for remote communication connection between the robot body and the external remote control.

[0020] The beneficial effects are as follows:

[0021] 1. The grain depot inspection robot and its control system are configured with multifunctional robotic arms on both sides of the robot body. During the walking process of the robot body, the servo torsion motor drives the cantilever to rotate, thereby changing the vertical inclination angle of the power arm; the steering motor drives the power arm to rotate, changing the horizontal angle of the power arm, thereby enabling the robot body to turn. The entire power arm can cope with various usage modes when walking, climbing, descending, and escaping from being buried, so that the entire robot body can move forward and backward freely in the grain pile and can calmly deal with various emergencies that may occur when walking in the grain pile.

[0022] 2. The grain depot inspection robot and its control system are configured by installing a tunneling shell at the end of a power arm and arranging a sampling unit in the tunneling shell. When sampling, a set of power arms are flipped and screwed into the grain pile, and then samples are taken through a sampling tube. Multiple sample storage cylinders are provided for sample storage, so that the power arm serves as a storage component of the sampling unit, reducing the size of the entire robot body. When sampling, the power arm is used as the power part to penetrate into the grain pile, thereby achieving deep sampling. At the same time, there is no need to further design the tunneling unit of the sampler, which is lower in cost. In addition, more space is left on the robot body to assemble batteries, which increases the overall effective inspection mileage. 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the overall top structure of the present invention;

[0025] Figure 2 This is a schematic diagram of the overall bottom structure of the present invention;

[0026] Figure 3 This is a schematic diagram of the multifunctional robotic arm of the present invention being used for grain sampling;

[0027] Figure 4 This is a schematic diagram of the multifunctional robotic arm of the present invention being used for escaping from distress;

[0028] Figure 5 This is an exploded view of the internal structure of the robot body of the present invention;

[0029] Figure 6 This is a schematic diagram of the outer surface structure of the multifunctional robotic arm of the present invention;

[0030] Figure 7This is a cross-sectional view of the internal structure of the multifunctional robotic arm of the present invention;

[0031] Figure 8 This is a cross-sectional view of the internal structure of the power arm of the present invention;

[0032] Figure 9 This is a schematic diagram of the internal structure of the tunneling shell of the present invention;

[0033] Figure 10 This is an exploded view of the overall structure of the sampling unit of the present invention;

[0034] Figure 11 This is a cross-sectional view of the internal structure of the sampling tube of the present invention;

[0035] Figure 12 Schematic diagram of the functional architecture of the control system of the present invention.

[0036] In the figure: 1. Robot body; 11. Main shell; 12. Battery; 13. Gyroscope; 14. Transparent acrylic shell; 15. Observation station; 16. Detection sensor; 17. Travel support roller; 18. Frame; 19. Servo torque motor; 110. Support base; 111. Visible probe; 112. Adjustment motor; 2. Multifunctional robotic arm; 21. Cantilever; 22. Power arm; 23. Excavation shell; 231. Assembly pipe; 232. Conical excavation section; 233. Dense excavation thread; 234. Positioning rib; 24. Fixed tube; 25. Frequency conversion motor; 26. Sampling unit; 261. Battery holder; 262. Electric telescopic rod; 263. Battery pack; 264. Wiring trough; 265. Rotating motor; 266. Sampling tube; 267. Sampling slot; 268. Sampling holder; 269. Sample storage cylinder; 2610. Feed port; 2611. Ring cover; 2612. Positioning slot; 27. Wind breaker; 28. Base; 29. ​​Steering motor; 210. Torsion seat; 211. Drive shaft; 212. Coupling; 213. Threaded blade; 214. Assembly part. DETAILED DESCRIPTION

[0037] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0038] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0039] The embodiment of the present invention discloses a robot for grain depot inspection and a control system thereof. Figure 1-11 As shown, it includes a robot body 1, with multifunctional robotic arms 2 installed on both sides of the robot body 1. The multifunctional robotic arms 2 include cantilevers 21 and power arms 22 rotatably arranged on the cantilevers 21. The cantilevers 21 are rotatably arranged on the robot body 1 so that the two sets of power arms 22 and the robot body 1 form any angle. The outer surface of the power arm 22 is integrally formed with a continuous threaded blade 213, so that when the power arm 22 rotates parallel to the robot body 1, the threaded blade 213 pushes the robot body 1 to move;

[0040] A tunneling shell 23 is installed at the front end of the power arm 22. The diameter of the tunneling shell 23 gradually decreases at the end away from the power arm 22. A sampling unit 26 is movably connected to the tunneling shell 23. The sampling unit 26 includes a sampling seat 268 and a sample storage cylinder 269 installed in a circular array inside the sampling seat 268. A sampling tube 266 is provided in the middle of the multiple sample storage cylinders 269. The threaded blades 213 extend to the surface of the tunneling shell 23, so that when the power arm 22 rotates perpendicular to the robot body 1, it rotates into the grain pile through the threaded blades 213, and then samples are taken through the sampling tube 266 and stored in the sample storage cylinder 269.

[0041] The robot body 1 includes a main shell 11, a battery 12 is installed inside the end of the main shell 11, a transparent acrylic shell 14 is installed at the front end of the main shell 11, and the bottom of the transparent acrylic shell 14 is set as an upwardly inclined arc surface, so that the robot body 1 has an anti-sinking effect. A servo torsion motor 19 and a visual probe 111 are installed inside the main shell 11, and the output end of the servo torsion motor 19 is transmission-connected to the end of the cantilever 21. The transparent acrylic shell 14 covers the outer surface of the visual probe 111, and the middle part of the transparent acrylic shell 14 protrudes upward to form an observation station 15 for the visual probe 111 to perform rotational observation.

[0042] A base 28 is fixedly provided at the outer end of the cantilever 21, a steering motor 29 is fixedly installed in the base 28, a torsion seat 210 is connected to the bottom bearing of the base 28, the output end of the steering motor 29 is fixedly installed with the torsion seat 210, and the power arm 22 is rotatably set in the torsion seat 210.

[0043] A fixed tube 24 is fixedly installed in the torsion seat 210, and a drive shaft 211 is rotatably set in the fixed tube 24. The bearing of the power arm 22 is connected to one end of the fixed tube 24, and one end of the drive shaft 211 extends into the power arm 22. A coupling 212 is installed between the drive shaft 211 and the power arm 22. A variable frequency motor 25 is fixedly installed on the outer end of the fixed tube 24, and the other end of the drive shaft 211 is fixedly connected to the output end of the variable frequency motor 25. A wind breaking cover 27 is fixedly installed on the outside of the variable frequency motor 25. When the power arm 22 is driven forward, the wind breaking cover 27 uses its conical smooth surface to reduce the travel resistance, and provides additional anchoring when the power arm 22 supports the robot body 1 to go down a steep slope, thereby preventing the robot body 1 from slipping.

[0044] The diameter of one end of the power arm 22 away from the fixed tube 24 expands outward to form an assembly portion 214. The excavation shell 23 is installed on the assembly portion 214 by screws, and a storage chamber for storing the sampling seat 268 is formed between the two. The sampling tube 266 extends outward from the storage chamber and passes through the excavation shell 23.

[0045] The tunneling shell 23 includes an assembly tube 231 and a conical tunneling section 232 integrally formed with the end of the assembly tube 231. The outer surface of the conical tunneling section 232 is integrally formed with dense tunneling threads 233. The dense tunneling threads 233 are connected to the threaded blades 213. When the dense tunneling threads 233 tunnel into the grain pile, they can be screwed into the grain pile more quickly due to their overall conical shape.

[0046] A positioning groove 2612 is provided on the outer wall of the sampling seat 268, and a positioning ridge 234 is integrally formed inside the assembly tube 231. The positioning ridge 234 is movably inserted into the positioning groove 2612. A battery seat 261 is fixedly provided on one section of the sampling seat 268. A battery pack 263 is fixedly embedded inside the battery seat 261. An electric telescopic rod 262 is fixedly installed at the end of the battery seat 261. The electric telescopic rod 262 is movably inserted into the power arm 22. The output end of the electric telescopic rod 262 movably passes through the sampling seat 268, and a rotating motor 265 is fixedly provided in the output end of the electric telescopic rod 262. The sampling tube 266 is connected to the end of the electric telescopic rod 262 by a bearing, and the output end of the rotating motor 265 is fixedly connected to the sampling tube 266.

[0047] A section of the sampling seat 268 away from the electric telescopic rod 262 is fixed with an annular cover 2611 for fixing the sample storage cylinder 269 by screws. A feed port 2610 facing the sample storage cylinder 269 is provided inside the sampling seat 268. A sampling groove 267 is provided on the outer wall of the sampling tube 266. The sampling groove 267 is driven to rotate by the rotating motor 265 to face any feed port 2610. A wiring groove 264 is provided on the outer wall of the output end of the electric telescopic rod 262. A wire connecting the battery pack 263 and the rotating motor 265 is provided in the wiring groove 264. When the output end of the electric telescopic rod 262 is extended or retracted, the wiring groove 264 always remains misaligned with the multiple feed ports 2610 to prevent food from falling into the wiring groove 264.

[0048] A plurality of detection sensors 16 are installed at the top end of the main shell 11. The plurality of detection sensors 16 are selected according to the different types of grain inside the granary to be detected, and are respectively used for detecting the humidity, temperature, oxygen concentration and other harmful gas concentrations in the air inside the granary. A walking support roller 17 is installed at the bottom end of the main shell 11, and a gyroscope 13 is installed on the top of the main shell 11. A frame 18 is fixedly provided inside the main shell 11, and two sets of servo torsion motors 19 are fixedly provided at both ends of the frame 18. A support seat 110 is fixedly installed on the outer wall of the frame 18. The visual probe 111 is rotatably provided in the support seat 110, and an adjustment motor 112 for driving the visual probe 111 to rotate is fixedly installed on one side of the support seat 110.

[0049] Working principle: When the device is in use, it is placed on the grain pile in the grain warehouse, and then the device is connected to the external remote control through the wireless communication module inside it, and the real-time image is transmitted through the visual screen and the visual probe 111. By starting the frequency conversion motor 25, it drives the drive shaft 211 to rotate clockwise, and the drive shaft 211 drives the power arm 22 to rotate through the coupling 212. The threaded blades 213 on the outside of the power arm 22 rotate on the surface of the grain pile, thereby driving the entire robot body 1 to move on the grain pile through the spiral thrust. The curved surface at the bottom of the transparent acrylic shell 14 makes the robot body 1 have an anti-sinking effect, and in the process of moving, the cantilever 21 is driven to rotate by the servo torsion motor 19, thereby changing the vertical inclination angle of the power arm 22; the power arm 22 is driven to rotate by the steering motor 29, changing the horizontal angle of the power arm 22, so that the robot body 1 is turned, and has multiple motion modes to cope with different scenes;

[0050] When climbing a slope, for a higher slope, the servo torsion motor 19 drives the cantilever 21 to rotate, thereby adjusting the inclination angle of the power arm 22 and controlling the front end of the power arm 22 to tilt upward, so that the power arm 22 has an upward thrust when driven, thereby avoiding sinking when climbing;

[0051] When going down a small slope, when the slope is less than 30°, the front of the power arm 22 tilts downward, so that the front end of the robot body 1 fits into the slope of the grain pile, thereby preventing it from tipping over when going downhill;

[0052] When going down a steep slope, when the slope is greater than 30 degrees, the servo torsion motor 19 drives the cantilever 21 to rotate, causing the power arm 22 to flip to a state where the excavation shell 23 faces forward. At this time, the power arm 22 supports the robot body 1, so that the robot body 1 remains as horizontal as possible, and the power arm 22 is parallel to the slope. At this time, the frequency conversion motor 25 is reversed, and the power arm 22 supports the robot body 1 to slowly move downward. In the process of moving downward, the threaded blades 213 form a large friction resistance with the surface of the grain pile. At the same time, the windbreaker 27 acts in the opposite direction on the surface of the grain pile, playing an effective anchoring role, increasing resistance, and effectively preventing sliding;

[0053] When escaping from a difficult situation, when the robot body 1 is buried due to the collapse of the slope on the surface of the grain pile, the gyroscope 13 is used to determine whether the robot body 1 is currently facing upward or downward, and then the power arm 22 is determined to be facing upward or downward. If the power arm 22 is facing upward, the variable frequency motor 25 is controlled to rotate clockwise; if the power arm 22 is facing downward, the variable frequency motor 25 is controlled to rotate counterclockwise, so that the power arm 22 moves upward in the grain pile, thereby driving the robot body 1 to move upward and escape from the difficult situation.

[0054] This allows the entire robot body 1 to move forward and backward freely in the grain pile, and can calmly deal with various emergencies that may occur while walking in the grain pile;

[0055] During use, the device detects the temperature, humidity, oxygen concentration, carbon dioxide concentration, and other harmful gas concentrations inside the granary through multiple detection sensors 16 on the main housing 11. According to the characteristics of the products inside the granary, the corresponding sensor is selected to achieve effective detection of the internal air environment, helping warehouse managers to judge the current internal state of the granary;

[0056] During sampling, a set of servo torsion motors 19 drive a set of power arms 22 to flip forward, so that the excavation shell 23 at the front end of the power arm 22 has a downward trend. At this time, the other set of power arms 22 rotate clockwise to push the robot body 1 forward, and the flipped power arm 22 rotates counterclockwise. At the same time, the servo torsion motor 19 continues to slowly drive the power arm 22 to twist downward, and finally the power arm 22 is screwed downward into the grain pile. At this time, the whole Figure 3As shown, at this time, the electric telescopic rod 262 is started to push the sampling tube 266 downward, so that the sampling slot 267 is exposed in the grain pile. At this time, under the action of gravity and the internal pressure of the grain pile, the grain at the target position enters the sampling slot 267, and then the rotating motor 265 drives the sampling tube 266 to rotate, so that the sampling slot 267 is facing a group of feed ports 2610. At this time, the electric telescopic rod 262 contracts, driving the sampling tube 266 to move upward. At this time, under the action of the internal pressure of the grain pile, the grain remains in the sampling slot 267 and cannot escape, and finally the grain in the sampling slot 267 enters the sampling seat 268. At this time, the grain slides downward along the bottom end of the sampling slot 267 under the action of gravity, and enters the sample storage cylinder 269 through the feed port 2610. In this process In the embodiment, other feed ports 2610 are blocked by the outer wall of the sampling tube 266. When sampling, the outer wall of the output end of the electric telescopic rod 262 blocks all feed ports 2610, so that one sample storage cylinder 269 is filled each time during the sampling process, and then the rotary motor 265 is used to rotate and replace the next group of sample storage cylinders 269 for filling, so as to realize multi-point sampling and storage, and the power arm 22 is used as the storage component of the sampling unit 26 to reduce the size of the entire robot body 1, and the power arm 22 is used as the power part to probe into the grain pile during sampling, so as to realize deep sampling, and at the same time, there is no need to further design the excavation component of the sampler, the cost is lower, and there is more space on the robot body 1 to assemble the battery, so that the overall effective inspection mileage is increased.

[0057] After use, the excavation shell 23 is removed, the sampling unit 26 is pulled out along the positioning protrusion 234, and the annular cover 2611 is removed, and the multiple sample storage cylinders 269 can be pulled out one by one for sample transfer.

[0058] Example 2, refer to the attached Figure 1-12 This embodiment provides a control system for a grain depot inspection robot, including:

[0059] Control module: The control module is an intelligent mainboard used to control and connect with all sensor elements and electrical components on the robot body 1;

[0060] A detection module, which is used to analyze and process detection data from multiple detection sensors 16;

[0061] The visual module is used to control the gyroscope 13 and the visual probe 111 to achieve visual control of the robot body 1;

[0062] Communication module: The communication module is a wireless communication module provided on the intelligent mainboard. The communication module is used for remote communication connection between the robot body 1 and the external remote control.

[0063] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting; it is not intended to exclude myriad other embodiments of the present application that other inventors can develop based on the description herein. A person of ordinary skill in the art will recognize that elements from the various embodiments can be combined to form additional embodiments. It is intended that the specification and examples be considered as exemplary only, with the true scope of the application being indicated by the following claims.

[0064] The foregoing is considered as illustrative only of the principles of the application. Further, since numerous modifications and changes will readily occur to those skilled in the art, it is not desired to limit the application to the exact construction and practice described. Accordingly, all such variations are intended to be included within the scope of the present application as defined in the following claims, along with the full scope of equivalents to which such claims are entitled.

Claims

1. A robot for grain depot inspection, comprising a robot body (1), characterized in that: Multifunctional mechanical arms (2) are installed on both sides of the robot body (1), and the multifunctional mechanical arms (2) include a cantilever (21) and a power arm (22) rotatably arranged on the cantilever (21), and the cantilever (21) is rotatably arranged on the robot body (1) so that the two groups of the power arms (22) and the robot body (1) form an arbitrary angle, and the outer surface of the power arm (22) is integrally formed with a continuous threaded blade (213), so that when the power arm (22) rotates parallel to the robot body (1), the threaded blade (213) pushes the robot body (1) to move; A tunneling shell (23) is installed at the front end of the power arm (22), and the diameter of the tunneling shell (23) at one end away from the power arm (22) gradually decreases. A sampling unit (26) is movably connected to the tunneling shell (23), and the sampling unit (26) includes a sampling seat (268) and a sample storage cylinder (269) installed in a ring array inside the sampling seat (268). A sampling tube (266) is provided in the middle of the plurality of sample storage cylinders (269). The threaded blade (213) extends to the surface of the tunneling shell (23), so that when the power arm (22) rotates perpendicular to the robot body (1), it rotates into the grain pile through the threaded blade (213), and then samples are taken through the sampling tube (266) and stored in the sample storage cylinder (269).

2. The grain depot inspection robot according to claim 1, characterized in that: The robot body (1) comprises a main shell (11), a battery (12) is installed inside the end of the main shell (11), a transparent acrylic shell (14) is installed at the front end of the main shell (11), a servo torsion motor (19) and a visual probe (111) are installed inside the main shell (11), the output end of the servo torsion motor (19) is transmission-connected to the end of the cantilever (21), the transparent acrylic shell (14) is covered on the outer surface of the visual probe (111), and the middle part of the transparent acrylic shell (14) is raised upward to form an observation station (15) for the visual probe (111) to perform rotation observation.

3. The grain depot inspection robot according to claim 2, characterized in that: The outer end of the cantilever (21) is fixedly provided with a base (28), a steering motor (29) is fixedly installed in the base (28), a bottom bearing of the base (28) is connected to a torsion seat (210), an output end of the steering motor (29) is fixedly installed with the torsion seat (210), and the power arm (22) is rotatably provided in the torsion seat (210).

4. The grain depot inspection robot according to claim 3, characterized in that: A fixed tube (24) is fixedly installed in the twist seat (210), a drive shaft (211) is rotatably arranged in the fixed tube (24), the power arm (22) is connected to one end of the fixed tube (24) by a bearing, and one end of the drive shaft (211) extends into the power arm (22), a coupling (212) is installed between the drive shaft (211) and the power arm (22), a variable frequency motor (25) is fixedly installed at the outer end of the fixed tube (24), the other end of the drive shaft (211) is fixedly connected to the output end of the variable frequency motor (25), and a windbreaker (27) is fixedly installed on the outside of the variable frequency motor (25).

5. The grain depot inspection robot according to claim 4, characterized in that: The diameter of one end of the power arm (22) away from the fixed tube (24) is expanded outward to form an assembly portion (214). The excavation shell (23) is mounted on the assembly portion (214) by screws, and a storage chamber for storing the sampling seat (268) is formed between the two. The sampling tube (266) extends outward from the storage chamber and passes through the excavation shell (23).

6. The grain depot inspection robot according to claim 5, characterized in that: The excavation shell (23) comprises an assembly tube (231) and a tapered excavation section (232) integrally formed with the end of the assembly tube (231); the outer surface of the tapered excavation section (232) is integrally formed with dense excavation threads (233); and the dense excavation threads (233) are connected to the threaded blades (213).

7. The grain depot inspection robot according to claim 6, characterized in that: The outer wall of the sampling seat (268) is provided with a positioning groove (2612), and the interior of the assembly tube (231) is integrally formed with a positioning ridge (234), and the positioning ridge (234) is movably inserted into the positioning groove (2612). A section of the sampling seat (268) is fixedly provided with a battery seat (261), and a battery pack (263) is fixedly embedded in the interior of the battery seat (261). An electric telescopic rod (262) is fixedly installed at the end of the battery seat (261), and the electric telescopic rod (262) is movably inserted into the power arm (22). The output end of the electric telescopic rod (262) movably passes through the sampling seat (268), and a rotating motor (265) is fixedly provided at the output end of the electric telescopic rod (262). The sampling tube (266) is connected to the end of the electric telescopic rod (262) by a bearing, and the output end of the rotating motor (265) is fixedly connected to the sampling tube (266).

8. The grain depot inspection robot according to claim 7, characterized in that: A section of the sampling seat (268) away from the electric telescopic rod (262) is provided with an annular cover (2611) for fixing the sample storage cylinder (269) by screws. A feed port (2610) facing the sample storage cylinder (269) is provided inside the sampling seat (268). A sampling groove (267) is provided on the outer wall of the sampling tube (266). The sampling groove (267) is driven to rotate by a rotating motor (265) so as to face any feed port (2610). A wiring groove (264) is provided on the outer wall of the output end of the electric telescopic rod (262). A wire connecting the battery pack (263) and the rotating motor (265) is provided in the wiring groove (264).

9. The grain depot inspection robot according to claim 2, characterized in that: A plurality of detection sensors (16) are installed at the top end of the main shell (11), a walking support roller (17) is installed at the bottom end of the main shell (11), a gyroscope (13) is installed at the top end of the main shell (11), a frame (18) is fixedly arranged inside the main shell (11), two groups of servo torsion motors (19) are fixedly arranged at both ends of the frame (18), a support seat (110) is fixedly installed on the outer wall of the frame (18), the visual probe (111) is rotatably arranged in the support seat (110), and an adjustment motor (112) for driving the visual probe (111) to rotate is fixedly installed on one side of the support seat (110).

10. A control system for a grain depot inspection robot, used to control the grain depot inspection robot according to any one of claims 1 to 9, characterized in that: include: A control module, which is an intelligent mainboard and is used to establish control connections with all sensor elements and electrical elements on the robot body (1); A detection module, the detection module is used to analyze and process detection data of the plurality of detection sensors (16); A visual module, the visual module is used to control the gyroscope (13) and the visual probe (111) to achieve visual control of the robot body (1); The communication module is a wireless communication module provided on the intelligent mainboard, and is used for remote communication connection between the robot body (1) and an external remote control.

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