Gas-driven large-scale platform for granary and control method of gas-driven large-scale platform

Abstract

The invention discloses a gas-driven large-scale platform for a granary. The gas-driven large-scale platform comprises a platform frame body, the two sets of spiral wheels are symmetrically and rotatably arranged on the two sides of the platform frame body. The Mecanum wheel set is arranged at the bottom of the platform frame body in a liftable mode. The scraping plate is rotatably arranged at the tail part of the platform frame body; the grain leveling angle is arranged at the center of the front part of the platform frame body and is conical; the shell comprises an integrally-arranged main body part and an extending part forwards along the sagittal plane central axis of the main body part, the main body part and the extending part are in a protruding shape at the sagittal plane central axis, and the main body part and the extending part are gradually inclined and inwards bent towards the two sides along the sagittal plane central axis till the main body part and the extending part are perpendicular to the horizontal plane. The main body part inclines backwards along the convex shape and the extension part inclines forwards along the convex shape and expands outwards, the width of the main body part is smoothly reduced from the tail part to the extension part until the rear width of the extension part is not changed, and the shell is arranged at the top of the platform frame body at intervals. The method has the characteristic of improving the monitoring comprehensiveness of the interior of the granary.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of grain storage equipment, and more particularly, to a gas-driven large platform for grain storage and a control method thereof. BACKGROUND

[0002] With the continuous growth of demand for grain and the scale of reserves, the management of grain storage becomes increasingly important. However, in the interior of the grain storage, local concave or accumulation may occur, which may cause uneven grain pile height, temperature gradient difference, and thus the problem of local accumulation of humid hot air to form condensation. Moreover, with the passage of time, the quality of grain storage is changing all the time, and without reliable monitoring means, the quality of grain storage cannot be guaranteed.

[0003] At present, with the development of automation technology and robot technology, more and more automated equipment is applied to the management of grain storage, such as the development of intelligent grain leveling robots. However, the existing intelligent grain leveling robots mainly use electric motors as the main drive. In actual grain leveling operation, once the platform encounters grain or encounters a large resistance, the current will rise sharply, resulting in the burning of the motor or the overheating of the circuit affecting the service life, and the overheating will react on the electrical components to affect the service life of the electrical components.

[0004] As for the monitoring means, the existing grain storage monitoring equipment mainly uses fixed sensors or cameras. In order to ensure the monitoring range, they are usually placed high, and cannot realize real-time monitoring of different positions in the entire grain storage. SUMMARY

[0005] The purpose of the present application is to design and develop a gas-driven large platform for grain storage. Through two driving modes, it can switch between driving in a grain storage environment and driving on flat ground. Combined with the special-shaped structure of the shell, the protection of the internal components is improved, and the comprehensiveness of monitoring the interior of the grain storage is increased.

[0006] The present application also designs and develops a control method for the gas-driven large platform for grain storage. The control of the pneumatic valve can steplessly adjust the flow and pressure of the gas, so as to realize smooth control of the speed of the motor and the cylinder and accurate stopping of the position.

[0007] The technical scheme provided by the present application is as follows:

[0008] A gas-driven large platform for grain storage, comprising:

[0009] a platform frame body; and

[0010] two groups of spiral wheels symmetrically and rotatably arranged on both sides of the platform frame body;

[0011] Mecanum wheel sets, which are height-adjustable and mounted at the bottom of the platform frame;

[0012] A scraper, which is rotatably mounted at the rear of the platform frame;

[0013] The grain leveling angle is located at the center of the front part of the platform frame, and the cross-sectional dimension of the grain leveling angle gradually shrinks to a point from the near end to the far end;

[0014] The outer shell includes an integrally formed main body and an extension portion extending forward along the central axis of the sagittal plane of the main body. The main body and the extension portion are convex at the central axis of the sagittal plane. The main body and the extension portion gradually bend inward to both sides along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body is inclined and expands outward along the rearward side of the convex shape and the extension portion is inclined and expands outward along the frontward side of the convex shape. The width of the main body smoothly decreases from the tail to the extension portion until the width of the extension portion remains unchanged. The outer shell is disposed on the top of the platform frame.

[0015] The height of the Mecanum wheel can be lower than the height of the two sets of spiral wheels.

[0016] Preferably, both sets of spiral wheels include:

[0017] spindle; and

[0018] The wheel body is spirally wrapped around the outside of the main shaft;

[0019] The two sets of spiral wheels rotate in opposite directions.

[0020] Preferably, it also includes:

[0021] The main connecting plate is located in the middle of the platform frame.

[0022] Preferably, the Mecanum wheelset includes:

[0023] A secondary connecting plate, which is detachably fixed to the main connecting plate;

[0024] Multiple guide tubes are spaced apart and vertically arranged on the secondary connecting plate;

[0025] Multiple guide posts are movably arranged in the multiple guide tubes, each corresponding to the other.

[0026] A connecting frame is disposed at the bottom of the main connecting plate, and the connecting frame is connected to one end of the plurality of guide posts;

[0027] Multiple Mecanum wheels are rotatably mounted at the four bottom corners of the connecting frame;

[0028] A cylinder is fixed to the top of the auxiliary connecting plate, and the piston rod of the cylinder is connected to the top of the connecting frame;

[0029] The length of the guide post is greater than the maximum stroke of the cylinder piston rod.

[0030] Preferably, it also includes:

[0031] The first pneumatic motor is connected to the two sets of spiral wheels respectively, and is used to drive the two sets of spiral wheels to rotate respectively;

[0032] The second pneumatic motor is located at both ends of the rear of the platform frame and is used to drive the rotation of the scraper.

[0033] Preferably, it also includes:

[0034] An air compressor is mounted on the main connecting plate and is connected to the first pneumatic motor, the second pneumatic motor, and the cylinder.

[0035] A power supply is located on the main connection board and is connected to the air compressor.

[0036] Preferably, the cylinder, the first pneumatic motor, the second pneumatic motor, the air compressor, and the power supply are all located in the lower part of the housing;

[0037] Both ends of the main shaft are tapered structures;

[0038] The flat grain angle has an elevation angle on the side closest to the grain surface.

[0039] Preferably, it also includes:

[0040] The first flow control valve has its inlet connected to the air compressor;

[0041] The first directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body, an air outlet 4 connected to the other end of the first pneumatic motor on the left side of the vehicle body and one end of the first pneumatic motor on the right side of the vehicle body, and two exhaust ports 3 and 5 connected to the external environment.

[0042] The second directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of two first pneumatic motors, an air outlet 4 connected to the other end of two first pneumatic motors, and two exhaust ports 3 and 5 connected to the external environment.

[0043] The third directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, and both exhaust ports 3 and 5 are connected to the external environment.

[0044] The first reversing valve has its air inlet 2 connected to the air outlet 2 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body.

[0045] The second reversing valve has its air inlet 2 connected to the air outlet 4 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body.

[0046] The third reversing valve has its inlet 2 connected to the outlet of the first flow control valve, and its working port 1 connected to the inlet of the cylinder.

[0047] The second flow control valve is located between the working port 1 of the first reversing valve and one end of the first pneumatic motor on the left side of the vehicle body.

[0048] The third flow control valve is located between the working port 1 of the second reversing valve and the other end of the first pneumatic motor on the right side of the vehicle body.

[0049] A control method for a large air-driven platform for grain storage, using the aforementioned large air-driven platform for grain storage, includes the following steps:

[0050] Step 1: Real-time collection of grain warehouse environmental data and status data of the air-driven large platform;

[0051] Step 2: Based on the collected data, the air distribution controller controls the gas flow direction and flow rate in the air compressor, and the pneumatic valve controls the direction and speed of the two sets of screw wheels to switch the movement mode of the pneumatic grain leveler.

[0052] Step 3: When the air-driven large platform is on a non-grain surface, lower the height of the Mecanum wheel below the two sets of propellers, and the entire platform will operate based on the Mecanum wheel.

[0053] Preferably, the switching of the pneumatic grain leveler's motion mode satisfies the following:

[0054] When the pneumatic grain leveler is in forward mode, the first flow control valve is fully open, the air inlet 1 of the first directional control valve is connected to the air outlet 2, the air outlet 4 of the first directional control valve is connected to the air outlet 5, and the remaining pneumatic valves are in the de-energized and closed state, thereby causing the two first pneumatic motors to rotate synchronously inward.

[0055] When the pneumatic grain leveler is in reverse mode, the first flow control valve is fully open, the air inlet 1 of the first directional control valve is connected to the air outlet 4, the air outlet 2 of the first directional control valve is connected to the air outlet 3, and the remaining pneumatic valves are in the de-energized and closed state, thereby causing the two first pneumatic motors to rotate outward synchronously.

[0056] When the pneumatic grain leveler is in the stationary right turn mode, the first flow control valve is fully open, the air inlet 1 of the second direction control valve is connected to the air outlet 2, the air outlet 4 of the second direction control valve is connected to the exhaust outlet 5, and the remaining pneumatic valves are in the de-energized and closed state, which causes the first pneumatic motor on the left side of the vehicle to rotate inward and the first pneumatic motor on the right side of the vehicle to rotate outward.

[0057] When the pneumatic grain leveler is in the stationary left turn mode, the first flow control valve is fully open, the air inlet 1 of the second direction control valve is connected to the air outlet 4, the air outlet 2 of the second direction control valve is connected to the exhaust outlet 3, and the remaining pneumatic valves are in the de-energized and closed state, which causes the first pneumatic motor on the left side of the vehicle to rotate outward and the first pneumatic motor on the right side of the vehicle to rotate inward.

[0058] When the pneumatic grain leveler is in left-turn forward mode, the first flow control valve is fully open, the second flow control valve is energized and open, the air inlet 1 of the third directional control valve is connected to the air outlet 2, the air outlet 4 of the third directional control valve is connected to the exhaust port 5, the air inlet 2 of the first reversing valve is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor on the left side of the vehicle and the first pneumatic motor on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve.

[0059] When the pneumatic grain leveler is in right-turn forward mode, the first flow control valve is fully open, the third flow control valve is energized and open, the air inlet 1 of the third directional control valve is connected to the air outlet 4, the air outlet 2 of the third directional control valve is connected to the exhaust port 3, the air inlet 2 of the second reversing valve is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor on the left side of the vehicle and the first pneumatic motor on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor on the right side of the vehicle is achieved by adjusting the opening of the third flow control valve.

[0060] When the pneumatic grain leveler is in right-turn reverse mode, the first flow control valve is fully open, the third flow control valve is energized and open, the air inlet 1 of the third directional control valve is connected to the air outlet 2, the air outlet 4 of the third directional control valve is connected to the exhaust port 5, the air inlet 2 of the second reversing valve is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor on the left side of the vehicle and the first pneumatic motor on the right side of the vehicle to rotate outward. By adjusting the opening of the third flow control valve, the first pneumatic motor on the right side of the vehicle can rotate differentially.

[0061] When the pneumatic grain leveler is in left-turn / reverse mode, the first flow control valve is fully open, the second flow control valve is energized and open, the air inlet 1 of the third directional control valve is connected to the air outlet 4, the air outlet 2 of the third directional control valve is connected to the exhaust port 3, the air inlet 2 of the first reversing valve is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor on the left side of the vehicle and the first pneumatic motor on the right side of the vehicle to rotate outward. The differential rotation of the first pneumatic motor on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve.

[0062] The beneficial effects of this invention are as follows:

[0063] (1) The large air-driven platform for grain storage designed and developed by this invention can switch between grain storage environment and flat ground environment, realize multi-scenario practicality, and can also be extended to other fluid environments; the motor and air pump drive improves applicability, stability, safety and energy utilization; the air circuit, control part, driving part and other parts are modularly designed, which is convenient for disassembly and maintenance; relying on the weight of its own platform and the rear fine leveling device, it can realize coarse and fine leveling operations on grain, and according to actual needs, other devices can be placed at the rear to realize other spraying and inspection operations in grain storage; the drive is placed at the rear of the machine, and there are fixed structures at the front and rear of the wheels, which are easy to disassemble. This solves the problem that some small electric control driven robots on the market have the drive in the middle of the body, with the front and rear wheels suspended in the air. After a long period of operation, the wheel axle will be skewed, which is not convenient for the replacement of subsequent axles and the maintenance of reducers.

[0064] (2) The control method of the large-scale pneumatic platform for grain storage designed and developed in this invention controls the pneumatic valve. The electrical signal can steplessly adjust the flow and pressure of the gas, thereby achieving smooth control of the speed of the motor and cylinder and precise position. The control accuracy is improved by the air pressure and position signals. Once an abnormality occurs (such as pressure exceeding the limit or action timeout), the gas source can be cut off immediately and an alarm can be triggered, achieving dual protection of electricity and gas. Attached Figure Description

[0065] Figure 1 This is a top view of the large air-driven platform for grain storage as described in this invention.

[0066] Figure 2 This is a front view structural diagram of the large air-driven platform for grain storage described in this invention.

[0067] Figure 3 This is an isometric structural diagram of the large air-driven platform for grain storage described in this invention.

[0068] Figure 4 This is a side view of the large air-driven platform for grain storage described in this invention.

[0069] Figure 5This is a schematic diagram of the internal structure of the large gas-driven platform for grain storage described in this invention.

[0070] Figure 6 This is a top-view structural diagram of the internal structure of the large air-driven platform for grain storage described in this invention.

[0071] Figure 7 This is a schematic diagram of the bottom structure of the large air-driven platform for grain storage described in this invention.

[0072] Figure 8 This is a schematic diagram of the Mecanum wheel assembly described in this invention.

[0073] Figure 9 This is a schematic diagram of the structure of the outer casing described in this invention.

[0074] Figure 10 This is a control flowchart of the control method for the gas-driven large platform for grain storage described in this invention.

[0075] Figure 11 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in forward mode.

[0076] Figure 12 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the backward mode.

[0077] Figure 13 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the stationary right turn mode.

[0078] Figure 14 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this invention when it is turning left in place.

[0079] Figure 15 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the left-turn mode.

[0080] Figure 16 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the right-turn mode.

[0081] Figure 17 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the right-turn and reverse mode.

[0082] Figure 18 This is a schematic diagram of the airflow of the pneumatic grain leveler described in the present invention in the left-turn and backward mode.

[0083] Figure 19 This is a schematic diagram of airflow in the Mecanum wheel walking mode described in this invention. Detailed Implementation

[0084] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0085] like Figures 1-9 As shown, the present invention provides a gas-driven large platform for grain storage, comprising:

[0086] Platform frame 100, two sets of spiral wheels 110, Mecanum wheel set 120, leveling corner 130, scraper 140 and outer shell 150;

[0087] The platform frame 100 is a frame structure, generally in the shape of an I-beam, with the height of both ends of the platform frame 100 lower than the height of the middle part; the two sets of spiral wheels 110 are symmetrically and rotatably arranged on both sides of the platform frame 100, that is, the two sets of spiral wheels 110 are symmetrically arranged between the two ends of the platform frame 100; the Mecanum wheel set 120 is height-adjustable at the bottom of the platform frame 100, and the height of the Mecanum wheel set 120 can be lower than the height of the two sets of spiral wheels 110; the grain leveling angle 130 is located at the front center of the platform frame 100, and the cross-sectional dimension of the grain leveling angle 130 gradually shrinks to a point from the near end to the far end; the scraper 140 is rotatably arranged at the rear of the platform frame 100.

[0088] In this embodiment, the platform frame 100 is a skeleton structure built of aluminum profiles, and a horizontal main connecting plate 102 is provided in the middle of the platform frame 100.

[0089] The two sets of spiral wheels 110 mainly include a main shaft 111 and a wheel body 112. Both ends of the main shaft 111 are set in a conical shape, which, in conjunction with the grain self-flow angle, not only protects the wheel body 112, but also helps the platform to prevent jamming when changing the movement mode. The wheel body 112 is spirally wrapped around the outside of the main shaft 111, and the wheel bodies 112 of the two sets of spiral wheels 110 rotate in opposite directions, which is a paramecium-like design.

[0090] In this embodiment, the power ends of the two sets of spiral wheels 110 are both first pneumatic motors 113 (first pneumatic motor 113a on the left side of the vehicle body and first pneumatic motor 113b on the right side of the vehicle body), and the power output end of the first pneumatic motor 113 is connected to the end of the spiral wheel 110 near the scraper 140.

[0091] The Mecanum wheel assembly 120 includes multiple guide tubes 122, multiple guide posts 123, a connecting frame 124, multiple Mecanum wheels 125, and a cylinder 126. The multiple guide tubes 122 are spaced apart and vertically arranged on the main connecting plate 102. The multiple guide posts 123 are correspondingly and movably arranged within the multiple guide tubes 122. The connecting frame 124 is located at the bottom of the main connecting plate 102 and is connected to one end of each of the multiple guide posts 122. The multiple Mecanum wheels 125... 5 are rotatably mounted at the four bottom corners of the connecting frame 124; the cylinder 126 is fixed to the top of the main connecting plate 102, and the piston rod of the cylinder 126 is connected to the top of the connecting frame 124; in order to ensure the smoothness of the change of motion mode, the length of the guide column 123 is greater than the maximum stroke of the piston rod of the cylinder 126, so that the Mecanum wheel 125 can be lowered to a position lower than the two sets of spiral wheels 110. The Mecanum wheel set 120 realizes the driving, forward and backward turning and in-situ turning actions when the grain silo is not level.

[0092] To ensure the stability of the platform, the Mecanum wheelset 120 is positioned at the center of the platform.

[0093] In this embodiment, in order to enhance stability and improve the convenience of replacement, the main connecting plate 102 is provided with a mounting through hole near the middle, and a corresponding detachable secondary connecting plate 121 is provided, and the Mecanum wheel set 120 is disposed on the secondary connecting plate 121.

[0094] In this embodiment, there are four guide tubes and four guide posts.

[0095] In this embodiment, the grain leveling angle 130 is conical, and its bottom plane is detachably fixed to the front middle of the platform frame 100. The top end extends far away from the platform frame 100, and the grain leveling angle 130 extends from the bottom plane to the top end with an upward angle on the side close to the grain surface. This allows the grain to exert an upward lifting force on the platform during operation, preventing the grain from sinking downwards during platform operation. In other words, the grain leveling angle 130 is designed to mimic a weevil, which helps to level the grain pile and distribute the grain on the sides of the two sets of spiral wheels 110, assisting the two sets of spiral wheels 110 in turning the grain.

[0096] The large pneumatic platform for grain storage described in this invention further includes: a rotating rod 141 and two second pneumatic motors 142. The two second pneumatic motors 142 are symmetrically fixed on both sides of one end of the platform frame 100 near the tail. The rotating rod 141 is fixedly arranged between the two second pneumatic motors 142. A scraper 140 is fixedly connected to the rotating rod 141, so that the second pneumatic motors 142 drive the scraper 140 to rotate, thereby achieving fine leveling or turning of the grain.

[0097] In this embodiment, it also includes: two fixing frames 101, which are symmetrically fixed on both sides of one end of the platform frame 100 near the tail, two first pneumatic motors 113 are respectively fixed to the bottom of the two fixing frames 101, and two second pneumatic motors 142 are respectively symmetrically fixed to the tail of the two fixing frames 101.

[0098] In this embodiment, the width of the scraper 140 can be set as needed while ensuring stability.

[0099] A power supply 160 and an air compressor 170 are provided on the main connection plate 102. The power supply 160 is connected to the air compressor 170 and is used to drive the air compressor 170. The air compressor 170 is connected to the cylinder 126, the first pneumatic motor 113 and the second pneumatic motor 142.

[0100] A pneumatic valve 180 and an adaptive control device 190 are also provided on the main connecting plate 102. The pneumatic valve 180 includes multiple directional control valves 181 and multiple flow control valves 182. The multiple directional control valves 181 and multiple flow control valves 182 are all located between the air compressor 170 and the first pneumatic motor 113, and are used to control the direction of rotation and the air intake flow of the two sets of spiral wheels 110, respectively.

[0101] Specifically, the multiple directional control valves 181 include a first directional control valve 181a, a second directional control valve 181b, and a third directional control valve 181c (each including an inlet 1, two outlets 2 and 4, and two exhaust ports 3 and 5), and the multiple flow control valves 182 include a first flow control valve 182a, a second flow control valve 182b, and a third flow control valve 182c, and also include a first reversing valve 183a, a second reversing valve 183b, and a third reversing valve 183c (each including a working port 1, an inlet 2, and a normally closed port 3).

[0102] The first directional control valve 181a, the second directional control valve 181b, and the third directional control valve 181c are all three-position five-way valves; the first reversing valve 183a, the second reversing valve 183b, and the third reversing valve 183c are all two-position three-way solenoid valves; and the first flow control valve 182a, the second flow control valve 182b, and the third flow control valve 182c are all proportional flow valves.

[0103] The inlet of the first flow control valve 182a is connected to the air compressor 170, and its outlet is simultaneously connected to the inlet 1 of the first directional control valve 181a, the inlet 1 of the second directional control valve 181b, the inlet 1 of the third directional control valve 181c, and the inlet 2 of the third reversing valve 183c. The outlet 2 of the first directional control valve 181a is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The outlet 4 of the first directional control valve 181a is simultaneously connected to the other end of the first pneumatic motor 113a on the left side of the vehicle body. The first directional control valve 181a is connected to one end of the first pneumatic motor 113b on the right side of the vehicle body. Both exhaust ports 3 and 5 of the first directional control valve 181a are connected to the external environment, meaning the first directional control valve 181a can drive both first pneumatic motors 113 to rotate inwards or outwards simultaneously. The exhaust port 2 of the second directional control valve 181b is connected to one end of both the first pneumatic motor 113a on the left and the first pneumatic motor 113b on the right side of the vehicle body. The exhaust port 4 of the second directional control valve 181b is connected to the other end of both the first pneumatic motor 113a on the left and the first pneumatic motor 113b on the right side of the vehicle body. The two exhaust ports 3 and 5 of the second directional control valve 181b are connected to the external environment, meaning that the second directional control valve 181b can drive the two first pneumatic motors 113 to rotate in opposite directions (one of the two first pneumatic motors 113 rotates inward and the other rotates outward). The exhaust port 2 of the third directional control valve 181c is connected to the intake port 2 of the first reversing valve 183a. The working port 1 of the first reversing valve 183a is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The exhaust port 4 of the third directional control valve 181c is connected to the second reversing valve 183b. The first reversing valve 183b is connected to the air inlet 2. The working port 1 of the second reversing valve 183b is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The second flow control valve 182b is located between the working port 1 of the first reversing valve 183a and one end of the first pneumatic motor 113a on the left side of the vehicle body. The third flow control valve 182c is located between the working port 1 of the second reversing valve 183b and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The working port 1 of the third reversing valve 183c is connected to the air inlet of the cylinder 126.

[0104] In this embodiment, the exhaust ports 3 and 5 of the first directional control valve 181a, the second directional control valve 181b, and the third directional control valve 181c are connected to a muffler to reduce the exhaust noise.

[0105] The adaptive control device 190 is connected to multiple directional control valves 181, multiple flow control valves 182, a first reversing valve 183a, a second reversing valve 183b, and a third reversing valve 183c, and is used to control the position change and power on / off of the valve body, thereby controlling the operation of the cylinder 126 and the first pneumatic motor 113.

[0106] A shell 150 is provided on the top of the platform frame 100. The shell 150 includes an integrally formed main body 151 and an extension 152 extending forward along the central axis of the sagittal plane of the main body 151. The main body 151 and the extension 152 are convex at the central axis of the sagittal plane. The main body 151 and the extension 152 gradually bend inward along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body 151 is inclined and expands outward along the rearward side of the convex shape and the extension 152 is inclined and expands outward along the frontward side of the convex shape. The width of the main body 151 smoothly decreases from the tail to the extension, and remains unchanged after the extension 152. The shell 150 is a biomimetic design shell, which allows grain to fall automatically, achieving the purpose of not accumulating grain. At the same time, it protects all internal pneumatic and electrical components, and is dustproof and explosion-proof.

[0107] In this embodiment, the side view of the outer shell 150 is mushroom-shaped.

[0108] In this embodiment, the outer shell 150 is connected to the platform frame 100 by a snap-fit ​​mechanism.

[0109] The platform also includes a MEMS gyroscope, a velocity sensor, a power sensor, and an RGB-D detection camera (not shown in the figure). The MEMS gyroscope is integrated into the adaptive control device 190 and is used to detect the platform's attitude direction. The velocity sensor is located at the bottom of the platform and is used to detect the platform's speed. The RGB-D detection camera is integrated at the front and rear ends of the housing 150 and is used to detect the environment in which the platform is located. The power sensor is located in the power supply and is used to detect the power supply's charge level. An anti-collision sensor is located at the front end of the leveling corner 130 and is used to detect obstacles in the platform's travel path to prevent the machine from colliding with surrounding hard objects. The MEMS gyroscope, velocity sensor, power sensor, and RGB-D detection camera are all connected to the adaptive control device 190, and the corresponding signal data are all transmitted to the adaptive control device 190 for processing.

[0110] In this embodiment, the air compressor 170 is an explosion-proof air compressor with an air tank.

[0111] In this embodiment, communication is achieved between the handheld remote control or the central control and the adaptive control device 190.

[0112] In another embodiment, the second pneumatic motor 142 and scraper 140 may be replaced with other components used for grain testing, such as fixed-point sampling.

[0113] This invention designs and develops a large pneumatically driven platform for grain storage, which can operate in both grain storage and flat terrain environments, making it practical for multiple scenarios and also applicable to other fluid environments. Driven by a pneumatic motor, it offers increased torque compared to an electric motor at the same power output, making it suitable for load-bearing starts and the grain storage environment. Furthermore, the pneumatic motor features stepless speed regulation, enabling stable forward, backward, left, and right turns. The pneumatic system can operate in harsh environments such as dust and corrosive gases, while electric motors may require protective measures in these conditions; therefore, the pneumatic system demonstrates better environmental adaptability than electric motors. Pneumatic systems do not generate sparks during operation, eliminating the risk of electric shock and fire, thus improving safety. When overloaded, pneumatic motors only reduce speed or stop, automatically clamping the system's maximum output and taking protective actions. Once the overload condition disappears, they can resume normal operation, improving system reliability. In contrast, electric motors are prone to burnout when overloaded. Pneumatic motors can also adjust torque output according to different needs, and when encountering high resistance and unable to operate, they can rely on air pressure relief, protecting both the entire air circuit and electrical control system. This means they have strong overload capacity, high safety, and good environmental adaptability. Pneumatic components... Typically, it has fewer moving parts, making it less prone to wear and tear, thus resulting in lower maintenance costs. In the air source treatment stage, pressure detection and control are integrated into the air compressor. An air tank is added to the air path to maintain the platform's operating air pressure, and the start and stop of the air compressor are effectively controlled based on the tank pressure, achieving efficient energy utilization. The air path, control, and travel components are modularly designed for easy disassembly and maintenance. Relying on its own platform weight and a rear-mounted leveling device, it can perform both coarse and fine leveling operations on grain. Depending on actual needs, other devices can be installed at the rear to perform other spraying and inspection operations in the grain silo. The drive unit is located at the rear of the machine, with fixed structures at both the front and rear of the wheels, and is easy to disassemble. This solves the problem of some small electrically driven robots on the market where the drive unit is located in the middle of the body, with the front and rear wheels suspended in the air. Over long periods of operation, the axles will become misaligned, making it inconvenient to replace the axles and maintain the reducer. The air compressor with an air tank uses pressure detection control to operate, and the compressed air is controlled by an air distribution controller to control the flow direction and flow rate, enabling controllable operation of the pneumatic motor. The entire platform can be controlled by a handheld remote control or a central control platform, which can monitor the grain silo environment and platform operation in real time.

[0114] like Figure 10 As shown, the present invention also provides a control method for a large air-driven platform for grain storage, which includes the following steps:

[0115] Step 1: Real-time collection of grain warehouse environmental data and status data of the air-driven large platform;

[0116] The grain warehouse environmental data is data collected by an RGB-D detection camera;

[0117] The status data of the air-driven large platform includes: platform attitude and direction data, speed data, power supply data, and obstacle data;

[0118] Step 2: Based on the collected data, the air distribution controller controls the gas flow direction and flow rate in the air compressor, and the pneumatic valve controls the direction and speed of the two sets of screw wheels, thereby realizing the switching of the pneumatic grain leveler's motion mode.

[0119] The pneumatic grain leveler's movement modes specifically include walking mode (forward mode and backward mode), turning mode (right turn mode and left turn mode), and left and right turning mode (left turn mode and right turn mode);

[0120] like Figure 11 As shown, when the pneumatic grain leveler is in forward mode, the first flow control valve 182a is fully open, the air inlet 1 of the first directional control valve 181a is connected to the air outlet 2, the air outlet 4 of the first directional control valve 181a is connected to the exhaust outlet 5, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the two first pneumatic motors 113 to rotate synchronously inward.

[0121] like Figure 12 As shown, when the pneumatic grain leveler is in reverse mode, the first flow control valve 182a is fully open, the air inlet 1 of the first directional control valve 181a is connected to the air outlet 4, the air outlet 2 of the first directional control valve 181a is connected to the exhaust outlet 3, and the other pneumatic valves are all in the de-energized and closed state, thereby causing the two first pneumatic motors 113 to rotate outward synchronously.

[0122] like Figure 13 As shown, when the pneumatic grain leveler is in the stationary right turn mode, the first flow control valve 182a is fully open, the air inlet 1 of the second direction control valve 181b is connected to the air outlet 2, the air outlet 4 of the second direction control valve 181b is connected to the exhaust outlet 5, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the first pneumatic motor 113a on the left side of the vehicle to rotate inward and the first pneumatic motor 113b on the right side of the vehicle to rotate outward.

[0123] like Figure 14As shown, when the pneumatic grain leveler is in the stationary left turn mode, the first flow control valve 182a is fully open, the air inlet 1 of the second direction control valve 181b is connected to the air outlet 4, the air outlet 2 of the second direction control valve 181b is connected to the exhaust outlet 3, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the first pneumatic motor 113a on the left side of the vehicle to rotate outward and the first pneumatic motor 113b on the right side of the vehicle to rotate inward.

[0124] like Figure 15 As shown, when the pneumatic grain leveler is in left-turn forward mode, the first flow control valve 182a is fully open, the second flow control valve 182b is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 2, the air outlet 4 of the third directional control valve 181c is connected to the exhaust port 5, the air inlet 2 of the first reversing valve 183a is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor 113a on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve 182b.

[0125] like Figure 16 As shown, when the pneumatic grain leveler is in right-turn forward mode, the first flow control valve 182a is fully open, the third flow control valve 182c is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 4, the air outlet 2 of the third directional control valve 181c is connected to the exhaust outlet 3, the air inlet 2 of the second reversing valve 183b is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor 113b on the right side of the vehicle is achieved by adjusting the opening of the third flow control valve 182c.

[0126] like Figure 17 As shown, when the pneumatic grain leveler is in right-turn reverse mode, the first flow control valve 182a is fully open, the third flow control valve 182c is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 2, the air outlet 4 of the third directional control valve 181c is connected to the exhaust port 5, the air inlet 2 of the second reversing valve 183b is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate outward. The differential rotation of the first pneumatic motor 113b on the right side of the vehicle is achieved by adjusting the opening of the third flow control valve 182c.

[0127] like Figure 18As shown, when the pneumatic grain leveler is in left-turn and reverse mode, the first flow control valve 182a is fully open, the second flow control valve 182b is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 4, the air outlet 2 of the third directional control valve 181c is connected to the exhaust outlet 3, the air inlet 2 of the first reversing valve 183a is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate outward. The differential rotation of the first pneumatic motor 113a on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve 182b.

[0128] Step 3: When the platform is not on a grain surface, such as when passing over a grain treadle or transferring grain silos, lower the height of the Mecanum wheel below the two sets of auger wheels. At this time, the entire platform operates based on the Mecanum wheel, as detailed below. Figure 19 As shown, the first flow control valve 182a is fully open, the working port 1 of the third reversing valve 183c is connected to the air inlet 2, and the other pneumatic valves are all in the de-energized closed state, thereby realizing the extension and retraction of the lifting cylinder 126 (the cylinder is a spring cylinder, and it retracts by the spring when retracting). When leveling grain, the cylinder is in the retracted state. When walking in non-leveling grain operation, the cylinder extends and the Mecanum wheel is driven by the wheel-side motor to move.

[0129] This invention presents a control method for a large pneumatically driven platform used in grain silos. By combining electronic and pneumatic control, the pneumatic valve is controlled, and the electrical signal can steplessly adjust the flow and pressure of the gas, thereby achieving smooth control of the speed of the motor and cylinder and precise positioning. The control accuracy is improved by using air pressure and position signals. In the event of an abnormality (such as pressure exceeding the limit or action timeout), the gas supply can be immediately cut off and an alarm can be triggered, achieving dual protection of electricity and gas.

[0130] Although embodiments of the present invention have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for the present invention. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details and embodiments shown and described herein.

Claims

1. A large-scale platform for pneumatic conveying of grain, characterized in that include: Platform frame; as well as Two sets of spiral wheels are symmetrically and rotatably arranged on both sides of the platform frame; Mecanum wheel sets, which are height-adjustable and mounted at the bottom of the platform frame; A scraper, which is rotatably mounted at the rear of the platform frame; The grain leveling angle is located at the center of the front part of the platform frame, and the cross-sectional dimension of the grain leveling angle gradually shrinks to a point from the near end to the far end; The outer shell includes an integrally formed main body and an extension portion extending forward along the central axis of the sagittal plane of the main body. The main body and the extension portion are convex at the central axis of the sagittal plane. The main body and the extension portion gradually bend inward to both sides along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body is inclined and expands outward along the rearward side of the convex shape and the extension portion is inclined and expands outward along the frontward side of the convex shape. The width of the main body smoothly decreases from the tail to the extension portion until the width of the extension portion remains unchanged. The outer shell is disposed on the top of the platform frame. The height of the Mecanum wheel can be lower than the height of the two sets of spiral wheels.

2. The air drive large platform for grain bins of claim 1, wherein, Both sets of spiral wheels include: spindle; and The wheel body is spirally wrapped around the outside of the main shaft; The two sets of spiral wheels rotate in opposite directions.

3. The air drive large platform for grain bins of claim 2, wherein, Also includes: The main connecting plate is located in the middle of the platform frame.

4. The air drive large platform for grain bins of claim 3, wherein, The Mecanum wheelset includes: A secondary connecting plate, which is detachably fixed to the main connecting plate; Multiple guide tubes are spaced apart and vertically arranged on the secondary connecting plate; Multiple guide posts are movably arranged in the multiple guide tubes, each corresponding to the other. A connecting frame is disposed at the bottom of the main connecting plate, and the connecting frame is connected to one end of the plurality of guide posts; Multiple Mecanum wheels are rotatably mounted at the four bottom corners of the connecting frame; A cylinder is fixed to the top of the auxiliary connecting plate, and the piston rod of the cylinder is connected to the top of the connecting frame; The length of the guide post is greater than the maximum stroke of the cylinder piston rod.

5. The air drive large platform for grain bins of claim 4, wherein, Also includes: The first pneumatic motor is connected to the two sets of spiral wheels respectively, and is used to drive the two sets of spiral wheels to rotate respectively; The second pneumatic motor is located at both ends of the rear of the platform frame and is used to drive the rotation of the scraper.

6. The air drive large platform for grain bins of claim 5, wherein, Also includes: An air compressor is mounted on the main connecting plate and is connected to the first pneumatic motor, the second pneumatic motor, and the cylinder. A power supply is located on the main connection board and is connected to the air compressor.

7. The air drive large platform for grain bins of claim 6, wherein, The cylinder, the first pneumatic motor, the second pneumatic motor, the air compressor, and the power supply are all located in the lower part of the housing; Both ends of the main shaft are tapered structures; The flat grain angle has an elevation angle on the side closest to the grain surface.

8. The air drive large platform for grain bins of claim 7, wherein, Also includes: The first flow control valve has its inlet connected to the air compressor; The first directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body, an air outlet 4 connected to the other end of the first pneumatic motor on the left side of the vehicle body and one end of the first pneumatic motor on the right side of the vehicle body, and two exhaust ports 3 and 5 connected to the external environment. A second direction control valve, whose inlet 1 is connected with the outlet of the first flow control valve, and whose outlets 2 and 4 are connected with one end and the other end of the two first pneumatic motors respectively, and whose two exhaust outlets 3 and 5 are connected with the external environment; A third direction control valve, whose inlet 1 is connected with the outlet of the first flow control valve, and whose two exhaust outlets 3 and 5 are connected with the external environment; A first reversing valve, whose inlet 2 is connected with the outlet 2 of the third direction control valve, and whose working port 1 is connected with one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body; A second reversing valve, whose inlet 2 is connected with the outlet 4 of the third direction control valve, and whose working port 1 is connected with one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body; A third reversing valve, whose inlet 2 is connected with the outlet of the first flow control valve, and whose working port 1 is connected with the inlet of the air cylinder; A second flow control valve, which is arranged between the working port 1 of the first reversing valve and one end of the first pneumatic motor on the left side of the vehicle body; A third flow control valve, which is arranged between the working port 1 of the second reversing valve and the other end of the first pneumatic motor on the right side of the vehicle body.

9. A control method of the grain silo air drive large platform using the grain silo air drive large platform according to any one of claims 1 to 8, characterized by, The method comprises the following steps: Step one, collecting the environment data of the warehouse and the state data of the air-driven large platform in real time; Step two, controlling the gas flow direction and flow rate in the air compressor through the air distribution controller according to the collected data, and controlling the steering and rotating speed of the two groups of spiral wheels through the pneumatic valve, so as to realize the switching of the air-driven flat grain machine movement mode; Step three, when the air-driven large platform is not on the grain surface, the height of the Mecanum wheel is lowered below the two groups of spiral wheels, and the whole platform runs relying on the Mecanum wheel.

10. The control method of claim 9, wherein The switching of the air-driven flat grain machine movement mode satisfies: When the air-driven flat grain machine is in the forward mode, the first flow control valve is fully opened, the inlet 1 of the first direction control valve is connected with the outlet 2, the outlet 4 of the first direction control valve is connected with the exhaust outlet 5, and the remaining pneumatic valves are in the power-off closed state, so that the two first pneumatic motors rotate synchronously inwards; When the air-driven flat grain machine is in the backward mode, the first flow control valve is fully opened, the inlet 1 of the first direction control valve is connected with the outlet 4, the outlet 2 of the first direction control valve is connected with the exhaust outlet 3, and the remaining pneumatic valves are in the power-off closed state, so that the two first pneumatic motors rotate synchronously outwards; When the air-driven flat grain machine is in the right-turn mode, the first flow control valve is fully opened, the inlet 1 of the second direction control valve is connected with the outlet 2, the outlet 4 of the second direction control valve is connected with the exhaust outlet 5, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body rotates inwards and the first pneumatic motor on the right side of the vehicle body rotates outwards. When the pneumatic grain leveling machine is in the left turn mode, the first flow control valve is fully opened, the inlet 1 of the second direction control valve is connected with the outlet 4, the outlet 2 of the second direction control valve is connected with the exhaust port 3, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body rotates outward and the first pneumatic motor on the right side of the vehicle body rotates inward; When the pneumatic grain leveling machine is in the left turn forward mode, the first flow control valve is fully opened, the second flow control valve is in the power-on open state, the inlet 1 of the third direction control valve is connected with the outlet 2, the outlet 4 of the third direction control valve is connected with the exhaust port 5, the inlet 2 of the first reversing valve is connected with the working port 1, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body and the first pneumatic motor on the right side of the vehicle body both rotate inward, and the first pneumatic motor on the left side of the vehicle body is realized by adjusting the opening degree of the second flow control valve. When the pneumatic grain leveling machine is in the right turn forward mode, the first flow control valve is fully opened, the third flow control valve is in the power-on open state, the inlet 1 of the third direction control valve is connected with the outlet 4, the outlet 2 of the third direction control valve is connected with the exhaust port 3, the inlet 2 of the second reversing valve is connected with the working port 1, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body and the first pneumatic motor on the right side of the vehicle body both rotate inward, and the first pneumatic motor on the right side of the vehicle body is realized by adjusting the opening degree of the third flow control valve. When the pneumatic grain leveling machine is in the right turn backward mode, the first flow control valve is fully opened, the third flow control valve is in the power-on open state, the inlet 1 of the third direction control valve is connected with the outlet 2, the outlet 4 of the third direction control valve is connected with the exhaust port 5, the inlet 2 of the second reversing valve is connected with the working port 1, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body and the first pneumatic motor on the right side of the vehicle body both rotate outward, and the first pneumatic motor on the right side of the vehicle body is realized by adjusting the opening degree of the third flow control valve. When the pneumatic grain leveling machine is in the left turn backward mode, the first flow control valve is fully opened, the second flow control valve is in the power-on open state, the inlet 1 of the third direction control valve is connected with the outlet 4, the outlet 2 of the third direction control valve is connected with the exhaust port 3, the inlet 2 of the first reversing valve is connected with the working port 1, and the remaining pneumatic valves are in the power-off closed state, so that the first pneumatic motor on the left side of the vehicle body and the first pneumatic motor on the right side of the vehicle body both rotate outward, and the first pneumatic motor on the left side of the vehicle body is realized by adjusting the opening degree of the second flow control valve.

Images