A grain depot storage operation robot
Patent Information
- Application Number
- CN202610885189.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2026-06-18
- Publication Date
- 2026-09-15
Smart Images
Figure CN122746979A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of grain storage technology, and more specifically, to a grain depot storage operation robot. Background Technology
[0002] In current grain storage processes, to prevent grain from overheating and spoiling, automated machinery is typically used for storage and maintenance within grain silos. Existing grain storage equipment mainly includes single-function grain turning machines and independent grain sampling machines. Some existing grain turning equipment uses a bottom-mounted helical propeller or local stirring mechanism as the actuating end, directly contacting the grain surface and relying on its own rolling or simple vertical movement to perform localized grain turning operations.
[0003] However, when faced with deep grain piles, existing grain turning and sampling equipment often only reaches the shallow layer of grain due to limitations in the actuator and the operating depth caused by structural rigidity and drive stroke. This makes it impossible to effectively reach deep grain to achieve sufficient heat dissipation or accurate multi-layer sampling. At the same time, when performing multi-angle operations on grain at different planar points, existing equipment usually relies on the frequent overall movement and turning of the machine's walking mechanism to switch working positions. However, on soft or sinking grain surfaces, frequent movement of the machine not only easily leads to the machine body getting stuck in the grain and causing safety accidents, but also greatly increases the energy consumption of the machine, resulting in a serious lack of operating coverage and efficiency. Summary of the Invention
[0004] To address the problem of limited downward travel of grain depot operation robots, resulting in insufficient deep-level operation capabilities, this invention provides a grain depot storage operation robot, comprising: Walking chassis mechanism; A planar positioning mechanism is mounted on the walking chassis mechanism; the planar positioning mechanism has an output end that can be adjusted for displacement in a horizontal two-dimensional plane. A stroke multiplier mechanism is installed at the output end of the planar positioning mechanism. The stroke multiplier mechanism includes a base plate, a first drive component slidably disposed on the base plate in a vertical direction, and a second drive component slidably disposed on the first drive component. The first drive component is connected to the base plate and the second drive component through a transmission linkage, so that the vertical displacement of the second drive component relative to the base plate is greater than the vertical displacement of the first drive component relative to the base plate. The operation execution end is installed on the second drive component. The operation execution end is configured as a grain turning execution mechanism or a sampling execution mechanism for operating on deep grain.
[0005] In some embodiments, the stroke multiplication mechanism further includes a second drive motor mounted on the substrate, and a drive gear is provided on the output shaft of the second drive motor; the first drive assembly includes a first base module, a rack fixed to the lower end of the first base module, and synchronous pulleys disposed at both ends of the first base module; the rack meshes with the drive gear for transmission; the transmission linkage includes a synchronous belt, a first fixing buckle, and a second fixing buckle; the synchronous belt is wound around the two sets of synchronous pulleys; the first fixing buckle is disposed on the substrate; one side of the synchronous belt is fixed to the substrate by the first fixing buckle; the second fixing buckle is disposed on the second drive assembly; the other side of the synchronous belt is fixedly connected to the second drive assembly by the second fixing buckle.
[0006] In some embodiments, the substrate is provided with a plurality of first sliders, and the first base module is provided with a first slide rail on the side near the substrate that cooperates with the first sliders; The first base module has a plurality of second sliders on its side away from the substrate. The second driving component includes a second base module and a second slide rail disposed on the second base module. The second slide rail slides in cooperation with the second sliders.
[0007] In some embodiments, an actuator rotation mechanism is further included, which is disposed on the output end of the planar positioning mechanism and rotatably connected to the substrate; the actuator rotation mechanism includes a rotary motor disposed on the output end of the planar positioning mechanism, a reducer connected to the rotary motor, and a multi-slot brake wheel disposed on the substrate; the output end of the reducer is connected to the multi-slot brake wheel; the rotary motor drives the multi-slot brake wheel to rotate, and the multi-slot brake wheel drives the substrate to rotate.
[0008] In some embodiments, the actuator rotation mechanism further includes a locking electric push rod. When the substrate rotates to a set angle with the rotary motor, the push rod end of the locking electric push rod extends out and engages in one of the brake grooves of the multi-groove brake wheel to achieve mechanical locking.
[0009] In some embodiments, a 180° flipping mechanism is also included, wherein the planar positioning mechanism is rotatably connected to the walking chassis mechanism via the 180° flipping mechanism; The 180° flipping mechanism includes a flipping electric push rod fixed on the walking chassis mechanism, a flipping rack connected to the flipping electric push rod, and a flipping gear meshing with the flipping rack; the flipping electric push rod drives the flipping rack to perform reciprocating linear motion; the flipping gear is fixedly connected to the rotating shaft of the planar positioning mechanism.
[0010] In some embodiments, the 180° flipping mechanism further includes a limiting plate disposed at the end of the flipping electric push rod, which is used to physically limit the rotational stroke of the flipping rack or the planar positioning mechanism so that its flipping angle is precisely 180°.
[0011] In some embodiments, the planar positioning mechanism includes a planar slide rail base plate, a first ball screw assembly disposed on the planar slide rail base plate, and an upper platform base plate connected to the top of the first ball screw assembly; the first ball screw assembly drives the upper platform base plate to perform linear motion; the planar slide rail base plate and the upper platform base plate are slidably connected by a slide rail assembly disposed on the planar slide rail base plate; the planar positioning mechanism further includes a second ball screw assembly; the second ball screw assembly is disposed on the upper platform base plate; the stroke multiplier mechanism is connected to the output end of the second ball screw assembly; the first ball screw assembly and the second ball screw assembly are each driven by an independent motor assembly; the movement trajectories of the first ball screw assembly and the second ball screw assembly are perpendicular, driving the stroke multiplier mechanism to perform two-dimensional translation in the horizontal plane.
[0012] In some embodiments, the walking chassis mechanism includes a chassis base plate and two tracks symmetrically arranged on both sides of the chassis base plate; each track has a drive wheel and a rear axle driven wheel respectively engaged at both ends; the drive wheels on both sides are respectively fixed on two front drive shafts, and the two front drive shafts are connected by a clutch; the chassis base plate is provided with a first drive motor that is drively connected to the front drive shafts, so as to drive the tracks to move through the drive wheels.
[0013] In some embodiments, the grain turning actuator includes a working motor fixed to the second drive assembly via a connecting plate, and a grain turning auger connected to the working motor via a coupling; The sampling actuator includes a sampling tube fixed to the second drive assembly via a connecting plate, and a sampling electric push rod for controlling the opening and closing of the sampling port of the sampling tube.
[0014] To address the problem of limited downward travel of grain depot operation robots, resulting in insufficient deep-level operation capabilities, this invention has the following advantages: By configuring a planar positioning mechanism on the walking chassis, displacement adjustment can be performed in a horizontal two-dimensional plane. This allows the robot to drive subsequent components to perform precise multi-point alignment on a large scale while the walking chassis remains stationary, reducing the frequency of movement of the walking chassis on soft grain surfaces. By installing a stroke multiplier mechanism at the output end of the planar positioning mechanism, and configuring a first drive component slidably mounted on a base plate and a second drive component slidably mounted on the first drive component, and connecting the first drive component to the base plate and the second drive component using a transmission linkage, the mechanical motion is superimposed and transmitted. This results in the vertical displacement of the second drive component relative to the base plate being greater than that of the first drive component relative to the base plate. This allows the robot to drive the working end to extend vertically downwards into the grain to a depth several times greater while maintaining a relatively small overall vertical height, significantly increasing the limit of penetration into deep grain. Finally, by configurably installing a working end, which serves as a grain turning or sampling mechanism, on the second drive component, deep stirring and heat dissipation of deep grain or precise multi-layer deep grain sample collection is achieved. This combined design avoids the risk of sinking and high energy consumption caused by frequent movement of the whole machine, while significantly enhancing the vertical deep operation capability and horizontal multi-point composite operation efficiency of the warehouse robot. Attached Figure Description
[0015] Figure 1 A schematic diagram of a grain depot storage operation robot according to one embodiment is shown; Figure 2 It shows Figure 1 Schematic diagram of the chassis mechanism; Figure 3 It shows Figure 1 Schematic diagram of the 180° flipping mechanism; Figure 4 It shows Figure 1 A magnified view of a portion of the image; Figure 5 It shows Figure 1 Schematic diagram of the first and second drive components; Figure 6 It shows Figure 1 Schematic diagram of the sampling actuator.
[0016] Figure label: In the diagram, 1. Walking chassis mechanism; 11. Chassis base plate; 12. Track; 13. Drive wheel; 14. Rear axle driven wheel; 15. Front drive shaft; 16. Clutch; 17. First drive motor; 2. Planar positioning mechanism; 21. Planar slide rail base plate; 22. First ball screw assembly; 23. Slide rail assembly; 24. Upper platform base plate; 25. Second ball screw assembly; 3. Stroke multiplication mechanism; 31. Base plate; 32. First drive assembly; 321. First basic module; 322. Rack; 323. Synchronous pulley; 324. First slider; 325. First slide rail; 33. Second drive... 331. Moving component; 332. Second basic module; 333. Second slider; 333. Second slide rail; 34. Transmission linkage component; 341. Synchronous belt; 342. First fixing buckle; 343. Second fixing buckle; 35. Second drive motor; 36. Drive gear; 4. Actuating end rotation mechanism; 41. Rotating motor; 42. Reducer; 43. Multi-groove brake wheel; 44. Locking electric push rod; 5. 180° flipping mechanism; 51. Flipping electric push rod; 52. Flipping rack; 53. Flipping gear; 54. Limiting plate; 6. Working execution end; 61. Grain turning execution mechanism; 62. Sampling execution mechanism. Detailed Implementation
[0017] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, and are not intended to imply any limitation on the scope of the disclosure.
[0018] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. These terms are primarily for the purpose of better describing this application and its embodiments and are not intended to limit the indicated devices, elements, or components to having a specific orientation or being constructed and operated in a specific orientation. Furthermore, some of the above terms may be used to indicate other meanings besides orientations or positional relationships; for example, the term "upper" may in some cases indicate a dependency or connection relationship. Those skilled in the art can understand the specific meaning of these terms in this application according to the specific circumstances. In addition, the terms "installed", "set up", "equipped with", "connected", and "linked" should be interpreted broadly. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or an internal connection between two devices, elements, or components. Those skilled in the art can understand the specific meaning of the above terms in this application according to the specific circumstances. Furthermore, the terms "first," "second," etc., are mainly used to distinguish different devices, elements, or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance or quantity of the indicated devices, elements, or components. Unless otherwise stated, "a plurality of" means two or more.
[0019] Due to the characteristics of grain storage environments, such as high stacking depth and soft, swamp-like grain surfaces, existing grain storage equipment exhibits numerous shortcomings. Existing grain turning machines or samplers operate in a single mode, typically employing a shallow stirring structure at the actuator end. This severely limits their vertical travel and depth of action, failing to effectively address the challenges of deep grain heat accumulation, spoilage, and precise multi-point sampling. Furthermore, existing equipment lacks a spatial positioning structure with localized multi-axis linkage. Switching work points necessitates frequent movement, turning, and maneuvering of the entire machine via a traveling mechanism. When working on extremely soft and easily sinking grain surfaces, this not only leads to excessive energy consumption but also significantly increases the risk of the machine becoming trapped inside the grain, resulting in accidents with limited working surfaces and low operational safety.
[0020] This embodiment discloses a grain depot storage operation robot, such as Figure 1As shown, it includes: a walking chassis mechanism 1, a planar positioning mechanism 2, a stroke multiplication mechanism 3, and a work execution end 6.
[0021] like Figure 2 As shown, the walking chassis mechanism 1 includes a chassis base plate 11 and two tracks 12 symmetrically arranged on both sides of the chassis base plate 11. In a preferred embodiment, the width and ground contact area of each track 12 can be standardized according to the softness of the grain. For example, it can be made of lightweight, high-strength composite material to strictly control the ground pressure of the grain surface within a safe threshold, preventing the robot from getting stuck. Each track 12 has a drive wheel 13 and a rear axle driven wheel 14 respectively engaged at both ends.
[0022] The drive wheels 13 on both sides are fixed to two front drive shafts 15, which are connected by a clutch 16. A first drive motor 17, which is connected to the front drive shafts 15, is mounted on the chassis base plate 11 to drive the tracks 12 through the drive wheels 13. When the clutch 16 is closed, the power output of the first drive motor 17 is evenly distributed to the front drive shafts 15 on both sides, driving the drive wheels 13 and tracks 12 to rotate synchronously at the same speed, enabling the robot to move forward or backward in a straight line on the grain surface. When a large-angle turn or a fine U-turn is required, the clutch 16 is disengaged to cut off the rigid power coupling between the two front drive shafts 15, enabling braking of one track 12 or differential drive of both tracks 12, thus giving the robot the ability to make precise and stable turns on the grain surface.
[0023] The planar positioning mechanism 2 is mounted on the chassis mechanism 1 and is used to support subsequent working components. The planar positioning mechanism 2 has an output end that allows for displacement adjustment within a horizontal two-dimensional plane. Specifically, as shown... Figure 1 As shown, the planar positioning mechanism 2 includes a planar slide rail base plate 21, a first ball screw assembly 22 disposed on the planar slide rail base plate 21, and an upper platform base plate 24 connected to the top of the first ball screw assembly 22. Driven by an independent motor assembly, the first ball screw assembly 22 drives the upper platform base plate 24 to move along the slide rail assembly 23 disposed on the planar slide rail base plate 21 in the X-axis direction. The planar positioning mechanism 2 also includes a second ball screw assembly 25, which is disposed on the upper platform base plate 24, and the movement trajectory of the second ball screw assembly 25 is perpendicular to the movement trajectory of the first ball screw assembly 22.
[0024] The second ball screw assembly 25 is also driven by an independent motor assembly, and the stroke multiplier mechanism 3 is connected to the output end of the second ball screw assembly 25. The second ball screw assembly 25 drives the stroke multiplier mechanism 3 to move along the Y-axis. Through the dual-axis vertical linkage of the first ball screw assembly 22 and the second ball screw assembly 25 in the horizontal plane, the stroke multiplier mechanism 3 can be driven to perform precise XY-axis two-dimensional translation and fine positioning on the working surface. This structure ensures that when the robot is stopped on the grain surface and the walking chassis mechanism 1 remains completely stationary, the horizontal coordinates of the stroke multiplier mechanism 3 can be freely and accurately changed within a certain area through the horizontal displacement adjustment of the planar positioning mechanism 2. This greatly expands the working coverage area of a single stop and avoids the high energy consumption and the risk of getting stuck caused by the frequent displacement and turning of the tracked 12 type walking chassis mechanism 1 on soft grain surfaces.
[0025] Furthermore, in order to enable the robot to flexibly adjust its working orientation and possess all-around, multi-angle working capabilities, such as... Figure 3 As shown, the output end of the planar positioning mechanism 2 is equipped with an execution end rotation mechanism 4 and a 180° flipping mechanism 5. The planar positioning mechanism 2 is rotatably connected to the chassis mechanism 1 via the 180° flipping mechanism 5. The 180° flipping mechanism 5 includes a flipping electric push rod 51 fixed on the chassis mechanism 1, a flipping rack 52 connected to the flipping electric push rod 51, and a flipping gear 53 meshing with the flipping rack 52. The flipping gear 53 is fixedly connected to the rotating shaft of the planar positioning mechanism 2. When the flipping electric push rod 51 receives a control signal and performs reciprocating linear motion, it pushes the flipping rack 52 to move linearly in sync. Through the meshing transmission between the flipping rack 52 and the flipping gear 53, the linear motion is converted into the rotational motion of the flipping gear 53, thereby driving the entire planar positioning mechanism 2, the stroke multiplication mechanism 3, and the work execution end 6 to rotate around the rotating shaft. To ensure the accuracy of the flipping angle, the 180° flipping mechanism 5 also includes a limiting plate 54, which is located at the end of the flipping electric push rod 51. When the flipping electric push rod 51 is shortened to the limiting plate 54, it stops linear displacement, physically limiting the displacement stroke of the flipping electric push rod 51, so that its flipping angle is precisely limited to 180°. This allows the working execution end 6 to easily switch from the rear working surface to the front working surface of the robot by rotating 180° axially as a whole.
[0026] like Figure 4As shown, the actuator rotation mechanism 4 is located on the output end of the planar positioning mechanism 2. Specifically, it is fixed to the output end of the second ball screw assembly 25 and rotatably connected to the base plate 31 of the stroke multiplier mechanism 3. The actuator rotation mechanism 4 includes a rotary motor 41 located on the output end of the planar positioning mechanism 2, a reducer 42 connected to the rotary motor 41, and a multi-groove brake wheel 43 located on the base plate 31. The output end of the reducer 42 is connected to the multi-groove brake wheel 43. The high-speed torque output by the rotary motor 41 is reduced and increased by the reducer 42, which drives the multi-groove brake wheel 43 to rotate. The multi-groove brake wheel 43 drives the base plate 31 and the entire stroke multiplier mechanism 3 to rotate around its own central axis. To prevent the working actuator 6 from shifting position or deflecting due to reaction force when performing high-resistance grain turning or sampling operations deep inside the grain, the actuator rotation mechanism 4 also includes a locking electric push rod 44 fixed to the output end of the planar positioning mechanism 2. When the substrate 31 rotates with the rotary motor 41 to the preset working angle, the push rod end of the locking electric push rod 44 quickly extends and precisely engages in one of the corresponding brake grooves on the outer periphery of the multi-groove brake wheel 43. The mechanical rigid structure of the pin groove locking achieves a firm lock in position, ensuring the structural rigidity and positional stability during deep operations.
[0027] The stroke multiplier mechanism 3, installed on the output end of the planar positioning mechanism 2, is the core component for this robot to perform deep-level operations. For example... Figure 1 and Figure 5 As shown, the stroke multiplier mechanism 3 includes a base plate 31, a second drive motor 35, a first drive assembly 32, a second drive assembly 33, and a transmission linkage 34. The second drive motor 35 is mounted on the base plate 31, and a drive gear 36 is provided on the output shaft of the second drive motor 35. The first drive assembly 32 includes a first base module 321, and a first slide rail 325 is provided on the side of the first base module 321 near the base plate 31. The first slide rail 325 slides in cooperation with a plurality of first sliders 324 disposed on the base plate 31. A rack 322 extending vertically is fixed at the lower end of the first base module 321, and the rack 322 meshes with the drive gear 36 on the output shaft of the second drive motor 35. When the second drive motor 35 is started, the drive gear 36 rotates, causing the rack 322 to move linearly in the vertical direction, thereby driving the first base module 321 to slide vertically and linearly along the trajectory of the first slide rail 325.
[0028] The second drive assembly 33 includes a second base module 331 and a second slide rail 333 disposed on the second base module 331. A plurality of second sliders 332 are provided on the first base module 321. The second slide rail 333 slides in cooperation with the second sliders 332, allowing the second drive assembly 33 to slide vertically relative to the first drive assembly 32. Synchronous pulleys 323 are symmetrically mounted at both ends of the first base module 321, i.e., the top and bottom ends of the first base module 321. The transmission linkage 34 is a closed-loop synchronous belt 341 wound around the two sets of synchronous pulleys 323. One side of the synchronous belt 341 is firmly fixed to the stationary base plate 31 by a first fixing buckle 342, and the other side of the synchronous belt 341 is fixedly connected to the second base module 331 of the second drive assembly 33 by a second fixing buckle 343.
[0029] When the second drive motor 35 drives the first base module 321 of the first drive assembly 32 to move a unit distance vertically (e.g., downwards), the two sets of synchronous pulleys 323 move downwards synchronously with the first base module 321 by a unit distance. However, one side of the synchronous belt 341 is locked to the base plate 31 by the first fixing buckle 342, so this part of the synchronous belt 341 cannot move. Specifically, the base plate 31 exists as an absolutely stationary reference frame in the entire mechanical system. The first drive assembly 32 directly bears the linear thrust of the second drive motor 35 through the meshing of the gear and rack 322, and the synchronous pulleys 323 installed at both ends of the first base module 321 are also forcibly moved vertically by the same distance. At this time, since one side of the closed-loop synchronous belt 341 has been rigidly locked to the stationary base plate 31 by the first fixing buckle 342, in order to keep the total length of the entire synchronous belt 341 constant during the transmission process and the tension of the belt body on both sides, the synchronous belt 341 that passes around the synchronous pulley 323 will inevitably be forced to generate a relative transmission displacement on the other side that is opposite to the first base module 321 and has a length equal to the aforementioned base distance.
[0030] Since the second drive component 33 is fixed to the other side of the synchronous belt 341 by the second fixing buckle 343, the second drive component 33 not only needs to follow the first drive component 32 in a basic overall translation, but also needs to add the equal-length relative displacement brought by the synchronous belt 341 transmission. Therefore, the second drive component 33 will generate a unit relative displacement in the same direction (downward) relative to the first drive component 32. Through the superposition of motion, the vertical absolute displacement generated by the second drive component 33 relative to the substrate 31 will be exactly equal to twice the displacement of the first drive component 32. This process is guided by the hierarchical nesting of the first slider 324 and the first slide rail 325, and the second slider 332 and the second slide rail 333, ensuring the high rigidity and stability of the multi-stage sliding in the vertical direction. This mechanical linkage method of multiplying the stroke allows the robot to push the working execution end 6 installed on the second drive component 33 downward to a depth many times greater without increasing its initial vertical height, and only requires a small vertical structural space, perfectly realizing the exploration of the interior of deep grain.
[0031] The operation execution end 6 is installed on the second drive component 33, and it can be flexibly configured according to specific storage operation tasks. When the robot performs the task of turning and cooling the deep grain in the grain depot, the operation execution end 6 is configured as a grain turning mechanism 61. Figure 1 As shown, the grain-turning actuator 61 includes a working motor fixed to the second drive assembly 33 via a connecting plate, and a grain-turning auger connected to the working motor via a coupling. The stroke multiplier mechanism 3 drives the second drive assembly 33 to extend downwards, vertically feeding the grain-turning auger into the deep grain interior. At this time, the working motor starts and drives the grain-turning auger to rotate at high speed via the coupling. As a preferred embodiment, the grain-turning auger can be equipped with spiral blades with a large lead. During rotation, the spiral thrust is used to continuously and vertically transport the deep, moist, and hot grain upwards and turn it to the grain surface, achieving efficient moisture dissipation and heat dissipation of the deep grain, breaking through the technical bottleneck of traditional equipment that can only turn grain at a shallow level.
[0032] When the robot performs multi-layer, deep grain quality inspection and sampling tasks in a grain warehouse, the operation execution end 6 is configured as the sampling execution mechanism 62. For example... Figure 6As shown, the sampling actuator 62 includes a sampling tube fixed to the second drive assembly 33 via a connecting plate, and a sampling electric push rod for controlling the opening and closing of the sampling port of the sampling tube. To achieve precise isolated sampling of grain at a specific depth, the sampling tube adopts a double-layered tube structure, specifically including an outer tube and an inner tube that are nested together and capable of relative displacement. An outer tube sampling port is formed on the wall of the outer tube, and a corresponding inner tube sampling port is formed on the wall of the inner tube. The fixed end of the sampling electric push rod is installed on the second drive assembly 33 or the top of the outer tube. The push rod output end of the sampling electric push rod penetrates into the outer tube and is rigidly connected to the top of the inner tube, thereby driving the inner tube to move precisely linearly back and forth relative to the outer tube through the extension and retraction of the push rod.
[0033] When a grain sample needs to be collected at a specific depth, the stroke multiplier mechanism 3 precisely moves, transporting the outer and inner tubes together to the specific deep grain location. At this time, the sampling electric push rod receives a control signal and drives its push rod output end to move, pushing the inner tube to slide axially inside the outer tube to a preset position, so that the inner tube collection port on the inner tube and the outer tube collection port on the outer tube are completely overlapped and connected in space, forming a grain inflow channel. The grain particles at this depth are squeezed by the external grain accumulation pressure and flow into the internal cavity of the inner tube through the overlapped channel for material collection.
[0034] After sampling is completed, the electric sampling pusher reverses its movement, causing its output end to retract or extend further. This causes the inner tube to slide in the opposite direction inside the outer tube, completely misaligning the inner and outer tube sampling ports axially. The solid tube walls between the inner and outer tubes, without any openings, create a seal, blocking the grain inflow channel and closing the sampling process. Subsequently, the stroke multiplier mechanism 3 retracts in the opposite direction, vertically lifting the sealed sampling tube away from the grain pile. This ensures that the collected sample originates entirely from a specific deep layer, without mixing in grain particles from shallower or other depths during the lifting process. Through the multi-point vertical positioning of the stroke multiplier mechanism 3, combined with the periodic control of the overlap and misalignment of the inner and outer tube sampling ports by the electric sampling pusher, the sampling tube can achieve precise stratified sampling at multiple vertical heights and levels within the deep grain layer. The entire operation, through the mechanical transmission and coordination of each mechanism module, achieves the beneficial goals of a clear and complete technical solution, dual functionality, and high purity in deep sampling.
[0035] Those skilled in the art will understand that the above embodiments are specific examples of implementing this disclosure, and in practical applications, various changes can be made in form and detail without departing from the scope of this disclosure.
Claims
1. A grain silo storage operation robot characterized by, include: Walking chassis mechanism; A planar positioning mechanism is mounted on the walking chassis mechanism; The planar positioning mechanism has an output end that can be adjusted for displacement within a horizontal two-dimensional plane; A stroke multiplier mechanism is installed at the output end of the planar positioning mechanism. The stroke multiplier mechanism includes a base plate, a first drive component slidably disposed on the base plate in a vertical direction, and a second drive component slidably disposed on the first drive component. The first drive component is connected to the base plate and the second drive component through a transmission linkage, so that the vertical displacement of the second drive component relative to the base plate is greater than the vertical displacement of the first drive component relative to the base plate. The operation execution end is installed on the second drive component. The operation execution end is configured as a grain turning execution mechanism or a sampling execution mechanism for operating on deep grain.
2. The grain depot storage operation robot according to claim 1, characterized in that, The stroke multiplication mechanism further includes a second drive motor mounted on the base plate, and a drive gear is provided on the output shaft of the second drive motor; the first drive assembly includes a first base module, a rack fixed to the lower end of the first base module, and synchronous pulleys disposed at both ends of the first base module; the rack meshes with the drive gear for transmission; the transmission linkage includes a synchronous belt, a first fixing buckle, and a second fixing buckle; the synchronous belt is wound around the two sets of synchronous pulleys; the first fixing buckle is disposed on the base plate; one side of the synchronous belt is fixed to the base plate by the first fixing buckle; the second fixing buckle is disposed on the second drive assembly; The other side of the timing belt is fixedly connected to the second drive component via a second fixing buckle.
3. A grain depot storage operation robot according to claim 2, characterized in that, The substrate is provided with a plurality of first sliders, and the first base module is provided with a first slide rail on the side near the substrate that cooperates with the first sliders. The first base module has a plurality of second sliders on its side away from the substrate. The second driving component includes a second base module and a second slide rail disposed on the second base module. The second slide rail slides in cooperation with the second sliders.
4. A grain depot storage operation robot according to claim 1, characterized in that, It also includes an execution end rotation mechanism, which is disposed on the output end of the planar positioning mechanism and rotatably connected to the substrate; the execution end rotation mechanism includes a rotary motor disposed on the output end of the planar positioning mechanism, a reducer connected to the rotary motor, and a multi-slot brake wheel disposed on the substrate; the output end of the reducer is connected to the multi-slot brake wheel; the rotary motor drives the multi-slot brake wheel to rotate, and the multi-slot brake wheel drives the substrate to rotate.
5. A grain depot storage operation robot according to claim 4, characterized in that, The actuator rotation mechanism also includes a locking electric push rod. When the base plate rotates to a set angle with the rotary motor, the push rod end of the locking electric push rod extends out and engages in one of the brake grooves of the multi-groove brake wheel to achieve mechanical locking.
6. A grain depot storage operation robot according to claim 1, characterized in that, It also includes a 180° flipping mechanism, and the planar positioning mechanism is rotatably connected to the walking chassis mechanism through the 180° flipping mechanism; The 180° flipping mechanism includes a flipping electric push rod fixed on the walking chassis mechanism, a flipping rack connected to the flipping electric push rod, and a flipping gear meshing with the flipping rack; the flipping electric push rod drives the flipping rack to perform reciprocating linear motion; the flipping gear is fixedly connected to the rotating shaft of the planar positioning mechanism.
7. A grain depot storage operation robot according to claim 6, characterized in that, The 180° flipping mechanism also includes a limiting plate, which is disposed at the end of the flipping electric push rod and is used to physically limit the rotational stroke of the flipping rack or the planar positioning mechanism so that its flipping angle is precisely 180°.
8. A grain depot storage operation robot according to claim 1, characterized in that, The planar positioning mechanism includes a planar slide rail base plate, a first ball screw assembly disposed on the planar slide rail base plate, and an upper platform base plate connected to the top of the first ball screw assembly; the first ball screw assembly drives the upper platform base plate to perform linear motion; the planar slide rail base plate and the upper platform base plate are slidably connected by a slide rail assembly disposed on the planar slide rail base plate; the planar positioning mechanism also includes a second ball screw assembly; the second ball screw assembly is disposed on the upper platform base plate; the stroke multiplier mechanism is connected to the output end of the second ball screw assembly; the first ball screw assembly and the second ball screw assembly are each driven by an independent motor assembly; the movement trajectories of the first ball screw assembly and the second ball screw assembly are perpendicular, driving the stroke multiplier mechanism to perform two-dimensional translation in the horizontal plane.
9. A grain depot storage operation robot according to claim 1, characterized in that, The walking chassis mechanism includes a chassis base plate and two tracks symmetrically arranged on both sides of the chassis base plate; each track has a drive wheel and a rear axle driven wheel respectively engaged at both ends; the drive wheels on both sides are respectively fixed on two front drive shafts, and the two front drive shafts are connected by a clutch; the chassis base plate is provided with a first drive motor that is connected to the front drive shafts for driving the tracks to move through the drive wheels.
10. A grain depot storage operation robot according to claim 1, characterized in that, The grain turning actuator includes a working motor fixed to the second drive assembly via a connecting plate, and a grain turning auger connected to the working motor via a coupling; The sampling actuator includes a sampling tube fixed to the second drive assembly via a connecting plate, and a sampling electric push rod for controlling the opening and closing of the sampling port of the sampling tube.