Grain sampling robot tensioning assembly and walking crawler belt

Abstract

The utility model provides a grain sampling robot tensioning assembly and a walking crawler belt, and belongs to the technical field of grain sampling. Comprising a mounting plate; the crawler belt is rotationally arranged on the periphery of the mounting plate, the crawler belt comprises a plurality of crawler plates, each crawler plate is provided with a first connecting part and a second connecting part, the first connecting part comprises three connecting round blocks, and the second connecting part comprises two connecting round blocks; and the number of the tensioning wheels is multiple, the multiple tensioning wheels are rotationally mounted on the mounting plate, and each tensioning wheel comprises two rolling wheels and a connecting rod. According to the utility model, the unique structural design of the tensioning wheel is matched with the connection form of the crawler belt, so that the aim of effectively preventing the tensioning wheel from blocking grains is fulfilled, and the aims of reducing the deviation probability of the crawler belt and reducing the rise of the risk of blocking grains caused by deviation are fulfilled by virtue of the tight cooperation among the limiting gear, the driving gear and the crawler belt connection structure.

Description

Technical Field

[0001] The utility model relates to the technical field of grain sampling, in particular to a tensioning component and a walking crawler of a grain sampling robot. Background Art

[0002] In modern agriculture and grain storage management, grain sampling plays a vital role in ensuring grain quality, monitoring storage conditions, and guaranteeing food safety. With the continuous advancement of technology, grain sampling robots have emerged, aiming to improve sampling efficiency, reduce labor costs, and enhance sampling accuracy and consistency.

[0003] However, because grain particles are ubiquitous in the robot's working environment, traditional robot tracks often cause grain to become stuck between various track components, such as the contact area between the tensioner and the track, and the connection between the drive gear and the track. Once a grain jam occurs, the track can malfunction, causing slippage, jamming, or even stopping. This not only seriously affects the efficiency of the grain sampling robot, preventing it from completing sampling tasks on time, but can also damage various components of the track system, increasing repair costs and downtime, and reducing the robot's overall reliability and service life. Utility Model Content

[0004] The technical problem to be solved by the present invention is to provide a tensioning assembly and a walking track of a grain sampling robot, so as to solve the technical problem that grain is easily stuck between traditional tensioning wheels and the track deviates, thereby reducing the gap between the first connecting part and the second connecting part and the roller at one end of the tensioning wheel, thereby increasing the risk of grain getting stuck.

[0005] Technical solution: To achieve the above purpose, the present invention is implemented through the following technical solutions: a tensioning assembly of a grain sampling robot, comprising: a mounting plate; a crawler, rotatably arranged on the periphery of the mounting plate, the crawler comprising a plurality of crawlers, the crawlers being provided with a first connecting portion and a second connecting portion, the first connecting portion comprising three connecting round blocks, the second connecting portion comprising two connecting round blocks; a plurality of tensioning wheels, and the plurality of tensioning wheels being rotatably mounted on the mounting plate, the tensioning wheel comprising two rollers and a connecting rod, the two rollers being stably connected to both ends of the connecting rod respectively, the length of the connecting rod being greater than the diameter of common grain particles to ensure that there is a sufficiently wide gap between the two rollers, thereby avoiding grain jamming of the tensioning wheel, wherein the mounting plate is made of high-strength aluminum alloy and is precision cast It is made of high-performance engineering plastics and carbon fiber mixed injection molding, which makes the track plate have the flexibility, easy processing and certain self-lubricating properties of engineering plastics, and the strength, rigidity and heat resistance are greatly improved due to the addition of carbon fiber; the connecting circle of the first connecting part and the second connecting part is integrally formed with the track plate, and the outer surface of the connecting circle is treated with a special texture, which not only increases the friction with the driving gear and the limit gear to prevent slipping, but also reduces the adhesion of grain particles to a certain extent; the roller is made of high-quality polyurethane material and manufactured through injection molding process, which has high wear resistance, high elasticity and good corrosion resistance. The surface of the roller is processed with an annular groove texture, which can further improve the rejection of grain particles and prevent grain from adhering to the roller surface. At the same time, when the roller contacts the track, it can effectively disperse the pressure and reduce wear; the connecting rod adopts a hollow shaft structure made of stainless steel to reduce weight while ensuring sufficient strength; the mounting plate should be provided with an electric screw structure and a slide structure to control the movement of the tensioning wheel. The electric screw is driven by a motor, and the motor is connected to the control system of the robot. It can automatically adjust the position of the tensioning wheel according to the tightness of the track to ensure that the track is always in a suitable tensioning state. The travel range of the electric screw can meet the tensioning requirements of the track under different working conditions, and its movement accuracy is sufficient to ensure precise control of the track tension.

[0006] In a further embodiment, a drive gear is stably mounted on a mounting plate, a tooth groove on the drive gear is adapted to a connecting block, at least two drive gears are provided, and the two drive gears are respectively meshed and connected with the two outermost connecting blocks of the three connecting blocks in the first connecting portion to achieve driving of the track, wherein the drive gear is made of high-quality alloy steel and has undergone quenching and tempering heat treatment, and has good wear resistance and fatigue resistance. The tooth groove surface is ground to ensure meshing accuracy and transmission efficiency with the connecting blocks; a tapered roller bearing is used to connect the drive gear to the mounting plate, which can withstand large radial and axial loads and ensure the stability of the drive gear during high-speed operation, and a sealing cover is installed on the outside of the bearing. The sealing cover is made of rubber and has good dust and water resistance, preventing grain debris, dust and moisture from entering the bearing and affecting the service life of the bearing and the normal operation of the drive gear.

[0007] In a further embodiment, a limit gear is provided on the connecting rod, the tooth grooves on the limit gear being adapted to fit the connecting round blocks, at least two limit gears are provided, and the two limit gears are respectively meshed with the two outermost connecting round blocks of the three connecting round blocks in the first connecting portion. The limit gear and the driving gear are made of the same material and processed to ensure consistent strength and precision. The limit gear's primary function is to prevent the track from deviating, and its tooth width is slightly wider than that of the driving gear to better limit the lateral displacement of the track. The limit gear is installed at a certain offset angle relative to the driving gear, and this offset installation can better limit the track in all directions. The limit gear and the connecting rod are connected by an interference fit, and are positioned and welded after installation to ensure that the limit gear will not loosen or move during long-term use. A self-lubricating coating is coated on the tooth groove surface of the limit gear, which can effectively reduce the friction coefficient when meshing with the connecting round blocks, reduce wear, and improve the self-lubricating performance of the limit gear, reducing the frequency of maintenance.

[0008] In a further embodiment, the middle connecting circle block in the first connecting part is connected to the two connecting circle blocks in the second connecting part through a connecting block to assist the limiting gear in limiting the track plate, wherein the connecting block is made of high-strength nylon material with good wear resistance and self-lubrication; the shape of the connecting block is trapezoidal, and this shape design can better transmit force and withstand shear force.

[0009] In a further embodiment, the connecting circles in the first connecting part and the second connecting part of two adjacent track plates are staggered and connected, wherein the connecting gaps between adjacent connecting circles are sealed with sealant, which can prevent food debris and dust from entering the connecting part and affecting the connection performance and service life.

[0010] In a further embodiment, the mounting plate is further provided with a first support wheel and a second support wheel, which are used to support the crawler track. The first support wheel and the second support wheel are made of rubber, which has excellent elasticity and cushioning properties, effectively reducing the impact of the crawler track on the mounting plate during operation while providing stable support force. The surfaces of the first support wheel and the second support wheel are designed with annular patterns, which can increase friction with the crawler track and prevent the crawler track from slipping on the support wheels.

[0011] In a further embodiment, the first connecting portion and the second connecting portion are located on the center line of the track plate in the width direction, wherein a rounded transition design is adopted at the junction of the first connecting portion and the second connecting portion with the track plate, which can effectively reduce stress concentration and increase the service life of the track plate, and local reinforcement treatment is performed at this position to further improve the strength and reliability of the connection portion.

[0012] A walking crawler comprises any one of the above-mentioned tensioning components of the grain sampling robot.

[0013] Beneficial Effects: 1. The unique structural design of the tensioner, combined with the track connection, effectively prevents grain from getting stuck on the tensioner, significantly ensuring stable robot operation. The tensioner's dual roller structure, with a connecting rod longer than the diameter of typical grain particles, creates a wide gap between the rollers. This design prevents grain from accumulating and clogging the rollers, ensuring smooth passage without affecting their rotation.

[0014] 2. Relying on the close cooperation between the limiting gear, the driving gear and the track connection structure, the purpose of reducing the probability of track deviation and reducing the increased risk of grain jamming caused by deviation is achieved, and the good effect of enhancing the stability and accuracy of track operation is achieved; the limiting gear is arranged on the tensioning wheel connecting rod and engages with the specific connecting circle block in the first connecting part, and works together with the driving gear stably installed on the mounting plate to form a precise limit on the lateral displacement of the track; the middle connecting circle block in the first connecting part is connected to the connecting circle block in the second connecting part through the connecting block. This connection method enhances the stability of the overall structure of the crawler track. When the crawler track encounters external force interference, it can effectively prevent relative displacement and deformation between the track plates, thereby avoiding track deviation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the practical embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0016] Figure 1 It is a structural diagram of the present utility model.

[0017] Figure 2 for Figure 1 Schematic diagram of the main cross-section structure.

[0018] Figure 3 Schematic diagram of the drive gear structure.

[0019] Figure 4 Schematic diagram of the structure of the track plate.

[0020] Figure 5 for Figure 3 Schematic diagram of the structure at A.

[0021] The reference numerals in the figure are: 1. Mounting plate; 2. Track; 201. Track plate; 202. First connecting part; 203. Second connecting part; 204. Connecting block; 3. Driving gear; 4. Tensioning wheel; 401. Roller; 402. Connecting rod; 403. Limiting gear. DETAILED DESCRIPTION

[0022] To make the purpose, technical solutions, and advantages of this practical embodiment more clear, the technical solutions in this practical embodiment are clearly and completely described. Obviously, the described embodiments are part of the embodiments of this practical, not all of them. Based on the embodiments in this practical, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this practical.

[0023] The present invention provides a tensioning assembly and walking track for a grain sampling robot, resolving the technical issues of grain jamming and track deviation in conventional tensioning wheels. This reduces the gaps between the first and second connecting parts and the roller at one end of the tensioning wheel, which can increase the risk of grain jamming. In actual use, this prevents grain jamming in the tensioning wheel and reduces the risk of track deviation, which can lead to grain jamming between the track and the tensioning wheel.

[0024] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0025] Reference Figure 1-5A tensioning assembly of a grain sampling robot includes: a mounting plate 1; a crawler 2, rotatably arranged on the periphery of the mounting plate 1, the crawler 2 includes a plurality of crawlers 201, a first connecting portion 202 and a second connecting portion 203 are provided on the crawler 201, the first connecting portion 202 includes three connecting round blocks, and the second connecting portion 203 includes two connecting round blocks; a plurality of tensioning wheels 4 are provided, and the plurality of tensioning wheels 4 are rotatably installed on the mounting plate 1, the tensioning wheel 4 includes two rollers 401 and a connecting rod 402, the two rollers 401 are stably connected to the two ends of the connecting rod 402, and the length of the connecting rod 402 is greater than the diameter of common grain particles to ensure that there is a sufficiently wide gap between the two rollers 401, thereby preventing the tensioning wheel 4 from getting stuck with grain.

[0026] The mounting plate 1 serves as the core support, providing a unified and stable mounting platform for components such as the track 2 and the tensioner 4, ensuring the stability of the relative position relationship between the components, thereby building an orderly mechanical structure system; the track 2 cooperates with components such as the tensioner 4 and the drive gear 3 through the unique track plate 201 connection design; its multiple track plates 201 and specific connection structure not only ensure effective engagement with the drive gear 3 to achieve power transmission, enabling the robot to move smoothly under different terrain conditions, but also maintains a reasonable tension state of the track 2 with the help of the connection with the tensioner 4, avoiding relaxation or excessive tension affecting operation.

[0027] The driving gear 3 is stably mounted on the mounting plate 1. The tooth grooves on the driving gear 3 are adapted to the connecting round blocks. There are at least two driving gears 3, and the two driving gears 3 are respectively engaged with the two outermost connecting round blocks of the three connecting round blocks in the first connecting part 202 to realize the driving of the crawler 2.

[0028] This achieves efficient power output and precise transmission control. Through the tight fit and engagement of the circular blocks connecting the track 201, the energy from the power source is stably and efficiently transmitted to the track 2, driving the robot to move along the predetermined trajectory and speed.

[0029] The limiting gear 403 is arranged on the connecting rod 402. The tooth groove on the limiting gear 403 is adapted to the connecting circle. There are at least two limiting gears 403, and the two limiting gears 403 are respectively engaged with the two outermost connecting circles of the three connecting circles in the first connecting part 202.

[0030] This achieves precise trajectory control and enhanced structural stability. Installed on the connecting rod 402 of the tensioner 4 and meshing with the connecting block, it effectively limits the lateral displacement of the crawler 2, ensuring it strictly follows the planned path and preventing deviation, significantly improving the robot's walking accuracy and linearity. Furthermore, working in conjunction with other components, it enhances the overall structural stability of the crawler 2 system, reducing the risk of structural deformation and misalignment due to external interference or internal stress changes, thereby ensuring the system's reliability and safety during long-term operation.

[0031] The middle connecting round block in the first connecting portion 202 is connected to the two connecting round blocks in the second connecting portion 203 via the connecting block 204 to assist the limiting gear 403 in limiting the track plate 201 .

[0032] The connection block 204, which connects the first connecting portion 202 and the second connecting portion 203, enhances the connection strength and integrity of the track plates 201, effectively dispersing local forces and reducing the possibility of damage to the connection due to stress concentration. In conjunction with the limiting gear 403, the precise control of the track 2 position is further enhanced, optimizing the limiting effect of the entire track 2 system.

[0033] The connecting round blocks in the first connecting portion 202 and the second connecting portion 203 of two adjacent track plates 201 are connected in an alternating manner.

[0034] This achieves optimized force distribution and enhanced anti-interference effects. The staggered connection of adjacent track plates 201 creates a more even and reasonable force distribution on the track 2, effectively preventing structural damage caused by localized excessive force and enhancing the track 2's adaptability to complex terrain and external impacts. Furthermore, this structural design effectively reduces grain accumulation and jamming on the track 2, minimizing interference from grain particles on the track's operation and ensuring smooth and stable operation.

[0035] The mounting plate 1 is further provided with a first supporting wheel and a second supporting wheel, which are used to support the crawler track 2 .

[0036] The first and second support wheels on the mounting plate 1 provide reliable vertical support for the track 2, ensuring good contact between the track 2 and the ground, maintaining a stable operating posture, and preventing the track 2 from slipping or deviation due to partial suspension or unstable support.

[0037] The first connection portion 202 and the second connection portion 203 are located on the center line of the track shoe 201 in the width direction.

[0038] The first connecting portion 202 and the second connecting portion 203 are located along the widthwise centerline of the track 201, ensuring balanced and symmetrical force on both sides of the track 2 during operation. This effectively reduces the risk of distortion and deformation of the track 201 due to uneven force, and improves the smoothness and operational stability of the track 2.

[0039] refer to Figure 1-5 , a walking crawler, including any of the above-mentioned grain sampling robot tensioning components.

[0040] During use, the driving source is started first. After the driving source is started, the driving gear 3 installed on the mounting plate 1 starts to rotate, and its tooth grooves are tightly meshed with the two outermost connecting round blocks of the first connecting part 202 on the crawler plate 201 of the crawler 2, and the power is evenly transmitted to the crawler 2, so that the crawler 2 starts to rotate; as the crawler 2 rotates, the staggered connection structure of the connecting round blocks in the first connecting part 202 and the second connecting part 203 on the crawler plate 201 distributes the power smoothly to the entire crawler 2, while reducing the interference of grain accumulation on the operation; at this time, the first support wheel and the second support wheel installed on the mounting plate 1 provide stable supporting force for the crawler 2; the tensioning wheel 4 is connected to the crawler 2 through its unique double roller 401 structure The rod 402 combination utilizes the gap between the rollers 401 to effectively avoid grain jamming, and the limiting gear 403 arranged on the connecting rod 402 of the tensioning wheel 4, its tooth groove engages with the specific connecting circle block of the first connecting part 202, and cooperates with the driving gear 3 to limit the displacement of the crawler 2 from the lateral direction to prevent deviation; at the same time, the middle connecting circle block of the first connecting part 202 is connected to the connecting circle block of the second connecting part 203 through the connecting block 204, further enhancing the connection stability between the crawler plates 201, and assisting the limiting gear 403 to play a better role, ensuring that the crawler 2 strictly follows the predetermined trajectory during operation, so that the robot can perform grain sampling tasks accurately, efficiently and stably in grain storage sites or operating areas.

[0041] The driving source, grain bin and camera required above all belong to the existing technology and are non-essential technical features in this application, so they are not described or drawn in the documents and drawings of this application; and the figures shown in the drawings are example figures, and their purpose is only to more intuitively show the key structure and connection relationship of the tensioning assembly and walking track of a grain sampling robot of the utility model; in actual application, the appearance and size of the device can be adjusted and optimized according to specific needs.

[0042] This invention encompasses any alternatives, modifications, equivalents, and solutions that do not depart from the spirit and scope of this invention. While specific details are described in detail in the preferred embodiments of this invention to provide a thorough understanding, those skilled in the art will be able to fully understand this invention without these details. Furthermore, to avoid unnecessary confusion regarding the essence of this invention, well-known methods, processes, procedures, components, and circuits have not been described in detail.

[0043] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A tensioning assembly for a grain sampling robot, characterized in that: include: Mounting plate (1); A crawler (2) is rotatably arranged on the periphery of the mounting plate (1), the crawler (2) comprising a plurality of crawler plates (201), the crawler plates (201) being provided with a first connecting portion (202) and a second connecting portion (203), the first connecting portion (202) comprising three connecting round blocks, and the second connecting portion (203) comprising two connecting round blocks; A plurality of tensioning wheels (4) are provided, and the plurality of tensioning wheels (4) are rotatably mounted on a mounting plate (1). The tensioning wheel (4) comprises two rollers (401) and a connecting rod (402). The two rollers (401) are stably connected to both ends of the connecting rod (402), and the length of the connecting rod (402) is greater than the diameter of common grain particles to ensure a sufficiently wide gap between the two rollers (401), thereby preventing the tensioning wheel (4) from getting stuck.

2. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: Also includes: A driving gear (3) is stably mounted on the mounting plate (1), the tooth groove on the driving gear (3) is adapted to the connecting round block, at least two driving gears (3) are provided, and the two driving gears (3) are respectively engaged with the two outermost connecting round blocks of the three connecting round blocks in the first connecting portion (202) to realize driving of the crawler (2).

3. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: Also includes: A limiting gear (403) is provided on the connecting rod (402); the tooth groove on the limiting gear (403) is adapted to the connecting round block; at least two limiting gears (403) are provided, and the two limiting gears (403) are respectively engaged with the two outermost connecting round blocks of the three connecting round blocks in the first connecting part (202).

4. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: The middle connecting round block in the first connecting part (202) is connected to the two connecting round blocks in the second connecting part (203) via a connecting block (204) to assist the limiting gear (403) in limiting the track plate (201).

5. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: The connecting round blocks in the first connecting portion (202) and the second connecting portion (203) on two adjacent track plates (201) are staggered and connected.

6. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: The mounting plate (1) is further provided with a first supporting wheel and a second supporting wheel, wherein the first supporting wheel and the second supporting wheel are used for supporting the crawler track (2).

7. The tensioning assembly of a grain sampling robot according to claim 1, characterized in that: The first connecting portion (202) and the second connecting portion (203) are located on a center line of the track plate (201) in a width direction.

8. A walking crawler, characterized in that: A grain sampling robot tensioning assembly according to any one of claims 1 to 7 is used.

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