Granary robot capable of improving mechanical strength of spiral wheel

Abstract

The utility model discloses a granary robot capable of improving the mechanical strength of a spiral wheel, which relates to the technical field of granary robots and comprises a main body, a control panel assembly and two driving assemblies, the control panel assembly is arranged in the main body; the driving assembly is mounted on the main body and comprises a motor, a transmission shaft and two spiral wheel assemblies; the control panel assembly is electrically connected with the motor, and the control panel assembly is used for controlling the granary robot to intelligently complete a preset task under a preset program; the spiral wheel assembly comprises a spiral wheel and two shaft sleeves, and the two shaft sleeves are arranged at the two ends of the spiral wheel correspondingly. The spiral wheel comprises a hollow shaft and spiral blades arranged around the outer side of the hollow shaft, and the transmission shaft is arranged in the hollow shaft in a penetrating mode in the axial direction; the transmission shaft is in transmission connection with the spiral wheel through the shaft sleeve, the number of the spiral blades is two, and the spiral angle of the spiral blades around the hollow shaft ranges from 240 degrees to 340 degrees. According to the technical scheme, the mechanical strength of the spiral wheel is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of granary robot, especially relates to a granary robot capable of improving mechanical strength of spiral wheel. BACKGROUND

[0002] The granary robot is used for solving the safety risk of manual entering the granary, can be remotely controlled, and avoids that the staff is submerged by the grain. The granary robot can move on the grain and not be deeply trapped, can also arrange the uneven grain, and protects the neatness of the granary, and the granary robot can also independently sample in the granary and randomly selects sampling to sample.

[0003] The granary robot on the market comprises a transmission shaft and a spiral wheel, the spiral wheel has a hollow shaft part and spiral blades integrally arranged on the outer wall of the hollow shaft part. The transmission shaft and the spiral wheel currently exist two kinds of cooperation modes.

[0004] I. The transmission shaft is a flat shaft, and a hole matched with the flat shaft is arranged in the spiral wheel.

[0005] II. A long key groove is arranged on the transmission shaft, a key is installed, and a groove matched with the key is arranged in the hollow shaft.

[0006] The two kinds of schemes will cause that the diameter of the hollow shaft part of the spiral wheel is small, the diameter of the hollow shaft part is small, and under the condition that the outer diameter of the spiral wheel is fixed, the height of the spiral blade is greater, and the height of the spiral blade is greater, so that the mechanical strength of the spiral wheel is reduced.

[0007] The diameter of the hollow shaft of the spiral wheel on the market is small, the spiral blade is a piece, the spiral blade rotates more than two circles around the outer wall of the hollow shaft, that is, the rotation angle is more than 720 degrees, the volume of the spiral blade of this scheme needs to be stirred, so that the greater the grain shear force is required, the greater the reaction force of the grain on the spiral blade is, and therefore the probability of damage of the spiral blade is greatly increased. CONTENT OF THE UTILITY MODEL

[0008] The utility model mainly aims at providing a granary robot capable of improving mechanical strength of spiral wheel, and aims at improving the mechanical strength of the spiral wheel.

[0009] In order to realize the above object, the utility model provides a granary robot capable of improving mechanical strength of spiral wheel, which comprises:

[0010] A main body;

[0011] A control panel assembly arranged in the main body;

[0012] Two driving assemblies are mounted on the main body, and each driving assembly comprises a motor, a transmission shaft and two screw wheel assemblies;

[0013] The control board assembly is electrically connected with the motor. The screw wheel assembly comprises a screw wheel and two shaft sleeves, and the two shaft sleeves are arranged at two ends of the screw wheel respectively. The screw wheel comprises a hollow shaft and screw blades arranged outside the hollow shaft. The transmission shaft is arranged in the hollow shaft in the axial direction. The transmission shaft is in transmission connection with the shaft sleeve, and the shaft sleeve is in transmission connection with the screw wheel. The number of the screw blades is two, and the helix angle of the screw blades around the hollow shaft is in the range of 240°-340°.

[0014] In an embodiment, the inner diameter of the hollow shaft is in the range of 30mm-60mm, and the helix angle of the screw blades is in the range of 30°-50°.

[0015] In an embodiment, the helix directions of the screw blades of the two screw wheels on the same driving assembly are the same, and the helix directions of the screw blades of the screw wheels on different driving assemblies are opposite.

[0016] In an embodiment, the shaft sleeve comprises a shaft body and a flange edge connected with each other. The shaft body penetrates into the hollow shaft. The flange edge abuts against the end of the hollow shaft. At least two protruding blocks are arranged outside the shaft body, and at least two first grooves matched with the protruding blocks are arranged on the inner wall of the hollow shaft.

[0017] In an embodiment, the first grooves extend from the end surface of the hollow shaft to the inside of the hollow shaft, and the first grooves are arranged corresponding to the roots of the screw blades.

[0018] In an embodiment, the end of the screw blade protrudes to the outside of the hollow shaft to form a plurality of clamping portions clamping the flange edge. The thickness of the screw blade increases in the direction towards the root.

[0019] In an embodiment, the shaft body comprises an inner cylinder, an outer cylinder and a connecting rib connecting the inner cylinder and the outer cylinder. The inner cylinder comprises a through hole for the transmission shaft to pass through and a second groove in communication with the through hole. The second groove is used for placing a key to drive the transmission shaft and the shaft sleeve. The number of the second grooves is two. The protruding blocks are arranged on the outer cylinder. The driving assembly further comprises a speed reducer arranged below the motor. The transmission shaft sequentially passes through one of the screw wheel assemblies, the speed reducer and the other screw wheel assembly. A plurality of sleeves are arranged between the speed reducer and the screw wheel assemblies. Lock nuts are arranged at two ends of the transmission shaft respectively. The driving assembly further comprises two end caps. The two end caps are mounted at the two ends of the transmission shaft and cover the lock nuts.

[0020] In an embodiment, the main body comprises a bottom plate and an upper cover assembled as a whole, a bottom wall of the bottom plate extends a whole circle of first sealing convex walls to the upper cover, a bottom wall of the upper cover extends a whole circle of second sealing convex walls to the first sealing convex walls; a whole circle of sealing rings is arranged between the first sealing convex walls and the second sealing convex walls; the first sealing convex walls, the sealing rings and the second sealing convex walls form a buffer cavity with the upper cover and the bottom plate.

[0021] In an embodiment, a circle of convex walls is arranged at a middle position of the bottom plate, the convex walls and the bottom plate form a mounting cavity, a battery assembly is arranged in the mounting cavity, the battery assembly comprises a battery pack, a shockproof member and a fixing support, the shockproof member is sleeved outside the battery pack, and the fixing support is arranged outside the shockproof member and fixed on the bottom plate.

[0022] The driving assembly of the granary robot of the technical scheme of the utility model increases the shaft sleeve, drives the shaft sleeve to rotate through the transmission shaft during operation, and drives the spiral wheel to rotate through the shaft sleeve. Due to the existence of the shaft sleeve, the diameter of the hollow shaft of the spiral wheel of the application can be set to be relatively large, the diameter of the hollow shaft is increased, the strength of the spiral blades on the two spiral wheels is increased, and therefore the spiral blades of the spiral wheel are more difficult to be damaged, and the service life of the spiral blades can be improved. BRIEF DESCRIPTION OF DRAWINGS

[0023] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be briefly introduced below, and obviously, the drawings in the following description are only some embodiments of the utility model, and other drawings can be obtained according to the structures shown in the drawings without creative labor for those skilled in the art.

[0024] Figure 1 The structure schematic view of one embodiment of the granary robot provided by the utility model from one perspective is shown in the figure.

[0025] Figure 2 The cross-sectional structure schematic view of the spiral wheel assembly of one embodiment of the granary robot provided by the utility model is shown in the figure.

[0026] Figure 3 The partial structure schematic view of one embodiment of the granary robot provided by the utility model is shown in the figure.

[0027] Figure 4 The cross-sectional structure schematic view of one embodiment of the granary robot provided by the utility model is shown in the figure.

[0028] Figure 5The utility model provides a driving assembly's structure schematic drawing of one embodiment of granary robot provides;

[0029] Figure 6 The utility model provides an explosion structure schematic drawing of driving assembly of one embodiment of granary robot provides;

[0030] Figure 7 The utility model provides a cross section structure schematic drawing of driving assembly of one embodiment of granary robot provides;

[0031] Figure 8 For Figure 7 The partial structure of in the enlarged view;

[0032] Figure 9 The utility model provides a structure schematic drawing of shaft sleeve of one embodiment of granary robot provides;

[0033] Figure 10 The utility model provides a structure schematic drawing of spiral wheel of one embodiment of granary robot provides;

[0034] Figure 11 The utility model provides a structure schematic drawing of chassis of one embodiment of granary robot provides;

[0035] Figure 12 The utility model provides a one view structure schematic drawing of upper cover of one embodiment of granary robot provides;

[0036] Figure 13 The utility model provides another view structure schematic drawing of upper cover of one embodiment of granary robot provides;

[0037] Figure 14 The utility model provides a structure schematic drawing of battery assembly of one embodiment of granary robot provides.

[0038] Explanation of figure mark:

[0039] 1, main body; 11, upper cover; 111, protruding part; 112, protruding cavity; 113, second sealing convex wall; 12, bottom disc; 121, first sealing convex wall; 122, sealing protection containing cavity; 123, buffer cavity; 124, protruding wall; 125, mounting cavity; 12a, warehouse body; 12b, side wing; 2, control board assembly; 3, driving assembly; 31, motor; 32, transmission shaft; 321, key groove; 33, spiral wheel assembly; 331, spiral wheel; 3311, hollow shaft; 3312, spiral blade; 3313, first groove; 3314, clamping part; 332, shaft sleeve; 3321, shaft body; 3322, flange edge; 3323, protruding block; 3324, inner cylinder; 3325, outer cylinder; 3326, connecting rib; 3327, through hole; 3328, second groove; 3329, positioning groove; 34, key; 35, speed reducer; 36, sealing element; 37, sleeve; 38, locking nut; 39, end cap; 391, positioning column; 4, image transmission visual sensor module; 5, sealing ring; 6, battery assembly; 61, battery pack; 62, shockproof element; 63, fixed support; 7, motor controller assembly; 71, electric governor controller; 72, electric governor support. DETAILED DESCRIPTION

[0040] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0041] It should be noted that if the present application embodiments involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between the components in a certain posture, and if the certain posture changes, the directional indications will also change accordingly.

[0042] In addition, if the description of "first", "second" and the like is involved in the embodiments of the utility model, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, also not within the protection scope required by the utility model.

[0043] Please refer to Figures 1-5 The embodiment of the application provides a grain storehouse robot capable of improving the mechanical strength of spiral wheel, which comprises a main body 1, a control board assembly 2 and two driving assemblies 3. The control board assembly 2 is arranged in the main body 1, and the driving assembly 3 is installed on the main body 1. The driving assembly 3 comprises a motor 31, a transmission shaft 32 and two spiral wheel assemblies 33. The motor 31 is in transmission connection with the transmission shaft 32, and the two spiral wheel assemblies 33 are in transmission connection with the transmission shaft 32, that is, the motor 31 is rotated to drive the transmission shaft 32 to rotate, and the transmission shaft 32 is rotated to drive the spiral wheel assembly 33 to rotate, so as to run on the grain surface. In the embodiment, the two driving assemblies 3 are arranged at the lower part of the main body 1 and support and drive the main body 1 to move. Each driving assembly 3 is provided with two spiral wheel assemblies 33, and the two spiral wheel assemblies 33 are driven by one transmission shaft 32. The two spiral wheel assemblies 33 are coaxially arranged on the transmission shaft 32.

[0044] The control board assembly 2 is electrically connected with the motor 31, and the control board assembly 2 is used for controlling the grain storehouse robot to intelligently complete a preset task under a preset program. For example, the preset task of the grain storehouse robot is to level the grain surface. After starting, the grain storehouse robot can walk according to the preset route and complete the grain leveling task in the walking process. For another example, the preset task of the grain storehouse robot is random sampling. After receiving a signal, the grain storehouse robot starts the motor 31 to drive the main body 1 to move to a corresponding position and then performs sampling.

[0045] Please refer to Figure 2 、 Figure 6 and Figure 7As shown, the screw wheel assembly 33 includes a screw wheel 331 and two shaft sleeves 332, which are respectively arranged at both ends of the screw wheel 331. The screw wheel 331 includes a hollow shaft 3311 and a screw blade 3312 arranged around the outside of the hollow shaft 3311. The transmission shaft 32 is axially arranged in the hollow shaft 3311, the transmission shaft 32 is in transmission connection with the shaft sleeve 332, and the shaft sleeve 332 is in transmission connection with the screw wheel 331. In the embodiment, the number of screw wheels 331 is four, the number of transmission shafts 32 is two, and the number of motors 31 is two. Two screw wheels 331 are sleeved on one transmission shaft 32, and the transmission shaft 32 is driven to rotate by one motor 31, thereby driving the two screw wheels 331 to rotate. The other two screw wheels 331 are sleeved on the other transmission shaft 32, and the transmission shaft 32 is driven to rotate by the other motor 31, thereby driving the two screw wheels 331 to rotate. The application is driven by two motors 31, which is powerful and stable in running.

[0046] The driving assembly 3 of the granary robot provided by the application increases the shaft sleeve 332, which is driven to rotate by the transmission shaft 32 during operation, and then drives the screw wheel 331 to rotate through the shaft sleeve 332. Due to the presence of the shaft sleeve 332, the diameter of the hollow shaft 3311 of the screw wheel 331 of the application can be set larger, the diameter of the hollow shaft 3311 is increased, the strength of the screw blade 3312 on the two screw wheels 331 is increased, and therefore the screw blade 3312 of the screw wheel 331 is more difficult to be damaged, which can improve the service life of the screw blade 3312. Furthermore, the application has a larger hollow space in the cooperation of the hollow shaft 3311 and the shaft sleeve 332, which can also reduce the overall weight and the energy required to drive the granary robot to run, thereby achieving the effect of energy saving and environmental protection.

[0047] Please refer to Figure 10 In the embodiment, the inner diameter of the hollow shaft 3311 is in the range of 30mm-60mm, and the helix angle of the screw blade 3312 is in the range of 30°-50°. The inner diameter of the hollow shaft 3311 can be selected as 45mm, the outer diameter can be selected as 55mm, and the diameter of the transmission shaft 32 is 14mm. The gap between the hollow shaft 3311 and the transmission shaft 32 can be used to accommodate the shaft sleeve 332. The application drives the transmission shaft 32 and the screw wheel 331 through the shaft sleeve 332 to increase the outer diameter of the hollow shaft 3311 of the screw wheel 331, thereby improving the mechanical strength of the screw blade 3312. After testing the helix angle of the screw blade 3312, the performance of the granary robot is best when the helix angle of the screw blade is 32.3°, the maximum running speed of the robot is 0.23m / s, the minimum slip rate is 0.06, and the maximum traction efficiency is about 0.85.

[0048] In the embodiment, the number of screw blades is two, and the helix angle of the screw blade around the hollow shaft is α (seeFigure 10 ), 240°≤a≤340°. When the helical blades run in the grain, the helical blades push the grain to move, and the grain exerts a reaction force on the helical blades to make the grain bin robot move. In the market, one helical blade is used to move the same distance, and the greater the reaction force of the grain it bears, so the damage speed of the helical blade increases. The present application uses two helical blades to share the force of the grain on the two helical blades, so that each helical blade bears a smaller reaction force, increasing the service life of the helical blade. It should be noted that the helix angle is the angle between the starting end of the helical blade and the terminal end of the helical blade.

[0049] In the embodiment, the helical blades of the helical wheels on the same drive assembly have the same helical direction, and the helical blades of the helical wheels on the different two drive assemblies have opposite helical directions. When the helical blades rotate, two directional components are generated, one is an axial component along the helical shaft, and the other is a radial component along the helical shaft. The two helical wheels on the same drive assembly of the present application are drivingly connected by a transmission shaft. If the helical blades on the same transmission shaft rotate in two directions, such as one left-handed and one right-handed, this will make the helical blades on the same transmission shaft bear opposite forces generated by the grain during operation, and the transmission shaft will be deformed after a long time of use, thereby affecting the straight running of the grain bin robot. The rotation directions of the helical wheels on the two drive assemblies are set to be opposite, such as the two helical wheels on the left drive assembly are left-handed, and the two helical wheels on the right drive assembly are right-handed.

[0050] Please refer to Figures 8-10 shown, in an optional embodiment, the shaft sleeve 332 includes a shaft body 3321 and a flange edge 3322 connected to one end of the shaft body 3321. The shaft body 3321 penetrates into the hollow shaft 3311 of the helical wheel 331, and the flange edge 3322 abuts against the end of the hollow shaft 3311. The present application sets one shaft sleeve 332 at each end of the helical wheel 331, and inserts the shaft body 3321 of the two shaft sleeves 332 into the hollow shaft 3311, and then covers the two ends of the hollow shaft 3311 by the setting of the flange edge 3322 to form a complete and integral helical wheel assembly 33, and the mechanical strength of the positions of the two helical wheels 331 is higher. It can be understood that the inner diameter of the hollow shaft 3311 is equal to the outer diameter of the shaft body 3321 to ensure the cooperation between the shaft sleeve 332 and the hollow shaft 3311. In a more preferred embodiment, the end of the helical blade protrudes outwardly of the hollow shaft to form a plurality of clamping portions 3314, which clamp the flange edge. The setting of the clamping portion 3314 not only facilitates the user to assemble and accurately position, but also protects the shaft sleeve 332, reduces the friction of the surrounding of the shaft sleeve 332 by the grain, and further reduces the damage of the shaft sleeve 332.

[0051] Referring again to Figure 9 As shown in FIG. 13, in the embodiment, the shaft body 3321 is further provided with at least two protruding blocks 3323, and the inner wall of the hollow shaft 3311 is provided with at least two first grooves 3313. After the shaft sleeve 332 is installed into the hollow shaft 3311, the protruding blocks 3323 are respectively inserted into the first grooves 3313. In this way, the stability of the transmission cooperation between the shaft sleeve 332 and the spiral wheel 331 is ensured. The number of the protruding blocks 3323 can be two, and the angle between the two protruding blocks 3323 is 180°, so that the force is symmetrical. The number of the protruding blocks 3323 can also be three, and the angle between the three protruding blocks 3323 is 120°. The number of the protruding blocks 3323 can be set according to actual needs, and the number of the first grooves 3313 is the same as that of the protruding blocks 3323.

[0052] Referring to Figure 10 As shown in FIG. 14, in an optional embodiment, the first grooves 3313 are arranged on the end face of the hollow shaft 3311, that is, the first grooves 3313 extend from the end face of the hollow shaft 3311 to the inside of the hollow shaft 3311. The first grooves 3313 are arranged corresponding to the root of the spiral blade 3312, and the thickness of the spiral blade 3312 increases in the direction towards the root.

[0053] Specifically, the first grooves 3313 extend from the end face of the hollow shaft 3311 to the inside of the hollow shaft 3311, so as to facilitate the installation of the shaft sleeve 332. During the installation, the protruding blocks 3323 on the shaft body 3321 are directly aligned with the first grooves 3313 in the hollow shaft 3311, and then the shaft body 3321 of the shaft sleeve 332 is inserted into the hollow shaft 3311 until the flange edge 3322 of the shaft sleeve 332 abuts against the end face of the hollow shaft 3311. The first grooves 3313 are arranged corresponding to the root of the spiral blade 3312, so as to ensure the mechanical performance of the cooperation between the protruding blocks 3323 and the first grooves 3313. The wall thickness at the position of the root of the spiral blade 3312 is large, and the first grooves 3313 are arranged at this position, which increases the mechanical strength of the spiral wheel, avoids the probability of damage of the first grooves 3313 after long-time use, and ensures that the shaft sleeve 332 and the spiral wheel 331 can be stably transmitted for a long time. The thickness of the spiral blade 3312 increases in the direction towards the root, that is, the thickness of the spiral blade 3312 increases from the side away from the hollow shaft 3311 to the side close to the hollow shaft 3311. This structure further increases the mechanical strength of the spiral blade 3312, which can ensure that the spiral wheel 331 does not deform after long-time use, and increases the service life of the spiral wheel 331.

[0054] Referring to Figure 9As shown, the shaft body 3321 includes an inner cylinder 3324, an outer cylinder 3325 and connecting ribs 3326, the inner cylinder 3324 and the outer cylinder 3325 are arranged at intervals, and the connecting ribs 3326 are used to connect the inner cylinder 3324 and the outer cylinder 3325 to increase the mechanical strength of the shaft body 3321. The number, position and thickness of the connecting ribs 3326 can be set according to actual conditions, which are not limited here. The inner cylinder 3324 has a through hole 3327 for the transmission shaft 32 to pass through and a second groove 3328 for placing a key 34, which is a flat key. It can be understood that the transmission shaft 32 also has a key groove 321, the flat key is arranged in the key groove 321 on the transmission shaft 32 and in the second groove 3328 of the shaft body 3321, and the transmission shaft 32 and the shaft sleeve are drivingly connected through the key 34. In an alternative embodiment, the number of second grooves 3328 is set to two, and the included angle between the two second grooves 3328 is 90. In this embodiment, the number of protruding blocks 3323 is two, the two first grooves at one end of the hollow shaft are 180, the two first grooves at the other end of the hollow shaft are also 180, and the projections of the first grooves at both ends of the hollow shaft on the radial cross section are arranged perpendicular to each other, so that the protruding blocks at both ends of the hollow shaft are more uniform in force on the spiral wheel. In order to cooperate with the first grooves at both ends of the hollow shaft, the number of second grooves 3328 is two, and the included angle between the two is 90, so that at least one of the two second grooves can be adapted to the key. In other embodiments, the protruding blocks can also be arranged as four, and the four protruding blocks are uniformly arranged around the axis of the hollow shaft, which can also make the spiral wheel more uniform in force.

[0055] Please refer to Figure 5 As shown, the drive assembly 3 further includes a speed reducer 35 and a sealing member 36. The speed reducer 35 is arranged below the motor 31, and the sealing member 36 is arranged between the motor 31 and the speed reducer. The transmission shaft 32 passes through one of the spiral wheel assemblies 33, the speed reducer 35 and the other spiral wheel assembly 33 in sequence. A plurality of sleeves 37 are arranged between the speed reducer 35 and the spiral wheel assembly 33, and the transmission shaft 32 is provided with lock nuts 38 at both ends. The spiral assembly further includes two end caps 39, which are installed at both ends of the transmission shaft 32 and cover the lock nuts 38.

[0056] Specifically, the driving assembly 3 further comprises a speed reducer 35 and a sealing member 36, the motor 31 is in transmission connection with the speed reducer 35, the speed reducer 35 is arranged directly below the motor 31, and the sealing member 36 is further arranged between the motor 31 and the speed reducer 35. The sealing member 36 can increase the sealing and dustproof performance between the motor 31 and the speed reducer 35, reduce the corrosion of the gas generated inside the grain depot on the motor 31 and the speed reducer 35 and the internal components of the grain depot robot, and further improve the service life of the grain depot robot. The transmission shaft 32 penetrates through the two screw wheel assemblies 33 and the speed reducer 35, and drives the screw wheel assemblies 33 to rotate after being decelerated and increasing torque by the speed reducer 35. The two screw wheel assemblies 33 are arranged on the two sides of the speed reducer 35 to ensure the balance of the force transmission of the speed reducer 35.

[0057] Please refer to Figures 6-8 As shown in the drawings, the driving assembly 3 further comprises a plurality of sleeves 37, two locking nuts 38 and two end caps 39. The speed reducer 35 and the screw wheel assemblies 33 are sleeved on the transmission shaft 32, and the speed reducer 35 and the two screw wheels 331 on its two sides have a spacing, the sleeve 37 is arranged in the spacing between the speed reducer 35 and the two screw wheels 331, and the sleeve 37 is also sleeved on the transmission shaft 32. Then the two ends of the transmission shaft 32 are locked by the locking nuts 38 respectively, so as to lock the two screw wheels 331 on the two sides of the speed reducer 35. The two end caps 39 are respectively installed on the two ends of the transmission shaft 32, and cover the locking nuts 38. In this embodiment, during the operation of the grain depot robot, the shaft sleeve 332 at the two ends of the transmission shaft 32 will be impacted by the grain, so one end cap 39 is arranged at each end of the transmission shaft 32 to protect the shaft sleeve 332 at the position of the two ends of the transmission shaft 32. The side of the end cap 39 facing the shaft sleeve 332 is provided with two positioning columns 391, and the end face of the shaft sleeve 332 is provided with two positioning grooves 3329 matched with the positioning columns 391, the positioning columns 391 are inserted into the positioning grooves 3329 during installation, and then the end cap 39 is fixed on the shaft sleeve 332 by screws, so as to protect the shaft sleeve 332 and close the through hole 3327 on the shaft sleeve 332.

[0058] In order to improve the sealing and dustproof performance between the screw wheel 331 and the shaft sleeve 332, and protect the components inside the screw wheel 331 from being corroded by the gas in the grain depot, the shaft body 3321 of the shaft sleeve 332 is in interference fit with the hollow shaft 3311. The openings at the two ends of the hollow shaft 3311 are provided with the shaft sleeve 332, and the inside of the hollow shaft 3311 is blocked by the two shaft sleeves 332. The sleeve 37 between the screw wheel 331 and the speed reducer 35 can also block the through hole 3327 on the shaft sleeve 332, and the sleeve 37 cooperates with the end cap 39 to seal and dustproof the two ends of the screw wheel 331.

[0059] Please refer toFigure 12 and Figure 13 As shown, the main body 1 includes a chassis 12 and an upper cover 11 assembled as one body. A protrusion 111 protrudes upward from the top of the upper cover 11. A protrusion cavity 112 is formed inside the protrusion 111. The image transmission visual sensor module 4 is provided in the protrusion cavity 112. The image transmission visual sensor module 4 is used to receive image information from the outside world. The control board assembly 2 receives information from the image transmission receiving module to process and identify the image information, and performs intelligent task mode under a preset program to complete the task intelligently. For example, the image transmission visual sensor module 4 transmits the image information of the grain surface to the image transmission receiving module. After receiving the image information processed by the image transmission receiving module, the control board assembly 2 determines the position of the uneven grain surface and starts the motor 31 to move to that position to smooth the grain surface at that position. In this embodiment, the upper cover 11 is arranged above the chassis 12, and the protrusion 111 is arranged on the top of the upper cover 11, and a protrusion cavity 112 is formed in the protrusion. The image transmission visual sensor module 4 is then installed in the protrusion cavity 112, so that the image transmission visual sensor module 4 is at a higher position and will not be blocked by other parts of the grain silo robot, so that it can better obtain image information of the surrounding environment. Furthermore, the image transmission visual sensor module 4 is arranged inside the upper cover, which can better protect the image transmission visual sensor module 4.

[0060] Please refer to Figure 4 、 Figure 11 and Figure 12 As shown, in an optional embodiment, both the chassis 12 and the upper cover 11 have cavity structures. The bottom wall of the chassis 12 extends a full circle of first sealing protrusions 121 toward the upper cover 11, and the bottom wall of the upper cover 11 extends a full circle of second sealing protrusions 113 toward the first sealing protrusions 121. A full circle of sealing ring 5 is disposed between the first sealing protrusions 121 and the second sealing protrusions 113. The first sealing protrusions 121, the sealing ring 5, and the second sealing protrusions 113 divide the interior of the main body 1 (i.e., the chassis and the upper cover) into two accommodating chambers: an internal sealed protection accommodating chamber 122 and an external buffer chamber 123. The internal sealed protection accommodating chamber 122 can accommodate components such as the control board assembly 2 to provide sealed protection for internal components and achieve dustproofing. The external buffer chamber 123 is arranged outside the sealed protection accommodating chamber 122. The granary robot will inevitably collide with uneven grains during movement. The buffer chamber 123 is formed on the outer periphery of the main body 1, which can play a buffering role and provide buffering protection for internal components.

[0061] See also Figure 11 、 Figure 3 and Figure 14As shown, the grain store robot further comprises a battery assembly 6, a raised wall 124 is arranged at the middle position of the chassis 12, the raised wall 124 and the chassis 12 form an installation cavity 125, and the battery assembly 6 is fixedly installed in the installation cavity 125. The battery assembly 6 comprises a battery pack 61, a shockproof member 62, and a fixing bracket 63, the shockproof member 62 is sleeved outside the battery pack 61, and the fixing bracket 63 is arranged outside the shockproof member 62 and fixed to the chassis 12.

[0062] Specifically, the grain store robot needs to move in the grain store for a long time, the surface of the grain in the grain store is uneven, and the grain surface is soft, so that the grain store robot shakes greatly when driving. As an important component, the battery pack 61 will be affected in use if the battery pack 61 shakes greatly, and even a fire event may occur if the shaking is serious. Therefore, the battery pack 61 needs to be effectively protected. The battery assembly 6 is arranged in the middle position of the chassis 12, the middle position of the chassis 12 comprises a raised wall 124, the raised wall 124 extends upward from the bottom of the chassis 12 to form an installation cavity 125 for installing the battery assembly 6. The battery assembly 6 comprises, from the outside to the inside, the fixing bracket 63, the shockproof member 62, and the battery pack 61. During assembly, the shockproof member 62 is first sleeved outside the battery pack 61, then the battery pack 61 with the shockproof member 62 is placed into the installation cavity 125, and finally the fixing bracket 63 is used to cover the shockproof member 62 and the battery pack 61 from the top, and the battery assembly 6 is fixed to the chassis 12 as a whole by a fixing member. In addition, the battery assembly 6 is fixed to the middle position of the chassis 12, the shaking of the middle position of the grain store robot is the smallest, and the protection performance of the battery assembly 6 can be further improved.

[0063] Please refer to Figure 3 and Figure 4 As shown, the chassis 12 further comprises a motor controller assembly 7, the control board assembly 2 is arranged at the front end of the chassis 12, and the motor controller assembly 7 is arranged at the rear end of the chassis 12. The motor controller assembly 7 is used to intelligently control the rotating speed of the motor 31 under the control of the control board assembly 2. The motor controller assembly 7 comprises an electronic speed controller 71 and an electronic speed controller bracket 72, the electronic speed controller bracket 72 is fixed to the chassis 12, and the electronic speed controller 71 is fixed to the electronic speed controller bracket 72.

[0064] In the embodiment, the battery assembly 6 is arranged at the middle position of the chassis 12, and the control board assembly 2 and the motor controller assembly 7 are arranged at the front and rear sides of the battery assembly 6. The battery assembly 6 has the largest weight, and the battery assembly 6 is arranged at the middle position of the chassis 12, so that the center of gravity of the granary robot is substantially at the position of the battery assembly 6, thereby increasing the balance of the whole granary robot. The weights of the control board assembly 2 and the motor controller 71 are different, and the motor controller support 72 can be used to balance, so that the center of gravity of the granary robot is substantially at the middle position of the chassis 12. In some embodiments, the control board assembly 2 can also be mounted on a control board support, so as to fix the control board assembly 2 and balance the center of gravity of the whole granary robot. It can be understood that there can be some other components in the chassis 12, and the weights of the components are reasonably distributed, so that the center of gravity of the granary robot is substantially at the position of the battery assembly 6.

[0065] Please refer to Figs. 1 and 2 again, Figure 3 and Figure 11 As shown in Figs. 1 and 2, the chassis 12 includes a body 12a and two side wings 12b connected to the two sides of the body 12a in width. The motor 31 is mounted at the end of the side wing 12b away from the body 12a.

[0066] Specifically, the body 12a and the side wings 12b are arranged vertically to form a cross shape, and the two side wings 12b are respectively located at the left and right sides of the body 12a. The two side wings 12b are symmetrically arranged about the central axis of the body, and the symmetric side wings 12b have the effect of balance arms, so that the balance of the granary robot is greatly increased, and the possibility of overturning of the granary robot is reduced. In the embodiment, the motor 31 is mounted at the end of the side wing 12b away from the body 12a, and the auger 331 is arranged below the motor 31, so that the distance between the two augers 331 is increased. If the two motors 31 are directly arranged at the two sides of the body 12a, the distance between the two augers 331 is too small, which affects the stability of the granary robot. The application increases the two side wings 12b, and arranges the drive assembly 3 at the position of the end of the side wing 12b, so as to increase the stability of the granary robot.

[0067] The above merely describes the exemplary embodiments of the present application, and does not limit the patent scope of the present application. Any equivalent structural transformation made by referring to the content of the present application and the drawings, or direct / indirect application in other related technical fields is included in the patent protection scope of the present application.

Claims

1. A grain bin robot capable of enhancing the mechanical strength of a screw auger, characterized by, The utility model provides a kind of driving device, including: Main body; Control panel assembly, the control panel assembly is set in the main body; Two drive assemblies, the drive assembly is mounted on the main body, the drive assembly includes motor, transmission shaft and two spiral wheel assemblies; Wherein, the control panel assembly is electrically connected with the motor;The spiral wheel assembly includes spiral wheel and two shaft sleeves, two the shaft sleeve is set in the two ends of the spiral wheel respectively;The spiral wheel includes hollow shaft and spiral blade that is set around the outside of the hollow shaft, the transmission shaft is axially arranged in hollow shaft;The transmission shaft is drivingly connected with the shaft sleeve, the shaft sleeve is drivingly connected with the spiral wheel;The number of the spiral blade is two, the spiral angle of the spiral blade around the hollow shaft is in the range of 240 °-340 °.

2. The silo robot of claim 1, wherein, The inner diameter of the hollow shaft is in the range of 30mm-60mm, the helix angle of the spiral blade is in the range of 30 °-50 °.

3. The silo robot of claim 1, wherein, The spiral direction of the spiral blade of two spiral wheels on the same drive assembly is the same, and the spiral direction of the spiral blade of the spiral wheel on different two drive assemblies is opposite.

4. The silo robot of claim 1, wherein, The shaft sleeve includes a shaft body and a flange edge connected thereto, the shaft body penetrates into the hollow shaft;The flange edge abuts against the end of the hollow shaft;At least two protruding blocks are further provided on the outer shaft body, and the inner wall of the hollow shaft has at least two first grooves matched with the protruding blocks.

5. The silo robot of claim 4, wherein, The first groove extends from the end surface of the hollow shaft to the inside of the hollow shaft;And the first groove is arranged corresponding to the root of the spiral blade.

6. The silo robot of claim 4, wherein, The end of the spiral blade protrudes outward to the hollow shaft to form a plurality of clamping portions, and the clamping portions clamp the flange edge;The thickness of the spiral blade increases in the direction towards the root.

7. The silo robot of claim 4, wherein, The shaft body includes an inner cylinder, an outer cylinder and a connecting rib connecting the inner cylinder and the outer cylinder;The inner cylinder includes a through hole for the transmission shaft to pass through and a second groove in communication with the through hole;The second groove is used for placing a key to drivingly connect the transmission shaft and the shaft sleeve;The number of the second groove is two;The protruding blocks are arranged on the outer cylinder.

8. The silo robot of claim 2, wherein, The drive assembly further includes a speed reducer arranged below the motor, and the transmission shaft sequentially penetrates through one of the spiral wheel assemblies, the speed reducer and the other spiral wheel assembly;A plurality of sleeves are arranged between the speed reducer and the spiral wheel assembly, and lock nuts are arranged at the two ends of the transmission shaft respectively;The drive assembly further includes two end caps, which are mounted at the two ends of the transmission shaft and cover the lock nuts.

9. The silo robot of claim 2, wherein, The main body includes a bottom plate and an upper cover assembled into one body, a bottom wall of the bottom plate extends out a whole circle of first sealing convex walls towards the upper cover, and a bottom wall of the upper cover extends out a whole circle of second sealing convex walls towards the first sealing convex walls;A whole circle of sealing rings is arranged between the first sealing convex walls and the second sealing convex walls;The first sealing convex walls, the sealing rings and the second sealing convex walls form a buffer cavity with the upper cover and the bottom plate.

10. The silo robot of claim 9, wherein, The middle part of the bottom disc is provided with a raised wall, the raised wall and the bottom disc form a mounting cavity, a battery assembly is arranged in the mounting cavity, the battery assembly comprises a battery pack, a shockproof member and a fixing support, the shockproof member is sleeved outside the battery pack, the fixing support is arranged outside the shockproof member and fixed on the bottom disc.

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