Granary robot with sealed shell
By designing a granary robot with a sealed shell and a turbine group walking module, the problems of phosphine corrosion and dust wear were solved, and the robot achieved stable operation in the granary and extended its service life.
Patent Information
- Application Number
- CN202423000839.3
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2034-12-05
AI Technical Summary
Granary robots are prone to corroding circuit boards and causing structural wear in environments with phosphine fumigation and dust, and the existing walking method can easily cause the robot to lose control and malfunction.
The granary robot is designed with a sealed shell, and an airtight installation space is formed by the combination of sealing ribs, sealing strips and matching ribs. The walking module is made of aluminum alloy or magnesium-aluminum alloy, and the turbine group replaces the tracks or wheels. The buffer convex arc and sealing structure are combined to protect the internal components.
The corrosion and wear of the circuit board by phosphine and dust are reduced, the structural failure rate is reduced, and the movement stability and service life of the robot on the surface of the grain pile are improved.
Smart Images
Figure CN223488560U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of grain warehouse robot technology, and in particular to a grain warehouse robot with a sealed outer shell. Background Technology
[0002] In large grain storage silos, phosphine is often used for fumigation to suppress pests.
[0003] Phosphine is a colorless, highly toxic gas with a fishy odor. It is highly effective against different stages of stored grain pests. It enters the insect's body through the respiratory system and acts on the respiratory chain of mitochondria and cytochrome oxidases, causing the insect to die.
[0004] In addition, since the grain harvesting process takes place in farmland and the threshing and other operations generate a lot of dust, the grain will also carry a lot of dust when it is piled up.
[0005] However, for grain silo robots operating inside grain silos, phosphine can corrode their metal parts, especially the copper on the circuit boards; dust can cause abnormal wear or short circuits in the internal structure of the grain silo robot, leading to malfunctions. Utility Model Content
[0006] The main purpose of this invention is to propose a grain silo robot with a sealed outer shell, which aims to reduce the possibility of phosphine corrosion of the internal circuit board and dust entering the grain silo robot.
[0007] To achieve the above objectives, the present invention proposes a grain storage robot with a sealed outer shell, comprising an outer shell, wherein the outer shell is sealed.
[0008] The control module is disposed within the housing;
[0009] The outer casing includes a top cover and a chassis. The top cover is sealed to the chassis, and the top cover and the chassis together form an installation space. The control module is disposed within the installation space. The chassis has a sealing rib, and the top of the sealing rib has a sealing strip. The top cover has a mating rib, and the mating rib is pressed against the sealing strip.
[0010] In one embodiment, the sealing strip has an embedding groove, the top end of the sealing rib is embedded in the embedding groove, and the ends of the sealing rib and the mating rib are provided with retaining teeth for fixing the sealing strip.
[0011] In one embodiment, the chassis, the top cover, the sealing rib, and the mating rib together form a buffer space.
[0012] In one embodiment, both the chassis and the top cover have protruding arc segments on their outer peripheries. The arc segments of the chassis and the top cover combine to form a buffer convex arc. The buffer convex arc, together with the sealing convex rib and the mating convex rib, forms a buffer space.
[0013] In one embodiment, a limiting protrusion is formed at the end of the arc segment of the upper cover, and a limiting groove is provided at the top of the arc segment of the chassis for the limiting protrusion to be inserted.
[0014] In one embodiment, the grain silo robot further includes two sets of walking modules, which are respectively disposed on opposite sides of the outer shell. The chassis is made of aluminum alloy or magnesium-aluminum alloy. Each walking module includes two turbines, which are coaxially arranged. The turbines are made of one of aluminum alloy, magnesium-aluminum alloy, PPS, and carbon fiber.
[0015] In one embodiment, the walking module further includes a motor and a gearbox. The motor is disposed within the installation space, and the output shaft of the motor extends out of the housing and meshes with the gearbox. Two turbines are respectively disposed on opposite sides of the gearbox, and the gearbox is used to transmit the power generated by the motor to the turbines. A first sealing groove is provided on the chassis, and a first sealing ring is disposed in the first sealing groove. The top of the gearbox is pressed against the first sealing ring.
[0016] In one embodiment, an output shaft and a follower shaft are respectively provided on opposite sides of the gearbox, and two turbines are respectively sleeved on the output shaft and the follower shaft. The ends of the output shaft and the follower shaft are each provided with a bushing.
[0017] In one embodiment, the control module includes an antenna, which is fixed to the top of the cover and electrically connected to the control module. A second sealing ring is provided at the bottom of the antenna.
[0018] In one embodiment, the upper cover has an installation groove, an interface module is provided in the installation groove, and a cover plate is detachably connected to the upper cover for sealing the installation groove.
[0019] The technical solution of this utility model uses a sealing rib, a sealing strip and a matching rib to form an airtight installation space inside the shell, thereby reducing the probability of phosphine gas and dust entering the grain silo robot and corroding its circuit components or causing other malfunctions. Attached Figure Description
[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.
[0021] Figure 1 A schematic diagram of the overall structure of the grain silo robot with a sealed outer shell provided by this utility model;
[0022] Figure 2 This is an exploded view of the structure of this utility model;
[0023] Figure 3 for Figure 2 Enlarged view of part A;
[0024] Figure 4 A cross-sectional structural diagram of a grain silo robot with a sealed outer shell provided by this utility model;
[0025] Figure 5 for Figure 4 Enlarged view of section B;
[0026] Figure 6 for Figure 4 Enlarged view of section C;
[0027] Figure 7 This is a structural schematic diagram from the rear view of the present invention;
[0028] Figure 8 for Figure 7 Enlarged view of section D.
[0029] Description of Figure Numbers:
[0030] 1. Outer shell; 11. Top cover; 111. Mating rib; 112. Clamping tooth; 113. Mounting groove; 114. Cover plate; 115. Detection groove; 116. Third sealing ring; 12. Chassis; 121. Sealing rib; 122. Sealing strip; 123. Embedding groove; 124. First sealing groove; 125. First sealing ring; 13. Installation space; 14. Arc segment; 15. Buffer arc; 16. Buffer space; 17. Limiting protrusion; 18. Limiting groove; 2. Control module; 21. Image sensing component; 22. Communication component; 221. Main body; 222. Antenna; 223. Second sealing ring; 23. Circuit board; 3. Walking module; 31. Motor; 32. Gearbox; 321. Bushing; 33. Turbine; 331. Blade; 4. Interface module; 5. Battery.
[0031] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. Detailed Implementation
[0032] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present utility model.
[0033] It should be noted that if the embodiments of the present invention 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 status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indications will also change accordingly.
[0034] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the use of "and / or" or "and / or" throughout the text includes three parallel solutions. For example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.
[0035] With the increasing application of grain storage robots, and the improved coordination between them and mechanized grain stacking processes, grain storage robots need to quickly reach protruding parts on the grain pile surface during leveling. Therefore, these robots typically operate at high speeds. However, grain is granular, and the surface of a grain pile has mechanical properties drastically different from those of fluids and solids. Existing grain storage robots generally use tracks or wheels to move on the grain pile surface, making them prone to slipping or sinking, which hinders their movement. These issues can cause the robots to lose control, significantly increasing the likelihood of collisions with protruding parts of the grain pile and consequently increasing the probability of structural damage.
[0036] It should be noted that during the grain piling process or during grain storage after piling, phosphine gas is used to fumigate the grain in the grain silo to inhibit any insect eggs or live insects that may be present in the grain grains, thereby suppressing pest infestations. Phosphine is a colorless, highly toxic gas with a fishy odor. It is highly effective against different stages of stored grain pests, entering the insect's body through the respiratory system and acting on the respiratory chain of mitochondria and cytochrome oxidases, causing death. However, it is important to note that phosphine gas easily corrodes metals, especially copper. Since the circuit boards and electronic components in the grain silo robot contain a large number of copper-based base components, structural damage to the grain silo robot will significantly accelerate the corrosion of these copper-containing components by phosphine, thus greatly shortening the robot's lifespan.
[0037] The harvesting and threshing of grains generate a large amount of dust, which enters the grain silo along with the grain. Therefore, when the grain silo robot walks on the surface of the grain pile, it will raise dust. If this dust enters the inside of the grain silo robot, it may cause abnormal wear of its internal structure or short circuits and other malfunctions.
[0038] Reference Figures 1 to 3Therefore, this utility model proposes a grain silo robot with a sealed outer shell. Besides performing tasks such as leveling the grain, it reduces the likelihood of collisions with protruding parts of the grain pile surface, thus ensuring its structural integrity. Specifically, the grain silo robot with a sealed outer shell proposed in this utility model includes an outer shell 1, a battery, a control module 2, and two sets of walking modules 3. The control module 2 includes an image sensing component 21 and a communication component 22. The outer shell 1 includes a top cover 11 and a chassis 12, which are sealed together to form an installation space 13. The battery is located within this installation space 13 and is used to power the entire grain silo robot. The image sensing component 21 is located on the top cover 11 and is used to detect obstacles around the grain silo robot. The communication component 22 is also located on the top cover 11 and is used to communicate with the outside world. The two sets of walking modules 3 are respectively located on opposite sides of the outer shell 1 and are used to drive the grain silo robot. The robot's movement is described below. Both the chassis 12 and the top cover 11 have protruding arc segments 14 on their outer peripheries. These arc segments 14 of the chassis 12 and the top cover 11 combine to form a buffer arc 15, which buffers the impact between the grain storage robot and the grain pile. The walking module 3 includes a turbine assembly, which consists of two turbines 33. The two turbines 33 are coaxially arranged, and their spiral directions are the same. Furthermore, the axial direction of the turbines 33 is parallel to the length direction of the grain storage robot, and the spiral directions of the turbines 33 in the two turbine assemblies are opposite. When the two turbine assemblies rotate at the same speed but in opposite directions, the grain storage robot moves forward or backward. When the two turbine assemblies rotate in the same direction or there is a speed difference between them, the grain storage robot turns. Due to the characteristics of the turbines 33, the walking process of the grain storage robot of this invention is essentially the process of leveling the grain.
[0039] In this invention, the grain storage robot can perceive its surrounding environment using the image sensing component 21, specifically the surface of the surrounding grain pile. When grain accumulates on the surface of the grain pile, forming a protrusion, the grain storage robot can detect this using the image sensing component 21. After detection, the grain storage robot will proceed to the area where the protrusion forms and perform a leveling operation, thereby completing the leveling work on the surface of the grain pile. It should be noted that the grain storage robot in this invention can complete the automated leveling work through the image sensing component 21. For example, a program can be pre-set for the grain storage robot so that when the image sensing component 21 detects a protrusion on the surface of the grain pile, it will start running until the protrusion is leveled and disappears. The image sensing component 21 improves the intelligence level of the grain storage robot.
[0040] Accordingly, based on the above, the grain warehouse robot needs to provide timely feedback on the status of the grain in the warehouse. Therefore, the communication component 22 enables the grain warehouse robot to send and receive information with the outside world. Operators can use the grain warehouse robot to monitor the real-time status of the grain warehouse, and can also use the communication component 22 to remotely control the grain warehouse robot to complete designated tasks. Therefore, the communication component 22 facilitates information transmission and human-machine interaction, and improves the informatization level of the grain warehouse robot.
[0041] In accordance with the above, in order to control the working and movement states of the grain storage robot and to integrate the information collected by the grain storage robot, the control module 2 also includes a circuit board 23. The circuit board 23 is communicatively connected to the communication component 22 and the image sensing component 21. That is, the circuit board 23 is similar to the "brain" of the grain storage robot. The relevant chips on the circuit board 23 can enable the grain storage robot to operate according to the preset working mode, and can also allow relevant personnel to directly operate the grain storage robot. Specifically, when the circuit board 23 receives electrical signals from the communication component 22 and the image sensing component 21, it can control the rotation direction and angle of the two sets of turbines respectively. For example, in practice, when the grain storage robot detects a protrusion on the surface of the grain pile, the two sets of turbines are driven to rotate under the control of the circuit board 23, thereby controlling the grain storage robot to adjust its angle to align with the protrusion and thus complete the leveling operation.
[0042] Reference Figures 2 to 6 Furthermore, it's important to explain in conjunction with this that the turbine 33 in the walking module 3 actually helps reduce the possibility of the grain silo robot colliding with protrusions on the grain pile surface. Specifically, the grain pile surface has mechanical properties that are drastically different from solid or fluid surfaces. This makes the wheeled grain silo robot highly susceptible to the impact of pits and bumps on the grain pile surface during movement. At excessive speeds, the grain silo robot's movement trajectory will be affected by the bumps, and because grain is granular, the wheeled grain silo robot is prone to losing traction while its movement trajectory is affected, leading to phenomena such as tipping over. This generates impact on the sealed outer shell 1, increasing the possibility of damage to the installation space 13 and loss of airtightness. Correspondingly, the tracked grain silo robot can cope well with the pits and bumps on the surface of the grain pile due to the characteristics of the track. However, due to the characteristics of the track itself, the tracked grain silo robot is relatively heavy and its flexibility is reduced. Its rapid response and mobility are limited by the track. Moreover, because the track has many structures and grain is generally granular, grain may become embedded in the transmission structure of the track, causing transmission failure and greatly increasing the maintenance cost of the grain silo robot.
[0043] In conjunction with the above, in the grain storage robot proposed in this utility model, the walking module 3 further includes a motor 31 and a reduction gearbox 32. The motor 31 is disposed within the installation space 13, and the output end of the motor 31 extends out of the outer casing 1 and meshes with the reduction gearbox 32. An output shaft and a follower shaft are respectively disposed on opposite sides of the reduction gearbox 32. The reduction gearbox 32 transmits the power generated by the motor 31 to the output shaft. Two turbines 33 are respectively fitted onto the output shaft and the follower shaft. That is, in the same set of turbines, one turbine 33 is driven, and the other turbine 33 follows. The turbine assembly in the walking module 3 simplifies the structure and overall weight while minimizing the impact of protrusions on the grain pile surface on its movement trajectory, thus reducing the possibility of loss of control. Specifically, the turbine 33 in the turbine assembly actually rotates on the grain pile surface and is partially embedded in the grain pile. Therefore, the turbine 33 moves by changing the distribution of grain particles on the grain pile surface. This makes the grain silo robot proposed in this invention less susceptible to the effects of pits or protrusions on the grain pile surface during operation, thereby reducing the possibility of collisions between the grain silo robot and protrusions on the grain pile surface and minimizing the possibility of damage to the outer shell 1. Furthermore, the structure of the turbine 33 is much simpler than that of the tracks, thus greatly reducing the weight of the grain silo robot and decreasing the frequency and cost of maintenance.
[0044] Reference Figures 2 to 6 In this invention, the turbine 33 has two blades 331, and the spiral pattern of the two blades 331 is an equidistant spiral. It can be simply understood that the two turbines 33 in the same turbine group are actually the same, so the turbines 33 belonging to the same group have better uniformity and coordination when the grain silo robot moves. In addition, considering the characteristics of the turbine 33, the rotation directions of the two turbine groups are opposite when the grain silo robot moves. Specifically, when the turbine 33 rotates, since the turbine 33 is partially submerged below the surface of the grain pile, the turbine 33 will generate a force in its rotation direction in addition to the forward or backward thrust, which is the force that causes the grain silo robot to translate in the left and right direction. Therefore, the two turbine groups need to rotate in opposite directions to cancel each other out, so as to complete the forward or backward movement of the grain silo robot.
[0045] Reference Figures 2 to 6Correspondingly, when the turbine 33 rotates to propel the grain storage robot forward or backward, the rotation of the turbine 33 will lift the grain on the surface of the grain pile. This is the basis for the grain storage robot proposed in this utility model to level the surface of the grain pile simply by moving. Depending on the different rotation directions of the two sets of turbines, the grain turning can be divided into two states: outward turning and inward turning. For ease of explanation, let's assume that one set of turbines is named A and the other set is named B. Observing from the head of the grain storage robot, A is located on the left side of the grain storage robot, and B is located on the right side. When A rotates counterclockwise and B rotates clockwise, the two sets of turbines will lift the grain particles to both sides of the grain storage robot. This turning state is outward turning, and vice versa. Specifically, when the grain storage robot passes over the protrusions on the surface of the grain pile, it will lift the grain, thereby leveling the surface of the grain pile.
[0046] It should be noted that, considering the balance of forces, the output shafts of the two gearboxes 32 are generally in the same direction. Simply put, the two output shafts are located at the head or tail of the grain silo robot at the same time to maintain the balance of the grain silo robot's operation.
[0047] Considering that the grain storage robot often encounters uphill and downhill conditions during the process of leveling the grain pile surface, and taking into account the overall size of the grain storage robot, in order to ensure that the grain storage robot can move uphill and downhill normally, the horizontal height of the turbine assembly axis is not higher than the horizontal height of the ground of the outer shell 1. That is, the horizontal height of the turbine 33 axis is not higher than the horizontal height of the bottom surface of the chassis 12. This setting can ensure that the grain storage robot has sufficient approach angle and departure angle to face most of the protrusions formed by the natural accumulation of grain.
[0048] Accordingly, considering that the turbine 33 is partially submerged in the grain pile, the rotation process of the turbine 33 is actually a process of continuous friction with the grain particles. In order to ensure the structural strength of the turbine 33, and considering that the grain silo environment may cause corrosion to the metal parts of the grain silo robot, the material of the turbine 33 is one of aluminum alloy, magnesium aluminum alloy, PPS, PPS resin long glass fiber and carbon fiber. The above materials all have good structural strength and wear resistance, and can effectively resist the corrosion of phosphine gas. Further considering the overall size of the grain silo robot, the intermediate cylinder diameter of the turbine 33 is 55-70mm, the blade 331 width of the turbine 33 is 40-100mm, and the blade 331 pitch of the turbine 33 is 250-450mm.
[0049] Reference Figures 2 to 6To reduce the possibility of phosphine corroding the copper wires inside the motor 31, a first sealing groove 124 is provided on the chassis 12, and a first sealing ring 125 is provided in the first sealing groove 124. The top of the gearbox 32 is pressed against the first sealing ring 125. That is, a seal is provided between the gearbox 32 and the chassis 12, which reduces the possibility of phosphine entering the installation space 13 from the gap between the gearbox 32 and the chassis 12 and corroding the internal structure of the motor 31, thus ensuring the integrity of the overall structure and its service life.
[0050] Furthermore, considering the different metal reactivity levels—that is, the basic components in control module 2 contain a large amount of copper, and the output shaft and follower shaft are generally made of steel—to further reduce the possibility of corrosion of components such as the basic components, output shaft, and follower shaft, the chassis 12 is made of aluminum alloy or magnesium-aluminum alloy. First, aluminum alloy and magnesium-aluminum alloy have excellent corrosion resistance. Second, since the chassis 12 may frequently rub against grain particles, its surface oxide layer may be frequently worn away. Therefore, when corrosion occurs, due to the higher metal reactivity of aluminum or magnesium, it will corrode first instead of the basic components, output shaft, and follower shaft. Thus, the chassis 12 will be corroded instead of the basic components, output shaft, and follower shaft. Moreover, since the chassis 12 is visible, and the corrosion of the chassis 12 has little impact on the overall operation of the grain silo robot, it can effectively improve the overall service life of the grain silo robot. In addition, the output shaft and follower shaft are generally hollow. In order to reduce the possibility of corrosion of the output shaft and follower shaft, bushings 321 are provided at the ends of both the output shaft and the follower shaft to prevent phosphine from entering their interior.
[0051] Reference Figures 2 to 6To ensure the airtightness of the installation space 13, a sealing rib 121 is provided inside the chassis 12, and a sealing strip 122 is provided at the top of the sealing rib 121. A mating rib 111 is provided inside the upper cover 11. The mating rib 111 is pressed against the sealing strip 122. That is, when the upper cover 11 and the chassis 12 are installed and closed, the sealing rib 121 and the mating rib 111 will simultaneously squeeze the sealing strip 122, thereby completing the sealing of the installation space 13. For ease of understanding, it can be simply described that the cooperation between the sealing rib 121, the sealing strip 122 and the mating rib 111 defines the installation space 13 in the space enclosed by the chassis 12 and the upper cover 11, thereby reducing the possibility of phosphine gas entering the installation space 13 and corroding the relevant basic components. Considering that the installation process of the sealing strip 122 is actually a pressing process, in order to facilitate the installation of the sealing strip 122, the sealing strip 122 is provided with an embedding groove 123, and the top of the sealing rib 121 is embedded in the embedding groove 123. During installation, the sealing strip 122 can be opened so that the sealing rib 121 is embedded into the embedding groove 123, and then the top cover 11 is installed. As the top cover 11 is fixed to the chassis 12, the rib 111 will gradually press against the sealing strip 122 to complete the seal. Furthermore, considering that the sealing strip 122 may shift during the fastening process of the upper cover 11 and the chassis 12, resulting in a decrease in airtightness, the ends of the sealing rib 121 and the mating rib 111 are provided with locking teeth 112. The locking teeth 112 are used to fix the sealing strip 122. Thus, during the fastening process of the upper cover 11 and the chassis 12, the locking teeth 112 can fix the sealing strip 122, reducing the possibility of the sealing strip 122 shifting and causing a decrease in airtightness, and ensuring the airtightness of the installation space 13.
[0052] It should be noted that the chassis 12, top cover 11, sealing rib 121, and mating rib 111 together form a buffer space 16. That is, the arc segment 14 of the chassis 12 and the top cover 11 together form a buffer arc 15, and the buffer arc 15, the sealing rib 121, and the mating rib 111 together enclose the buffer space 16. According to the above description, the installation space 13 formed by the sealing of the top cover 11 and the chassis 12 can be used to protect the copper-containing electronic components inside the grain silo robot. The buffer arc 15 formed by the arc segment 14 of the chassis 12 and the top cover 11 can absorb the impact generated when the grain silo robot collides with the protrusions on the surface of the grain pile, thereby reducing the possibility of structural damage to the grain silo robot due to collision. This reduces the possibility of loss of airtightness due to structural damage, which could allow phosphine to enter the grain silo robot and corrode the copper-containing basic components, thus ensuring the service life of the grain silo robot. In conjunction with the above description of the turbine 33's related settings, both the buffer space 16 formed by the buffer convex arc 15 and the turbine 33's walking mode can reduce the possibility of the grain silo robot being hit or losing its airtightness due to structural damage caused by the impact. The two functions complement each other.
[0053] Reference Figures 2 to 6 Furthermore, the inclusion of the buffer convex arc 15 enhances the buffering performance of the buffer space 16. The buffer convex arc 15 effectively absorbs kinetic energy during impact through the deformation of the arc-shaped segments of the upper cover 11 and chassis 12. The buffer space 16 provides space for the deformation of the arc-shaped segments and prevents the impact from directly affecting the interior of the mounting space 13. To improve the fit between the arc-shaped segments of the upper cover 11 and chassis 12, a limiting protrusion 17 is formed at the end of the arc-shaped segment 14 of the upper cover 11, and a limiting protrusion 17 is formed at the top of the arc-shaped segment 14 of the chassis 12. The end is provided with a limiting groove 18 for the limiting protrusion 17 to be inserted. The cooperation between the limiting protrusion 17 and the limiting groove 18 can improve the integrity between the arc segment 14 of the upper cover 11 and the arc segment 14 of the chassis 12, and can prevent grain particles from entering the buffer space 16 from between the two arc segments 14. In addition, when the arc segment 14 deforms, the cooperation between the limiting protrusion 17 and the limiting groove 18 can limit the further deformation of the arc segment 14 to a certain extent, reducing the possibility of the arc segment 14 breaking due to excessive deformation.
[0054] Furthermore, as described above, the grain storage robot proposed in this utility model has an image sensing component 21 and a communication component 22. The image sensing component 21 needs to sense the external environment, and the communication component 22 needs to send and receive signals with the outside world. Therefore, both of them actually need to interact with the outside world. If both are completely installed inside the upper shell, it may hinder their interaction with the outside world. Therefore, a detection slot 115 is provided on the upper cover 11, through which the image sensing component 21 can extend to the outside world and acquire image information; the communication component 22 includes a main body 221 and an antenna 222. The main body 221 is disposed in the installation space 13, and the antenna 222 is fixed to the top of the upper cover 11, and the antenna 222 is electrically connected to the main body 221, so that the antenna 222 can send and receive signals for the main body 221. In order to reduce the corrosion of the circuit board 23 caused by phosphine entering the installation space 13, a second sealing ring 223 is provided at the bottom of the antenna 222, and a third sealing ring 116 is provided between the image sensing component 21 and the wall of the detection groove 115. The setting of the second sealing ring 223 and the third sealing ring 116 improves the overall airtightness of the grain warehouse robot and reduces the possibility of phosphine entering the installation space 13.
[0055] Reference Figure 7 and Figure 8 Accordingly, in order to power the battery inside the grain silo robot and to facilitate the maintenance work of circuit inspection of the grain silo robot, the upper cover 11 has a mounting groove 113. The mounting groove 113 is provided with an interface module 4. The interface module 4 can facilitate the operator to perform maintenance work such as inspection and charging of the grain silo robot. Considering that the interface module 4 also has metal parts, in order to reduce the possibility of phosphine corrosion of the metal parts inside the interface module 4, a cover plate 114 is detachably connected to the upper cover 11. The cover plate 114 is used to seal the mounting groove 113.
[0056] The above description is merely an exemplary embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural transformations made based on the technical concept of the present utility model and the contents of the present utility model specification and drawings, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present utility model.
Claims
1. A grain silo robot with a sealed outer shell, characterized in that, include The outer casing (1) is sealed. Control module (2), the control module (2) is disposed inside the outer casing (1); The outer casing (1) includes an upper cover (11) and a chassis (12). The upper cover (11) is sealed on the chassis (12). The upper cover (11) and the chassis (12) together form an installation space (13). The control module (2) is located in the installation space (13). A sealing rib (121) is provided in the chassis (12). A sealing strip (122) is provided at the top of the sealing rib (121). A mating rib (111) is provided in the upper cover (11). The mating rib (111) is pressed against the sealing strip (122).
2. The grain silo robot with a sealed outer shell as described in claim 1, characterized in that, The sealing strip (122) has an embedding groove (123), the top end of the sealing rib (121) is embedded in the embedding groove (123), and the ends of the sealing rib (121) and the mating rib (111) are provided with retaining teeth (112), which are used to fix the sealing strip (122).
3. The grain silo robot with a sealed outer shell as described in claim 2, characterized in that, The chassis (12), the top cover (11), the sealing rib (121) and the mating rib (111) together form a buffer space (16).
4. The grain silo robot with a sealed outer shell as described in claim 3, characterized in that, Both the chassis (12) and the top cover (11) have protruding arc segments (14) on their outer periphery. The arc segments (14) of the chassis (12) and the arc segments (14) of the top cover (11) combine to form a buffer convex arc (15). The buffer convex arc (15), together with the sealing convex rib (121) and the mating convex rib (111), form a buffer space (16).
5. The grain silo robot with a sealed outer shell as described in claim 4, characterized in that, The end of the arc segment (14) of the upper cover (11) is provided with a limiting protrusion (17), and the top of the arc segment (14) of the chassis (12) is provided with a limiting groove (18) for the limiting protrusion (17) to be inserted.
6. The grain silo robot with a sealed outer shell as described in any one of claims 1 to 5, characterized in that, The grain storage robot also includes two sets of walking modules (3), which are respectively set on opposite sides of the outer shell (1). The chassis (12) is made of aluminum alloy or magnesium-aluminum alloy. The walking module (3) includes two turbines (33), which are coaxially arranged. The turbines (33) are made of aluminum alloy, magnesium-aluminum alloy, PPS and carbon fiber.
7. The grain silo robot with a sealed outer shell as described in claim 6, characterized in that, The walking module (3) also includes a motor (31) and a gearbox (32). The motor (31) is located in the installation space (13). The output shaft of the motor (31) extends out of the housing (1) and meshes with the gearbox (32). Two turbines (33) are respectively located on opposite sides of the gearbox (32). The gearbox (32) is used to transmit the power generated by the motor (31) to the turbines (33). A first sealing groove (124) is provided on the chassis (12). A first sealing ring (125) is provided in the first sealing groove (124). The top of the gearbox (32) is pressed against the first sealing ring (125).
8. The grain silo robot with a sealed outer shell as described in claim 7, characterized in that, The gearbox (32) has an output shaft and a follower shaft on opposite sides, and two turbines (33) are respectively sleeved on the output shaft and the follower shaft. The ends of the output shaft and the follower shaft are each provided with a bushing (321).
9. The grain silo robot with a sealed outer shell as described in claim 6, characterized in that, The control module (2) includes an antenna (222), which is fixed to the top of the upper cover (11). The antenna (222) is electrically connected to the control module (2), and a second sealing ring (223) is provided at the bottom of the antenna (222).
10. The grain silo robot with a sealed outer shell as described in claim 6, characterized in that, The upper cover (11) has an installation groove (113), and an interface module (4) is provided in the installation groove (113). A cover plate (114) is detachably connected to the upper cover (11), and the cover plate (114) is used to seal the installation groove (113).