Self-fixing type grain sampling robot safety cabin

Abstract

The utility model provides a self-fixing type grain sampling robot safety cabin, and belongs to the technical field of safety cabins. Comprising a cabin body, two symmetrical through grooves are formed in the cabin body, and the forming positions of the through grooves correspond to the positions of two walking crawler belts on the robot and are matched with the walking crawler belts; the number of the main plates is two, the two main plates are arranged in the two through grooves in a sliding mode respectively, the main plates are matched with the through grooves, and the main plates are used for bearing two walking crawler belts on the robot. According to the safety cabin, through cooperation of the through grooves which are formed in the cabin body and correspond to walking tracks of the robot in position, the main plate, the auxiliary plates and the baffles, the purpose that the robot is conveniently and stably fixed in the safety cabin is achieved, and through cooperation of the multiple protruding blocks on the main plate, the guide chutes between the adjacent protruding blocks and the discharging cavities in the cabin body, the robot can be conveniently and rapidly fixed; and the purpose of efficiently cleaning and discharging grains brought in by the crawler belt is achieved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of safety cabin, especially to a self-fixing grain sampling robot safety cabin. BACKGROUND

[0002] In modern agriculture and grain storage industry, grain quality detection is a crucial link. In order to ensure the quality and safety of grain, a large number of grain sampling analysis is needed. Grain sampling robot emerges as the times require, which can efficiently and accurately collect grain samples in the grain depot, greatly improving the efficiency and accuracy of sampling work. These robots usually need to move between different grain depots, and unmanned aerial vehicle transportation is a convenient and efficient transportation method. In order to ensure the safety of the robot during transportation, a special safety cabin is needed for it.

[0003] At present, when the robot is transported into the grain depot by the unmanned aerial vehicle, the robot is usually put into the safety cabin, and then fixed by other fixing devices such as electromagnetic lock, electric clamp, etc. However, this fixing method has strong power dependence. If power failure occurs during flight, such as unstable voltage, power consumption or line problem, the fixing will fail, the robot will move uncontrollably in the cabin, and will be easily collided with the cabin wall under the influence of flight attitude and air flow, which will damage the sampling equipment and electronic system and hinder the sampling task. UTILITY MODEL CONTENT

[0004] The technical problem to be solved by the utility model is to provide a self-fixing grain sampling robot safety cabin, which solves the technical problem that the robot is inconvenient to fix in the safety cabin and the grain accidentally brought in by the track after the robot sampling will be left and accumulated in the cabin, which may interfere with the normal entry and exit action of the robot and increase the wear and tear and jam risk of the internal mechanical parts of the safety cabin.

[0005] Technical scheme: To achieve the above object, the utility model discloses a self -fixed grain sampling robot safety cabin, comprising: cabin body, two symmetrical through slots are set up in the cabin body, the through slot position is corresponding with the two walking crawler belt position on the robot and is adapted to it, mainboard is equipped with two, two mainboards are slidably arranged in two through slots respectively, and the mainboard is adapted to the through slot, and the mainboard is used for the two walking crawler belt on the robot and is used for limiting the depth of two walking crawler belt sinking in the through slot, the baffle is stably connected in the cabin body, the height of baffle is less than the height of robot chassis, the width of baffle is less than the spacing between the two walking crawler belts on the robot, and the baffle is used for the position limitation of robot in the cabin body, auxiliary plate is equipped with two, two auxiliary plates are stably connected with two mainboards respectively, and the auxiliary plate is slidably connected with the inner wall of cabin body, wherein the adaptation degree error of through slot and crawler belt is controlled in a very small range, the smoothness and stability when the crawler belt enters the through slot are ensured, and the jamming or deviation phenomenon is avoided, the sliding of mainboard in the through slot needs to be kept stable and have certain damping feeling, cannot be too loose to cause robot shaking, also cannot be too tight to affect its self -adaptive adjustment ability, and the range of sliding resistance needs to be accurately controlled, the relative position relationship of baffle and robot chassis and crawler belt needs to strictly meet the design requirement, and the position of robot can be effectively limited under various conditions and the normal function is not affected, and the stability of auxiliary plate and mainboard connection needs to be verified through strict mechanical test, and the sliding smoothness of auxiliary plate and the inner wall of cabin body needs to be kept in the stable standard range for a long time.

[0006] In further embodiment, the sliding block is provided with a plurality of sliding blocks, and the plurality of sliding blocks are arranged on one side of the two auxiliary plates close to the inner wall of the cabin body; the guide rod is provided with a plurality of guide rods arranged inside the cabin body, and the plurality of guide rods correspond to the plurality of sliding blocks; the spring is provided with a plurality of springs corresponding to the plurality of guide rods, and the spring is sleeved on the guide rod; the sliding block is used for sliding track limitation; wherein the installation angle and position of the sliding block on the auxiliary plate need to be accurately calibrated to ensure the straight sliding precision of the auxiliary plate; the guiding accuracy of the guide rod needs to meet the sliding requirements of the auxiliary plate under various working conditions to ensure the accuracy and repeatability of the motion track; the spring coefficient error is controlled in a strict range, and the fatigue life needs to meet the design use cycle requirements of the safety cabin.

[0007] In further embodiment, the cabin door is rotatably arranged on the cabin body, and the cabin door is used for closing the cabin body and forming a robot walking ramp to facilitate the robot to enter and exit the cabin body, wherein the rotation angle range of the cabin door needs to be accurately set, and the sealing property of the cabin door and the cabin body needs to reach a specific protection level standard in the closed state.

[0008] In a further embodiment, two rotating blocks are provided, and the two rotating blocks are arranged on the connecting shafts of the hatch and the cabin body respectively, and the rotating blocks are used to drive the hatch to rotate, so as to control the opening and closing of the hatch, wherein the rotating torque of the rotating blocks needs to be within a reasonable range, which can ensure the normal operation of the hatch, and will not damage the related parts due to excessive torque.

[0009] In a further embodiment, two connecting rods are provided, and the two connecting rods correspond to the two rotating blocks respectively, and one end of the connecting rod is rotatably connected with the rotating block; a control plate is slidably connected to the innermost part of the cabin body, and the control plate is rotatably connected with the connecting rod, and the control plate is used to drive the connecting rod to move, so as to control the rotation of the rotating block, wherein the connecting rod is made of light alloy material with high strength, which has good rigidity and toughness, and will not be deformed obviously in the process of force transmission. The sliding track of the control plate is accurately designed, and the sliding fit precision between the control plate and the inner part of the cabin body is very high, which can accurately transmit the external force to the connecting rod, and then control the rotating action of the hatch; the connecting parts of the connecting rod, the rotating block and the control plate need to have high reliability, and the connecting gap needs to be strictly controlled, so as to reduce the loss of force transmission.

[0010] In a further embodiment, a plurality of convex blocks are provided, and the plurality of convex blocks are arranged on the two main plates respectively, and the convex blocks are used to increase the stability of the walking track on the main plate, and to guide the track of the grain accidentally carried by the walking track into the cabin body, wherein the height error of the convex block is controlled within a small range, and the surface of the convex block in contact with the track needs to maintain a certain roughness, so as to realize stable friction and guiding effect.

[0011] In a further embodiment, a guide chute is arranged between the adjacent two convex blocks, and the guide chute is in the form of a slope, and the guide chute is used to guide the sliding track of the grain particles carried by the walking track and falling off; a discharge cavity is arranged in the cabin body, and the bottom of the discharge cavity penetrates through the cabin body, and the opening position of the discharge cavity corresponds to the position of the guide chute after the main plate descends, and the discharge cavity is used to discharge the grain particles guided by the guide chute to slide off, wherein the slope angle of the guide chute is accurately designed according to the physical characteristics of the grain particles and the spatial layout of the cabin body, so that the grain particles can slide into the discharge cavity at the best speed and track under the action of gravity; the internal passage of the discharge cavity is treated to be smooth, so as to reduce the risk of blockage of the grain particles in the discharge process.

[0012] In a further embodiment, the convex block is in the form of a triangular prism, and the tip is upward, and the convex block is adapted to the main plate, and the convex block is used to assist in guiding the sliding track of the grain particles carried by the walking track and falling off, wherein the side angle of the triangular prism-shaped convex block is optimized and designed, so that the grain particles can produce appropriate reflection and sliding angles when contacting the convex block, and the grain can be more efficiently guided into the guide chute; the connection between the convex block and the main plate can adopt an embedded structure, which is firm and does not affect the overall strength and flatness of the main plate.

[0013] In a further embodiment, a groove is formed on the auxiliary plate, and the height of the groove is greater than the descending depth of the main plate, the groove is used to avoid interference between the control plate and the auxiliary plate, wherein the shape and size of the groove are accurately designed according to the relative motion trajectory of the control plate and the auxiliary plate, and the edges are chamfered to prevent scratches during movement.

[0014] In a further embodiment, the spacing between the baffle and the innermost part of the cabin is adapted to the robot, wherein the spacing is designed by comprehensively considering the size error of the robot, the shaking range during movement, and the operation space requirement during maintenance, so as to facilitate the maintenance and repair of the robot and the internal components of the cabin while ensuring the stable placement of the robot.

[0015] Beneficial effects: 1. Through the through groove corresponding to the position of the robot walking track formed in the cabin, and the cooperative cooperation between the main plate slidingly arranged in the through groove, and the auxiliary plate stably connected with the main plate and slidingly connected with the inner wall of the cabin, when the robot enters the safety cabin, the weight of the robot itself makes the main plate slide in the through groove, and the auxiliary plate assists the stable movement of the main plate under the action of the guide rod and the spring of the inner wall of the cabin, and finally the main plate limits the depth of the robot walking track sinking into the through groove, and the baffle further limits the position of the robot, so that the robot is conveniently and stably fixed in the safety cabin; The effect of achieving the purpose of quickly fixing the robot without external power supply complex device, avoiding fixing failure due to power failure, and effectively preventing the robot from shaking and displacing during transportation, ensuring the safe and stable transportation of the robot and the subsequent normal operation.

[0016] 2. Through the cooperation of the plurality of protrusions on the main plate, the inclined grooves between adjacent protrusions, and the discharge cavity in the cabin, when the robot enters the cabin, the grain carried by the track and falling off is guided by the protrusions and slides down the inclined slope of the inclined grooves to the discharge cavity, and the discharge cavity penetrates the cabin to discharge the grain outside the cabin, achieving the purpose of efficiently cleaning and discharging the grain brought in by the track; The effect of effectively avoiding the accumulation of grain in the cabin, preventing the grain from interfering with the normal entry and exit of the robot, and reducing the risk of wear and jam of internal mechanical parts of the safety cabin due to grain residue. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are only some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creating any creative labor.

[0018] Figure 1 The structure of the present application is shown in the figure.

[0019] Figure 2 The structure of the present application is shown in the figure.Figure 1 A schematic diagram of the main cross-section.

[0020] Figure 3 for Figure 1 A schematic diagram of the side section structure.

[0021] Figure 4 This is a schematic diagram of the motherboard structure.

[0022] Figure 5 This is a structural diagram of the hatch.

[0023] Figure 6 for Figure 3 A schematic diagram of the structure at point A.

[0024] Figure 7 for Figure 5 A schematic diagram of the structure at point B.

[0025] Figure 8 for Figure 5 A schematic diagram of the structure at point C.

[0026] The reference numerals in the figure are as follows: 1. Chamber; 101. Discharge chamber; 102. Guide rod; 2. Chamber door; 201. Rotating block; 3. Main board; 301. Protrusion; 302. Auxiliary plate; 3021. Slider; 303. Guide groove; 4. Baffle; 5. Connecting rod; 6. Control board; 7. Spring. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions in this utility model are described clearly and completely. Obviously, the described embodiments are only some, not all, of the embodiments in this utility model. All other embodiments obtained by those skilled in the art based on the embodiments in this utility model without creative effort are within the scope of protection of this utility model.

[0028] This application provides a self-fixing safety cabin for a grain sampling robot, solving the technical problems of inconvenient robot fixation within the cabin and the accumulation of grain accidentally brought in by the robot's tracks after sampling, which could interfere with the robot's normal entry and exit movements and increase the risk of wear and jamming of internal mechanical components. In practical use, it achieves convenient and stable robot fixation, as well as efficient cleaning and removal of grain brought in by the tracks.

[0029] To better understand the above technical solutions, the following will provide a detailed explanation of the technical solutions in conjunction with the accompanying drawings and specific implementation methods.

[0030] Reference Figures 1-8A self-fixing grain sampling robot safety cabin includes: a cabin body 1, wherein two symmetrical through slots are formed inside the cabin body 1, the positions of the through slots corresponding to and adapted to the positions of two walking tracks on the robot; two main boards 3, each slidably disposed within one of the two through slots, the main boards 3 being adapted to the through slots, the main boards 3 serving to support the two walking tracks on the robot and limiting the depth to which the two walking tracks sink into the through slots; a baffle 4, stably connected inside the cabin body 1, the height of the baffle 4 being less than the height of the robot chassis, the width of the baffle 4 being less than the distance between the two walking tracks on the robot, the baffle 4 serving to limit the position of the robot inside the cabin body 1; and two auxiliary plates 302, each stably connected to one of the two main boards 3, the auxiliary plates 302 being slidably connected to the inner wall of the cabin body 1.

[0031] This design achieves the effect of providing a precisely adapted placement space and fixed foundation for the robot within the safe cabin; the corresponding adaptation between the through groove and the robot's walking track ensures that the track can accurately fall into the through groove when the robot enters the cabin 1; the sliding setting of the main board 3 in the through groove can automatically adjust according to the robot's weight and limit the depth of track insertion, ensuring stable placement of the robot; the baffle 4 effectively restricts the robot's position within the cabin, preventing excessive displacement; the sliding connection between the auxiliary plate 302 and the inner wall of the cabin 1 enhances the stability and flexibility of the overall structure, together creating conditions for the safe and stable placement of the robot within the cabin, avoiding damage or positional displacement of the robot during transportation or storage due to unstable fixation.

[0032] Multiple sliders 3021 are provided, and the multiple sliders 3021 are respectively disposed on the side of the two auxiliary plates 302 near the inner wall of the cabin 1; multiple guide rods 102 are provided, and the guide rods 102 are disposed inside the cabin 1, the multiple guide rods 102 correspond to the multiple sliders 3021, and the guide rods 102 are used to limit the sliding trajectory of the sliders 3021; ​​multiple springs 7 are provided, and the multiple springs 7 correspond to the multiple guide rods 102, the springs 7 are sleeved on the guide rods 102, and the springs 7 are used to reset the sliders 3021.

[0033] The system achieves precise guidance and automatic reset of the auxiliary plate 302 during sliding. Multiple sliders 3021 are evenly distributed on the auxiliary plate 302 and correspond to the guide rods 102 on the inner wall of the cabin 1, so that the sliding trajectory of the auxiliary plate 302 on the inner wall of the cabin 1 is precisely limited, ensuring the stability and reliability of the cooperation between the main plate 3 and the robot track. The spring 7 is sleeved on the guide rod 102. After the robot enters or exits the cabin 1, its elastic restoring force can be used to drive the sliders 3021 to return the auxiliary plate 302 to the initial position, preparing for the next robot entry and exit operation, ensuring the smooth and stable operation of the entire system, and reducing the need for manual intervention and adjustment.

[0034] The cabin door 2 is rotatably arranged on the cabin body 1, and is used to close the cabin body 1 and form a walking ramp for the robot to enter and exit the cabin body 1.

[0035] The effect of sealing protection of the safety cabin and convenient access channel construction of the robot is realized; the cabin door 2 is rotatably arranged on the cabin body 1, which can effectively block the entry of external dust, moisture and other adverse factors into the cabin when closed, thereby protecting the robot and related components in the cabin from erosion and damage; when the robot needs to enter and exit the cabin body 1, the cabin door 2 can form a walking ramp with a suitable slope by rotating, which facilitates the robot to enter and exit smoothly and improves the convenience and efficiency of operation.

[0036] The rotating blocks 201 are provided in two, and the two rotating blocks 201 are arranged on the connecting shafts of the cabin door 2 and the cabin body 1, respectively, and are used to drive the cabin door 2 to rotate to control the opening and closing of the cabin door 2.

[0037] The effect of efficiently transmitting rotating power to the cabin door 2 to control its opening and closing is realized; the two rotating blocks 201 are arranged on the connecting shafts of the cabin door 2 and the cabin body 1, respectively, and they are key components for force conversion and transmission, which can convert the external applied force into the power for the cabin door 2 to rotate around the shaft, so that the opening and closing actions of the cabin door 2 are more stable, accurate and easy to control.

[0038] The connecting rods 5 are provided in two, and the two connecting rods 5 correspond to the two rotating blocks 201, respectively, and one end of the connecting rod 5 is rotatably connected with the rotating block 201; the control plate 6 is slidably connected to the innermost part of the cabin body 1, and the control plate 6 is rotatably connected with the connecting rod 5, and the control plate 6 is used to drive the connecting rod 5 to move to control the rotating block 201 to rotate.

[0039] The effect of remotely or indirectly controlling the rotating action of the cabin door 2 is realized; the connecting rod 5 is connected with the rotating block 201 and the control plate 6 which is slidably connected to the innermost part of the cabin body 1, and through the sliding movement of the control plate 6, the force can be transmitted to the connecting rod 5, thereby driving the rotating block 201 to rotate, and finally realizing the remote or indirect control of the opening and closing of the cabin door 2.

[0040] The protruding blocks 301 are provided in multiple, and the multiple protruding blocks 301 are arranged on the two main plates 3, respectively, and the protruding blocks 301 are used to increase the stability of the walking track on the main plate 3 and guide the trajectory of the grain accidentally carried into the cabin body 1 on the walking track.

[0041] The effect of enhancing the adhesion stability of the robot track on the main plate 3 is realized; a plurality of protrusions 301 are arranged on the main plate 3, and the unique shape and distribution increase the friction and contact points between the track and the main plate 3, effectively preventing the track from sliding or displacing on the main plate 3 due to vibration, shaking and other reasons during the placement or transportation of the robot in the cabin, and ensuring the safety of the robot.

[0042] The guide chute 303 is arranged between the two adjacent protrusions 301, and the guide chute 303 is in a slope shape, and the guide chute 303 is used for guiding the sliding track of the grain particles carried on the walking track and falling off; the discharge cavity 101 is arranged in the cabin body 1, and the bottom of the discharge cavity 101 penetrates the cabin body 1, and the arrangement position of the discharge cavity 101 corresponds to the position of the rear guide chute 303 of the main plate 3, and the discharge cavity 101 is used for discharging the grain particles guided to slide off by the guide chute 303.

[0043] The effect of efficiently cleaning the grain particles brought by the robot track and discharging the cabin body 1 is realized; the guide chute 303 is arranged between the adjacent protrusions 301 and in a slope shape, which can further concentrate the grain particles preliminarily guided by the protrusions 301 and guide them to the discharge cavity 101 along a specific sliding track by the action of gravity; the bottom of the discharge cavity 101 penetrates the cabin body 1, and its position corresponds to the guide chute 303 perfectly, which ensures that the grain particles sliding off can smoothly enter the discharge cavity 101 and be discharged outside the cabin, effectively avoiding the accumulation of grain in the cabin.

[0044] The protrusion 301 is in a triangular prism shape, and the tip is upward, the protrusion 301 is matched with the main plate 3, and the protrusion 301 is used for assisting in guiding the sliding track of the grain particles carried on the walking track and falling off.

[0045] The effect of more optimized grain particle guiding track and reduced walking track obstruction is realized; the protrusion 301 is in a triangular prism shape and the tip is upward, and the special shape design makes the grain particles produce a specific reflection and sliding direction according to the side angle of the triangular prism when contacting the protrusion 301, and the grain particles are more accurately guided into the guide chute 303, improving the efficiency and accuracy of grain cleaning.

[0046] The auxiliary plate 302 is provided with a groove, and the height of the groove is greater than the descending depth of the main plate 3, and the groove is used to avoid the interference between the control plate 6 and the auxiliary plate 302.

[0047] The control plate 6 and the auxiliary plate 302 are prevented from colliding with each other during movement; the recesses formed in the auxiliary plate 302 have a height greater than the descending depth of the main plate 3, and provide sufficient space for the movement of the control plate 6 during the process that the control plate 6 slides to drive the connecting rod 5 to control the rotation of the hatch 2; the recesses effectively prevent the collision and friction between the control plate 6 and the auxiliary plate 302 due to relative movement, and ensure the normal operation of the whole control system.

[0048] The distance between the baffle 4 and the innermost part of the cabin body 1 is adapted to the robot.

[0049] The robot is provided with a suitable space in the cabin; the distance between the baffle 4 and the innermost part of the cabin body 1 is adapted to the robot, which ensures that the robot has sufficient space for stable placement in the cabin, avoids extrusion or collision between the robot and the internal components of the cabin body 1 due to too small distance, and also avoids excessive shaking or displacement of the robot in the cabin due to too large distance.

[0050] In use, when the grain sampling robot is ready to enter the safety cabin, the robot moves into the cabin 1 and pushes the control plate 6 to slide into the cabin 1; the control plate 6 drives the rotating block 201 to rotate through the connecting rod 5, and then makes the cabin door 2 rotate around the connecting shaft to close; at this time, since the cabin 1 is in a ground placement state, the lower part of the main plate 3 is flush with the lower part of the cabin 1, and the two walking tracks of the robot enter the through slot and are stably parked on the main plate 3; then, after the cabin 1 is lifted by the unmanned aerial vehicle, due to the weight of the robot, the main plate 3 starts to descend in the through slot, the auxiliary plate 302 slides on the guide rod 102 by means of the sliding block 3021 and compresses the spring 7, the main plate 3 receives and limits the depth of the track sinking into the through slot, and the baffle 4 accurately limits the position of the robot, so that the robot is stably placed in the cabin 1 during transportation; if the grain particles are carried on the robot track and fall off in the cabin 1, the grain particles will be initially guided by the protrusions 301 on the main plate 3, slide along the inclined chute 303 between adjacent protrusions 301 to the discharge cavity 101, and the discharge cavity 101 penetrates the cabin 1 at the bottom, so that the grain is smoothly discharged outside the cabin; when the cabin 1 lands, the main plate 3 first contacts the ground, at this time, the weight of the cabin 1 and the elastic force stored after the spring 7 is compressed form a resultant force, which pushes the auxiliary plate 302 to move upward, and then drives the main plate 3 to reset upward until the bottom surface of the main plate 3 again restores to the state of being flush with the bottom surface of the cabin 1, so that the track of the robot is separated from the through slot, and conditions are created for the robot to subsequently drive out of the cabin 1; when the robot needs to drive out of the cabin 1, the robot advances forward and pushes the cabin door 2, the cabin door 2 rotates around the rotating shaft, in the rotating process, the cabin door 2 drives the rotating block 201 connected to the rotating shaft to rotate synchronously, the rotation of the rotating block 201 in turn pulls the connecting rod 5 to displace, the connecting rod 5 in turn drags the control plate 6 to slide outward, the cabin door 2 gradually forms an inclined slope, and the robot can smoothly drive out of the cabin 1 along the inclined slope.

[0051] The figure expressed in the accompanying drawings is an example figure, and the purpose is only to more intuitively show the key structure and connection relationship of the self-fixing type grain sampling robot safety cabin; in actual application, the appearance and size of the device can be adjusted and optimized according to specific needs.

[0052] The utility model covers any alternative, modification, equivalent method and scheme made on the essence and range of the utility model. In order to enable the public to have a thorough understanding of the utility model, the specific details are explained in the above preferred embodiment of the utility model, and the utility model can also be completely understood without the description of these details for the person skilled in the art. In addition, in order to avoid unnecessary confusion to the essence of the utility model, well-known methods, processes, flows, elements and circuits are not described in detail.

[0053] The above merely is preferred implementation manner of the present application, it should be pointed out, for ordinary skilled person in the technical field, on the premise of not departing from the principle of the present application, can also make several improvements and refinements, these improvements and refinements also should be regarded as the protection scope of the present application.

Claims

1. A safety cabin for a self-fixing grain sampling robot, characterized in that, include: The cabin (1) has two symmetrical through slots, the positions of which correspond to and are adapted to the positions of the two walking tracks on the robot; The main board (3) is provided in two parts. The two main boards (3) are slidably disposed in the two through slots respectively. The main board (3) is adapted to the through slot. The main board (3) is used to support the two walking tracks on the robot and to limit the depth of the two walking tracks into the through slot. A baffle (4) is stably connected inside the cabin (1). The height of the baffle (4) is less than the height of the robot chassis, and the width of the baffle (4) is less than the distance between the two walking tracks on the robot. The baffle (4) is used to limit the position of the robot inside the cabin (1). There are two auxiliary plates (302), which are stably connected to the two main plates (3) respectively, and the auxiliary plates (302) are slidably connected to the inner wall of the cabin (1).

2. The safety cabin of a self-fixing grain sampling robot according to claim 1, characterized in that, Also includes: Multiple sliders (3021) are provided, and the multiple sliders (3021) are respectively disposed on the side of the two auxiliary plates (302) near the inner wall of the cabin (1); A plurality of guide rods (102) are provided, and the guide rods (102) are disposed inside the cabin (1). The plurality of guide rods (102) correspond to the plurality of sliders (3021), and the guide rods (102) are used to limit the sliding trajectory of the sliders (3021). A plurality of springs (7) are provided, and the plurality of springs (7) correspond to the plurality of guide rods (102). The springs (7) are sleeved on the guide rods (102) and are used for the reset of the slider (3021).

3. The safety cabin of a self-fixing grain sampling robot according to claim 1, characterized in that, Also includes: The hatch (2) is rotatably mounted on the cabin (1). The hatch (2) is used to close the cabin (1) and form a robot walking ramp so that the robot can enter and exit the cabin (1).

4. The safety cabin of a self-fixing grain sampling robot according to claim 3, characterized in that, Also includes: Two rotating blocks (201) are provided. The two rotating blocks (201) are respectively set on the connecting shaft between the hatch (2) and the cabin (1). The rotating blocks (201) are used to drive the hatch (2) to rotate, so as to control the opening and closing of the hatch (2).

5. The safety cabin of a self-fixing grain sampling robot according to claim 4, characterized in that, Also includes: There are two connecting rods (5), and the two connecting rods (5) correspond to the two rotating blocks (201) respectively. One end of the connecting rod (5) is rotatably connected to the rotating block (201). The control plate (6) is slidably connected to the innermost part of the cabin (1). The control plate (6) is rotatably connected to the connecting rod (5). The control plate (6) is used to drive the connecting rod (5) to move, so as to control the rotation of the rotating block (201).

6. The safety cabin of a self-fixing grain sampling robot according to claim 1, characterized in that, Also includes: The bumps (301) are provided in multiple ways, and the multiple bumps (301) are respectively disposed on the two main boards (3). The bumps (301) are used to increase the stability of the walking track on the main board (3) and to guide the trajectory of the grain in the cabin (1) that is accidentally carried on the walking track.

7. The safety cabin of a self-fixing grain sampling robot according to claim 6, characterized in that, Also includes: A guide groove (303) is provided between two adjacent protrusions (301). The guide groove (303) is sloped and is used to guide the sliding trajectory of grain particles carried and detached on the walking track. The discharge chamber (101) is located inside the cabin (1). The bottom of the discharge chamber (101) extends through the cabin (1). The location of the discharge chamber (101) corresponds to the location of the guide groove (303) after the main board (3) descends. The discharge chamber (101) is used to discharge the grain particles that are guided and slid down by the guide groove (303).

8. The safety cabin of a self-fixing grain sampling robot according to claim 6, characterized in that: The protrusion (301) is triangular prism-shaped with its tip pointing upwards. The protrusion (301) is adapted to the main board (3). The protrusion (301) is used to assist in guiding the sliding trajectory of the grain particles carried and detached on the walking track.

9. The safety cabin of a self-fixing grain sampling robot according to claim 5, characterized in that: The auxiliary plate (302) has a groove, and the height of the groove is greater than the downward depth of the main plate (3). The groove is used to prevent the control plate (6) from interfering with the auxiliary plate (302).

10. The safety cabin of a self-fixing grain sampling robot according to claim 1, characterized in that: The distance between the baffle (4) and the innermost part of the cabin (1) is adapted to the robot.

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