Track assembly and walking track of grain sampling robot

Abstract

The utility model discloses a grain sampling robot crawler belt assembly and a walking crawler belt, and relates to the technical field of grain sampling, the grain sampling robot crawler belt assembly comprises two groups of mounting plates which are symmetrically arranged in parallel, and each group comprises two mounting plates; and the two inclination sensors are respectively arranged between the two mounting plates and are symmetrically arranged. Through the arrangement of the inclination sensor, the control piece, the first expansion plate and the second expansion plate, when the inclination sensor detects inclination, the first expansion plate and the second expansion plate are triggered to be unfolded, the unfolded expansion plates greatly increase the contact area between the crawler belt and a grain pile, the stress area of the crawler belt is increased, the pressure intensity on the grain pile is correspondingly reduced, and the grain pile is prevented from being damaged. And meanwhile, the scattering range is larger, so that the risk of rollover caused by inclination and the condition of excessive sinking of the crawler belt are reduced.

Description

TECHNICAL FIELD

[0001] The application relates to the technical field of grain sampling, and in particular to a grain sampling robot track assembly and a walking track. BACKGROUND

[0002] Grain sampling is a key link for controlling the quality of grain. Accurate and representative samples can accurately reflect the quality of the whole batch of grain, and provide reliable basis for subsequent grain storage, transaction, processing and food safety detection and other matters. When sampling and detecting grain on a cargo ship at a port, workers need to climb and walk in a grain pile as high as a mountain, which is easy to slip or be buried, so a robot needs to be used instead of sampling.

[0003] At present, when working in such uneven places as grain piles, the surface of the grain pile presents a significant uneven state, which causes tilting and other unstable conditions. At the same time, the local pressure of the track assembly is too large due to the concentration of its own weight, which causes the track to sink, increases the travel resistance and affects the sampling efficiency. SUMMARY

[0004] The purpose of the application is to provide a grain sampling robot track assembly and a walking track, which solves the problems of tilting and sinking of the track assembly when walking on the grain pile.

[0005] In one aspect, the application provides a grain sampling robot track assembly, comprising: two groups of installation plates, which are arranged in parallel and symmetrically, and the number of installation plates in each group is two; two inclination sensors, which are arranged symmetrically between the two installation plates; two auxiliary parts, which are arranged on the outermost installation plates of each group, and the auxiliary part comprises: two control parts, which are arranged on the outermost installation plates; a first expansion plate, which is movably arranged on the control part; and a second expansion plate, which is movably arranged on the first expansion plate; when the inclination sensor is set to monitor tilting, the first expansion plate and the second expansion plate are unfolded; when the inclination sensor is set to normal, the first expansion plate and the second expansion plate are folded.

[0006] According to one aspect of the application, the drive wheel is arranged between the two installation plates, and the drive part is arranged on the innermost installation plate to provide power source for the drive wheel.

[0007] According to one aspect of the application, the first support wheel is arranged between the two installation plates, the second support wheel is arranged between the two installation plates and close to the drive wheel, and the third support wheel is arranged between the two installation plates.

[0008] According to an aspect of the embodiment of the present application, further comprising: a plurality of connecting rods arranged between the two mounting plates for connecting the two mounting plates; and a plurality of through holes arranged on the mounting plates.

[0009] A walking track, comprising the grain sampling robot track assembly of any one of the above, further comprising: two groups of track bodies arranged on the two groups of mounting plates; and the track body comprising: a track body arranged on the mounting plate.

[0010] According to an aspect of the embodiment of the present application, further comprising: a connecting piece arranged on the track body for connecting the track bodies; and two blocking blocks arranged on the track body and arranged in parallel and symmetrically.

[0011] According to an aspect of the embodiment of the present application, the connecting piece is located between the two blocking blocks, and the blocking blocks are composed of rubber material.

[0012] According to an aspect of the embodiment of the present application, further comprising: two groups of connecting plates rotatably arranged on the track body and arranged in parallel and symmetrically; and the number of the connecting plates in each group is two.

[0013] According to an aspect of the embodiment of the present application, further comprising: a connecting body detachably arranged on the track body for adjusting the width of the track; a plurality of mounting ports arranged on the connecting body; and the mounting ports are matched with the connecting plates.

[0014] In summary, the beneficial technical effects of the present application are:

[0015] By arranging the inclination sensor, the control piece, the first extension plate and the second extension plate, when the inclination sensor detects the inclination, the first extension plate and the second extension plate are triggered to expand immediately, the extension plates after expansion greatly increase the contact area of the track with the grain pile, so that the stress area is increased, the pressure of the grain pile is correspondingly reduced, and a larger range is dispersed, thereby reducing the risk of tilting due to inclination and the condition of excessive sinking of the track. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is the isometric view of the overall structure of the grain sampling robot track assembly of the present application;

[0017] Figure 2 is a structure diagram of the driving piece;

[0018] Figure 3 is a structure diagram of the inclination sensor;

[0019] Figure 4 is a structure diagram of the auxiliary piece;

[0020] Figure 5A schematic view of a track main body structure;

[0021] Figure 6 A schematic view of a blocking block structure.

[0022] Figure 7 A schematic view of a connecting main body structure.

[0023] Fig. 1 is a schematic view of a track body structure. DETAILED DESCRIPTION

[0024] The features and exemplary embodiments of various aspects of the present application will be described below in detail, in order to make the purposes, technical solutions and advantages of the present application more clear and apparent, the present application will be further described in detail below in combination with the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only intended to explain the present application, but not to limit the present application. The present application can be implemented without some of these specific details by those skilled in the art. The following description of the embodiments is only to provide a better understanding of the present application by showing examples of the present application.

[0025] It should be noted that, in this document, relational terms such as first and second, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises", "comprising", or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without more limitations, an element defined by an "comprising" statement is not excluded from a process, method, article, or apparatus that includes the element, even if the same process, method, article, or apparatus also includes other identical elements.

[0026] In the embodiments of the present application, the same reference signs represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, etc. of various components in the embodiments of the present application shown in the drawings, and the overall thickness, length, width, etc. of the integrated device are only exemplary and should not constitute any limitation on the present application.

[0027] In this application, "multiple" means two or more (including two).

[0028] like Figure 1 - Figure 7 As shown, an embodiment of this utility model provides a track assembly for a grain sampling robot, comprising: two sets of mounting plates 1 arranged in parallel and symmetrical arrangement, with two mounting plates 1 in each set; two tilt sensors 10 respectively disposed between the two mounting plates 1, arranged symmetrically; and two auxiliary components 6 respectively disposed on the outermost mounting plate 1 of each set, the auxiliary component 6 comprising: two control components 61 respectively disposed on the outermost mounting plate 1; a first extension plate 62 movably disposed on the control components 61; and a second extension plate 63 movably disposed on the first extension plate 62; when the tilt sensor 10 is set to detect tilt, the first extension plate 62 and the second extension plate 63 are unfolded; when the tilt sensor 10 is set to normal, the first extension plate 62 and the second extension plate 63 are folded.

[0029] The control unit 61 is electrically connected to the tilt sensor 10. A rotator is installed on the control unit 61 and connected to the first extension plate 62. A rotator is also installed on the first extension plate 62 and connected to the second extension plate 63. First, the rotator on the control unit 61 operates, driving the first extension plate 62 to rotate. The rotator on the first extension plate 62 operates, driving the second extension plate 63 to rotate, thus unfolding. The rotator is a small electric rotary servo motor or rotary motor. When the track gets stuck in soft grain, the unfolding of the first extension plate 62 and the second extension plate 63 can greatly increase the overall ground contact area of ​​the robot. Under the condition that the robot's own weight and pressure remain unchanged, increasing the force-bearing area can reduce the pressure of the robot on the grain pile. In this way, the resistance from the soft grain on the track will be relatively evenly distributed, reducing the excessive local resistance and helping the track to get out of the soft grain smoothly.

[0030] It also includes: a drive wheel 7, disposed between two mounting plates 1; and a drive component 5, disposed on the innermost mounting plate 1, for providing a power source for the drive wheel 7. The drive component 5 is prior art and will not be described here. The drive component 5 drives the drive wheel 7 to run, thereby driving the track.

[0031] It also includes: a first support wheel 3, positioned between two mounting plates 1; a second support wheel 8, positioned between two mounting plates 1 and close to the drive wheel 7; and two third support wheels 9, positioned between two mounting plates 1. By setting the first support wheel 3, which is the largest and can bear greater pressure, the third support wheel 9 is the smallest, and the second support wheel 8 is larger than the third support wheel 9 but smaller than the first support wheel 3.

[0032] Further comprising: a plurality of connecting rods 4 arranged between the two mounting plates 1 for connecting the two mounting plates 1; a plurality of through holes are arranged on the mounting plate 1. By arranging the connecting rod 4, the two mounting plates 1 are connected; by arranging the through hole, the material usage of the mounting plate 1 can be reduced, thereby reducing the weight of the entire track assembly.

[0033] A walking track, comprising the track assembly of the grain sampling robot of any one of the above, further comprising: two groups of track bodies 2 arranged on the two groups of mounting plates 1 respectively; the track body 2 comprises: a track body 21 arranged on the mounting plate 1. By arranging the track body 21, the rubber material can be used, which has good elasticity. When walking on the grain pile, the rubber track can effectively buffer the vibration and reduce the impact on the internal components of the robot due to the bumping, thereby protecting the precision instruments and structure of the robot; or the polyurethane track material is used, which has excellent wear resistance. When dealing with the complex surface conditions of the grain pile, it can resist long-term friction and prolong the service life of the track; and the track body 21 can be provided with herringbone patterns to provide better grip, or block patterns with larger contact area, which can evenly distribute the weight of the robot and reduce the pressure on the surface of the grain pile.

[0034] Further comprising: a connecting piece 22 arranged on the track body 21 for connecting the track bodies 21; two blocking blocks 23 arranged on the track body 21 in parallel and symmetrically. By arranging the blocking block 23, the blocking block 23 is used to prevent the support wheel from deviating and plays a limiting role on the support wheel, so as to ensure that the support wheel can always maintain in the appropriate position to play a role and ensure the stable operation of the whole track assembly.

[0035] The connecting piece 22 is located between the two blocking blocks 23, and the blocking block 23 is composed of rubber material. By arranging the connecting piece 22, the connecting pieces 22 are movably connected, so that the parts of the track body 21 can relatively flexibly rotate or twist; the blocking block 23 is composed of rubber material. Because rubber has certain elasticity and toughness, this characteristic makes the blocking block 23 not cause rigid collision damage to the support wheel when it contacts and prevents the support wheel from deviating, which can effectively play a blocking role and can buffer the impact force through the elastic deformation of itself during the stress process, thereby protecting the support wheel and the whole track assembly structure.

[0036] Further comprising: two groups of connecting plates 24 rotatably arranged on the track body 21 in parallel and symmetrically; the number of each group of connecting plates 24 is two. By arranging the connecting plate 24, the connecting plate 24 is attached to the track body 21 when not in use, and the connecting plate 24 is rotated to be connected with the connecting body 25 through the mounting port 26 when in use.

[0037] Also include: connecting body 25, detachable set on track body 21, for adjusting the width of the track; several installation openings 26, set on connecting body 25; installation opening 26 is matched with connecting plate 24. By setting connecting body 25, connecting with track body 21, and replacing connecting body 25 of different sizes, the width of the track can be adjusted; the robot is set on the track assembly and the walking track.

[0038] In use, after reaching the designated work position, the driving wheel 7 is driven to rotate by the driving member 5, driving the track body 2 to move forward, and when the inclination sensor 10 detects that the inclination occurs, the first expansion plate 62 and the second expansion plate 63 are unfolded by the control member 61 to increase the ground contact area and reduce the pressure, preventing the track from sinking into soft surface, and when the inclination sensor 10 detects that the inclination does not occur, the expansion plate is folded back to the initial position by the control member 61, restoring the normal driving state; when the width of the track needs to be adjusted, the connecting body 25 is removed by bolts, a new connecting body 25 is replaced, the connecting plate 24 is inserted through the installation opening 26, and then fixed by bolts.

[0039] The above is only the preferred specific embodiment of the present application, not limited to the protection scope of the present application, therefore: all equivalent changes made according to the structure, shape, principle of the present application should be covered within the protection scope of the present application.

Claims

1. A grain sampling robot track assembly, comprising: The utility model relates to a kind of crawler track, including: Two sets of installation plates (1) are symmetrically arranged in parallel, and the number of each set of installation plates (1) is two; Two inclination sensors (10) are symmetrically arranged between two installation plates (1) respectively; Two auxiliary parts (6) are arranged on the outermost installation plate (1) of each set respectively, and the auxiliary part (6) includes: Two control parts (61) are arranged on the outermost installation plate (1) respectively; A first extension plate (62) is movably arranged on the control part (61); A second extension plate (63) is movably arranged on the first extension plate (62); When the inclination sensor (10) is set to monitor the inclination, the first extension plate (62) and the second extension plate (63) are unfolded; When the inclination sensor (10) is set to normal, the first extension plate (62) and the second extension plate (63) are folded.

2. A grain sampling robot track assembly according to claim 1, characterized in that: Further including: A drive wheel (7) is arranged between two installation plates (1); A drive part (5) is arranged on the innermost installation plate (1) to provide power source for the drive wheel (7).

3. A grain sampling robot track assembly according to claim 2, characterised in that: Further including: A first support wheel (3) is arranged between two installation plates (1); A second support wheel (8) is arranged between two installation plates (1) and close to the drive wheel (7); Two third support wheels (9) are arranged between two installation plates (1).

4. The grain sampling robot track assembly of claim 1, wherein: Further including: A plurality of connecting rods (4) are arranged between two installation plates (1) to connect two installation plates (1); A plurality of through holes are arranged on the installation plate (1).

5. A walking track comprising the food sampling robot track assembly of any one of claims 1-4, wherein, Further including: Two sets of track bodies (2) are arranged on two sets of installation plates (1) respectively; The track body (2) includes: A track body (21) is arranged on the installation plate (1).

6. A walking track according to claim 5 wherein: Further including: A connecting part (22) is arranged on the track body (21) to connect the track bodies (21); Two blocking blocks (23) are arranged on the track body (21) and symmetrically arranged in parallel.

7. A walking track according to claim 6 wherein: The connecting part (22) is located between two blocking blocks (23), and the blocking block (23) is made of rubber material.

8. A walking track according to claim 6 wherein: Further including: Two sets of connecting plates (24) are rotatably arranged on the track body (21) and symmetrically arranged in parallel; The number of each set of connecting plates (24) is two.

9. A walking track according to claim 8, wherein: Further including: A connecting body (25) is detachably arranged on the track body (21) to adjust the width of the track; A plurality of mounting openings (26) are arranged on the connecting body (25); The mounting opening (26) is matched with the connecting plate (24).

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