Granary monitoring soft robot

Abstract

The utility model provides a granary monitoring soft robot. The granary monitoring soft robot comprises a drill bit, a flexible shell and a turning device. The flexible shell is made of a high-performance flexible material, the special structure of the flexible shell can trigger the local fluidization effect, motion resistance is effectively reduced, energy consumption is reduced, environmental adaptability is enhanced, and stable operation of the robot is guaranteed. The turning device can flexibly control the robot to turn, has three rotational degrees of freedom, and ensures that the robot freely moves in a complex granary environment. The robot overcomes the defects of low efficiency of traditional manual inspection, incomplete monitoring of a fixed sensor and the like, and solves the problems of high energy consumption, complex structure, high cost, difficulty in full coverage and the like in the existing monitoring technology. The method has the advantages of improving monitoring efficiency, realizing comprehensive data acquisition, reducing pollution risk, enhancing adaptability and the like, and has great significance in improving the grain storage management level.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of grain quality monitoring, in particular, especially relates to a granary monitoring soft robot. BACKGROUND

[0002] Traditional monitoring methods mainly rely on manual inspection and fixed sensors for monitoring. These methods have many limitations and are difficult to achieve real-time monitoring and rapid response of grain quality, leading to frequent grain loss and quality problems. Grain production safety is a matter of national economy and people's livelihood, and the detection coverage of grain is becoming wider and wider, and the detection demand is continuously increasing, which puts forward higher requirements for the real-time, efficiency and intelligence level of grain monitoring. The limitations of traditional monitoring methods are increasingly prominent, such as low efficiency of manual inspection, difficulty of fixed sensors to cover the entire storage space, and incomplete data collection. In addition, the fixed sensor structure is complex and bulky, increasing the manufacturing cost and maintenance difficulty,

[0003] In order to overcome the above-mentioned defects of traditional grain quality monitoring, some experimental monitoring technologies and products have appeared in the market. However, these technologies mostly have the following problems: first, high energy consumption, causing resource waste; second, complex structure and high cost, difficult to be widely applied; third, difficult to cover the entire storage space, incomplete data collection. Therefore, it is urgent to develop an intelligent monitoring system that can move flexibly, monitor comprehensively and feedback in real time to improve the level of grain storage management. UTILITY MODEL CONTENT

[0004] According to the above technical problems, a granary monitoring soft robot is provided. The utility model realizes intelligent monitoring of the robot working in the granary, and improves the accuracy and real-time performance of grain monitoring.

[0005] To achieve the above purpose, the utility model provides a granary monitoring soft robot, comprising: a drill bit, a flexible shell, a direction changing device;

[0006] The drill bit comprises a motor, a motor support, a thrust needle bearing, a hub, a fixed shaft, a connecting shaft and a spiral head, the spiral head is fixed on the outer surface of the hub by welding, the fixed shaft is connected to the front side of the motor support by bolts for axial positioning of the thrust needle bearing, the connecting shaft connects the hub and the fixed shaft by bolts to make them rotate synchronously, the motor is fixed on the rear side of the thrust needle bearing by the motor support, and the motor drives the thrust needle bearing to rotate, thereby driving the spiral head to rotate;

[0007] The flexible shell comprises a cam, a driven rod, a wedge-shaped groove, a wedge-shaped block and a flexible material, the cam is in tip contact with the driven rod, the driven rod is connected with the wedge-shaped block by welding, the motor drives the cam to rotate, drives the driven rod and the wedge-shaped block to move up and down, the wedge-shaped groove and the wedge-shaped block are matched with each other, the opening and closing of the wedge-shaped groove are pushed by the up and down movement of the wedge-shaped block, and the flexible material is completely tightly wrapped outside the wedge-shaped groove to prevent the surrounding medium from entering the body.

[0008] The turning device comprises a gear, a rack, a motor, a pushing component and a turning disc, the rack is connected in the pushing component by welding, the main shaft of the motor is connected with the gear through a key, the gear is engaged with the rack, the rotation of the gear drives the rack to move up and down, the rack drives the pushing component to move up and down in the guide rail of the guide device, and the upper end of the pushing component is connected on the turning disc by welding.

[0009] Further, the cam has one degree of freedom, realizes up and down movement, and assists local fluidization effect.

[0010] Further, the flexible shell has two wedge-shaped grooves which are symmetrical and matched with the wedge-shaped block, the opening and closing of the wedge-shaped groove are realized by the up and down movement of the wedge-shaped block, and the expansion and contraction of the robot in the movement process are assisted.

[0011] Further, the pushing component has four, which are uniformly distributed around the turning disc, and the stability and accuracy in the turning process are ensured.

[0012] Further, the flexible shell adopts high-performance flexible material, has low friction coefficient, prevents grain pollution and ensures the sealing property in the movement process.

[0013] Compared with the prior art, the utility model has the following advantages due to the adoption of the above technical scheme:

[0014] 1、The soft robot for grain depot monitoring provided by the utility model makes the local fluidization of the grain medium around the robot through the expansion and contraction movement of the wedge-shaped groove, significantly reduces the movement resistance, reduces the energy consumption, thereby improves the movement speed of the robot, further improves the grain monitoring efficiency, can acquire the grain storage state information more quickly, guarantees the quality and safety of the grain, not only reduces the energy consumption, but also improves the monitoring efficiency.

[0015] 2. The soft robot for monitoring granary provided by the utility model has multiple key components equipped in the direction changing device, has three rotational degrees of freedom, can realize the rotation of the whole machine to any direction, can flexibly and quickly change direction in the complex environment of the granary, ensures that the robot can reach each position of the granary, realizes the comprehensive monitoring of the whole storage space, avoids the dead angle of monitoring, and provides comprehensive and accurate data support for the storage management of grain.

[0016] 3. The soft robot for monitoring granary provided by the utility model is wrapped with flexible material which is non-toxic, harmless and has low friction factor with grain, reduces the motion resistance and reduces the pollution risk of crops and grain in the granary, and guarantees food safety; the unique structure design makes the robot have strong adaptability to different types of grain and stacking states, ensures stable operation in the complex environment, reduces equipment failure and maintenance cost, and improves the continuity and reliability of grain monitoring operation.

[0017] Based on the above reasons, the utility model can be widely promoted in the field of grain quality monitoring technology. BRIEF DESCRIPTION OF DRAWINGS

[0018] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or the prior art, the drawings needed to be used in the embodiment or the prior art description will be simply introduced below, and obviously, the drawings in the following description are some embodiments of the utility model, and those skilled in the art can also obtain other drawings according to these drawings without creating creative labor.

[0019] Figure 1 It is a kind of granary monitoring soft robot structure schematic diagram described in the utility model;

[0020] Figure 2 It is a kind of granary monitoring soft robot front view described in the utility model;

[0021] Figure 3 It is a kind of granary monitoring soft robot drive mechanism schematic diagram described in the utility model;

[0022] Figure 4 It is a kind of granary monitoring soft robot transmission mechanism schematic diagram described in the utility model;

[0023] Figure 5 It is a kind of granary monitoring soft robot resistance reduction mechanism schematic diagram described in the utility model;

[0024] Figure 6 It is a kind of granary monitoring soft robot steering mechanism schematic diagram described in the utility model;

[0025] Figure 7It is the soft robot turning state schematic drawing of the grain depot monitoring of the utility model.

[0026] Figure 8 It is the straight state schematic drawing of the grain depot monitoring soft robot of the utility model.

[0027] In the figure: 1, drill bit; 1-1, motor; 1-2, motor support; 1-3, thrust needle bearing; 1-4, wheel hub; 1-5, fixed shaft; 1-6, connecting shaft; 1-7, screw head;

[0028] 2, flexible shell; 2-1, cam; 2-2, push rod; 2-3, wedge-shaped groove; 2-4, wedge-shaped block; 2-5, support plate;

[0029] 3, direction changing device; 3-1, direction changing disc; 3-2, guide device; 3-3, gear; 3-4, rack; 3-5, pushing part. DETAILED DESCRIPTION

[0030] It should be noted that the embodiments and features in the embodiments of the utility model can be combined with each other without conflict.The utility model will be described in detail below with reference to the drawings and in combination with the embodiments.

[0031] To make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be described clearly and completely below in combination with the drawings of the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments.The description of the at least one exemplary embodiment is actually only illustrative, not as any limitation on the utility model and its application or use.Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor belong to the scope of protection of the utility model.

[0032] It should be noted that the terms used herein are only for describing specific embodiments, not intended to limit the exemplary embodiments according to the utility model.As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form, and in addition, it should be understood that when the terms "contain" and / or "include" are used in the specification, it means that there is a feature, step, operation, device, component and / or their combination.

[0033] The foregoing description, for purposes of explanation, sets forth specific values and arrangements of components and steps that are subject to many options. The intent is to be accurate in describing the principles and novel features of the application. Thus, although the application has been described with reference to specific embodiments thereof, it will be apparent to those of ordinary skill in the art that a number of changes can be made thereto without departing from the spirit and scope of the application. For example, the various features of the application can be used in any combination or sub-combination thereof. Accordingly, the application is not to be limited by the above description but is to be given full scope of the appended claims.

[0034] In the description of the present application, it is to be understood that the orientation words such as "front, back, up, down, left, right", "horizontal, vertical, perpendicular, horizontal" and "top, bottom" and the like indicated orientation or position relationship are usually based on the orientation or position relationship shown in the drawings, only for the convenience of describing the present application and simplifying the description, without making the opposite statement, these orientation words do not indicate and imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, therefore, it cannot be understood as a limitation on the scope of protection of the present application: the orientation words "inner, outer" refer to the inner and outer of the contour of each component itself.

[0035] For the convenience of description, spatial relative terms such as "over", "above", "upper surface", "upper" and the like can be used herein to describe the spatial position relationship of one device or feature with other devices or features as shown in the drawings. It should be understood that the spatial relative terms are intended to include different orientations in use or operation in addition to the orientation of the device described in the drawings. For example, if the device in the drawing is inverted, the device described as "above" or "over" other devices or structures will be positioned "below" or "under" other devices or structures. Thus, the example term "above" can include both "above" and "below" orientations. The device can also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatial relative description used herein is interpreted accordingly.

[0036] In addition, it should be noted that the use of "first", "second" and the like words to limit parts, only for the convenience of distinguishing the corresponding parts, if there is no further declaration, the above words have no special meaning, therefore, it cannot be understood as a limitation on the scope of protection of the present application.

[0037] AsFigures 1 to 8 The utility model discloses a granary monitoring soft robot, including: drill bit 1, flexible shell 2, change direction device 3,

[0038] Drill bit 1 includes motor 1-1, motor support 1-2, thrust needle bearing 1-3, wheel hub 1-4, fixed shaft 1-5, connecting shaft 1-6, screw head 1-7, screw head 1-7 is fixed in the outer surface of wheel hub 1-4 through welding mode;Fixed shaft 1-5 is connected to the front side of motor support 1-2 through bolt, and is used for the axial positioning of thrust needle bearing 1-3;Connecting shaft 1-6 is connected with fixed shaft 1-5 by bolt connection wheel hub 1-4, so that the both can rotate synchronously, motor 1-1 is fixed in the rear side of thrust needle bearing 1-3 through motor support 1-2, motor 1-1 rotates, drives thrust needle bearing 1-3 to rotate, to drive screw head 1-7 to rotate.

[0039] The welding connection mode of screw head 1-7 and the outer surface of wheel hub 1-4 of drill bit 1 should ensure that it is firm under high torque rotation, can stably realize drilling action, and the welding place should be detected by flaw detection, ensure that there is no welding defect, to maintain the reliability of the robot advancing in the grain medium.

[0040] Flexible shell 2 includes cam 2-1, push rod 2-2, wedge groove 2-3, wedge block 2-4, support plate 2-5, cam 2-1 is with from push piece 2-2 sharp end contact, push piece 2-2 and wedge block 2-4 are connected together by welding mode, cam 2-1 rotates, drives push rod 2-2 and wedge block 2-4 to move up and down, transmission is sensitive, can accurately react the movement law of wedge block;Wedge groove 2-3 and wedge block 2-4 cooperate with each other, through the up and down movement of wedge block 2-4, control the opening and closing of wedge groove 2-3, to assist the expansion and contraction process of the robot in the movement process.Wedge groove is completely tightly wrapped outside the flexible material, its shape can expand and contract, to prevent the surrounding medium from entering the body of the robot during the movement, plays a sealing role.

[0041] Flexible shell 2 adopts high-performance flexible material, has low friction coefficient, prevents grain pollution and ensures the sealing property in the movement process.

[0042] Change direction device 3 includes change direction disc 3-1, guide device 3-2, gear 3-3, rack 3-4, push component 3-5, rack 3-4 is connected inside push component 3-5 by welding mode, motor main shaft and gear 3-3 are connected by means of key, gear 3-3 is engaged with rack 3-4, gear 3-3 rotates and drives rack 3-4 to move up, rack 3-4 drives push component 3-5 to move up and down in the guide rail of guide device 3-2, and the upper end of push component 3-5 is connected on change direction disc 3-1 by welding mode.

[0043] The meshing accuracy of the gear 3-3 and the rack 3-4 should reach a certain standard, when the motor drives the gear 3-3 to rotate, the up and down movement of the rack 3-4 is responsive and has no jam, the movement of the pushing component in the guide rail of the guide device is smooth, which ensures that the turning disc 3-1 can quickly and accurately realize the rotation in each direction, and meets the flexible turning demand of the robot in the complex environment of the warehouse.

[0044] The pushing component 3-5 has four in total, which are evenly distributed around the turning disc 3-1.

[0045] The turning device 3 has three rotation degrees of freedom in X, Y and Z directions, and can realize the rotation of the whole machine in any direction.

[0046] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A granary monitoring soft-bodied robot, characterized in that, The utility model relates to a kind of drilling machine, including: drill bit, flexible shell, change direction device. The drill bit includes motor, motor support, thrust needle bearing, wheel hub, fixed shaft, connecting shaft and screw head, the screw head is fixed on the outer surface of the wheel hub by welding, the fixed shaft is connected to the front side of the motor support by bolt, for the axial positioning of the thrust needle bearing, the connecting shaft is connected by bolt connection the wheel hub with the fixed shaft, make both synchronous rotation, the motor is fixed in the rear side of the thrust needle bearing by the motor support, the motor rotation drives the thrust needle bearing rotation, thereby driving the screw head rotation; The flexible shell includes cam, driven rod, wedge-shaped slot, wedge-shaped block and flexible material, the cam is in tip contact with the driven rod, the driven rod is connected with the wedge-shaped block by welding, the motor drives the cam rotation, drives the driven rod and the wedge-shaped block to move up and down, the wedge-shaped slot and the wedge-shaped block cooperate with each other, the wedge-shaped slot is opened and closed by the up and down movement of the wedge-shaped block, the flexible material is completely tightly wrapped outside the wedge-shaped slot to prevent the surrounding medium from entering the body; The change direction device includes gear, rack, motor, push component and change direction disc, the rack is connected inside the push component by welding, the main shaft of the motor is connected with the gear by flat key, the gear is engaged with the rack, the gear rotation drives the rack to move up and down, the rack drives the push component to move up and down in the guide rail of guide device, the upper end of the push component is connected on the change direction disc by welding. The cam has one degree of freedom, realizes up and down motion, to assist local fluidization effect.

2. The granary monitoring soft robot of claim 1, wherein, The flexible shell has two wedge-shaped slots and is symmetrically distributed with the wedge-shaped block, the wedge-shaped slot is opened and closed by the up and down movement of the wedge-shaped block, to assist the expansion and contraction of robot during movement.

3. The granary monitoring soft robot of claim 1, wherein, The push component has four, evenly distributed around the change direction disc, to ensure the stability and accuracy during steering.

4. The granary monitoring soft robot of claim 1, wherein, The flexible shell uses high-performance flexible material, with low friction coefficient, to prevent grain pollution and ensure the sealing during movement.

5. The granary monitoring soft robot of claim 1, wherein, ​

Images