Flattening robot suitable for different grain surfaces
By adopting a spiral wheel structure in the grain leveling robot, the problem of insufficient driving ability of tracked structures is solved, achieving higher stability and leveling efficiency, and reducing grain damage.
Patent Information
- Application Number
- CN202423005526.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-05
- Publication Date
- 2026-01-09
- Estimated Expiration
- 2034-12-05
AI Technical Summary
The existing tracked structure of grain leveling machinery has weak driving ability, resulting in poor stability of the leveling robot and reduced leveling efficiency.
The spiral wheel structure is adopted, including a left spiral wheel and a right spiral wheel. The spiral blades rotate around the propeller shaft at an angle of 210°≤α≤340°. The diameter, spacing, height and pitch of the spiral wheel are reasonably set to ensure that the spiral wheel does not sink when it travels on the grain surface. The contact area is small and evenly distributed, reducing the compression and damage to the grain.
It improves the stability and efficiency of the leveling robot, reduces damage to grain, and enhances its adaptability on uneven grain surfaces.
Smart Images
Figure CN223779510U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the technical field of grain storage, and in particular to a leveling robot suitable for different grain surfaces. Background Technology
[0002] With technological advancements and the demands of the grain industry, the requirements for grain storage are becoming increasingly stringent. When grain is stored in a warehouse, the surface of the grain pile is often uneven. To facilitate future grain storage and management and improve the utilization rate of grain warehouse space, the grain surface must be leveled. Current grain surface handling machinery typically uses tracked structures for movement. However, tracked structures have limited mobility and are prone to sinking, thus reducing the stability of the leveling robot and consequently lowering its efficiency. Utility Model Content
[0003] The main purpose of this invention is to propose a leveling robot suitable for different grain surfaces, aiming to improve the stability and leveling efficiency of the robot.
[0004] To achieve the above objectives, this utility model proposes a leveling robot suitable for different grain surfaces, comprising:
[0005] A housing, the housing comprising a main body and two mounting arms extending outwardly from opposite sides of the main body;
[0006] Two drive assemblies, each drive assembly including a drive motor and a drive shaft drively connected to the drive motor, the two drive motors respectively mounted on the two mounting arms; and
[0007] The propeller includes two left-hand propellers and two right-hand propellers. The two left-hand propellers are mounted on one of the drive shafts, and the two right-hand propellers are mounted on the other drive shaft. Each left-hand and right-hand propeller includes a propeller shaft and a propeller blade. The propeller shaft is mounted on the drive shaft, and the propeller blade is connected to the outer circumferential surface of the propeller shaft. The rotation angle of the propeller blade around the propeller shaft is α, where 210°≤α≤340°.
[0008] In one embodiment, the minimum distance between the left helical wheel and the opposite right helical wheel is s1, and the diameters of the left and right helical wheels are both R1, where 0.7R1≤s1≤1.5R1.
[0009] In one embodiment, 250mm≤s1≤450mm, 180mm≤R1≤300mm.
[0010] In one embodiment, the propeller shaft is provided with a mounting through hole, and the propeller shaft is sleeved and mounted on the corresponding drive shaft through the mounting through hole. The diameter of the mounting through hole is R2, and 40mm≤R2≤70mm.
[0011] In one embodiment, the height of the helical blade is h, where 40mm ≤ h ≤ 100mm.
[0012] In one embodiment, the distance between the axis of the drive shaft and the lower end face of the main body in the thickness direction of the main body is s2, where 50mm≤s2≤80mm.
[0013] In one embodiment, a propeller shaft is provided with two helical blades, and the pitch of two adjacent helical blades is s3, where 250mm≤s3≤450mm.
[0014] In one embodiment, the helical blade includes an inner end face and an outer end face, the inner end face is connected to the propeller shaft, and the thickness of the helical blade gradually decreases from the inner end face to the outer end face.
[0015] In one embodiment, the thickness of the inner end face is D1, 7mm≤D1≤14mm; the thickness of the outer end face is D2, 2mm≤D2≤6mm.
[0016] In one embodiment, the outer end face is rounded, and the radius of the rounded corner is r, where 25mm ≤ r ≤ 35mm.
[0017] The present invention provides a leveling robot suitable for different grain surfaces, comprising a casing, two drive components, and helical wheels. The casing includes a main body and two mounting arms extending outwards from opposite sides of the main body. Each drive component includes a drive motor and a drive shaft connected to the drive motor. The two drive motors are respectively mounted on the two mounting arms. The helical wheels include two left helical wheels and two right helical wheels. Each of the two left helical wheels is mounted on one of the drive shafts, and each of the two right helical wheels is mounted on the other drive shaft. Compared to the existing tracked structure for movement, the helical wheel drive method enables the leveling robot suitable for different grain surfaces to move more effectively. The design adapts to the unevenness and softness of the grain surface, making the spiral wheel less prone to sinking when traveling on the grain surface. This improves the stability and efficiency of the leveling robot suitable for different grain surfaces. Simultaneously, the contact area between the spiral wheel and the grain surface is relatively small and evenly distributed, reducing compression and damage to the grain. Both the left and right spiral wheels include a propeller shaft and spiral blades. The spiral blades are connected to the outer circumference of the propeller shaft, and the rotation angle of the spiral blades around the propeller shaft is α, where 210°≤α≤340°. By rationally setting the rotation angle of the spiral blades around the propeller shaft, the stability and efficiency of the leveling robot suitable for different grain surfaces are further improved. Attached Figure Description
[0018] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.
[0019] Figure 1 A schematic diagram of the structure of an embodiment of the leveling robot for different grain surfaces provided by this utility model;
[0020] Figure 2 for Figure 1 A schematic diagram of the structure of the central helical wheel from one perspective;
[0021] Figure 3 for Figure 1 Another structural diagram of the central helical wheel;
[0022] Figure 4 for Figure 1 Another structural diagram of the central spiral wheel;
[0023] Figure 5 for Figure 1 A structural diagram from another perspective;
[0024] Figure 6 for Figure 1 Another structural diagram from a different perspective;
[0025] Figure 7 This is a data graph showing the cracking rate of the inner end face of the helical blade and the motor efficiency for different inner end face thicknesses.
[0026] Explanation of icon numbers:
[0027] 11. Main body; 12. Mounting arm; 22. Drive shaft; 31. Left propeller; 32. Right propeller; 33. Propeller shaft; 331. Mounting through hole; 34. Propeller blade; 341. Inner end face; 342. Outer end face.
[0028] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0029] 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.
[0030] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a specific posture. If the specific posture changes, the directional indicators will also change accordingly.
[0031] 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.
[0032] Reference Figure 1 and Figure 2 This utility model proposes a leveling robot suitable for different grain surfaces, comprising:
[0033] The housing includes a main body 11 and two mounting arms 12 extending outward from opposite sides of the main body 11;
[0034] Two drive components, each drive component including a drive motor and a drive shaft 22 connected to the drive motor, the two drive motors respectively mounted on the two mounting arms 12; and
[0035] The propeller wheel includes two left propeller wheels 31 and two right propeller wheels 32. The two left propeller wheels 31 are each mounted on one of the drive shafts 22, and the two right propeller wheels 32 are each mounted on the other drive shaft 22. Each left propeller wheel 31 and right propeller wheel 32 includes a propeller shaft 33 and a propeller blade 34. The propeller shaft 33 is mounted on the drive shaft 22, and the propeller blade 34 is connected to the outer circumferential surface of the propeller shaft 33. The rotation angle of the propeller blade 34 around the propeller shaft 33 is α, where 210°≤α≤340°.
[0036] The present invention provides a leveling robot suitable for different grain surfaces, comprising a housing, two drive components, and a spiral wheel. The housing includes a main body 11 and two mounting arms 12 extending outward from opposite sides of the main body 11. Each drive component includes a drive motor and a drive shaft 22 connected to the drive motor. The two drive motors are respectively mounted on the two mounting arms 12. The spiral wheel includes two left spiral wheels 31 and two right spiral wheels 32. The two left spiral wheels 31 are each mounted on one of the drive shafts 22, and the two right spiral wheels 32 are each mounted on the other drive shaft 22. Compared to the tracked structure used in the prior art, the spiral wheel drive method allows the leveling robot suitable for different grain surfaces to better adapt to the unevenness and softness of the grain surface, making it less likely for the spiral wheel to sink when walking on the grain surface, thereby improving the stability and leveling efficiency of the leveling robot suitable for different grain surfaces. At the same time, the contact area between the spiral wheel and the grain surface is relatively small and evenly distributed when the spiral wheel walks on the grain surface, thereby reducing the compression and damage to the grain. The two left helical wheels 31 have the same direction of rotation for their helical blades, and the two right helical wheels 32 have the same option for their helical blades, but the helical blades of the left helical wheels 31 and the right helical wheels 32 have opposite directions of rotation.
[0037] Furthermore, both the left helical wheel 31 and the right helical wheel 32 include a propeller shaft 33 and a helical blade 34. The helical blade 34 is connected to the outer circumferential surface of the propeller shaft 33, and the rotation angle of the helical blade 34 around the propeller shaft 33 is α, where 210°≤α≤340°, and α is the projection of the rotation angle of the helical blade 34 on the end face of the propeller shaft 33. If α>340°, it indicates that the rotation angle of the helical blade 34 is too large. An excessively large rotation angle indicates that the gap between the helical blades 34 is too small, which makes it easy for grain to accumulate between the helical blades 34 during the grain turning process, causing blockage or increasing resistance, thereby reducing the walking efficiency and grain turning effect of the leveling robot suitable for different grain surfaces. If α<210°, it indicates that the rotation angle of the helical blade 34 is too small. An excessively small α will limit the range of action of the helical wheel during the grain turning process, resulting in insufficient traction force on the grain for the leveling robot suitable for different grain surfaces, decreased walking stability, and thus inability to effectively turn and mix the grain, thereby affecting the grain turning effect. Therefore, in the technical solution of this application, 210°≤α≤340° is set reasonably, thereby improving the stability and reliability of the leveling robot applicable to different grain surfaces during movement, and thus improving the leveling efficiency of the leveling robot applicable to different grain surfaces.
[0038] Reference Figures 4 to 6 In one embodiment, the minimum distance between the left helical wheel 31 and the opposite right helical wheel 32 is s1, and the diameters of both the left helical wheel 31 and the right helical wheel 32 are R1, where 0.7R1≤s1≤1.5R1. If s1>1.5R1, it indicates that the distance between the left helical wheel 31 and the right helical wheel 32 is too large, resulting in the grain in the middle part of the leveling robot suitable for different grain surfaces not being turned over. This leads to the leveling robot wobbling or becoming unstable during the grain turning process, and also results in greater friction between the main body 11 and the grain surface, thereby increasing the energy consumption of the leveling robot suitable for different grain surfaces. If s1<0.7R1, the left helical wheel 31 and the right helical wheel 32 may interfere with each other during rotation, resulting in uneven rotation or even jamming. Therefore, by reasonably setting the distance between the left spiral wheel 31 and the right spiral wheel 32, the stability and reliability of the leveling robot applicable to different grain surfaces during movement are improved, thereby improving the leveling efficiency of the leveling robot applicable to different grain surfaces.
[0039] Specifically, the diameters of both the left spiral wheel 31 and the right spiral wheel 32 are R1, and the minimum distance between the left spiral wheel 31 and the opposite right spiral wheel 32 is s1, where 180mm ≤ R1 ≤ 300mm and 250mm ≤ s1 ≤ 450mm. If R1 > 300mm, it indicates that the diameters of the left spiral wheel 31 and the right spiral wheel 32 are too large, resulting in a larger contact area between the spiral wheels and the grain surface, thus increasing the energy consumption and material costs of the leveling robot suitable for different grain surfaces. If R1 < 180mm, it indicates that the diameters of both the left spiral wheel 31 and the right spiral wheel 32 are too small. The smaller spiral wheel diameter provides a smaller support area, which may reduce the stability of the robot when walking on the grain and increase the risk of getting stuck in the grain pile; at the same time, the smaller diameter spiral wheel covers a smaller area when rotating, which may slow down the speed of turning the grain and reduce work efficiency. Therefore, in the technical solution of this utility model, 180mm≤R1≤300mm is used to reasonably set the diameters of the left spiral wheel 31 and the right spiral wheel 32, thereby improving the stability and reliability of the leveling robot applicable to different grain surfaces during movement, and thus improving the leveling efficiency of the leveling robot applicable to different grain surfaces.
[0040] Furthermore, if s1 > 450mm, it indicates that the distance between the left helical wheel 31 and the right helical wheel 32 is too large. This results in the grain in the middle section of the leveling robot, which is suitable for different grain surfaces, not being turned over. Consequently, the leveling robot may wobble or become unstable during the grain turning process, and the friction between the main body 11 and the grain surface will be greater, thus increasing the energy consumption of the leveling robot. If s1 < 250mm, the left helical wheel 31 and the right helical wheel 32 may interfere with each other during rotation, resulting in uneven rotation or even jamming. Therefore, by reasonably setting the distance between the left helical wheel 31 and the right helical wheel 32, the stability and reliability of the leveling robot during movement are improved, thereby increasing the leveling efficiency of the leveling robot.
[0041] In one embodiment, the propeller shaft 33 is provided with a mounting through hole 331. The propeller shaft 33 is fitted onto the corresponding drive shaft 22 through the mounting through hole 331. The diameter of the mounting through hole 331 is R2, where 40mm ≤ R2 ≤ 70mm. When R2 > 70mm, it indicates that the diameter of the mounting through hole 331 is too large, and the connection between the propeller shaft 33 and the drive shaft 22 may not be tight enough, leading to shaking or loosening during transmission, which in turn increases energy loss and reduces transmission efficiency. If R2 < 40mm, it indicates that the diameter of the mounting through hole 331 is too small, making it difficult to accurately insert the propeller shaft 33 onto the output shaft of the drive motor, thus increasing assembly difficulty and time cost. Furthermore, an excessively small mounting through hole 331 may cause stress concentration at the connection point of the propeller shaft 33. Under prolonged or high-intensity working conditions, this stress concentration may lead to fatigue fracture or plastic deformation of the propeller shaft 33. Therefore, in the technical solution of this application, 40mm≤R2≤70mm is used to ensure a stable connection, high transmission efficiency and safety and reliability on the one hand, and to improve the convenience and cost-effectiveness of assembly on the other hand.
[0042] Specifically, the height of the helical blade 34 is h, where 40mm ≤ h ≤ 100mm. If h > 100mm, the height of the helical blade 34 is too large, increasing manufacturing costs and transportation difficulties; simultaneously, a larger helical wheel requires more energy to rotate, thus increasing the robot's energy consumption. If h < 40mm, the height of the helical blade 34 is too small, resulting in a smaller support area provided by the smaller helical wheel, potentially reducing the robot's stability when walking on grain and increasing the risk of it getting stuck in the grain pile; also, a smaller helical wheel covers a smaller area when rotating, potentially slowing down the grain turning speed and reducing work efficiency. Therefore, in this utility model's technical solution, 40mm ≤ h ≤ 100mm is used to reasonably set the height of the helical blade 34, thereby improving the stability and reliability of the leveling robot suitable for different grain surfaces, and thus improving the leveling efficiency of the leveling robot suitable for different grain surfaces.
[0043] In one embodiment, the distance between the axis of the drive shaft 22 and the lower end face of the main body 11 in the thickness direction of the main body 11 is s2, where 50mm ≤ s2 ≤ 80mm. If s2 > 80mm, it indicates that the axis of the drive shaft 22 is positioned relatively high relative to the lower end face of the main body 11. This may lead to insufficient stability of the leveling robot suitable for different grain surfaces during its movement, especially when encountering uneven grain surfaces, making it prone to tilting or even tipping over. Simultaneously, a large s value may result in insufficient contact between the spiral wheel and the grain surface, leading to a decrease in driving force transmission efficiency, thereby reducing the walking speed and leveling efficiency of the leveling robot suitable for different grain surfaces. If s2 < 50mm, it indicates that the axis of the drive shaft 22 is too close to the lower end face of the main body 11. This may cause friction between the spiral wheel and the lower end face of the main body 11 during rotation, resulting in unnecessary wear and shortening the robot's service life. Furthermore, an excessively small s value may limit the heat dissipation capacity of the internal space of the casing, especially when the drive motor generates a large amount of heat during prolonged operation. Poor heat dissipation may affect the performance and lifespan of the motor. Therefore, in the technical solution of this utility model, 50mm≤s2≤80mm is used to reasonably set the distance between the axis of the transmission shaft 22 and the lower end face of the main body 11 in the thickness direction of the main body 11, thereby improving the stability and reliability of the leveling robot applicable to different grain surfaces during movement, and thus improving the leveling efficiency of the leveling robot applicable to different grain surfaces.
[0044] In one embodiment, each propeller shaft 33 is provided with two helical blades 34, and the pitch between two adjacent helical blades 34 is s3, where 250mm ≤ s3 ≤ 450mm. If s3 > 450mm, it indicates that the pitch between the helical blades 34 is large, which means that the range of action of the helical wheel during the grain turning process is limited. This results in insufficient traction force on the grain for the leveling robot suitable for different grain surfaces, decreased walking stability, and inability to effectively turn and mix the grain, thus affecting the grain turning effect. If s3 < 250mm, it indicates that the pitch between the helical blades 34 is small, which makes it easy for the grain to accumulate between the helical blades 34 during the grain turning process, causing blockage or increased resistance, thereby reducing the walking efficiency and grain turning effect of the leveling robot suitable for different grain surfaces. Therefore, in the technical solution of this application, 250mm ≤ s3 ≤ 450mm is used to reasonably set the pitch of the helical blades 34, thereby improving the stability and reliability of the leveling robot suitable for different grain surfaces during movement, and thus improving the leveling efficiency of the leveling robot suitable for different grain surfaces.
[0045] In one embodiment, the helical blade 34 includes an inner end face 341 and an outer end face 342. The inner end face 341 is connected to the propeller shaft 33, and the thickness of the helical blade 34 gradually decreases from the inner end face 341 to the outer end face 342. First, by maximizing the thickness of the helical blade 34 at its inner end face 341, the connection strength between the helical blade 34 and the propeller shaft 33 is increased, thereby reducing the risk of loosening and cracking at the connection point of the helical blade 34. Second, the gradually decreasing thickness of the helical blade 34 reduces the contact area and friction between the helical blade 34 and the grain during rotation, thus reducing resistance and improving walking efficiency. Third, the gradually decreasing thickness design facilitates smoother power transmission from the drive motor to the helical blade 34, reducing power loss and enabling the leveling robot, suitable for different grain surfaces, to move more efficiently. Furthermore, the gradually decreasing thickness of the helical blade 34 allows it to more effectively stir and mix the grain during rotation, especially for clumps or piles of grain, making it easier to break them up and improving the uniformity and effectiveness of grain turning. Finally, the reduced thickness of the outer end face 342 of the helical blade 34 generates stronger centrifugal force during rotation, pushing grain particles outward and increasing grain flowability, which helps the robot move and turn grain more effectively.
[0046] Reference Figure 7 Specifically, the thickness of the inner end face 341 is D1, where 7mm ≤ D1 ≤ 14mm; the thickness of the outer end face 342 is D2, where 2mm ≤ D2 ≤ 6mm. If D1 < 7mm, it indicates that the thickness of the inner end face 341 is too small, which can easily lead to cracking or damage at the connection between the inner end face 341 and the propeller shaft 33, thereby reducing the service life of the spiral blade 34. If D1 > 14mm, it increases the weight of the spiral wheel, which in turn increases the energy consumption of the leveling robot suitable for different grain surfaces and also increases the manufacturing cost of the spiral wheel. If D2 < 2mm, it indicates that the thickness of the outer end face 342 is too small, which can easily cause the outer end face 342 to break during contact with grain, and the broken spiral blade 34 can easily damage the grain, thereby reducing the yield of the grain and the service life of the spiral wheel. If D2 > 6mm, it indicates that the thickness of the outer end face 342 is too large. Increasing the thickness of the outer end face 342 will increase the contact area and friction between the spiral blade 34 and the grain, thereby increasing the resistance during movement and reducing the walking efficiency. Therefore, by reasonably setting the thickness of the inner end face 341 and the outer end face 342, the grain breakage rate is reduced, the service life of the spiral blade 34 is improved, and the energy consumption of the leveling robot suitable for different grain surfaces is reduced.
[0047] Furthermore, the outer end face 342 is rounded, with a radius of r, where 25mm ≤ r ≤ 35mm. If r > 35mm, the radius of the rounded corner is too large, resulting in a relatively smaller contact area between the spiral blade 34 and the grain surface, thus reducing the grip of the spiral wheel when moving on the grain. This may cause insufficient stability for leveling robots suitable for different grain surfaces during grain turning operations, leading to slippage or difficulty in movement. Simultaneously, due to the reduced grip, leveling robots suitable for different grain surfaces may not be able to effectively turn the grain or turn it unevenly, affecting the turning effect and work quality. If r < 25mm, the radius of the rounded corner is too small, making the outer end face 342 of the spiral blade 34 sharper. This increases friction and wear between the spiral blade 34 and the grain surface, increasing the grain breakage rate. Furthermore, with prolonged use, the spiral blade 34 is prone to severe wear and may even be damaged, affecting the service life and operational efficiency of leveling robots suitable for different grain surfaces. Therefore, in the technical solution of this utility model, 25mm≤r≤35mm, by reasonably setting the radius of the rounded corner, the service life of the spiral wheel and the leveling efficiency are improved.
[0048] 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 leveling robot suitable for different grain surfaces, characterized in that, include: The housing includes a main body (11) and two mounting arms (12) extending outward from opposite sides of the main body (11). Two drive components, each drive component including a drive motor and a drive shaft (22) connected to the drive motor, the two drive motors respectively mounted on the two mounting arms (12); and The propeller includes two left propellers (31) and two right propellers (32). The two left propellers (31) are mounted on one of the drive shafts (22), and the two right propellers (32) are mounted on the other drive shaft (22). The left propellers (31) and the right propellers (32) each include a propeller shaft (33) and a propeller blade (34). The propeller shaft (33) is mounted on the drive shaft (22), and the propeller blade (34) is connected to the outer circumferential surface of the propeller shaft (33). The rotation angle of the propeller blade (34) around the propeller shaft (33) is α, where 210°≤α≤340°. The minimum distance between the left helical wheel (31) and the opposite right helical wheel (32) is s1, and the diameters of the left helical wheel (31) and the right helical wheel (32) are both R1, 0.7R1≤s1≤1.5R1.
2. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, 250mm≤s1≤450mm, 180mm≤R1≤300mm.
3. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, The propeller shaft (33) is provided with a mounting through hole (331). The propeller shaft (33) is sleeved and installed on the corresponding drive shaft (22) through the mounting through hole (331). The diameter of the mounting through hole (331) is R2, 40mm≤R2≤70mm.
4. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, The height of the helical blade (34) is h, 40mm≤h≤100mm.
5. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, The distance between the axis of the drive shaft (22) and the lower end face of the main body (11) in the thickness direction of the main body (11) is s2, 50mm≤s2≤80mm.
6. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, The propeller shaft (33) is provided with two helical blades (34), and the pitch of two adjacent helical blades (34) is s3, 250mm≤s3≤450mm.
7. The leveling robot applicable to different grain surfaces as described in claim 1, characterized in that, The helical blade (34) includes an inner end face (341) and an outer end face (342). The inner end face (341) is connected to the propeller shaft (33). The thickness of the helical blade (34) gradually decreases from the inner end face (341) to the outer end face (342).
8. The leveling robot applicable to different grain surfaces as described in claim 7, characterized in that, The thickness of the inner end face (341) is D1, 7mm≤D1≤14mm; the thickness of the outer end face (342) is D2, 2mm≤D2≤6mm.
9. The leveling robot applicable to different grain surfaces as described in claim 7, characterized in that, The outer end face (342) is rounded, and the radius of the rounded corner is r, 25mm≤r≤35mm.