Autonomous delivery robot for fumigation tablets in grain depot

Abstract

The utility model discloses a grain depot fumigation tablet autonomous delivery robot which comprises a chassis, damping mechanisms and a medicine delivery mechanism, the damping mechanisms and the medicine delivery mechanism are arranged on the chassis, the damping mechanisms are symmetrically arranged on the left side and the right side of the chassis, and each damping mechanism comprises a support fixed to the left side and the right side of the chassis; the direct-current motor, the driving wheel, the crawler belt, the driven wheel, the connecting shaft and the spring suspension shock absorber are installed on the support, a medicine feeding mechanism is installed at the top of the chassis and comprises a medicine bin fixed to the front end of the top of the chassis, a push plate is installed at the bottom of the medicine bin in a sliding mode, and a medicine pushing rack is fixed to the rear side of the push plate; by arranging driving wheels, ten driven wheels driven by two driving wheels on a crawler belt and a damping system provided with a spring suspension damper, a robot body is reinforced and enlarged, the load capacity is greatly improved, horizontal pushing type medicine feeding is adopted, and compared with a traditional mechanical arm, the method has the advantages that the tablet feeding cost of a robot is reduced, and the design is simple.

Description

Technical Field

[0001] This utility model belongs to the field of calcium phosphate processing technology, specifically involving an autonomous delivery robot for fumigation tablets in grain depots. Background Technology

[0002] The current method of preventing and controlling grain pests still mainly relies on the application of pesticide tablets for pre-intervention. This work is highly manual, inefficient, and costly. Furthermore, these pesticide tablets are usually quite toxic, and manual application poses significant safety risks. This issue has become a problem that urgently needs to be addressed by researchers in this field. Utility Model Content

[0003] The purpose of this invention is to provide an autonomous delivery robot for fumigation tablets in grain depots, addressing the problems mentioned in the background section.

[0004] To solve the above-mentioned technical problems, this utility model provides the following technical solution: an autonomous fumigation tablet delivery robot for grain depots, including a chassis and a shock absorption mechanism and a drug delivery mechanism installed on the chassis. The shock absorption mechanism is symmetrically arranged on the left and right sides of the chassis. The shock absorption mechanism includes a bracket fixed to the left and right sides of the chassis, and a DC motor, a drive wheel, a track, a driven wheel, a connecting shaft, and a spring suspension shock absorber installed on the bracket. The drug delivery mechanism is installed on the top of the chassis. The drug delivery mechanism includes a drug bin fixed to the front end of the top of the chassis. A push plate is slidably installed at the bottom of the drug bin. A drug delivery rack is fixed to the rear side of the push plate. A stand is fixed on the top of the chassis to the right side of the drug delivery rack. A stepper motor is fixed on the top of the stand. A worm gear is connected to the output end of the stepper motor. A turbine meshes with the lower part of the worm gear. The turbine is rotatably connected to the stand. A gear is coaxially arranged on the front side of the turbine. The lower part of the gear's teeth meshes with the top of the drug delivery rack.

[0005] This utility model further describes that: a DC motor is fixed to the inner front end of each of the two brackets, the output end of the DC motor is connected to a drive wheel, a track is engaged on the outer side of the drive wheel, driven wheels are arranged at intervals on the inner wall of the track and are in contact with the outer rim of the driven wheels, a connecting shaft is installed in the middle of each of the multiple driven wheels, and a spring suspension shock absorber is connected to the tail end of the connecting shaft.

[0006] This utility model further illustrates that: the central axis of the driving wheel is arranged parallel to the central axis of the driven wheel, and the wheel axes of both the driving wheel and the driven wheel are perpendicular to the direction of movement of the track. Under the drive of the driving wheel, the track rotates cyclically along a circular track with the axes of the driving wheel and the driven wheel as the guide, and the inner side of the track is in contact with the outer circumferential surface of the driving wheel and the driven wheel for transmission.

[0007] This utility model further illustrates that: the spring suspension shock absorber includes a spring and a damper, the spring is sleeved outside the damper, and multiple spring suspension shock absorbers at the tail ends of the connecting shaft are arranged at intervals along the track movement direction.

[0008] This utility model further illustrates that: the outer diameter of the push plate matches the inner diameter of the groove at the bottom of the medicine compartment, and the push plate can slide back and forth along the interior of the medicine compartment for adjustment.

[0009] The present invention further explains that: the top of the pusher rack is provided with meshing teeth distributed along its length direction, and the tooth pitch of the meshing teeth is adapted to the tooth pitch of the outer teeth of the gear.

[0010] This utility model further explains that: the teeth of the gear are distributed on its arc-shaped edge, and the gear and the turbine are coaxially fixed to form a composite turbine gear by means of a flat key or welding, and the two rotate synchronously.

[0011] Compared with the prior art, the beneficial effects achieved by this utility model are: This utility model,

[0012] (1) By setting up a shock absorption mechanism, the two active wheels are equipped with MG513 DC motors with built-in pull-up shaping. Hardware counting is achieved using the STM32 encoder interface. The load capacity of a single motor can reach 4kg and the torque can reach 4.5kg / cm. When installed on the robot track, the robot's maximum speed is 1.1m / s. Then, through the shock absorption system on the track, which is driven by two active wheels and 10 driven wheels with spring suspension shock absorbers, the robot body is strengthened and enlarged, greatly improving the load capacity.

[0013] (2) By setting up a drug delivery mechanism, this part adopts a flat-push drug delivery method based on the characteristic shape of the tablet. Compared with the traditional robotic arm, this method reduces the cost of robot tablet delivery. The design is simple and has no complex mechanical structure. It consists of only four main components: drug chamber, worm gear, turbine, gear and push rack. To a certain extent, it reduces the energy loss and motion delay of the mechanism during operation, making the tablet delivery work more accurate and efficient. Attached Figure Description

[0014] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:

[0015] Figure 1 This is a schematic diagram of the overall front view structure of this utility model;

[0016] Figure 2 This is a schematic diagram of the rear view structure of this utility model;

[0017] Figure 3This is a schematic diagram of the shock absorption mechanism of this utility model;

[0018] Figure 4 This is a schematic diagram of the drug delivery mechanism of this utility model;

[0019] In the diagram: 1. Chassis; 2. Support frame; 3. DC motor; 4. Drive wheel; 5. Track; 6. Driven wheel; 7. Connecting shaft; 8. Spring suspension shock absorber; 9. Medicine compartment; 10. Push plate; 11. Medicine pushing rack; 12. Stand; 13. Stepper motor; 14. Worm gear; 15. Turbine; 16. Gear. Detailed Implementation

[0020] The following detailed, non-limiting description of the present invention, in conjunction with preferred embodiments and accompanying drawings, is provided. Obviously, the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0021] Example 1

[0022] An autonomous fumigation tablet delivery robot for grain depots, as shown in the figure, includes a chassis 1 and a shock absorption mechanism and a tablet delivery mechanism mounted on the chassis 1. The tablet delivery mechanism is mounted on the top of the chassis 1 and includes a tablet chamber 9 fixed to the front end of the top of the chassis 1. A pusher plate 10 is slidably mounted on the bottom of the tablet chamber 9, and a pusher rack 11 is fixed to the rear side of the pusher plate 10. A stand 12 is fixed on the top of the chassis 1 to the right of the pusher rack 11. A stepper motor 13 is fixed on the top of the stand 12. A worm gear 14 is connected to the output end of the stepper motor 13. A turbine 15 meshes with the lower part of the worm gear 14. The turbine 15 is rotatably connected to the stand 12. A gear 16 is coaxially mounted on the front side of the turbine 15. The lower teeth of the gear 16 mesh with the top of the pusher rack 11. The simplified structure of the tablet delivery mechanism reduces energy loss and motion delay during operation to a certain extent, making the tablet delivery work more accurate and efficient.

[0023] The outer diameter of the push plate 10 matches the inner diameter of the slot at the bottom of the medicine container 9. The push plate 10 can slide back and forth along the inside of the medicine container 9. The stable back and forth movement of the push plate 10 facilitates the use of the tablets, and the stable back and forth movement prevents deviation.

[0024] The top of the pusher rack 11 is provided with meshing teeth distributed along its length. The tooth pitch of the meshing teeth is adapted to the tooth pitch of the outer teeth of the gear 16, which can drive the pusher rack 11 to control the pusher plate 10 to move back and forth, and accurately push the tablet to the designated area.

[0025] The teeth of gear 16 are distributed on its arc-shaped edge, and gear 16 and worm gear 15 are coaxially fixed together by a flat key or welding to form a compound worm gear. The two rotate synchronously. The pitch circle of gear 16 is slightly smaller than that of worm gear 15, which results in the linear velocity of gear 16 being smaller than that of worm gear 15. According to the torque calculation formula M=F×L, the force exerted by gear 16 on the pusher rack 11 is greater than the force exerted by worm 14 on worm gear 15, ensuring that the tablet is pushed out of the robot.

[0026] Example 2

[0027] Based on Example 1, a shock-absorbing mechanism is symmetrically arranged on the left and right sides of the chassis 1. The shock-absorbing mechanism includes brackets 2 fixed on the left and right sides of the chassis 1, and DC motors 3, drive wheels 4, tracks 5, driven wheels 6, connecting shafts 7 and spring suspension shock absorbers 8 mounted on the brackets 2. DC motors 3 are fixed on the inner front end of the two brackets 2 respectively. The output end of the DC motor 3 is connected to the drive wheel 4. The track 5 is engaged on the outer side of the drive wheel 4. Driven wheels 6 are arranged at intervals and are in contact with the outer rim of the driven wheels 6 on the inner wall of the track 5. Connecting shafts 7 are respectively installed in the middle part of the multiple driven wheels 6. The tail end of the connecting shaft 7 is connected to the spring suspension shock absorber 8.

[0028] The central axis of the driving wheel 4 is set parallel to the central axis of the driven wheel 6, and the wheel axes of both the driving wheel 4 and the driven wheel 6 are perpendicular to the direction of movement of the track 5. Driven by the driving wheel 4, the track 5 rotates cyclically along a circular track with the axes of the driving wheel 4 and the driven wheel 6 as the guide. The inner side of the track 5 is in contact with the outer circumferential surface of the driving wheel 4 and the driven wheel 6 for transmission, ensuring stable robot movement, strong power, stable movement and stronger adaptability.

[0029] The spring suspension shock absorber 8 includes a spring and a damper. The spring is sleeved on the outside of the damper. Multiple spring suspension shock absorbers 8 at the tail ends of the connecting shafts 7 are arranged at intervals along the movement direction of the track 5. The shock absorption system equipped with the spring suspension shock absorber 8 strengthens and enlarges the robot body, greatly improving its load capacity.

[0030] Working principle: First, the DC motor 3 controls the drive wheel 4 and the track 5 to drive each other, and further cooperates with the driven wheel 6 to control the overall movement of the chassis 1, which facilitates the drug delivery operation. The spring suspension shock absorber 8 can effectively reduce shocks. The driven wheel 6 and the spring suspension shock absorber 8 can adapt to complex terrain. Then, the stepper motor 13 can be controlled to rotate the worm gear 14, which controls the lower compound worm gear to rotate synchronously. This controls the pusher rack 11 to drive the pusher plate 10 to move back and forth along the bottom of the medicine chamber 9, thereby pushing the medicine tablets inside for drug delivery.

[0031] In the description of this utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this utility model and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this utility model.

[0032] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A grain depot fumigation tablet autonomous delivery robot, comprising a chassis (1) and a shock absorption mechanism and a dosing mechanism mounted on the chassis (1), characterized in that: The chassis (1) is symmetrically equipped with shock absorption mechanisms on its left and right sides. Each shock absorption mechanism includes brackets (2) fixed to the left and right sides of the chassis (1), and a DC motor (3), drive wheel (4), track (5), driven wheel (6), connecting shaft (7), and spring suspension shock absorber (8) mounted on the brackets (2). A drug delivery mechanism is installed on the top of the chassis (1). This mechanism includes a drug chamber (9) fixed to the front end of the top of the chassis (1). A push plate (10) is slidably mounted on the bottom of the drug chamber (9). A pusher rack (11) is fixed to the rear side. A stand (12) is fixed to the top of the chassis (1) on the right side of the pusher rack (11). A stepper motor (13) is fixed to the top of the stand (12). A worm gear (14) is connected to the output end of the stepper motor (13). A turbine (15) meshes with the lower part of the worm gear (14). The turbine (15) is rotatably connected to the stand (12). A gear (16) is coaxially arranged on the front side of the turbine (15). The lower part of the teeth of the gear (16) meshes with the top of the pusher rack (11).

2. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 1, characterized in that: A DC motor (3) is fixed to the inner front end of each of the two brackets (2). The output end of the DC motor (3) is connected to a drive wheel (4). A track (5) is engaged on the outer side of the drive wheel (4). A driven wheel (6) is arranged at intervals on the inner wall of the track (5) and is in contact with the outer rim of the driven wheel (6). A connecting shaft (7) is installed in the middle of each of the multiple driven wheels (6). A spring suspension shock absorber (8) is connected to the tail end of the connecting shaft (7).

3. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 2, characterized in that: The central axis of the driving wheel (4) is parallel to the central axis of the driven wheel (6), and the wheel axes of the driving wheel (4) and the driven wheel (6) are perpendicular to the direction of movement of the track (5). Driven by the driving wheel (4), the track (5) rotates cyclically along a circular track with the axes of the driving wheel (4) and the driven wheel (6) as guides. The inner side of the track (5) is in contact with the outer circumferential surface of the driving wheel (4) and the driven wheel (6) for transmission.

4. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 2, characterized in that: The spring suspension shock absorber (8) includes a spring and a damper. The spring is sleeved on the outside of the damper. The spring suspension shock absorbers (8) at the tail ends of the connecting shafts (7) are arranged at intervals along the movement direction of the track (5).

5. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 1, characterized in that: The outer diameter of the push plate (10) matches the inner diameter of the groove at the bottom of the medicine container (9), and the push plate (10) can slide back and forth along the inside of the medicine container (9).

6. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 1, characterized in that: The top of the pusher rack (11) is provided with meshing teeth distributed along its length, and the tooth pitch of the meshing teeth is adapted to the tooth pitch of the outer teeth of the gear (16).

7. The autonomous delivery robot for fumigation tablets in a grain depot according to claim 1, characterized in that: The teeth of the gear (16) are distributed on its arc-shaped edge, and the gear (16) and the turbine (15) are coaxially fixed by a flat key or welding to form a composite turbine gear, which rotates synchronously.

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