A robot mobile device for a grain depot

Abstract

The utility model relates to the technical field of robot mobile base for granary, specifically discloses a robot moving device for granary, including casing and controller, install the controller on the casing, the casing downside symmetry installs a group of drive wheels and a group of balance wheel, and drive wheel and balance wheel are arranged perpendicularly to each other, and the six-axis gyroscope is installed in the casing inboard central position, and the casing periphery still is equipped with a plurality of photoelectric sensors, and six-axis gyroscope gathers data and sends to the controller, and the controller utilizes FOC control drive motor quick and accurate torque output ability, and cooperates the data of gyroscope and realizes the accurate control body's attitude.

Description

Technical Field

[0001] This utility model relates to the technical field of mobile base for robots used in grain depots, and in particular to a mobile device for robots used in grain depots. Background Technology

[0002] In a modern grain storage management system, grain depots serve as the core locations for grain storage, safekeeping, and circulation. Their operational environment is characterized by spaciousness, finely divided storage areas, and standardized operational processes. With the continuous advancement of smart grain depot construction, robotics technology has been widely applied to grain quantity detection, quality inspection, and environmental monitoring, effectively replacing traditional manual operations and significantly improving operational efficiency and management precision. As the core component enabling autonomous movement of grain depot robots, the stability and environmental adaptability of the robotic mobile device directly determine the quality and reliability of the robot's tasks.

[0003] To meet the functional requirements of zoned grain storage, equipment access, and ventilation and moisture control, the floor passageways of grain depots typically employ a modular structure or a grid design. Modular passageways are mostly constructed from concrete slabs, metal sheets, or composite material panels. Due to factors such as processing precision, installation techniques, and long-term wear, seams of varying widths inevitably form between the slabs. Grid-type passageways, on the other hand, are mainly assembled from metal or plastic grids. Fixed-specification ventilation and drainage gaps exist between the grid units. The width of these gaps is typically designed according to the grain depot's ventilation requirements, generally ranging from 5 to 20 mm.

[0004] Currently, most conventional mobile robot bases for grain depots on the market use a single type of wheel structure for their walking mechanism, such as ordinary rubber wheels, plastic wheels, or simple swivel wheels. Furthermore, the wheel design is not specifically optimized for the joints and gaps in grain depot passageways. In actual operation, when the robot base travels to the joints of spliced ​​passageways, if the joint width is greater than the wheel's ground contact width or if the wheel edges are worn, the wheels can easily get stuck in the joint, causing the base to jam, tilt, or even become unable to move forward. When traveling on grid-type passageways, the wheels of conventional mobile bases are extremely prone to getting stuck in the gaps between grid units, causing not only wheel slippage and drive motor overload, but also, in severe cases, wheel deformation and damage to the base frame, directly interrupting the robot's operation. Utility Model Content

[0005] In view of the common problem that ordinary mobile robot bases used in grain depots do not move smoothly in the special passageway environment of grain depots, this utility model provides a mobile robot device for grain depots with a drive wheel and a balance wheel arranged perpendicularly to each other. Through the alternating support of the vertical wheels, a single wheel is prevented from getting stuck in the gap.

[0006] The solution adopted by this utility model to solve its technical problem is as follows: a mobile robot device for grain depots, including a shell and a controller. The controller is installed on the shell. A set of drive wheels and a set of balance wheels are symmetrically installed on the lower side of the shell. The drive wheels and balance wheels are arranged perpendicular to each other. Each drive wheel is equipped with an independent drive motor, which drives the drive wheel to rotate. The balance wheels are used to support the shell and keep it horizontal. The upper part of the shell is a flat plate structure. The grain depot robot is installed on the flat plate structure of the shell. A six-axis gyroscope is installed inside the shell to obtain the posture of the robot. Multiple photoelectric sensors are also installed around the shell to detect distance and realize collision avoidance of the walking mechanism. The data collected by the six-axis gyroscope is transmitted to the controller. The controller uses the FOC control to control the drive motor's fast and accurate torque output capability, and works with the gyroscope data to achieve accurate control of the robot's posture.

[0007] Preferably, the balance wheel is a caster wheel, which is installed on the lower side of the housing, and a shock-absorbing device is installed between the caster wheel and the housing.

[0008] Preferably, the balance wheel is an omnidirectional wheel with a wheel frame on the outside. A set of parallel vertical sliding rails are installed on the side of the wheel frame, and a vertical slider is mounted on the vertical sliding rail. The vertical slider is fixed to the lower part of the base platform, so that the wheel frame can move up and down vertically. A shock-absorbing rod is also installed between the wheel frame and the base platform, and the two ends of the shock-absorbing rod are hinged to the wheel frame and the base platform, respectively.

[0009] Preferably, the drive motor is a brushless motor with a magnetic encoder.

[0010] Preferably, the housing is a rectangular housing, and an inspection port is provided on the top of the rectangular housing, with a cover plate installed on the inspection port via a hinge.

[0011] Preferably, the drive wheels are made of polyurethane rubber wheels with a diameter of 150mm, and are symmetrically installed on the lower part of the housing.

[0012] The beneficial effects of this utility model are as follows: The robot mobile device for grain depots provided by this utility model has a vertical arrangement of drive wheels and balance wheels to form bidirectional support and protection. It avoids wheel jamming in one direction for splicing joints and grid gaps of variable width in grain depot passages, ensuring continuous passage of the robot. Compared with a single wheel set, the vertical arrangement of drive wheels and balance wheels forms a four-point support, reducing the probability of the base tilting due to uneven ground.

[0013] The drive wheel and balance wheel, which together form a four-point support structure, can reduce the probability of the base tilting due to uneven ground. With the help of a six-axis gyroscope and FOC control algorithm, when the base tilts, the attitude can be quickly corrected through the coordinated torque output of the wheel set. Attached Figure Description

[0014] Figure 1 This is a three-dimensional structural schematic diagram of the present invention;

[0015] Figure 2 This is a schematic diagram of the internal structure of this utility model;

[0016] Figure 3 This is a schematic diagram of the cross-shaped chassis.

[0017] The following are the labels in the diagram: 1. Housing; 2. Photoelectric sensor; 3. Drive wheel; 4. Drive motor; 5. Omnidirectional wheel; 6. Wheel frame; 7. Vertical slide rail; 8. Vertical slider; 9. Shock absorber; 10. Cover plate; 11. Cross-shaped chassis; 12. Column. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below.

[0019] Example 1: As Figure 1-3 As shown, this utility model provides a mobile robot device for grain depots, which includes a shell 1 with an installation platform on the top. The installation platform is a flat structure used to install functional modules such as grain depot inspection robots and grain condition detection robots. A power supply and controller are also installed on the shell 1.

[0020] like Figure 3 As shown, a set of drive wheels 3 and a set of balance wheels are installed on the lower side of the housing 1. Specifically, a cross-shaped chassis 11 is fixed on the lower side of the housing 1 by a column 12, and a drive wheel 3 or a balance wheel is installed at each end of the cross-shaped chassis 11 by a wheel axle.

[0021] The drive wheels 3 are made of polyurethane rubber with a diameter of 150mm. This group of drive wheels 3 is symmetrically installed on the lower part of the housing 1. Each drive wheel 3 is equipped with an independent drive motor 4, which drives the drive wheel 3 to rotate. The drive motor 4 is a brushless motor with a magnetic encoder. The balance wheel is used to assist in supporting the housing 1 platform to maintain horizontal stability. The balance wheel can be a universal wheel. A shock-absorbing seat is installed at the bottom of the housing 1. The universal wheel is installed below the housing 1 through the shock-absorbing seat, thereby avoiding the drive wheels 3 from being suspended in the air on rough roads, which would cause the mobile device to jam and be unable to move.

[0022] The drive wheel 3 and the balance wheel are mounted perpendicularly to each other at the bottom of the housing 1, meaning the axes of the drive wheel 3 and the balance wheel are perpendicular to each other. Grain depot passageways come in various types, such as spliced ​​and grid-like designs, and the same passageway may have both horizontal and vertical gaps. The perpendicular arrangement of the drive wheel 3 and the balance wheel eliminates the need for additional wheel alignment adjustments, allowing it to adapt to passageways with different orientations. Whether it's a vertical passageway along the drive wheel 3 or a horizontal passageway along the balance wheel, the wheel assembly effectively addresses gap issues, breaking the limitation of ordinary bases that "only adapt to a single-directional passageway." Combined with the shock-absorbing design of the balance wheel, even with slight protrusions or depressions in the passageway, the vertically arranged wheel assembly maintains stable support, allowing the base to move smoothly through various grain depot passageways.

[0023] A six-axis gyroscope is bolted to the center of the inner side of the housing 1. The gyroscope can collect the tilt angle and angular velocity of the body in real time and transmit the data to the controller. A photoelectric sensor 2 is installed on each of the four sides of the housing 1 (front, rear, left, and right side walls). The photoelectric sensor 2 detects the distance to surrounding obstacles using infrared signals. When the detected distance is too small, it sends a trigger signal to the controller. The controller uses an STM32H743 microcontroller with a built-in FOC (Field Oriented Control) algorithm. After receiving the attitude data from the six-axis gyroscope, if the controller detects a tilt of the body, it adjusts the output torque of the two drive motors 4 using the FOC algorithm. For example, if the left side tilts, the torque of the right drive motor 4 is increased, and the torque of the left drive motor 4 is decreased to achieve attitude correction. Simultaneously, the controller receives signals from the photoelectric sensors 2. When an obstacle is detected, it controls the drive motors 4 to slow down or rotate in the opposite direction to achieve collision avoidance.

[0024] Example 2: In this example, the balance wheel is an omnidirectional wheel 5, specifically, as follows: Figure 2 As shown, a wheel frame 6 is provided on the outer side of the omnidirectional wheel 5. A set of parallel vertical sliding rails 7 are installed on the side of the wheel frame 6. A vertical slider 8 is fitted on the vertical sliding rails 7 and is fixed to the lower part of the base platform, so that the wheel frame 6 can move vertically up and down. A shock-absorbing rod 9 is also installed between the wheel frame 6 and the base platform. The two ends of the shock-absorbing rod 9 are hinged to the wheel frame 6 and the base platform, respectively. The vertical sliding rails 7 and shock-absorbing rod 9 of the omnidirectional wheel 5 structure allow the wheel assembly to float slightly up and down, automatically adapting to the height difference of the grille and avoiding hard jamming.

[0025] The housing 1 is a rectangular housing 1, with two rectangular inspection ports on the top of the housing 1. The inspection ports are hinged to a cover plate 10, and the edge of the cover plate 10 is provided with a sealing strip to prevent grain depot dust from entering the inner cavity of the housing 1. During inspection and maintenance, the cover plate 10 can be opened directly to maintain the internal structure of the housing 1 through the inspection ports, avoiding the problem that traditional maintenance requires the entire mobile device to be flipped over for repair.

[0026] Obviously, the described embodiments are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

Claims

1. A robotic mobile device for grain depots, characterized in that, The system includes a housing (1) and a controller. The controller is installed on the housing (1). A set of drive wheels (3) and a set of balance wheels are symmetrically installed on the lower side of the housing (1). The drive wheels (3) and balance wheels are arranged perpendicular to each other. Each drive wheel (3) is equipped with an independent drive motor (4). The drive wheel (3) is driven to rotate by the drive motor (4). The balance wheel is used to support the housing (1) to keep it horizontal. The upper part of the housing (1) is a flat plate structure. The grain depot robot is installed on the flat plate structure of the housing (1). A six-axis gyroscope is installed inside the housing (1) to obtain the posture of the robot. Multiple photoelectric sensors (2) are also installed around the housing (1). Distance detection is performed by the photoelectric sensors (2) to realize the collision avoidance of the walking mechanism. The data collected by the six-axis gyroscope is transmitted to the controller. The controller uses the FOC to control the drive motor (4) to output torque quickly and accurately. With the data from the gyroscope, the robot's posture is accurately controlled.

2. The robot moving device for a grain depot according to claim 1, wherein The balance wheel is a universal wheel, which is installed on the lower side of the housing (1). A shock-absorbing device is installed between the universal wheel and the housing (1).

3. The robot moving device for a grain depot according to claim 1, wherein The balance wheel is an omnidirectional wheel (5). A wheel frame (6) is provided on the outside of the omnidirectional wheel (5). A set of parallel vertical sliding rails (7) are installed on the side of the wheel frame (6). A vertical slider (8) is fitted on the vertical sliding rails (7). The vertical slider (8) is fixed to the lower part of the base platform, so that the wheel frame (6) can move up and down vertically. A shock absorber (9) is also installed between the wheel frame (6) and the base platform. The two ends of the shock absorber (9) are respectively hinged to the wheel frame (6) and the base platform.

4. The robot moving device for a grain depot according to claim 1, wherein The drive motor (4) is a brushless motor with a magnetic encoder.

5. The robotic mobile device for use in a grain bin of claim 1, wherein, The housing (1) is a rectangular housing (1), and an inspection port is provided on the top of the rectangular housing (1). A cover plate (10) is installed on the inspection port by means of a hinge.

6. The robotic mobile device for use in a grain bin of claim 1, wherein, The drive wheel (3) is made of polyurethane rubber wheel with a diameter of 150mm and is symmetrically installed on the lower part of the housing (1).

Images