A grain bin exploration sampling robot

Abstract

A grain storage sampling robot, belonging to the field of grain storage inspection technology, includes: a main body, on which a sampling and detection mechanism and a walking mechanism are installed. The sampling and detection mechanism includes a sampling chamber, which is connected to a turntable via a connecting line. The turntable is rotatably mounted on the main body. A detection unit and a vibration motor are installed inside the sampling chamber. The sampling chamber has several independent circumferentially arranged cavities inside. Several sampling windows are spaced apart circumferentially on the side wall of the sampling chamber. The number of sampling windows is the same as the number of cavities and they correspond one-to-one. Each sampling window is equipped with a corresponding window control component. The number of sampling windows and cavities are the same as the number of sampling windows and they correspond one-to-one. The window control component is the same as the number of sampling windows and they correspond one-to-one. It can store sampled grain at different depths in different cavities, which facilitates refined management of sampling.

Description

Technical Field

[0001] This utility model relates to the field of grain warehouse detection technology, and in particular to a grain warehouse detection and sampling robot. Background Technology

[0002] A grain warehouse is a storage facility for storing large quantities of grain. It is used to protect the grain from adverse environmental factors such as dampness, pests, rodents, and mold, ensuring the safety and quality of the grain during storage. Grain warehouse inspections, sampling, and testing are crucial steps in ensuring the safety and quality of grain storage.

[0003] To improve the automation and accuracy of grain warehouse inspection and sampling, intelligent grain warehouse inspection robots (such as CN221038156U) have emerged. These robots are equipped with an onboard control system and a sampling and testing system. The onboard control system is used to control the robot's start, stop, movement, smooth steering, and remote control functions. The sampling and testing system is used to perform automated sampling and testing, replacing manual sample processing, improving the efficiency of inspection operations, and enabling the robot to complete inspection tasks quickly and accurately. This increases work efficiency, reduces the risks of manual operation, and enhances the safety of the inspection process.

[0004] Existing intelligent inspection robots for grain warehouses use robotic arms or sampling rods for sampling. Robotic arms are complex in structure and inconvenient to use, while sampling rods are prone to mixing grains at different depths during the sampling process, resulting in low sampling precision. Furthermore, the walking mechanisms of existing inspection robots are mostly tracked, which are complex in structure, large in size and mass, and prone to sinking and tipping over, which can cause some compression to the grain particles. They also have poor flexibility and are difficult to turn. Utility Model Content

[0005] To address the technical problem of low sampling precision in existing intelligent grain warehouse inspection robots mentioned above, this utility model provides a grain warehouse detection and sampling robot.

[0006] The technical solution of this utility model is as follows: This utility model provides a grain storage sampling robot, comprising: a main body, on which a sampling and detection mechanism and a walking mechanism are installed; the sampling and detection mechanism includes a sampling chamber, which is connected to a turntable via a connecting line; the turntable is rotatably mounted on the main body; a detection unit and a vibration motor are installed inside the sampling chamber; the sampling chamber has several independent circumferentially arranged cavities inside; several sampling windows are spaced apart circumferentially on the side wall of the sampling chamber; the number of sampling windows is the same as the number of cavities and they correspond one-to-one; each sampling window is equipped with a corresponding window control component; the number of sampling windows is the same as the number of cavities and they correspond one-to-one; the number of window control components is the same as the number of sampling windows and they correspond one-to-one; it can store sampled grain at different depths in different cavities, facilitating refined sampling management.

[0007] Preferably, the walking mechanism includes two float wheels arranged opposite each other on both sides of the main body. Each float wheel includes an axle, which is fixedly connected to the main body via a connecting frame. A speed-regulating motor is fixedly installed at the center of the axle, and a drive unit is rotatably installed on the outside of the axle. The drive unit is a hollow cylindrical structure, and several strip-shaped protrusions are spaced circumferentially on the outer wall of the drive unit. The strip-shaped protrusions extend axially along the drive unit, and a rack is fixedly installed circumferentially on the inner wall of the drive unit. The drive unit meshes with the output gear of the speed-regulating motor through the rack. The float wheel has a simple overall structure and is lightweight. The strip-shaped protrusions not only increase the contact area with the grain, facilitating the robot's movement, but also reduce the compression of the grain particles and minimize damage to the grain. At the same time, it can also turn over and level the grain surface during walking. The inner wall of the drive unit is rotatably connected to the axle via a bearing, ensuring an effective connection between the drive unit and the axle.

[0008] Preferably, the float wheel has a twin-tube drive structure to improve its steering flexibility.

[0009] Preferably, the external rotation of the axle is provided with two drive units, and two speed-regulating motors are provided at the center of the axle. The two drive units are arranged sequentially along the axial direction of the axle, and each drive unit is connected to a speed-regulating motor. This enables independent control of the rotation speed of different parts of a single float wheel on one side, and the float wheel with the dual-drum drive structure has higher steering flexibility.

[0010] Preferably, the sampling and testing mechanism includes a sampling chamber, which is connected to a turntable via a connecting line. The turntable is mounted on the main body and is connected to a DC motor on the main body. The position of the sampling chamber can be controlled by the turntable, thereby enabling sampling operations on grains at different depths.

[0011] Preferably, the sampling chamber includes three independent compartments: upper, middle, and lower. The upper compartment is equipped with a detection unit to detect the temperature and humidity of the grain at different depths within the grain silo. The lower compartment is equipped with a vibration motor to provide power for the downward movement of the sampling chamber. The middle compartment has a sampling window on its side wall and is equipped with a window control component to facilitate the opening and closing of the sampling window, thereby controlling the sampling process.

[0012] Preferably, the central storage chamber is divided into several independent receiving cavities along the circumference, and several sampling windows are spaced apart along the circumference on the side wall of the sampling chamber. The number of sampling windows is the same as the number of receiving cavities and they correspond one-to-one. The number of window control components is the same as the number of sampling windows and they correspond one-to-one. This allows for the storage of sampled grains at different depths in different receiving cavities, which is convenient for sampling management.

[0013] Preferably, the window control component includes an electric telescopic unit and a baffle. The baffle is fixedly installed at the bottom of the electric telescopic unit, and the movement of the baffle can be controlled by the electric telescopic unit, thereby realizing the control of the opening and closing of the sampling window.

[0014] Preferably, the main body is equipped with an intelligent module and a battery module. The intelligent module and battery module are connected to the sampling and detection mechanism and the walking mechanism. The intelligent module and battery module are placed inside the outer shell. The intelligent module is used for the intelligent control of the robot, and the battery module is used to provide power support for the operation of each device.

[0015] As can be seen from the above technical solutions, the advantages of this utility model are: 1. The sampling chamber has a compact overall structure and complete functions. It is equipped with a detection unit and a vibration motor. The detection unit is used to monitor parameters such as temperature and humidity inside the grain silo online. The vibration motor provides power for the descent of the sampling chamber. The sampling chamber is divided into several independent receiving cavities along the circumference, and each receiving cavity corresponds to a sampling window. Each sampling window is equipped with a window control component. It can monitor the grain silo online and store grain samples at different depths in different receiving cavities, which facilitates refined management of sampling.

[0016] 2. The float wheel has a dual-tube drive structure, with each drive unit connected to a speed-regulating motor, which enables independent control of the rotational speed of different parts of a single float wheel on one side. The dual-tube drive structure makes the float wheel more flexible in steering.

[0017] 3. The overall structure of the float wheel is simple and lightweight, making it easy to use and maintain. The strip-shaped protrusions not only increase the contact area with the grain, facilitating the robot's movement, but also reduce the compression of grain particles and minimize damage to the grain. At the same time, it can also turn over and level the grain surface during movement. Attached Figure Description

[0018] To more clearly illustrate the technical solution of this utility model, the drawings used in the description 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 these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the grain warehouse detection and sampling robot according to one or more embodiments of the present invention. Figure 2 This is a schematic diagram of the internal structure of the outer shell of the grain warehouse detection and sampling robot according to one or more embodiments of the present invention. Figure 3 This is a schematic diagram of the internal structure of the outer shell of the grain warehouse detection and sampling robot according to one or more embodiments of the present invention, from another perspective. Figure 4 This is a top view schematic diagram of the internal structure of the outer shell of the grain warehouse detection and sampling robot according to one or more embodiments of the present invention; Figure 5 This is a partial cross-sectional structural diagram of the float wheel according to one or more embodiments of the present invention; Figure 6 This is a cross-sectional structural diagram of the float wheel according to one or more embodiments of the present invention (single motor structure). Figure 7 This is a cross-sectional structural diagram of the sampling chamber according to one or more embodiments of the present invention; The components represented by the various reference numerals in the diagram are: 1. Speed-regulating motor; 2. Float wheel; 3. Turntable; 4. DC motor; 5. Connecting frame; 6. Housing; 7. Main body; 8. Temperature sensor; 9. Humidity sensor; 10. Sampling chamber; 11. Vibration motor; 12. Intelligent module; 13. Battery module; 14. Connecting wire; 15. Sampling window; 16. First fixed bracket; 17. Steering mechanism; 18. Second fixed bracket; 19. Window control component. Detailed Implementation

[0020] To make the objectives, features, and advantages of this utility model more apparent and understandable, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings of the specific embodiments. Obviously, the embodiments described below are only some embodiments of this utility model, and not all embodiments. Based on the embodiments of this patent, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this patent.

[0021] Example 1 In a typical embodiment of this utility model, such as Figures 1-7 As shown, a grain warehouse sampling and detection robot is proposed, including: a main body 7, on which a sampling and detection mechanism and a walking mechanism are installed. The sampling and detection mechanism is used to sample grain in the grain warehouse and detect the temperature and humidity of the grain online. The walking mechanism is used to drive the overall movement of the robot.

[0022] Specifically, the traveling mechanism includes two float wheels 2 arranged opposite each other on both sides of the main body 7. The float wheels 2 are fixedly connected to the main body 7 via a connecting frame 5, such as... Figures 5-6 As shown, the float wheel 2 includes an axle, which is fixedly connected to the main body 7 via a connecting frame 5. A mounting frame is fixedly installed at the center of the axle, and a speed-regulating motor 1 is fixedly installed inside the mounting frame. A drive unit is rotatably provided on the outside of the axle. The drive unit is a hollow cylindrical structure, and the mounting frame is located inside the drive unit. Several strip-shaped protrusions are spaced along its circumferential direction on the outer wall of the drive unit. The strip-shaped protrusions extend along the axial direction of the drive unit to increase the contact area with the grain, facilitating the movement of the robot. The inner wall of the end of the drive unit is rotatably connected to the axle via a bearing. A rack is fixedly provided along its circumferential direction on the inner wall of the drive unit. The drive unit meshes with the output gear of the speed-regulating motor 1 via the rack, thereby driving the drive unit to rotate around the axis under the action of the speed-regulating motor 1, thus driving the movement of the robot. The end of the drive unit has a reduced inner diameter, while the end diameter of the axle is increased, so that the end is sealed by the cooperation between the drive unit and the axle, preventing grain particles from entering the drive unit.

[0023] The strip-shaped protrusions not only increase the contact area with the grain, making it easier for the robot to move, but also reduce driving resistance, thereby reducing the compression of the grain particles and minimizing damage to the grain. At the same time, they can also turn over and level the grain surface during movement.

[0024] In this embodiment, the float wheel 2 has a single-tube drive structure, that is, the external rotation of the wheel axle is provided with a drive unit, and the steering control is achieved by controlling the rotation speed of the float wheels 2 on both sides of the main body 7. In other embodiments, the float wheel 2 can also be a double-tube drive structure, that is, the external rotation of the wheel axle is provided with two drive units, and two speed-regulating motors 1 are provided in the mounting bracket at the center position of the wheel axle. Specifically, the two drive units and the two speed-regulating motors 1 are arranged sequentially along the axial direction of the wheel axle, and each drive unit is connected to one speed-regulating motor 1. Thus, the rotation speed of the corresponding drive unit can be controlled by the two speed-regulating motors, thereby realizing independent control of the rotation speed of different parts of a single float wheel 2 on one side. Compared with the single-tube drive structure, the float wheel 2 with the double-tube drive structure has higher steering flexibility.

[0025] like Figure 2 , Figure 3 , Figure 4 and Figure 7As shown, the sampling and testing mechanism includes a turntable 3, a DC motor 4, and a sampling chamber 10. The turntable 3 is vertically mounted on the main body 7 via a first fixed bracket 16. The turntable 3 is rotatably connected to the first fixed bracket 16. A connecting wire 14 is wound on the turntable 3. One end of the connecting wire 14 is fixedly connected to the sampling chamber 10. The DC motor 4 is fixedly mounted on the main body 7. The DC motor 4 is connected to the turntable 3 via a steering mechanism 17. The steering mechanism 17 is fixedly mounted on the main body 7 via a second fixed bracket 18. The DC motor 4 can drive the turntable 3 to rotate around an axis, thereby realizing the winding or unwinding of the connecting wire 14 to control the vertical movement of the sampling chamber.

[0026] Two first fixed brackets 16 are fixedly provided, one in front of the other. One is used for the installation of the turntable 3, and the other is used for the installation of the steering wheel. The steering wheel assists the steering of the connecting line 14 so that the sampling chamber 10 can move vertically.

[0027] The main body 7 is fixedly equipped with an intelligent module 12 and a battery module 13. The intelligent module 12 is the intelligent control center, which can control the operation of various functional devices. The robot can move according to the set trajectory and sample and detect grain at a designated location. The intelligent module 12 also has a laser positioning function, which can sample grain at different depths of the target point and detect temperature and humidity according to different laser irradiation points. The intelligent module 12 and the battery module 13 are both connected to the speed-regulating motor 1 and the DC motor 4. The main body 7 is also detachably equipped with a shell 6. The shell 6 is fastened to the outside of the turntable 3, the steering wheel, the first fixed bracket 16, the second fixed bracket 18, the intelligent module 12 and the battery module 13 as a whole, for the protection of each device.

[0028] The sampling chamber 10 is a hollow structure with a conical bottom. A sampling window 15 is provided on the side wall of the sampling chamber 10 for inserting into the grain pile to sample grain particles. The sampling chamber 10 is equipped with a vibration motor 11 and a detection unit. Both the vibration motor 11 and the detection unit are connected to the intelligent module 12 and the battery module 13. The vibration motor 11 has an eccentric structure, which generates high-frequency vibration due to eccentricity during operation. Because there are gaps between the grains, the sampling chamber 10 will sink downwards when it vibrates. The vibration motor 11 is the main power source for the downward displacement of the sampling chamber 10. The detection unit is used to perform online detection on the sampled grain particles.

[0029] Specifically, the sampling chamber 10 is divided into three independent chambers: upper, middle, and lower. The detection unit is fixedly installed in the upper chamber, the vibration motor 11 is fixedly installed in the lower chamber, and a sampling window 15 is opened on the side wall of the middle chamber to accommodate the sampled particles. In this embodiment, the detection unit is a temperature sensor 8 and a humidity sensor 9, which are used to detect the temperature and humidity of the grain at different depths in the grain silo.

[0030] Understandably, the sensor contacts inside the upper storage compartment extend outwards to facilitate online monitoring of the grain silo.

[0031] The central chamber of the sampling chamber 10 is divided into several independent receiving cavities along the circumference. Several sampling windows 15 are spaced apart along the circumference on the side wall of the sampling chamber 10. The number of sampling windows 15 is the same as the number of receiving cavities and they correspond one-to-one. A window control component 19 is also installed in the central chamber of the sampling chamber 10. The number of window control components 19 is the same as the number of sampling windows 15 and they correspond one-to-one. The window control component 19 includes an electric telescopic unit and a baffle. The electric telescopic unit is connected to the intelligent module 12 and the battery module 13. The baffle is fixedly installed at the bottom of the electric telescopic unit. The vertical movement of the baffle can be controlled by the electric telescopic unit, thereby realizing the opening and closing control of the corresponding sampling window 15.

[0032] To facilitate the differentiation of grain samples taken at different depths, the receiving chambers can be numbered, thereby enabling the numbering of different sampling windows 15.

[0033] The specific working principle is as follows: The intelligent module 12 controls the robot to move along a pre-set route on the grain surface. Upon reaching a designated point, the robot performs point-to-point sampling. At each point, the intelligent module 12 controls the DC motor 4, which drives the turntable 3 to rotate, lowering the sampling chamber 10. The vibration motor 11 inside the sampling chamber 10 activates when it reaches the designated point. As the connecting line 14 descends deeper, the length of the lowered connecting line is fixed for each rotation of the turntable 3. The turntable 3 rotates a number of times pre-set by the intelligent module 12 until the set depth is reached. Then, temperature and humidity sensors in the sampling chamber 10 detect the temperature and humidity at the current location. After detection, a designated sampling window 15 in the sampling chamber 10 is opened to sample and store the grain at the current location. After sampling and testing at the current point, the robot continues downwards according to the pre-set detection depth, repeating the above steps to sample and test at different depths. After sampling and testing, the turntable 3 is controlled to rotate in the opposite direction to retract the connecting line 14 until the sampling chamber 10 returns.

[0034] The above description of the disclosed embodiments enables those skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A grain warehouse detection and sampling robot, comprising: The main body (7) is equipped with a sampling and testing mechanism and a walking mechanism. The sampling and testing mechanism includes a sampling chamber (10). The sampling chamber (10) is connected to a turntable (3) via a connecting line (14). The turntable (3) is rotatably mounted on the main body (7). The sampling chamber (10) is equipped with a testing unit and a vibration motor (11). The sampling chamber (10) has several independent accommodating cavities arranged circumferentially inside. Several sampling windows (15) are spaced apart circumferentially on the side wall of the sampling chamber (10). The number of sampling windows (15) is the same as the number of accommodating cavities and they correspond one-to-one. Each sampling window (15) is equipped with a window control component (19).

2. The grain warehouse detection and sampling robot according to claim 1, characterized in that, The walking mechanism includes two float wheels (2) arranged opposite to each other on both sides of the main body (7). The float wheels (2) include axles. The axles are fixedly connected to the main body (7) through connecting frames (5). A speed-regulating motor (1) is fixedly installed at the center of the axle. A drive unit is provided on the outside of the axle. The drive unit is a hollow cylindrical structure. Several strip-shaped protrusions are provided on the outer wall of the drive unit along its circumferential direction. The strip-shaped protrusions extend along the axial direction of the drive unit. The inner wall of the drive unit is rotatably connected to the axle through bearings. A rack is fixedly installed on the inner wall of the drive unit along its circumferential direction. The drive unit meshes with the output gear of the speed-regulating motor (1) through the rack.

3. The grain warehouse detection and sampling robot according to claim 2, characterized in that, The float wheel (2) has a double-tube drive structure.

4. The grain warehouse detection and sampling robot according to claim 3, characterized in that, The wheel axle is provided with two drive units for external rotation, and two speed-regulating motors (1) are provided at the center of the wheel axle. The two drive units are arranged sequentially along the axial direction of the wheel axle, and each drive unit is connected to a speed-regulating motor (1).

5. The grain warehouse detection and sampling robot according to claim 1, characterized in that, The main body (7) is equipped with a DC motor (4), and the turntable (3) is connected to the DC motor (4).

6. The grain warehouse detection and sampling robot according to claim 5, characterized in that, The sampling chamber (10) includes three independent chambers: upper, middle and lower. The upper chamber is equipped with a detection unit, the lower chamber is equipped with a vibration motor (11), and the middle chamber has several sampling windows (15) spaced circumferentially on its side wall. The window control component (19) is installed in the middle chamber.

7. The grain warehouse detection and sampling robot according to claim 6, characterized in that, The central compartment is divided into several independent accommodating chambers along the circumference.

8. The grain warehouse detection and sampling robot according to claim 6, characterized in that, The window control assembly (19) includes an electric telescopic unit and a baffle, the baffle being fixedly installed at the bottom of the electric telescopic unit.

9. The grain warehouse detection and sampling robot according to claim 1, characterized in that, The main body (7) is equipped with an intelligent module (12) and a battery module (13). The intelligent module (12) and the battery module (13) are connected to the sampling and testing mechanism and the walking mechanism. The intelligent module (12) and the battery module (13) are placed inside the outer shell (6).

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