A large platform for air driving in a granary

Abstract

The utility model discloses a grain storehouse is with air -driven large -scale platform, include: platform frame body, two groups of screw wheel symmetry and rotatable setting in the both sides of platform frame body, the group of Mecanum wheel liftable setting in the bottom of platform frame body, the scraper rotatable setting in the tail of platform frame body, the flat grain angle sets in the front center of platform frame body, and the flat grain angle is conical, the shell includes the integral setting main part and the extension along the arc vector surface center axis to the extension part, and the main part and extension part are in the arc vector surface center axis place and show the convex shape, and the main part and extension part gradually incline inwards and bend to both sides along the arc vector surface center axis until with horizontal plane vertical, the main part along the convex shape rear side and extension part along the convex shape front side all show the inclination and outward expansion, and the width of main part is smoothly reduced from the tail to the extension part, until the extension part is not changed in width, and the shell interval setting in the top of platform frame body. The utility model has the characteristics of increasing the monitoring comprehensiveness to the inside of grain storehouse.

Description

Technical Field

[0001] This utility model relates to the field of grain storage equipment technology, and more specifically, to a large air-driven platform for grain storage. Background Technology

[0002] With the continuous growth of grain demand and reserve scale, the management of grain warehouses has become increasingly important. However, inside the grain warehouse, local depressions or accumulations may occur, which can cause uneven grain pile heights and temperature gradient differences. This can lead to the accumulation of hot and humid air in certain areas, resulting in condensation. Moreover, the quality of stored grain changes constantly over time, and without reliable monitoring methods, the quality of stored grain cannot be guaranteed.

[0003] Currently, regarding the issue of grain accumulation inside grain warehouses, with the development of automation and robotics technologies, more and more automated equipment is being applied to grain warehouse management, such as the development of intelligent grain leveling robots. However, existing intelligent grain leveling robots mainly use electric motors as the primary drive. In actual grain leveling operations, once they encounter a platform for drilling grain or encounter situations with high resistance, the current will rise sharply, resulting in either the motor burning out or the circuit overheating, affecting its service life. Moreover, overheating will have a reverse effect on electrical components, affecting the service life of electrical components.

[0004] Regarding monitoring methods, existing grain warehouse monitoring equipment mainly consists of fixed sensors or cameras, which are often placed at high locations to ensure monitoring coverage, making it impossible to monitor different locations throughout the entire grain warehouse in real time. Utility Model Content

[0005] This utility model designs and develops a large air-driven platform for grain storage. It can switch between grain storage environment and flat ground environment through two driving methods. Combined with the irregularly shaped shell, it can improve the protection of internal components and increase the comprehensiveness of monitoring inside the grain storage.

[0006] The technical solution provided by this utility model is as follows:

[0007] A low-temperature protection system for lithium batteries based on phase change materials and an electric heating device includes:

[0008] Platform frame; and

[0009] Two sets of spiral wheels are symmetrically and rotatably arranged on both sides of the platform frame;

[0010] Mecanum wheel sets, which are height-adjustable and mounted at the bottom of the platform frame;

[0011] A scraper, which is rotatably mounted at the rear of the platform frame;

[0012] The grain leveling angle is located at the center of the front part of the platform frame, and the cross-sectional dimension of the grain leveling angle gradually shrinks to a point from the near end to the far end;

[0013] The outer shell includes an integrally formed main body and an extension portion extending forward along the central axis of the sagittal plane of the main body. The main body and the extension portion are convex at the central axis of the sagittal plane. The main body and the extension portion gradually bend inward to both sides along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body is inclined and expands outward along the rearward side of the convex shape and the extension portion is inclined and expands outward along the frontward side of the convex shape. The width of the main body smoothly decreases from the tail to the extension portion until the width of the extension portion remains unchanged. The outer shell is disposed on the top of the platform frame.

[0014] The height of the Mecanum wheel can be lower than the height of the two sets of spiral wheels.

[0015] Preferably, both sets of spiral wheels include:

[0016] spindle; and

[0017] The wheel body is spirally wrapped around the outside of the main shaft;

[0018] The two sets of spiral wheels rotate in opposite directions.

[0019] Preferably, it also includes:

[0020] The main connecting plate is located in the middle of the platform frame.

[0021] Preferably, the Mecanum wheelset includes:

[0022] A secondary connecting plate, which is detachably fixed to the main connecting plate;

[0023] Multiple guide tubes are spaced apart and vertically arranged on the secondary connecting plate;

[0024] Multiple guide posts are movably arranged in the multiple guide tubes, each corresponding to the other.

[0025] A connecting frame is disposed at the bottom of the main connecting plate, and the connecting frame is connected to one end of the plurality of guide posts;

[0026] Multiple Mecanum wheels are rotatably mounted at the four bottom corners of the connecting frame;

[0027] A cylinder is fixed to the top of the auxiliary connecting plate, and the piston rod of the cylinder is connected to the top of the connecting frame;

[0028] The length of the guide post is greater than the maximum stroke of the cylinder piston rod.

[0029] Preferably, it also includes:

[0030] The first pneumatic motor is connected to the two sets of spiral wheels respectively, and is used to drive the two sets of spiral wheels to rotate respectively;

[0031] The second pneumatic motor is located at both ends of the rear of the platform frame and is used to drive the rotation of the scraper.

[0032] Preferably, it also includes:

[0033] An air compressor is mounted on the main connecting plate and is connected to the first pneumatic motor, the second pneumatic motor, and the cylinder.

[0034] A power supply is located on the main connection board and is connected to the air compressor.

[0035] Preferably, the cylinder, the first pneumatic motor, the second pneumatic motor, the air compressor, and the power supply are all located in the lower part of the housing;

[0036] Both ends of the main shaft are tapered structures;

[0037] The flat grain angle has an elevation angle on the side closest to the grain surface.

[0038] Preferably, it also includes:

[0039] The first flow control valve has its inlet connected to the air compressor;

[0040] The first directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body, an air outlet 4 connected to the other end of the first pneumatic motor on the left side of the vehicle body and one end of the first pneumatic motor on the right side of the vehicle body, and two exhaust ports 3 and 5 connected to the external environment.

[0041] The second directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of two first pneumatic motors, an air outlet 4 connected to the other end of two first pneumatic motors, and two exhaust ports 3 and 5 connected to the external environment.

[0042] The third directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, and both exhaust ports 3 and 5 are connected to the external environment.

[0043] The first reversing valve has its air inlet 2 connected to the air outlet 2 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body.

[0044] The second reversing valve has its air inlet 2 connected to the air outlet 4 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body.

[0045] The third reversing valve has its inlet 2 connected to the outlet of the first flow control valve, and its working port 1 connected to the inlet of the cylinder.

[0046] The second flow control valve is located between the working port 1 of the first reversing valve and one end of the first pneumatic motor on the left side of the vehicle body.

[0047] The third flow control valve is located between the working port 1 of the second reversing valve and the other end of the first pneumatic motor on the right side of the vehicle body.

[0048] The beneficial effects of this utility model are as follows:

[0049] This utility model provides a large air-driven platform for grain storage, which can switch between grain storage and flat terrain environments, making it applicable in multiple scenarios and also suitable for use in other fluid environments. The motor and air pump drive improves applicability, stability, safety, and energy utilization. The air circuit, management, and driving components are modularly designed for easy disassembly and maintenance. Relying on its own platform weight and rear-mounted fine leveling device, it can perform coarse and fine leveling operations on grain. Depending on actual needs, other devices can be installed at the rear to perform other tasks such as spraying and inspection in the grain storage. The drive is located at the rear of the machine, with fixed structures at both the front and rear of the wheels, and is easy to disassemble. This solves the problem of some small electrically driven robots on the market where the drive is located in the middle of the body, with the front and rear wheels suspended in the air. After long-term operation, the wheel axles will become misaligned, making it inconvenient to replace the subsequent axles and maintain the reducer. Attached Figure Description

[0050] Figure 1 This is a top view of the large air-driven platform for grain storage described in this utility model.

[0051] Figure 2 This is a front view structural diagram of the large air-driven platform for grain storage described in this utility model.

[0052] Figure 3 This is an isometric structural diagram of the large air-driven platform for grain storage described in this utility model.

[0053] Figure 4 This is a side view of the large air-driven platform for grain storage described in this utility model.

[0054] Figure 5 This is a schematic diagram of the internal structure of the large air-driven platform for grain storage described in this utility model.

[0055] Figure 6This is a top view of the internal structure of the large air-driven platform for grain storage described in this utility model.

[0056] Figure 7 This is a schematic diagram of the bottom structure of the large air-driven platform for grain storage described in this utility model.

[0057] Figure 8 This is a schematic diagram of the Mecanum wheel assembly described in this utility model.

[0058] Figure 9 This is a schematic diagram of the structure of the outer shell of this utility model.

[0059] Figure 10 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in forward mode.

[0060] Figure 11 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in the reverse mode.

[0061] Figure 12 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in the stationary right turn mode.

[0062] Figure 13 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model when it is turning left in place.

[0063] Figure 14 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in left-turn mode.

[0064] Figure 15 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in right-turn mode.

[0065] Figure 16 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in the right-turn and reverse mode.

[0066] Figure 17 This is a schematic diagram of the airflow of the pneumatic grain leveler described in this utility model in the left-turn and backward mode.

[0067] Figure 18 This is a schematic diagram of airflow in the Mecanum wheel walking mode described in this utility model. Detailed Implementation

[0068] The present invention will now be described in further detail with reference to the accompanying drawings, so that those skilled in the art can implement it based on the description.

[0069] like Figure 1-9 As shown, the large air-driven platform for grain storage provided by this utility model includes:

[0070] Platform frame 100, two sets of spiral wheels 110, Mecanum wheel set 120, leveling corner 130, scraper 140 and outer shell 150;

[0071] The platform frame 100 is a frame structure, generally in the shape of an I-beam, with the height of both ends of the platform frame 100 lower than the height of the middle part; the two sets of spiral wheels 110 are symmetrically and rotatably arranged on both sides of the platform frame 100, that is, the two sets of spiral wheels 110 are symmetrically arranged between the two ends of the platform frame 100; the Mecanum wheel set 120 is height-adjustable at the bottom of the platform frame 100, and the height of the Mecanum wheel set 120 can be lower than the height of the two sets of spiral wheels 110; the grain leveling angle 130 is located at the front center of the platform frame 100, and the cross-sectional dimension of the grain leveling angle 130 gradually shrinks to a point from the near end to the far end; the scraper 140 is rotatably arranged at the rear of the platform frame 100.

[0072] In this embodiment, the platform frame 100 is a skeleton structure built of aluminum profiles, and a horizontal main connecting plate 102 is provided in the middle of the platform frame 100.

[0073] The two sets of spiral wheels 110 mainly include a main shaft 111 and a wheel body 112. Both ends of the main shaft 111 are set in a conical shape, which, in conjunction with the grain self-flow angle, not only protects the wheel body 112, but also helps the platform to prevent jamming when changing the movement mode. The wheel body 112 is spirally wrapped around the outside of the main shaft 111, and the wheel bodies 112 of the two sets of spiral wheels 110 rotate in opposite directions, which is a paramecium-like design.

[0074] In this embodiment, the power ends of the two sets of spiral wheels 110 are both first pneumatic motors 113 (first pneumatic motor 113a on the left side of the vehicle body and first pneumatic motor 113b on the right side of the vehicle body), and the power output end of the first pneumatic motor 113 is connected to the end of the spiral wheel 110 near the scraper 140.

[0075] The Mecanum wheel assembly 120 includes multiple guide tubes 122, multiple guide posts 123, a connecting frame 124, multiple Mecanum wheels 125, and a cylinder 126. The multiple guide tubes 122 are spaced apart and vertically arranged on the main connecting plate 102. The multiple guide posts 123 are correspondingly and movably arranged within the multiple guide tubes 122. The connecting frame 124 is located at the bottom of the main connecting plate 102 and is connected to one end of each of the multiple guide posts 122. The multiple Mecanum wheels 125... 5 are rotatably mounted at the four bottom corners of the connecting frame 124; the cylinder 126 is fixed to the top of the main connecting plate 102, and the piston rod of the cylinder 126 is connected to the top of the connecting frame 124; in order to ensure the smoothness of the change of motion mode, the length of the guide column 123 is greater than the maximum stroke of the piston rod of the cylinder 126, so that the Mecanum wheel 125 can be lowered to a position lower than the two sets of spiral wheels 110. The Mecanum wheel set 120 realizes the driving, forward and backward turning and in-situ turning actions when the grain silo is not level.

[0076] To ensure the stability of the platform, the Mecanum wheelset 120 is positioned at the center of the platform.

[0077] In this embodiment, in order to enhance stability and improve the convenience of replacement, the main connecting plate 102 is provided with a mounting through hole near the middle, and a corresponding detachable secondary connecting plate 121 is provided, and the Mecanum wheel set 120 is disposed on the secondary connecting plate 121.

[0078] In this embodiment, there are four guide tubes and four guide posts.

[0079] In this embodiment, the grain leveling angle 130 is conical, and its bottom plane is detachably fixed to the front middle of the platform frame 100. The top end extends far away from the platform frame 100, and the grain leveling angle 130 extends from the bottom plane to the top end with an upward angle on the side close to the grain surface. This allows the grain to exert an upward lifting force on the platform during operation, preventing the grain from sinking downwards during platform operation. In other words, the grain leveling angle 130 is designed to mimic a weevil, which helps to level the grain pile and distribute the grain on the sides of the two sets of spiral wheels 110, assisting the two sets of spiral wheels 110 in turning the grain.

[0080] The large pneumatic platform for grain storage described in this utility model further includes: a rotating rod 141 and two second pneumatic motors 142. The two second pneumatic motors 142 are symmetrically fixed on both sides of one end of the platform frame 100 near the tail. The rotating rod 141 is fixedly arranged between the two second pneumatic motors 142. A scraper 140 is fixedly connected to the rotating rod 141, so that the second pneumatic motors 142 drive the scraper 140 to rotate, thereby achieving fine leveling or turning of the grain.

[0081] In this embodiment, it also includes: two fixing frames 101, which are symmetrically fixed on both sides of one end of the platform frame 100 near the tail, two first pneumatic motors 113 are respectively fixed to the bottom of the two fixing frames 101, and two second pneumatic motors 142 are respectively symmetrically fixed to the tail of the two fixing frames 101.

[0082] In this embodiment, the width of the scraper 140 can be set as needed while ensuring stability.

[0083] A power supply 160 and an air compressor 170 are provided on the main connection plate 102. The power supply 160 is connected to the air compressor 170 and is used to drive the air compressor 170. The air compressor 170 is connected to the cylinder 126, the first pneumatic motor 113 and the second pneumatic motor 142.

[0084] A pneumatic valve 180 and an adaptive control device 190 are also provided on the main connecting plate 102. The pneumatic valve 180 includes multiple directional control valves 181 and multiple flow control valves 182. The multiple directional control valves 181 and multiple flow control valves 182 are all located between the air compressor 170 and the first pneumatic motor 113, and are used to manage the direction of the two sets of spiral wheels 110 and the air intake flow, respectively.

[0085] Specifically, the multiple directional control valves 181 include a first directional control valve 181a, a second directional control valve 181b, and a third directional control valve 181c (each including an inlet 1, two outlets 2 and 4, and two exhaust ports 3 and 5), and the multiple flow control valves 182 include a first flow control valve 182a, a second flow control valve 182b, and a third flow control valve 182c, and also include a first reversing valve 183a, a second reversing valve 183b, and a third reversing valve 183c (each including a working port 1, an inlet 2, and a normally closed port 3).

[0086] The first directional control valve 181a, the second directional control valve 181b, and the third directional control valve 181c are all three-position five-way valves; the first reversing valve 183a, the second reversing valve 183b, and the third reversing valve 183c are all two-position three-way solenoid valves; and the first flow control valve 182a, the second flow control valve 182b, and the third flow control valve 182c are all proportional flow valves.

[0087] The inlet of the first flow control valve 182a is connected to the air compressor 170, and its outlet is simultaneously connected to the inlet 1 of the first directional control valve 181a, the inlet 1 of the second directional control valve 181b, the inlet 1 of the third directional control valve 181c, and the inlet 2 of the third reversing valve 183c. The outlet 2 of the first directional control valve 181a is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The outlet 4 of the first directional control valve 181a is simultaneously connected to the other end of the first pneumatic motor 113a on the left side of the vehicle body. The first directional control valve 181a is connected to one end of the first pneumatic motor 113b on the right side of the vehicle body. Both exhaust ports 3 and 5 of the first directional control valve 181a are connected to the external environment, meaning the first directional control valve 181a can drive both first pneumatic motors 113 to rotate inwards or outwards simultaneously. The exhaust port 2 of the second directional control valve 181b is connected to one end of both the first pneumatic motor 113a on the left and the first pneumatic motor 113b on the right side of the vehicle body. The exhaust port 4 of the second directional control valve 181b is connected to the other end of both the first pneumatic motor 113a on the left and the first pneumatic motor 113b on the right side of the vehicle body. The two exhaust ports 3 and 5 of the second directional control valve 181b are connected to the external environment, meaning that the second directional control valve 181b can drive the two first pneumatic motors 113 to rotate in opposite directions (one of the two first pneumatic motors 113 rotates inward and the other rotates outward). The exhaust port 2 of the third directional control valve 181c is connected to the intake port 2 of the first reversing valve 183a. The working port 1 of the first reversing valve 183a is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The exhaust port 4 of the third directional control valve 181c is connected to the second reversing valve 183b. The first reversing valve 183b is connected to the air inlet 2. The working port 1 of the second reversing valve 183b is simultaneously connected to one end of the first pneumatic motor 113a on the left side of the vehicle body and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The second flow control valve 182b is located between the working port 1 of the first reversing valve 183a and one end of the first pneumatic motor 113a on the left side of the vehicle body. The third flow control valve 182c is located between the working port 1 of the second reversing valve 183b and the other end of the first pneumatic motor 113b on the right side of the vehicle body. The working port 1 of the third reversing valve 183c is connected to the air inlet of the cylinder 126.

[0088] In this embodiment, the exhaust ports 3 and 5 of the first directional control valve 181a, the second directional control valve 181b, and the third directional control valve 181c are connected to a muffler to reduce the exhaust noise.

[0089] The adaptive control device 190 is connected to multiple directional control valves 181, multiple flow control valves 182, a first reversing valve 183a, a second reversing valve 183b, and a third reversing valve 183c, and is used to control the position change and power on / off of the valve body, thereby controlling the operation of the cylinder 126 and the first pneumatic motor 113.

[0090] A shell 150 is provided on the top of the platform frame 100. The shell 150 includes an integrally formed main body 151 and an extension 152 extending forward along the central axis of the sagittal plane of the main body 151. The main body 151 and the extension 152 are convex at the central axis of the sagittal plane. The main body 151 and the extension 152 gradually bend inward along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body 151 is inclined and expands outward along the rearward side of the convex shape and the extension 152 is inclined and expands outward along the frontward side of the convex shape. The width of the main body 151 smoothly decreases from the tail to the extension, and remains unchanged after the extension 152. The shell 150 is a biomimetic design shell, which allows grain to fall automatically, achieving the purpose of not accumulating grain. At the same time, it protects all internal pneumatic and electrical components, and is dustproof and explosion-proof.

[0091] In this embodiment, the side view of the outer shell 150 is mushroom-shaped.

[0092] In this embodiment, the outer shell 150 is connected to the platform frame 100 by a snap-fit ​​mechanism.

[0093] The platform also includes a MEMS gyroscope, a velocity sensor, a power sensor, and an RGB-D detection camera (not shown in the figure). The MEMS gyroscope is integrated into the adaptive control device 190 and is used to detect the platform's attitude direction. The velocity sensor is located at the bottom of the platform and is used to detect the platform's speed. The RGB-D detection camera is integrated at the front and rear ends of the housing 150 and is used to detect the environment in which the platform is located. The power sensor is located in the power supply and is used to detect the power supply's charge level. An anti-collision sensor is located at the front end of the leveling corner 130 and is used to detect obstacles in the platform's travel path to prevent the machine from colliding with surrounding hard objects. The MEMS gyroscope, velocity sensor, power sensor, and RGB-D detection camera are all connected to the adaptive control device 190, and the corresponding signal data are all transmitted to the adaptive control device 190 for processing.

[0094] In this embodiment, the air compressor 170 is an explosion-proof air compressor with an air tank.

[0095] In this embodiment, communication is achieved between the handheld remote control or the central control and the adaptive control device 190.

[0096] In another embodiment, the second pneumatic motor 142 and scraper 140 may be replaced with other components used for grain testing, such as fixed-point sampling.

[0097] This invention relates to a large pneumatically driven platform for grain storage, capable of operating in both grain storage and flat terrain, making it suitable for various scenarios and also applicable to other fluid environments. Driven by a pneumatic motor, it offers increased torque compared to an electric motor at the same power output, making it suitable for load-bearing starts and the grain storage environment. Furthermore, the pneumatic motor features stepless speed regulation, enabling stable forward, backward, left, and right movements. The pneumatic system can operate in harsh environments such as dust and corrosive gases, where electric motors may require protective measures. Therefore, the pneumatic system offers superior environmental adaptability compared to electric motors. Good; the pneumatic system does not generate sparks during operation, eliminating the risk of electric shock and fire, thus improving safety; when the pneumatic motor is overloaded, its speed only decreases or stops, automatically clamping the system's maximum output and taking protective actions. It can resume normal operation once the overload factor disappears, improving system reliability, whereas electric motors are prone to burnout when overloaded; the pneumatic motor can also adjust its torque output according to different needs, and when it encounters large resistance and cannot operate, it can rely on air pressure relief, protecting both the entire air circuit and the electrical control system. In other words, it has strong overload capacity, high safety, and good environmental adaptability; The moving parts typically have fewer moving parts and are less prone to wear, resulting in lower maintenance costs. In the air source treatment stage, pressure detection is integrated into the air compressor, and an air tank is added to the air circuit to maintain the platform's operating air pressure. The start and stop of the air compressor are effectively adjusted according to the air tank pressure to achieve efficient energy utilization. The air circuit, management, and travel parts are modularly designed for easy disassembly and maintenance. Relying on the weight of the platform itself and the rear-mounted fine leveling device, it can perform coarse and fine leveling operations on grain. As needed, other devices can be installed at the rear to perform other operations such as spraying and inspection in the grain silo. The drive unit is located at the rear of the machine, with fixed structures at both the front and rear of the wheels, and is easy to disassemble. This solves the problem of some small electrically driven robots on the market where the drive unit is located in the middle of the body, with the front and rear wheels suspended in the air. Over time, the wheel axles will become misaligned, making it difficult to replace the axles and maintain the reducer. The air compressor with an air tank uses pressure detection and regulation to operate. The compressed air flow direction and flow rate are regulated by an air distribution controller to achieve controllable operation of the pneumatic motor. The entire platform can be managed by a handheld remote control or a central control platform. The central control platform can monitor the grain silo environment and platform operation in real time.

[0098] The working process of the large air-driven platform for grain storage provided by this utility model specifically includes the following steps:

[0099] Step 1: Real-time collection of grain warehouse environmental data and status data of the air-driven large platform;

[0100] The grain warehouse environmental data is data collected by an RGB-D detection camera;

[0101] The status data of the air-driven large platform includes: platform attitude and direction data, speed data, power supply data, and obstacle data;

[0102] Step 2: Based on the collected data, the air flow direction and flow rate in the air compressor are adjusted by the air distribution controller, and the direction and speed of the two sets of screw wheels are adjusted by the pneumatic valve, thereby realizing the switching of the pneumatic grain leveler's motion mode.

[0103] The pneumatic grain leveler's movement modes specifically include walking mode (forward mode and backward mode), turning mode (right turn mode and left turn mode), and left and right turning mode (left turn mode and right turn mode);

[0104] like Figure 10 As shown, when the pneumatic grain leveler is in forward mode, the first flow control valve 182a is fully open, the air inlet 1 of the first directional control valve 181a is connected to the air outlet 2, the air outlet 4 of the first directional control valve 181a is connected to the exhaust outlet 5, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the two first pneumatic motors 113 to rotate synchronously inward.

[0105] like Figure 11 As shown, when the pneumatic grain leveler is in reverse mode, the first flow control valve 182a is fully open, the air inlet 1 of the first directional control valve 181a is connected to the air outlet 4, the air outlet 2 of the first directional control valve 181a is connected to the exhaust outlet 3, and the other pneumatic valves are all in the de-energized and closed state, thereby causing the two first pneumatic motors 113 to rotate outward synchronously.

[0106] like Figure 12 As shown, when the pneumatic grain leveler is in the stationary right turn mode, the first flow control valve 182a is fully open, the air inlet 1 of the second direction control valve 181b is connected to the air outlet 2, the air outlet 4 of the second direction control valve 181b is connected to the exhaust outlet 5, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the first pneumatic motor 113a on the left side of the vehicle to rotate inward and the first pneumatic motor 113b on the right side of the vehicle to rotate outward.

[0107] like Figure 13 As shown, when the pneumatic grain leveler is in the stationary left turn mode, the first flow control valve 182a is fully open, the air inlet 1 of the second direction control valve 181b is connected to the air outlet 4, the air outlet 2 of the second direction control valve 181b is connected to the exhaust outlet 3, and the remaining pneumatic valves are all in the de-energized closed state, thereby causing the first pneumatic motor 113a on the left side of the vehicle to rotate outward and the first pneumatic motor 113b on the right side of the vehicle to rotate inward.

[0108] like Figure 14 As shown, when the pneumatic grain leveler is in left-turn forward mode, the first flow control valve 182a is fully open, the second flow control valve 182b is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 2, the air outlet 4 of the third directional control valve 181c is connected to the exhaust port 5, the air inlet 2 of the first reversing valve 183a is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor 113a on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve 182b.

[0109] like Figure 15 As shown, when the pneumatic grain leveler is in right-turn forward mode, the first flow control valve 182a is fully open, the third flow control valve 182c is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 4, the air outlet 2 of the third directional control valve 181c is connected to the exhaust outlet 3, the air inlet 2 of the second reversing valve 183b is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate inward. The differential rotation of the first pneumatic motor 113b on the right side of the vehicle is achieved by adjusting the opening of the third flow control valve 182c.

[0110] like Figure 16 As shown, when the pneumatic grain leveler is in right-turn reverse mode, the first flow control valve 182a is fully open, the third flow control valve 182c is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 2, the air outlet 4 of the third directional control valve 181c is connected to the exhaust port 5, the air inlet 2 of the second reversing valve 183b is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate outward. The differential rotation of the first pneumatic motor 113b on the right side of the vehicle is achieved by adjusting the opening of the third flow control valve 182c.

[0111] like Figure 17As shown, when the pneumatic grain leveler is in left-turn and reverse mode, the first flow control valve 182a is fully open, the second flow control valve 182b is energized and open, the air inlet 1 of the third directional control valve 181c is connected to the air outlet 4, the air outlet 2 of the third directional control valve 181c is connected to the exhaust outlet 3, the air inlet 2 of the first reversing valve 183a is connected to the working port 1, and the remaining pneumatic valves are de-energized and closed. This causes the first pneumatic motor 113a on the left side of the vehicle and the first pneumatic motor 113b on the right side of the vehicle to rotate outward. The differential rotation of the first pneumatic motor 113a on the left side of the vehicle is achieved by adjusting the opening of the second flow control valve 182b.

[0112] Step 3: When the platform is not on a grain surface, such as when passing over a grain treadle or transferring grain silos, lower the height of the Mecanum wheel below the two sets of screw wheels. At this time, the entire platform operates based on the Mecanum wheel, as detailed below. Figure 18 As shown, the first flow control valve 182a is fully open, the working port 1 of the third reversing valve 183c is connected to the air inlet 2, and the other pneumatic valves are all in the de-energized closed state, thereby realizing the extension and retraction of the lifting cylinder 126 (the cylinder is a spring cylinder, and it retracts by the spring when retracting). When leveling grain, the cylinder is in the retracted state. When walking in non-leveling grain operation, the cylinder extends and the Mecanum wheel is driven by the wheel-side motor to move.

[0113] This utility model designs and develops a large-scale pneumatic platform for grain storage. By combining electronic control and pneumatics, the flow rate and pressure of the gas can be steplessly adjusted through the pneumatic valve, thereby achieving stable management of the speed of the motor and cylinder and precise positioning. The accuracy of movement is improved by air pressure and position signals. In the event of any abnormality (such as pressure exceeding the limit or action timeout), the air supply can be cut off immediately and an alarm can be triggered, achieving dual protection of electricity and air.

[0114] Although the embodiments of this utility model have been disclosed above, they are not limited to the applications listed in the specification and embodiments. They can be applied to various fields suitable for this utility model. For those skilled in the art, other modifications can be easily made. Therefore, without departing from the general concept defined by the claims and their equivalents, this utility model is not limited to the specific details and the illustrations shown and described herein.

Claims

1. A large air-driven platform for grain storage, characterized in that, include: Platform frame; as well as Two sets of spiral wheels are symmetrically and rotatably arranged on both sides of the platform frame; Mecanum wheel sets, which are height-adjustable and mounted at the bottom of the platform frame; A scraper, which is rotatably mounted at the rear of the platform frame; The grain leveling angle is located at the center of the front part of the platform frame, and the cross-sectional dimension of the grain leveling angle gradually shrinks to a point from the near end to the far end; The outer shell includes an integrally formed main body and an extension portion extending forward along the central axis of the sagittal plane of the main body. The main body and the extension portion are convex at the central axis of the sagittal plane. The main body and the extension portion gradually bend inward to both sides along the central axis of the sagittal plane until they are perpendicular to the horizontal plane. The main body is inclined and expands outward along the rearward side of the convex shape and the extension portion is inclined and expands outward along the frontward side of the convex shape. The width of the main body smoothly decreases from the tail to the extension portion until the width of the extension portion remains unchanged. The outer shell is disposed on the top of the platform frame. The height of the Mecanum wheel can be lower than the height of the two sets of spiral wheels.

2. The large gas-driven platform for grain storage as described in claim 1, characterized in that, Both sets of spiral wheels include: spindle; and The wheel body is spirally wrapped around the outside of the main shaft; The two sets of spiral wheels rotate in opposite directions.

3. The large gas-driven platform for grain storage as described in claim 2, characterized in that, Also includes: The main connecting plate is located in the middle of the platform frame.

4. The large-scale gas-driven platform for grain storage as described in claim 3, characterized in that, The Mecanum wheelset includes: A secondary connecting plate, which is detachably fixed to the main connecting plate; Multiple guide tubes are spaced apart and vertically arranged on the secondary connecting plate; Multiple guide posts are movably arranged in the multiple guide tubes, each corresponding to the other. A connecting frame is disposed at the bottom of the main connecting plate, and the connecting frame is connected to one end of the plurality of guide posts; Multiple Mecanum wheels are rotatably mounted at the four bottom corners of the connecting frame; A cylinder is fixed to the top of the auxiliary connecting plate, and the piston rod of the cylinder is connected to the top of the connecting frame; The length of the guide post is greater than the maximum stroke of the cylinder piston rod.

5. The large gas-driven platform for grain storage as described in claim 4, characterized in that, Also includes: The first pneumatic motor is connected to the two sets of spiral wheels respectively, and is used to drive the two sets of spiral wheels to rotate respectively; The second pneumatic motor is located at both ends of the rear of the platform frame and is used to drive the rotation of the scraper.

6. The large air-driven platform for grain storage as described in claim 5, characterized in that, Also includes: An air compressor is mounted on the main connecting plate and is connected to the first pneumatic motor, the second pneumatic motor, and the cylinder. A power supply is located on the main connection board and is connected to the air compressor.

7. The large air-driven platform for grain storage as described in claim 6, characterized in that, The cylinder, the first pneumatic motor, the second pneumatic motor, the air compressor, and the power supply are all located in the lower part of the housing; Both ends of the main shaft are tapered structures; The flat grain angle has an elevation angle on the side closest to the grain surface.

8. The large air-driven platform for grain storage as described in claim 7, characterized in that, Also includes: The first flow control valve has its inlet connected to the air compressor; The first directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body, an air outlet 4 connected to the other end of the first pneumatic motor on the left side of the vehicle body and one end of the first pneumatic motor on the right side of the vehicle body, and two exhaust ports 3 and 5 connected to the external environment. The second directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, an air outlet 2 connected to one end of two first pneumatic motors, an air outlet 4 connected to the other end of two first pneumatic motors, and two exhaust ports 3 and 5 connected to the external environment. The third directional control valve has an air inlet 1 connected to the outlet of the first flow control valve, and both exhaust ports 3 and 5 are connected to the external environment. The first reversing valve has its air inlet 2 connected to the air outlet 2 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body. The second reversing valve has its air inlet 2 connected to the air outlet 4 of the third reversing control valve, and its working port 1 is simultaneously connected to one end of the first pneumatic motor on the left side of the vehicle body and the other end of the first pneumatic motor on the right side of the vehicle body. The third reversing valve has its inlet 2 connected to the outlet of the first flow control valve, and its working port 1 connected to the inlet of the cylinder. The second flow control valve is located between the working port 1 of the first reversing valve and one end of the first pneumatic motor on the left side of the vehicle body. The third flow control valve is located between the working port 1 of the second reversing valve and the other end of the first pneumatic motor on the right side of the vehicle body.

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