CN106671098A - Exploration robot for warehouse - Google Patents
Exploration robot for warehouse Download PDFInfo
- Publication number
- CN106671098A CN106671098A CN201611061212.6A CN201611061212A CN106671098A CN 106671098 A CN106671098 A CN 106671098A CN 201611061212 A CN201611061212 A CN 201611061212A CN 106671098 A CN106671098 A CN 106671098A
- Authority
- CN
- China
- Prior art keywords
- warehouse
- gear
- spiral
- rolling
- travelling gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/036—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members screw type, e.g. Archimedian screw
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an exploration robot for a warehouse. The exploration robot comprises a barrel shell, an advance rolling tube which is rotatably arranged on the outer wall of the barrel shell, a transmission gear which is fixedly arranged on the advance rolling tube, and drive motors for driving the transmission gear to rotate; a spiral pushing plate is arranged on the outer peripheral wall of the advance rolling tube; and the spiral pushing plate and the advance rolling tube synchronously rotate. The exploration robot can be used for monitoring deeply stored materials of the warehouse in real time.
Description
Technical field
The invention belongs to robotics, and in particular to a kind of warehouse exploring robot.
Background technology
Currently used for the warehouse of storage granule materials, in order to reduce the storage cost of Unit Weight, be generally made it is big and high,
Some technical barriers are consequently also brought, especially for some organic storings apt to deteriorate, was easy for originally because going mouldy or worm
Evil etc. causes permanent loss；And big and high warehouse, when these materials are stored, even more it is difficult to obtain warehouse depths in time
Storing state, be more prone to cause damage.
Such as, present large granary, more than its height Chang Liu rice, has an area of tens of rice, although have at present relatively advanced
Storage management technology, but the spoilage problems of its deep layer grain storage are still accident of easily sending out.So need one kind on market badly can be real
When detect the monitoring device of warehouse deep layer storing state, being especially the absence of one kind can be moved independently or according to control command
It is dynamic, so as to expand the equipment for detecting monitoring range.
The content of the invention
It is an object of the invention to provide one kind can be moved independently or according to control command and detect scope so as to expand
Warehouse exploring robot.
Realizing the technical scheme of the object of the invention is：A kind of warehouse exploring robot, including barrel shell, it is rotatably arranged on cylinder
Traveling rolling on shell outer wall is managed, is fixedly installed on travelling gear and the drive for rotating with nutating gear advanced on rolling pipe
Dynamic motor；The periphery wall of traveling rolling pipe is provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing；Travelling gear is fixed
It is arranged on the inwall of rolling pipe of advancing；The internal perisporium of travelling gear is provided with transmission teeth portion, and motor is provided with drive gear, should
The transmission teeth portion adaptation of drive gear and travelling gear.
The present invention has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by installing
Various sensors the materialization information of storing is detected and information transfer；Further, since with the row that can produce thrust
Enter rolling pipe, can advance or retreat independently or under remote control command, so as to expand monitoring range is detected, make with wider array of
Use scope.
Description of the drawings
Fig. 1 is a kind of dimensional structure diagram of the first structure of the invention；
Fig. 2 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 1；
Fig. 3 is a kind of explosive view in warehouse exploring robot shown in Fig. 1；
Fig. 4 is to advance to roll a kind of dimensional structure diagram of pipe in warehouse exploring robot shown in Fig. 1；
Fig. 5 is to advance to roll a kind of half-sectional structural representation of pipe shown in Fig. 4；
Fig. 6 is a kind of dimensional structure diagram of second structure of the invention；
Fig. 7 is a kind of half-sectional structural representation in warehouse exploring robot shown in Fig. 6；
Fig. 8 is a kind of explosive view in warehouse exploring robot shown in Fig. 6；
Fig. 9 is to advance to roll a kind of half-sectional structural representation of pipe in warehouse exploring robot shown in Fig. 6；
Figure 10 is using a kind of structural representation of silo made by robot shown in Fig. 1；
Figure 11 is a kind of dimensional structure diagram of discharge mechanism in silo shown in Figure 10；
Figure 12 be discharge mechanism shown in Figure 11 from another angle observe when a kind of dimensional structure diagram；
Figure 13 is a kind of explosive view of discharge mechanism shown in Figure 11；
Figure 14 is a kind of dimensional structure diagram of linked switching device in discharge mechanism shown in Figure 11；
Figure 15 be linked switching device shown in Figure 14 from another angle observe when a kind of dimensional structure diagram；
Figure 16 is a kind of dimensional structure diagram of linkage gear component in linked switching device shown in Figure 14；
Figure 17 be linkage gear component shown in Figure 16 from another angle observe when a kind of dimensional structure diagram；
Figure 18 is a kind of side view of linkage gear component shown in Figure 16；
Figure 19 is the line A-A sectional view of linkage gear component shown in Figure 18.
Specific embodiment
（Embodiment 1）
Fig. 1 to Fig. 5 shows the first specific embodiment of the present invention.
The present embodiment is a kind of warehouse exploring robot, and as shown in Fig. 1 to Fig. 5, the warehouse exploring robot 6 includes
Barrel shell 61, be rotatably arranged on barrel shell outer wall traveling rolling pipe 62, be fixedly installed on advance rolling pipe on travelling gear 63 and
For the motor 64 rotated with nutating gear.
Travelling gear is fixedly installed on the inwall of rolling pipe of advancing, and the internal perisporium of travelling gear is provided with transmission teeth portion 631,
Motor is provided with drive gear 641, the transmission teeth portion adaptation of the drive gear and travelling gear.In the present embodiment, electricity is driven
The quantity of machine is two.In the present embodiment, rolling of advancing is managed and travelling gear is integral piece, and in concrete practice, both can do
It is also feasible into split part.
The periphery wall of rolling pipe of advancing is provided with spiral push pedal 65, spiral push pedal when rotating with rolling pipe of advancing, by spiral shell
Rotation is stirred material acquisition thrust and moves ahead or retreat.
Barrel shell includes base tube 611 and two taper top caps 612 positioned at base tube two ends, the medial extremity of each taper top cap and
Base tube is fixedly connected；The outer wall of each taper top cap is provided with multiple wing plates 613 of radially evagination, and wing plate is evenly distributed on taper
On the periphery wall of top cap.In the present embodiment, the quantity of the wing plate of each taper top cap is four.Wing plate can cause overall traveling
Route is more stable.
The middle-end of base tube is provided with cannelure 614, and the driving cog portion of travelling gear is located in the cannelure；Each motor
Drive gear also is located in the cannelure, and band nutating gear is rotated when drive gear is rotated, so as to drive rolling pipe of advancing to rotate.
In the present embodiment, base tube includes upper tube half 615 and lower tube half 616, and one end of the adjacent lower tube half of upper tube half is provided with tool
Have internal thread part on be spirally connected pipe portion 617, one end of the adjacent upper tube half of lower tube half is provided with the pipe portion that is spirally connected under external thread part
618, under be spirally connected pipe portion and the pipe portion that is above spirally connected is spirally connected and is fixedly linked so that upper tube half and lower tube half docking combination form the base
Pipe.Upper tube half and lower tube half are arranged concentrically.
Two motors are fixedly installed in the tube chamber of lower tube half by screw, are then provided with interior in the tube chamber of upper tube half
Put and control in power supply 619 and the intelligence with wireless transmit/receive units module, the power line of motor passes through down the pipe of the pipe portion that is spirally connected
Module and built-in power electrical connection are controlled behind hole and in intelligence, the start and stop and rotating of module control motor are controlled in intelligence.This
In embodiment, the pipe portion that is above spirally connected protrudes downward from the diapire 6151 of upper tube half, under the pipe portion that is spirally connected project upwards in the top of lower tube half
Wall 6161, the pipe portion that is spirally connected instantly and the pipe portion that is above spirally connected are spirally connected after being connected, and leave between the diapire of upper tube half and the roof of lower tube half
Gap, the gap forms the cannelure of the base tube.
In the present embodiment, rolling pipe of advancing directly is set on the periphery wall of upper tube half and lower tube half, due to rolling pipe of advancing
Rotating speed and need not be too high, rolling pipe of advancing is directly to rotate on the outer wall of upper tube half and lower tube half；In concrete practice,
One rolling bearing also can be respectively set in upper tube half and lower tube half, then rolling pipe of advancing is arranged on two rolling bearings,
This scheme is also feasible.
Each taper top cap is provided with a temperature sensor 66 and a humidity sensor 67, each temperature sensor and humidity
The induction end of sensor is exposed independent from taper top cap, and each temperature sensor and humidity sensor control module phase with the intelligence
Even.Because each taper top cap is provided with temperature sensor and humidity sensor, the present embodiment can be given drill-through in traveling
The temperature and humidity of grain layer, so as to obtain the physical message of the grain storage of different depth, and can by being built in barrel shell in it is wireless
Transmit-Receive Unit is transferred to user.
In concrete practice, it is also possible to powered and transmitted number to the warehouse exploring robot in the present embodiment by cable
According to specifically cable is connected through after the tip of taper top cap with the wiring board in taper top cap.
The present embodiment can also be arranged with lamplit camera in each taper top cap, and each taper top cap is using transparent
Material is made so that camera can photograph the in good time state of outside grain storage through top cap, for example observe go mouldy, worm
The bad phenomenon such as sting, it is prevented and treated in time.
The present embodiment has following positive technique effect：（1）Monitor in real time can be carried out to warehouse deep layer storing, by peace
The various sensors of dress are detected and information transfer to the materialization information of storing；Further, since with thrust can be produced
Rolling of advancing is managed, and can be advanced or be retreated independently or under remote control command, so as to expand monitoring range, is used with wider array of
Scope.
（Embodiment 2）
Fig. 6 to Fig. 9 shows second specific embodiment of the present invention.
The present embodiment and embodiment 1 are essentially identical, and difference is：As shown in Fig. 6 to Fig. 9, the outer wall of rolling pipe of advancing
Four spiral grooves 68 are provided with, the width of each spiral grooves is more than the spiral fluted width that spiral push pedal is formed, each spiral goove
The depth of groove is more than the spiral fluted depth that spiral push pedal is formed；In concrete practice, the width of each spiral grooves is that spiral is pushed away
Plate shape into two to six times of spiral fluted width, the present embodiment is three times.
In the present embodiment, each spiral grooves run through spiral push pedal along from the one end for rolling pipe of advancing to the direction of the other end,
Each spiral grooves also extend through spiral push pedal along the radial direction of rolling pipe of advancing, but not through the tube wall of rolling pipe of advancing.
The present embodiment causes to advance rolling pipe while the spiral push pedal with the less line of rabbet joint, also with the spiral shell of the larger line of rabbet joint
Rotation groove, when rotation forces material moves ahead or retreats, spiral push pedal and spiral grooves produce thrust jointly, and are provided only with spiral
Push pedal is compared, and can produce bigger thrust, and adapts to larger particles shape material.
（Application examples 1, binary silo）
Figure 10 to Figure 19 shows a kind of concrete application mode of the present invention.
Should use-case be using a kind of binary silo made by above-described embodiment 1, as shown in Figure 10 to Figure 19, including binary
Warehouse 1 and the discharge mechanism 2 being arranged on below binary warehouse.
Binary warehouse 1 has the first warehouse 11 and the second warehouse 12 being arranged side by side, and the bottom in the first warehouse is tapered, its
There is the first discharging opening at bottom centre；The bottom in the second warehouse is also tapered, has the second discharging opening at its bottom centre.This
In embodiment, the bottom in binary warehouse is provided with four daggers 13, and binary warehouse is stood on the ground by four daggers.In tool
In body practice, also shouldn't dagger, but binary warehouse is directly anchored on body of wall or on carrier, such as by the present embodiment
For united reaper.
As shown in Figure 10, it is equipped with described at least one above-described embodiment 1 in the first warehouse and the second warehouse and detects machine
Device people 6.
Discharge mechanism 2 includes the interior casing 21 for setting the first unloading passage and the second unloading passage, is arranged on the first unloading and leads to
The first auger 24 in road, the second auger 25 being arranged in the second unloading passage, and for driving the first auger and second
The driving means 3 that auger is rotated.
The top of casing is provided with the first grain-entering mouth 211 and the second grain-entering mouth 212, and the bottom of casing is provided with the first grain outlet
213 and second grain outlet 214；First grain-entering mouth is used as the import of the first unloading passage, and the first grain outlet is logical as the first unloading
The outlet in road.Second grain-entering mouth as the second unloading passage import, outlet of second grain outlet as the second unloading passage.
First auger 24 includes the first rotating shaft 241 being rotatably arranged on casing and be fixedly installed in first rotating shaft the
One spiral plate 242, the first spiral plate is located in the first unloading passage；Second auger includes second turn be rotatably arranged on casing
Axle 251 and the secondary spiral lamina 252 being fixedly installed in the second rotating shaft, secondary spiral lamina is located in the second unloading passage.
In the present embodiment, casing is formed by base 217 and the combination of capping 218, and dividing plate 219 is provided with base, and dividing plate is the bottom of
Seat inner space is separated into two big cavitys of grade；First rotating shaft and the setting of the second shaft parallel, the first spiral plate and the second spiral shell
Rotating plate is respectively disposed in a corresponding cavity, and the hand of spiral of the first spiral plate and the hand of spiral of secondary spiral lamina are contrary.
Casing outside is stretched out in one end of the first rotating shaft 241 of the first auger, and it is last to stretch out the first rotating shaft 241 on the outside of casing
End is fixed with the first driven gear 243；Casing outside is stretched out in one end of second rotating shaft 251 of the second auger, and stretches out casing
The end of second rotating shaft 251 in outside is fixed with the second driven gear 253.
First auger and the second auger elapse the grain in respective cavity by rotation push mode.
Driving means 3 include being provided with the motor 31 and linked switching device 4 of driving wheel 311.
Linked switching device 4 includes support body 41, driving wheel group 32, the guide plate being fixedly installed on support body and linkage gear
Component 44；Guide plate includes outer guide plate 42 and interior guide plate 43, is equipped with one on outer guide plate 42 and interior guide plate 43 and leads
To hole 45；Support body is fixedly installed on cabinet exterior.
Driving wheel group 32 includes power transmission shaft 321 and the driving pulley 322 being fixedly installed on power transmission shaft and driving cog
Wheel 323, travelling gear is located at the inner side of driving pulley, namely positioned at the side of the close casing of driving pulley.Transmission axle position
In first driven gear and the middle of the second driven gear, motor is fixedly installed with respect to ground, and driving wheel is located at
The underface of driving pulley, driving wheel drives driven transmission wheel by belt 312.Travelling gear and the first driven gear and
Gap is left between two driven gears, namely travelling gear does not directly drive the first driven gear or the second driven gear；
First driven gear and the second driven gear are centrosymmetric setting relative to power transmission shaft.
Linkage gear component 44 includes linkage gear 441 and the guiding reciprocatingly slided along pilot hole for spacing linkage gear
Part 448；Guide is located in pilot hole, and when guide slides into one end of pilot hole, travelling gear passes through linkage gear band
Dynamic first driven gear is rotated, and when guide slides into the other end of pilot hole, travelling gear is by linkage gear drive the
Two driven gears are rotated.
In the present embodiment, linkage gear component also includes the axostylus axostyle 442 being fixedly installed in linkage gear centre bore, is arranged
443, two, two rolling bearings on axostylus axostyle two ends are used to housing the bearing block 444 of rolling bearing, for by rolling bearing
End cap 445 of the closure in bearing block；
Each end cap is fixedly installed on the outboard end of bearing block by bolt 446, and each end cap is crimped on the outer ring of rolling bearing simultaneously
On；The inner ring of each rolling bearing is arranged on the one end for being fixed on axostylus axostyle；
For lift-off seal, prevent dust from entering in rolling bearing, arrange also between each end cap and a corresponding bearing block
Gasket seal 447.
In the present embodiment, pilot hole is a circular hole, and the circular hole and travelling gear are arranged concentrically；The outside of each end cap
End is provided with the guide ledges of evagination as guide 448, and each guide ledges are located in a corresponding pilot hole, and can be along pilot hole
Reciprocatingly slide.
In the present embodiment, the upper top surface 4481 and bottom surface 4482 of each guide are the arc surfaces being arranged concentrically；It is each to be oriented to
The upper top surface 4481 of part and the upper inwall adaptation of pilot hole, the bottom surface of each guide and the lower inwall adaptation of pilot hole, it is this
Structure allows each guide to reciprocatingly slide in a corresponding pilot hole, but can not rotate, and linkage gear is then being rolled
Can rotate under the support of bearing.
In the present embodiment, drive axis are arranged on outer guide plate and interior guide plate, and linkage gear and travelling gear are nibbled
Properly match somebody with somebody；Because pilot hole and travelling gear are arranged concentrically, so travelling gear can drive linkage gear component entirety when rotating
Along the movement of pilot hole setting direction, until guide is connected on one end of pilot hole.
As shown in Figure 14, now motor is rotated forward, and guide is connected on the left end of pilot hole, linkage gear,
Travelling gear and the first driven gear engagement adaptation, namely travelling gear is now by linkage gear drive the first driven tooth rotation
It is dynamic, namely drive the first auger to rotate；When motor is rotated backward, travelling gear is rotated backward therewith, and then drives connection
Moving gear and guide move right along pilot hole, until guide is connected on the right-hand member of pilot hole, now linkage gear,
Travelling gear and the second driven gear engagement adaptation, namely travelling gear now can be by linkage gear the second driven gear of drive
Rotate, namely drive the second auger to rotate.During linkage gear component is moved back and forth along pilot hole, travelling gear is all the time
Linkage gear is driven to rotate.
The course of work of the present embodiment is as follows：The grain-entering mouths of grain storage Jing first in first warehouse enter the first unloading passage
In, the first auger is elapsed the grain storage in itself place cavity to the first grain outlet when rotating；Grain storage Jing in second warehouse
Two grain-entering mouths are entered in the second unloading passage, and the second auger elapses the grain storage in itself place cavity to second when rotating and puts out cereal
Mouthful.
The present embodiment has advantages below：（1）Linked switching device it is relatively reasonable in structure, two augers only use same drive
Dynamic Motor drive, compares with traditional product, saves a motor, also reduces entirety and takes up room, and is conducive to small-sized
Change, especially meet carrier and install and use demand.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not right
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.There is no need to be exhaustive to all of embodiment.And these
The obvious change or variation that the connotation for belonging to of the invention is extended out still falls within protection scope of the present invention.
Claims (1)
1. a kind of warehouse exploring robot, it is characterised in that：Including barrel shell, the traveling being rotatably arranged on barrel shell outer wall rolling
Pipe, the travelling gear being fixedly installed on traveling rolling pipe and the motor for rotating with nutating gear；Rolling of advancing is managed
Periphery wall be provided with spiral push pedal, spiral push pedal and rolling pipe synchronous axial system of advancing；Travelling gear is fixedly installed on traveling rolling pipe
Inwall on；The internal perisporium of travelling gear is provided with transmission teeth portion, and motor is provided with drive gear, the drive gear and transmission
The transmission teeth portion adaptation of gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061212.6A CN106671098A (en) | 2016-11-27 | 2016-11-27 | Exploration robot for warehouse |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611061212.6A CN106671098A (en) | 2016-11-27 | 2016-11-27 | Exploration robot for warehouse |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671098A true CN106671098A (en) | 2017-05-17 |
Family
ID=58866185
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611061212.6A Withdrawn CN106671098A (en) | 2016-11-27 | 2016-11-27 | Exploration robot for warehouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671098A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| US7055625B1 (en) * | 2003-01-27 | 2006-06-06 | Honeybee Robotics, Ltd. | Self-propelled instrumented deep drilling system |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN205426223U (en) * | 2016-03-08 | 2016-08-03 | 河南工程学院 | A grain condition detection device for grain food storage bin stores up supervision |
-
2016
- 2016-11-27 CN CN201611061212.6A patent/CN106671098A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2395276Y (en) * | 1999-04-21 | 2000-09-06 | 白月 | Self walking barn data detector |
| US7055625B1 (en) * | 2003-01-27 | 2006-06-06 | Honeybee Robotics, Ltd. | Self-propelled instrumented deep drilling system |
| WO2016035066A1 (en) * | 2014-09-02 | 2016-03-10 | HAYIK, Isaak | Self propelling subterranean vehicle |
| CN105235771A (en) * | 2015-10-29 | 2016-01-13 | 吉林大学 | Information detection bionic spiral robot in grain bin |
| CN205426223U (en) * | 2016-03-08 | 2016-08-03 | 河南工程学院 | A grain condition detection device for grain food storage bin stores up supervision |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170517 |
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| WW01 | Invention patent application withdrawn after publication |