Design And Optimization Of Walking Structure Of New Grain Surface Robot

Grain storage is the last and most important process of grain production.Grain storage needs to monitor grain conditions and prevent grains from worms and mildew.The last process of grain storage is the leveling of the grain surface.The leveling of the grain surface is good or bad,which plays a great role in standardized management and the application of new technology for scientific and technological grain storage.At present,there are few mechanical walking mechanisms suitable for grain surface operations in China,and most of the grain surface operations are done manually,which is inefficient and harms the physical and mental health of the staff.The existing crawler-type mechanical walking mechanism has complex structure,large mass,large volume,easy to sink,easy to overturn,crushing grain,inconvenient steering,high energy consumption,not easy to upgrade to the grain level of the granary,and limited in application.Therefore,a new type of grain surface robot is proposed and designed for granary grain surface operations.The double-cylinder four-spiral float wheel is used as the driving method of the robot to replace the crawler walking mechanism.The new type of grain surface robot can not only walk freely on the grain surface,but also It can also complete operations such as grain leveling,information detection,grain application,overturning,and re-leveling of the grain surface.The operation is simple and the steering is flexible,which improves work efficiency and protects the safety of workers.This article mainly conducts research from the following aspects:First of all,according to the working environment and characteristics and design requirements of the granary,this paper selects the spiral drive float wheel as the walking mode of the robot walking mechanism.According to the research status of the leveling machine,the grain surface robot and the screw drive at home and abroad,preliminary design of the overall structure,leveling device and control system of the grain surface robot walking mechanism.It analyzes the motor function of the running gear and steering performance,the establishment of a steering vehicle dynamics model.Secondly,with the aid of discrete element simulation software EDEM and multi-body dynamics software Recur Dyn,the walking performance of the walking mechanism is simulated and studied.Through single-factor simulation experiments,the effects of the spiral lift angle,blade height,and length-diameter ratio of the spiral float wheel on the walking performance of the robot walking mechanism when the grain surface robot walking mechanism is walking on the grain surface with a corn moisture content of 14%are studied,which provides a basis for the following orthogonal simulation experiments.Combined with the single factor simulation test,an orthogonal simulation test was carried out on the walking mechanism of the grain surface robot.The main and secondary factors affecting the walking performance of the grain surface walking mechanism were determined,namely,helix angle>helix blade height>length-to-diameter ratio.When the spiral lift angle of the spiral float wheel is 40°,the height of the spiral blade is 0.15D,and the length-to-diameter ratio is 6,the walking performance of the grain and surface robot walking mechanism is the best.Through the simulation test of the walking mechanism of the grain surface robot under the condition of different moisture content of corn,it is determined that when the helix angle of the walking mechanism of the robot is 35°,the height of the helix blade is 0.15D,and the ratio of length to diameter is 6,the walking mechanism of the grain surface robot is determined.The walking performance of the corn grain surface with a moisture content of 27%is better.When the helix angle of the robot walking mechanism is 40°,the helix blade height is 0.15D,and the aspect ratio is 6,the grain surface robot walking mechanism is in the moisture content.For 20%of the corn grain surface,the walking performance is better.The simulation test on the installation position of the left-hand and right-hand float wheels of the robot walking mechanism has been carried out.The simulation results show that the left-hand float wheel is installed on the right side of the robot and the right-hand float wheel is installed.On the left side of the robot,that is,when the robot is moving forward,the two spiral float wheels move the grain outwards.The walking performance of the robot's walking mechanism is the best.According to the actual leveling operation of the walking mechanism,the two spiral float wheels are best to transfer the grain to the outside to improve the efficiency of the grain leveling.Finally,the robot is walking on the grain surfaces of the traveling mechanism and the flat grain operation test,walking test showed that the effect of the grain surface walking robot walking mechanism at different speeds,with increasing wheel speed of the float,while increasing the running speed slip rate It also increases,and the amount of subsidence gradually decreases with the increase of the speed of the float wheel;during the rotating movement,the robot walking mechanism leaves an obvious"circular track"on the grain surface,and the trajectory radius is approximately equal to the length of the robot body;the robot walking mechanism works in the flat grain When the flat grain board is selected as a toothed flat grain board,the speed is selected as 100%duty cycle,and the angle of the flat grain board is selected at 60°,the effect of flat grain and flat grain is the best.The flatness of the grain surface is 15mm,and the flat grain is 15mm.The capacity is 0.037KWh/t,and the flat grain efficiency is 96.4m~2/h.