主办：陕西省汽车工程学会
ISSN 1671-7988  CN 61-1394/TH
创刊：1976年
汽车实用技术

汽车实用技术 ›› 2025, Vol. 50 ›› Issue (14): 43-48.DOI: 10.16638/j.cnki.1671-7988.2025.014.009

• 设计研究 • 上一篇    

螺旋驱动式粮仓机器人设计及试验

梁卫强 1,2，孟文俊 2，高吉祥 2，聂煌 3   

  1. 1.山西工程科技职业大学 汽车工程学院；2.太原科技大学 机械工程学院；3.中央储备粮南昌直属库有限公司
  • 发布日期:2025-07-28
  • 通讯作者: 梁卫强
  • 作者简介:梁卫强（1987－），男，博士研究生，讲师，研究方向为机械工程、粮食机械
  • 基金资助:
    太原科技大学横向课题（2023131）；山西工程科技职业大学科研基金项目（KJ202206）

Design and Testing of Spiral Propelled Grain Silo Robot

LIANG Weiqiang1,2, MENG Wenjun2 , GAO Jixiang2 , NIE Huang3   

  1. 1.School of Automotive Engineering, Shanxi Vocational University of Engineering and Technology; 2.School of Mechanical Engineering, Taiyuan University of Science and Technology; 3.Central Grain Reserve Nanchang Direct Warehouse Company Limited
  • Published:2025-07-28
  • Contact: LIANG Weiqiang

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摘要： 针对我国粮食仓储中作业效率低、人工作业时易陷入粮堆发生危险等问题，文章基于 螺旋推进的驱动方式，设计了一种在玉米粮仓内作业的机器人，对其力学性能进行分析，针 对平粮作业设计了平粮装置，并对行驶装置、工作装置进行性能试验。结果表明：粮仓机器 人在玉米粮面行驶平稳，可实现直线行驶、转向和爬坡功能，直行行驶速度可达 0.34 m/s，转 弯角速度达 0.18 rad/s，爬坡坡度达 23°；机器人可完成平粮作业任务，且沿前进方向平粮效 果优于后退方向，粮面平整度可达 0.03 m。研究结果可为粮仓机器人的工程化设计提供依据。

关键词: 粮仓机器人；螺旋驱动；平粮作业；行驶性能；平粮性能

Abstract: In response to the problems of low operational efficiency and the risk of falling into grain piles during manual operations in grain storage, this paper designs a robot for operating in corn grain warehouses based on the driving method of spiral propulsion. The mechanical performance of the robot is analyzed, and a leveling device is designed for flat grain operations. Performance tests are conducted on the driving and working devices. The results show that the grain silo robot travels smoothly on the corn grain surface, and can achieve straight-line travel, steering, and climbing functions. The straight-line walking speed can reach 0.34 m/s, the turning angular velocity can reach 0.18 rad/s, and the climbing slope can reach 23°; robots can complete grain leveling tasks, and the leveling effect along the forward direction is better than that in the backward direction, with a leveling accuracy of up to 0.03 m. The research results can provide a basis for the engineering design of grain silo robots.

Key words: grain silo robot; spiral propelled; flat grain operation; driving performance; flat grain performance