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

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