Abstract
Abstract. In order to realize the real-time monitoring of the grain condition, grain condition information should be collected during storage operations. A drill-in granary grain condition detector which can drill into a grain pile in a granary is proposed. The kinematic models of four Archimedes screw mechanisms were established, and the motion characteristics of grain particles in spiral grooves were described. Several groups of single variable simulation experiments are designed to discuss the important factors affecting the motion performance of the detector. Based on a discrete element method with multi-body dynamics (DEM-MBD) simulation calculation, the force and velocity change images of grain particles were obtained to verify the feasibility of the scheme. The steering function of the detector is verified by simulation, and the relationship between the steering radius and the screw rotation speed difference is analyzed. The results show that the drill-in granary grain condition detector can move forward and turn when it is immersed in the grain pile. It has the characteristics of excellent flexibility and a high degree of freedom. It compensates for the current situation in which robots cannot go deep inside the grain pile and complete the steering.
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