CN113720632A

CN113720632A - Sampling device and sampling robot

Info

Publication number: CN113720632A
Application number: CN202111176777.XA
Authority: CN
Inventors: 白崇民; 丁伽; 王赫; 洪超
Original assignee: ABILITY TECHNOLOGY (BEIJING) CO LTD
Current assignee: Abelite Intelligent Technology (Beijing) Co.,Ltd.
Priority date: 2021-10-09
Filing date: 2021-10-09
Publication date: 2021-11-30

Abstract

The invention relates to a sampling device and a sampling robot, wherein the sampling robot is driven by a plurality of travelling mechanisms to drive the sampling device to move and realize sampling. The sampling device can sample according to the carriage heights of different vehicle types or carriages with different volumes. The technical problem of traditional sampler cause the damage of sampling pole easily at the in-process of sampling is solved to the sampling pole stroke of this sampling device is longer, can carry out the sampling to the material of carrying on the lower vehicle in chassis, has promoted sampling efficiency, reliable and stable.

Description

Sampling device and sampling robot

Technical Field

The invention relates to the technical field of sampling equipment, in particular to a sampling device and a sampling robot.

Background

In the process of purchasing a large amount of materials, the large amount of materials need to be sampled to judge the quality of the purchased materials. The sampling machine in the prior electromechanical technology has the technical defects of low sampling efficiency, poor precision and frequent artificial interference in the process of sampling a large amount of materials. In addition, the sampling rod of the sampling machine in the prior art can not avoid the carriage reinforcing tie bar, so that the sampling rod is in contact with the carriage reinforcing rib, and the sampling rod is damaged.

In addition, the sampling machine in the prior art adopts infrared and laser to detect the area of the vehicle carriage, so that the sampling precision of the sampling machine is low and the sampling efficiency is poor. The material on a vehicle with a low chassis or a small compartment area cannot be sampled. The carriage position and area can only be roughly calculated, so that the walking speed of the moving mechanism of the traditional sample machine is low and the accuracy is not high enough. Meanwhile, the sampling rod is inserted outside the carriage in the sampling process.

Disclosure of Invention

For overcoming the above-mentioned sample efficiency of current sample device is lower, the sample pole of sample device is in the technical problem of the in-process of sample by the sideboard of carriage easily, and the fixed lacing wire of installing on the sideboard blocks and carriage bottom plate damages the sample head.

In order to achieve the aim, the technical scheme of the invention is as follows: a sampling device, comprising:

the fixing frame is provided with an axially arranged groove, and two axially arranged first open grooves are symmetrically arranged on the side wall of the upper part of the fixing frame;

the driving mechanism comprises a driving motor, a first chain wheel, a second chain wheel, a first rotating shaft and a transmission chain; the first chain wheel is fixedly sleeved on a main shaft of the driving motor, and the second chain wheel is fixedly sleeved on the first rotating shaft; the first rotating shaft can be arranged in the first opening groove;

the transmission chain is sleeved on the first chain wheel and the second chain wheel simultaneously;

the tensioning mechanism comprises a first spring, a second spring, a first screw rod, a second screw rod, a first fixing plate and a second fixing plate; the first spring is sleeved on the first screw rod, one end of the first screw rod is fixedly connected with one end of the first rotating shaft, and the other end of the first screw rod is vertically arranged on the side wall of any side of the fixed frame through the first fixed plate; the second spring is sleeved on the second screw rod; one end of the second screw is fixedly connected with the other end of the first rotating shaft, and the other end of the second screw is vertically arranged on the side wall of the other side of the fixed frame through the second fixed plate;

the detection mechanism comprises a sliding seat, a first pressure sensor and a second pressure sensor, and the first pressure sensor and the second pressure sensor are fixedly arranged at the top of the sliding seat at intervals; the sliding seat is fixedly connected with the transmission chain through a connecting plate;

the sampling rod is fixedly connected with the sliding seat.

In some embodiments, a sampling head is fixedly mounted at the bottom of the sampling rod, and a metal detection sensor is fixedly mounted in the sampling head.

In some embodiments, the driving motor is fixedly mounted on a side wall of the fixing frame through a bracket, and the bracket is connected with the fixing frame through a bolt or a screw.

In some embodiments, a base cover plate is detachably mounted at the bottom of the fixing frame, a protective sleeve is fixedly mounted on the base cover plate, and the sample rod movably penetrates through the protective sleeve.

In some embodiments, the first sprocket, the second sprocket, and the chain are simultaneously within the groove.

In some embodiments, the driving device further comprises a second rotating shaft, the second rotating shaft is parallel to the first rotating shaft, the first chain wheel is fixedly sleeved on the second rotating shaft, the second rotating shaft is fixedly installed at the lower part of the fixing frame through two bearing seats in a rotatable mode, and one end of the second rotating shaft is fixedly connected with the spindle of the driving motor through a coupler.

In some embodiments, the drive motor is a servo motor.

In another aspect, the present invention provides a sampling robot having a sampling device, the sampling device being a sampling device embodying the present invention.

In some embodiments, the skewing robot has a carrying mechanism comprising:

the top plane of the upper cross beam is provided with a slide way assembly, and the slide way assembly comprises a linear guide rail, a slide block and a rack; the sliding block is slidably arranged on the linear guide rail;

the first traveling mechanism comprises a first motor, a driving gear and a fixed seat, the first motor is vertically arranged on the fixed seat, the driving gear is sleeved on a main shaft of the first motor in a rolling mode and is meshed with the rack, and the sliding block is fixedly connected with the bottom of the fixed seat;

the lifting driving mechanism comprises a servo motor and a ball screw, and a nut sleeve of the ball screw is connected with the fixed seat; the servo motor drives a lead screw of the ball screw to rotate so as to drive the nut sleeve to ascend or descend;

and any one of the two second travelling mechanisms is fixedly arranged at the bottom of one end of the upper cross beam, and the other one of the two second travelling mechanisms is fixedly arranged at the bottom of the other end of the upper cross beam.

In some embodiments, the second traveling mechanism comprises a second motor, a first roller, a second roller and a driving box body; the first roller and the second roller are rotatably arranged in the driving box body at intervals, and a main shaft of the second motor is fixedly connected with the first roller.

The sampling robot adopting the sampling device is high in precision. Install the sensor on the sample pole and the sample head of sample device, can effectually avoid the sample device to the damage that causes the sample pole at the course of the work of sample. In addition, the driving device on the sampling robot is driven by the servo motor, and the sampling efficiency is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed for the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.

Fig. 1 is a schematic perspective view of a preferred embodiment of a sampling device according to the present invention.

Fig. 2 is a front view schematic of the embodiment of the sampling device of fig. 1 according to the present invention.

Fig. 3 is an exploded view of the embodiment of the sampling device of fig. 1 according to the present invention.

Fig. 4 is an exploded view of another preferred embodiment of a sampling device according to the present invention.

Fig. 5 is a perspective view of a carrying mechanism in the sampling robot according to the present invention.

Fig. 6 is a front view of the embodiment of the carrier arrangement 5 in the sampling robot according to the invention.

Fig. 7 is a top view of an embodiment of a carrier pattern 5 in a sampling robot according to the present invention.

Fig. 8 is a left side view of the embodiment of the carrier configuration 5 in the sampling robot according to the present invention.

Fig. 9 is an enlarged view of a part at a in the embodiment shown in fig. 5 of the carrier in the sampling robot according to the invention.

Fig. 10 is an enlarged view of a part at B in the embodiment shown in fig. 5 of the carrier in the sampling robot according to the present invention.

Fig. 11 is a schematic perspective view of a truss frame on which the sampling robot of the present invention is mounted.

Fig. 12 is a perspective view of the connection plate of the embodiment of fig. 1 of the sampling device according to the present invention.

Wherein, in the figures, the respective reference numerals:

Detailed Description

In order to make the technical problems, technical solutions and advantageous effects to be solved by the present invention more clearly apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly or indirectly secured to the other element. When an element is referred to as being "connected to" another element, it can be directly or indirectly connected to the other element. The terms "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positions based on the orientations or positions shown in the drawings, and are for convenience of description only and not to be construed as limiting the technical solution. The terms "first", "second" and "first" are used merely for descriptive purposes and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features. The meaning of "plurality" is two or more unless specifically limited otherwise.

Example 1:

as shown in fig. 1, a sample device is disclosed, which comprises a mount 10, a driving mechanism 20, a tensioning mechanism 30, a detection mechanism 40 and a sample rod 50. An axially arranged recess 101 is provided in the holder 10. The groove 101 is arranged on the fixing frame 10 in a penetrating way. In some embodiments, the holder 10 is formed by two parallel connecting plates. The two connecting plates are connected through bolts. Two first opening grooves 102 are symmetrically arranged on the upper side wall of the fixing frame 10. Two second axially arranged open grooves 105 are symmetrically provided in the lower side wall of the holder 10. An end cap 106 is detachably and fixedly mounted on the top of the fixing frame 10 by bolts or screws. End cap 106 may provide a closure for groove 101.

Fig. 2 shows a front view of the sampling device in this embodiment. Fig. 3 shows an exploded view of a preferred embodiment of the sample device of the present embodiment. A drive mechanism 20 is mounted on the holder 10. The driving mechanism 20 includes a driving motor 201, a first sprocket 202, a second sprocket 203, a first shaft 204, and a transmission chain 205. In some embodiments, the drive motor 201 is a servo motor. The first sprocket 202 is fixedly sleeved on the main shaft of the driving motor 201 and is arranged in the groove 101. The main shaft of the driving motor 201 can rotatably penetrate through the fixed frame 1 and is arranged at the lower part of the fixed frame. The first rotating shaft 204 is located at the upper part of the fixing frame 10. The second chain wheel 203 is fixedly sleeved on the first rotating shaft 204. The first rotation shaft 204 may be disposed in the first opening groove 102. The drive chain 205 is simultaneously sleeved on the first chain wheel 202 and the second chain wheel 203. The main shaft of the driving motor 201 rotates to drive the first chain wheel 202 sleeved on the main shaft to rotate, and then drives the second chain wheel 203 mounted on the first rotating shaft 204 to rotate through the transmission chain 205. The driving motor 201 is fixedly mounted on the side wall of the fixing frame 10 through a bracket 206. The bracket 206 is connected to the fixing frame 10 by bolts or screws. In other embodiments, the drive motor 201 is a worm gear motor. The worm gear motor is fixedly mounted on the side wall of the fixing frame 10 through the reduction box body 210. The advantage of using a worm gear with a motor is that the space occupation can be significantly reduced. A base cover plate 103 is detachably mounted on the bottom of the fixing frame 10. A protective sleeve 104 is fixedly mounted on the base cover plate 103.

The tensioning mechanism 30 includes a first spring 301, a second spring 302, a first screw 303, a second screw 304, a first fixing plate 305, and a second fixing plate 306. The tensioning mechanism 30 is located at an upper portion of the mount 10. The first spring 301 is sleeved on the first screw 303. One end of the first screw 303 is fixedly connected to one end of the first rotating shaft 204, and the other end is vertically mounted on any side wall of the fixing frame 10 through a first fixing plate 305. The second spring 302 is sleeved on the second screw 304. One end of the second screw 304 is fixedly connected to the other end of the first rotating shaft 204, and the other end of the second screw 304 is vertically installed on the other side wall of the fixing frame 10 through the second fixing plate 305. The detection mechanism 40 includes a slide base 401, a first pressure sensor 402, and a second pressure sensor 403. The first pressure sensor 402 and the second pressure sensor 403 are fixedly mounted on the top of the sliding seat 401 at intervals. In some implementations, an exploded view of another preferred embodiment of the skewer device of the present embodiment is disclosed as shown in fig. 3. In this embodiment, two damper springs 408 are also included. Any damping spring 408 is detachably and fixedly mounted on the top of the first sensor 402 through a connecting bolt and is fixedly connected with the bottom of one end of the top plate 4011 on the sliding seat 401. Another damper spring 408 is detachably and fixedly attached to the top of the second sensor 403 by a connecting bolt and is fixedly connected to the other end bottom of the top plate 4011 on the sliding seat 401. In other embodiments, any damping spring 408 is detachably and fixedly mounted on the bottom of the first sensor 402 by a connecting bolt and is fixedly connected with the top of one end of the bottom plate 4012 on the sliding seat 401. The other damping spring 408 is detachably and fixedly mounted at the bottom of the second sensor 403 by a connecting bolt and is fixedly connected with the top of the other end of the bottom plate 4012 on the sliding seat 401. The two damping springs 408 are arranged to effectively prevent the sample rod 50 from being in hard contact with the bottom plate of the vehicle during the sampling process to damage the sampling head 51. When the compression spring 408 is compressed by force and contracts for a certain stroke, the first pressure sensor 402 and/or the second pressure sensor 403 can be triggered to give out a signal, and the driving motor 201 is controlled to stop rotating.

The sliding seat 401 is located at the front end of the fixed frame 10. The sliding seat 401 is fixedly connected with the transmission chain 205 through a connecting plate 404. In some embodiments, two sets of limit rollers 406 are rotatably mounted on the connecting plate 404. The two sets of limit rollers 406 move with the movement of the connecting plate 404. And limiting grooves 407 are circumferentially arranged on the circumferential outer walls of the two groups of limiting rollers 406. The retaining notch 407 is rollably in contact with the top edge of the notch 101. Any one set of the spacing rollers 406 is two in number and is mounted horizontally opposite on the upper portion of the connecting plate 404, and the other set of the spacing rollers 406 is two in number and is mounted horizontally opposite on the lower portion of the connecting plate 404. A plurality of guard plates 405 are fixedly mounted on the connecting plate 404 between the two sets of limit rollers 406. In this embodiment, two guard plates 405 are fixedly mounted on the connecting plate 404 at intervals. The shield 405 is slidably in sliding contact with the outer edge of the groove 101 of the holder 10. The effect of arranging two sets of limiting rollers 406 and two guard plates 405 on the connecting plate 404 is to prevent the sample rod 50 on the fixing seat 401 from shaking in the moving process to influence the sample stability and the sensor detection precision. On the other hand, the friction coefficient during operation is effectively reduced, and the sampling precision of the sampling rod 50 is ensured.

The main shaft of the driving motor 201 rotates to drive the first chain wheel 202 sleeved on the main shaft to rotate, and then drives the second chain wheel 203 mounted on the first rotating shaft 204 to rotate through the transmission chain 205. The up and down movement of the driving chain 205 drives the sliding seat 401 to ascend or descend. The sample rod 50 is detachably mounted on the holder 401. The skewer 50 is fixedly attached to the carriage 401 and can be raised or lowered with the carriage 401. The first pressure sensor 402 and the second pressure sensor 403 can realize the transmission of resistance data to the analysis control system for different varieties of grains with different packages and when the grains are sampled to different depths. The analysis control system controls the wind pressure of the variable frequency fan, so that the sampling rod 50 can be uniformly sampled in the whole sampling process, and the collected sample is more representative.

In some embodiments, a limit switch is fixedly mounted on a side wall of the fixing frame 10. The number of the limit switches is two, and the limit switches are respectively a first limit switch 108 and a second limit switch 109. The first limit switch 108 and the second limit switch 109 are electrically connected with the controller through lines respectively, and the controller is electrically connected with the driving motor 201 through lines. The first limit switch 108 is located on an upper side wall of the fixing frame 10, and the second limit switch 109 is located on a lower side wall of the fixing frame 10. The touch bars of the first limit switch 108 and the second limit switch 109 can movably contact with the connecting plate 409 arranged on the sliding seat 401. The sample rod 50 can trigger the first limit switch 108 to start after the connecting plate 409 arranged on the sliding seat 401 contacts with the touch rod of the first limit switch 108 in the process of ascending of the sliding seat 401, and the controller controls the driving motor 201 to stop rotating. The connection plate 409 arranged on the sliding seat 401 along with the descending process of the sliding seat 401 of the sampling rod 50 can trigger the second limit switch 109 to start after being contacted with the touch rod of the second limit switch 109, and the controller controls the driving motor 201 to stop rotating. The distance between the first limit switch 108 and the second limit switch 109 can be adjusted according to actual conditions, and further adjustment of the stroke of the sampling rod 50 can be achieved. Owing to be provided with first limit switch 108 and second limit switch 109, can effectually avoid the sampling pole 50 to exceed effective stroke and cause the vehicle and the sampling pole 50 itself to cause the damage.

In other embodiments, a second shaft 207 is also included. The second rotating shaft 207 is disposed in the second opening groove 105 and the second rotating shaft 207 is parallel to the first rotating shaft 204. The first sprocket 202 is fixedly sleeved on the second rotating shaft 207, and the second rotating shaft 207 is rotatably and fixedly mounted at the lower part of the fixing frame 10 through two bearing seats 208. One end of the second rotating shaft 207 is fixedly connected with the main shaft of the driving motor 201 through a coupling 209. The spindle of the driving motor 201 rotates to drive the coupling 209 to rotate, and then drives the first sprocket 202 sleeved on the second rotating shaft 207 to rotate. In other embodiments, one end of the second rotating shaft 207 is fixedly connected to an output shaft of a reduction box 210 mounted on the worm gear motor through a coupling 209. The output shaft of the reduction box 210 rotates to drive the coupling 209 to rotate, and then drives the first sprocket 202 sleeved on the second rotating shaft 207 to rotate.

The first sprocket 202 rotates to drive the transmission chain 205 to rotate and then drive the second sprocket 203 mounted on the first shaft 204 to rotate. The transmission chain 205 rotates to drive the sliding seat 401 to ascend or descend. The sample rod 50 is detachably mounted on the holder 401. The skewer 50 is fixedly attached to the carriage 401 and can be raised or lowered with the carriage 401. The slide base 401 can be raised or lowered by forward and reverse rotation of the driving motor 201.

The sampling rod 50 is movable through the protective sheath 104. A sampling head 51 is fixedly mounted on the bottom of the sampling rod 50. A metal detection sensor is fixedly mounted in the sampling head 51. The sampling rod 50 has a single-layer tube structure or a double-layer tube structure. In this embodiment, the skewer 50 is a double-walled tube structure, a first tube 501 and a second tube 502, respectively. The bottom of the first and

second sleeves

501, 502 are provided with connecting threads. The upper part of the sampling head 51 is provided with threads which cooperate with the connecting threads on the first sleeve 501 and the connecting threads on the second sleeve 502, respectively. In other embodiments, the sampling head 51 may be fixedly attached to the sampling rod 50 by welding.

In some embodiments, the sensors mounted within the skewing head 51 are magnetic field sensors. The weak magnetic field sensor can detect iron substances below the running of the sampling head 51 and effectively avoid the iron substances through a control system, so that the running safety of the sampling rod 50 is ensured.

In the process of sampling by the sampling device, the material obtained by the sampling device is conveyed into the cyclone separator through the sampling rod 50 due to the action of negative pressure. The cyclone separator is used for separating gas from materials. The material is stored in the tank of the cyclone. The cyclone separator has a load cell. The weight of the material can be set through the preset value of the weighing sensor, and the quantitative sampling function of the material is realized.

Example 2:

as shown in fig. 1-10, relates to a sampling robot. The sampling robot has the sampling device of embodiment 1. In this embodiment, the skewing robot also has a carrying mechanism 60. The carrying mechanism 60 includes an upper beam 601, two first traveling mechanisms 80, two second traveling mechanisms 110, and two lifting/lowering driving mechanisms 90. Any one of the second traveling mechanisms is fixedly installed at the bottom of one end of the upper beam 601, and the other one of the second traveling mechanisms 110 is fixedly installed at the bottom of the other end of the upper beam 601.

A skid assembly 70 is disposed on the top plane of the upper cross beam 601. The slide assembly 70 includes a linear guide 701, a slider 702, and a rack 703. The slider 702 is slidably mounted on the linear guide 701. Each first traveling mechanism 80 includes a first motor 801, a driving gear 802, and a fixing base 803. The first motor 801 is vertically installed on the fixing base 803. The driving gear 802 is mounted on the main shaft of the first motor 801 in a rolling manner and is engaged with the rack 703. The sliding block 702 is fixedly connected with the bottom of the fixed seat 803. Each second traveling mechanism 110 includes a second motor 1101, a first roller 1102, a second roller 1103, and a drive case 1104. The first roller 1102 and the roller 1103 are rotatably mounted in the drive housing 1104 at a spacing. The spindle of the second motor 1101 is fixedly connected to the first roller 1102. In the present embodiment, each second traveling mechanism 110 further includes at least two clasping wheels 23. Any holding wheel 23 is fixedly arranged on one side of the bottom of the driving box 1104 through a holding wheel bracket 24, and the other holding wheel 23 is fixedly arranged on the other side of the bottom of the driving box 1104 through a holding wheel bracket 24. The two second traveling mechanisms 110 are mounted on the rails 25 of the truss 21 to be rolled by the clasping wheels 23.

In the present embodiment, each of the elevating drive mechanisms 90 includes a servo motor 901 and a ball screw. The nut sleeve 902 of the ball screw is connected with the fixed seat 803. The servo motor 901 drives the lead screw of the ball screw to rotate, and then drives the nut sleeve 902 to ascend or descend. In an embodiment, a connection seat 107 is fixedly provided at a rear portion of the fixing frame 10. The fixing frame 10 is fixedly installed on the nut sleeve 902 through the connecting seat 107. The servo motor 901 drives the lead screw of the ball screw to rotate to drive the nut sleeve 902 to ascend or descend, and then the sample device is driven to ascend or descend.

In the present embodiment, a high-precision laser radar 26 is attached to the main beam 22 of the truss 21. The three-dimensional contour coordinates of the vehicle placed in the truss 21 and the coordinates of the obstacle in the vehicle compartment are automatically scanned and acquired by the high-precision laser radar 26. And the control system of the sampling robot calculates the sampling point number and the position of the sampling device with representativeness and randomness according to the carriage area information measured by the high-precision laser radar 26. As the sampling head 51 is internally provided with the sensor, the metal obstacles can be detected and identified, and the control system can control the sampling robot to avoid the obstacles and avoid the obstacles to walk. When the sampling head 51 contacts the bottom of the carriage, the first pressure sensor 402 and the second pressure sensor 403 in the detection mechanism 40 are triggered, and the control system controls the sampling rod 50 to stop moving.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.

Claims

1. A sampling device, comprising:

the sampling rod is fixedly connected with the sliding seat.

2. The sampling device according to claim 1, wherein: the bottom fixed mounting of sample pole has the sample head fixed mounting has metal detection sensor in the sample head.

3. The sampling device according to claim 1, wherein: the driving motor is fixedly arranged on the side wall of the fixing frame through a support, and the support is connected with the fixing frame through bolts or screws.

4. The sampling device according to claim 1, wherein: the bottom of mount detachable installs the base apron fixed mounting has the protective sheath on the base apron, the mobilizable passing of sample pole the protective sheath.

5. The sampling device according to claim 1, wherein: the first chain wheel, the second chain wheel and the chain are simultaneously positioned in the groove.

6. The sampling device according to claim 1, wherein: still include the second pivot, the second pivot is on a parallel with first pivot, first sprocket fixed suit is in the second pivot, the second pivot through the rotatable fixed mounting of two bearing frames in the lower part of mount, the one end of second pivot pass through the shaft coupling with driving motor's main shaft fixed connection.

7. A sampling device according to claim 1 or 6, wherein: the driving motor is a servo motor.

8. A kind of sample robot, including the sample device, its characterized in that: the skewing device as claimed in any one of claims 1 to 7.

9. The skewing robot according to claim 8, wherein the skewing robot has a carriage mechanism, the carriage mechanism comprising:

10. The skewing robot according to claim 9, wherein: the second travelling mechanism comprises a second motor, a first roller, a second roller and a driving box body; the first roller and the second roller are rotatably arranged in the driving box body at intervals, and a main shaft of the second motor is fixedly connected with the first roller.