CN214749010U - Sampling head and sampling vehicle - Google Patents

Abstract

The utility model relates to a coal sample quality testing technical field specifically discloses a sampling head and sampling car. This sampling head is used for taking coal sample, and the sampling head includes the sampling pipe, and the both ends of sampling pipe all rotate and are connected with a plurality of thorn pieces, and when the sampling head was in the first state, the both ends of sampling pipe were sealed to the thorn piece, made a plurality of thorn pieces and sampling pipe enclose into the sampling chamber, and the sampling chamber is used for collecting coal sample. The sampling pipe is provided with openings at two ends, so that the sampling head can eject coal on the surface layer of the coal pile without representativeness out of the sampling cavity, and the sampling cavity is opened or closed by the thorn piece, so that the sampling operation of the sampling head on the coal sample can be realized. The structure improves the efficiency of sampling operation and ensures the representativeness of coal samples. The sampling vehicle comprises a sampling vehicle body and the sampling head, and the sampling head can accurately collect coal samples at different positions and different depths by utilizing the walking unit, the lifting arm and the mechanical arm on the sampling vehicle body, so that the sampling precision is improved, and the deviation of a sampling system is reduced.

Description

Sampling head and sampling vehicle

Technical Field

The utility model relates to a coal sample quality testing technical field especially relates to a sampling head and sampling car.

Background

In the coal transaction link, the surface quality and the internal quality of tens of thousands of tons of coal provided by a supplier are completely consistent. However, the sources of coal on the market are wide, the quality of coal in different batches and production places is greatly different, and in addition, some coal sales units are mixed with fake coal and the coal is mixed with the fake coal and the coal in the coal for commercial interest. Therefore, the sampling detection of commercial coal is an essential important link in coal transaction. In order to judge the quality of coal fairly, the coal needs to be sampled according to a specified, scientific and reasonable method. Meanwhile, the surface layer of the coal pile is fully contacted with air, the components of the surface layer are not representative, and the surface layer cannot be used as a coal sample, so the surface layer of the coal pile is avoided being collected.

In the prior art, when sampling coal, workers need to climb a coal pile or a carriage to randomly shovel a surface coal sample. The method is labor-consuming and time-consuming, and the sampling operation of different depths cannot be fully performed on the top, the waist and the bottom of the coal pile due to the limited manual sampling capability. In a certain period of time, the method can only obtain a small amount of coal samples, and the quality of the commercial coal cannot be accurately judged based on the obtained samples.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a sampling head and sampling car to solve the problem that sampling distortion, sampling efficiency are low.

To achieve the purpose, the utility model adopts the following technical proposal:

the utility model provides a sampling head for take coal sample, sampling head includes the sampling pipe, the both ends of sampling pipe are all rotated and are connected with a plurality of thorn pieces, work as when the sampling head is in the first state, thorn piece seals the both ends of sampling pipe make a plurality ofly thorn piece with the sampling pipe encloses into the sampling chamber, the sampling chamber is used for collecting coal sample, just the both ends in sampling chamber all communicate with external environment.

When the sampling head is in the second state, the pricking sheet is positioned at the same position with the extending direction of the sampling pipe.

Preferably, a plurality of rotating hinges are installed at two ends of the sampling pipe, and one end of the thorn piece is rotatably connected with the sampling pipe through the rotating hinges.

Furthermore, one end of the thorn piece, which is far away from the rotating hinge, is provided with a conical sharp corner.

Preferably, the sampling head still includes first drive unit, first drive unit includes first sampling driving piece and sampling transmission connecting rod, first sampling driving piece sampling transmission connecting rod with the thorn piece connects gradually, first sampling driving piece is used for driving the thorn piece is opened or is closed the sampling chamber.

The sampling vehicle comprises a sampling vehicle body and the sampling head; the sampling vehicle body comprises a vehicle body main body, a walking unit, a lifting arm, a mechanical arm and a coal hopper, wherein the walking unit is used for driving the vehicle body main body, the coal hopper is arranged on the vehicle body main body, the lifting arm and the mechanical arm are sequentially and rotatably connected, the sampling head is arranged on the mechanical arm, and the coal hopper is used for accommodating coal samples.

Preferably, the coal hopper is provided with a plurality of coal hoppers.

Preferably, the coal hopper comprises a weighing unit for weighing the coal sample received in the coal hopper.

Preferably, the coal hopper comprises an opening and closing unit, and the opening and closing unit is used for opening the coal hopper when the sampling head conveys the coal samples to the coal hopper, and closing the coal hopper after the sampling head conveys the coal samples to the coal hopper.

Preferably, the traveling unit includes wheels.

The utility model has the advantages that:

the sampling head can push the coal on the surface layer of the coal pile which is not represented and enters the sampling cavity out of the sampling cavity by virtue of the arrangement of openings at two ends, so that the condition that the sampling accuracy is influenced by the mixture of the coal on the surface layer entering the sampling cavity is avoided; the sampling cavity is opened or closed by the thorn piece, so that the action of the sampling head on the coal sample at the preset sampling position can be realized. The structure improves the sampling operation efficiency and ensures that the collected coal sample is representative.

The sampling car utilizes walking unit, lift arm and the manipulator on the sampling automobile body to enable the sampling head accurately to gather the coal sample that is located different positions, different degree of depth to improve the precision of sampling, reduced the deviation of sampling, the sampling car easily is connected with control system simultaneously, thereby makes the action of sampling car can accomplish automatically, lets the sampling operating efficiency of sampling car can further improve.

Drawings

Fig. 1 is a schematic structural diagram of a first state of a sampling head according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second state of the sampling head according to an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a sampling vehicle according to a first embodiment of the present invention;

fig. 4 is a schematic structural diagram of a sampling head according to a second embodiment of the present invention;

fig. 5 is a schematic structural diagram of a sampling vehicle provided in the second embodiment of the present invention;

fig. 6 is a flowchart of a coal pile coal sampling method provided by an embodiment of the present invention;

fig. 7 is a flowchart of a train coal sampling method provided by an embodiment of the present invention;

fig. 8 is a flowchart illustrating a working process of the photographing device and the working detection module according to an embodiment of the present invention;

fig. 9 is a flowchart illustrating the operation of the positioning device and the speed adjusting device according to the embodiment of the present invention;

fig. 10 is a flowchart illustrating the operation of the fault detection module and the alarm module according to an embodiment of the present invention.

In the figure:

100. a sampling head; 110. a sampling tube; 120. a sampling cavity; 130. rotating the hinge; 140. pricking sheets; 150. an inner cylinder; 151. an inner barrel cavity; 152. an inner barrel aperture; 153. a conical member; 160. an outer cylinder; 161. an outer cylinder bore; 162. a seal ring; 163. an outer cylinder gear ring; 170. a bearing ball; 180. a base plate; 191. a transmission gear; 192. a second sampling drive member;

210. a vehicle body main body; 220. a traveling unit; 230. a lifting arm; 240. a manipulator; 250. a coal hopper.

Detailed Description

In order to make the technical problem solved by the present invention, the technical solutions adopted by the present invention and the technical effects achieved by the present invention clearer, the following will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by the skilled in the art without creative work belong to the protection scope of the present invention.

In the description of the present invention, unless expressly stated or limited otherwise, the terms "connected," "connected," and "fixed" are to be construed broadly, e.g., as meaning permanently connected, detachably connected, or integral to one another; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

The technical solution of the present invention is further explained by the following embodiments with reference to the accompanying drawings.

Example one

As shown in fig. 1, the utility model provides a sampling head 100 for take coal sample, sampling head 100 includes sampling pipe 110, and sampling pipe 110's both ends are all rotated and are connected with a plurality of thorn pieces 140, and when sampling head 100 was in the first state, thorn piece 140 closed sampling pipe 110's both ends, made a plurality of thorn pieces 140 and sampling pipe 110 enclose into sampling chamber 120, and sampling chamber 120 is used for collecting coal sample, and sampling chamber 120's both ends all communicate with external environment. By means of the arrangement of the openings at the two ends, the sampling head 100 can push the coal pile surface layer coal which enters the sampling cavity 120 and is not representative out of the sampling cavity 120, so that the situation that the sampling accuracy is influenced by the fact that the coal pile surface layer coal enters the sampling cavity 120 and is mixed in is avoided; the action taken by the sampling head 100 on a coal sample at a predetermined sampling location can be accomplished by opening or closing the sampling cavity 120 with the spike 140. The structure improves the sampling operation efficiency and ensures that the collected coal sample is representative.

As shown in FIG. 2, when the sampling head 100 is in the second state, the lance 140 is located at the same position as the sampling tube 110 extends. The sampling head 100 can enable the pricking pieces 140 and the sampling pipe 110 to extend towards the same direction by utilizing the second state, and the pricking pieces 140 are firstly contacted with the coal pile, so that the resistance suffered by the sampling head 100 when the sampling head 100 moves in the coal pile can be reduced, the difficulty of the movement of the sampling head 100 in the coal pile is reduced, and the sampling operation efficiency is improved. Specifically, the opening and closing operations of the sampling cavity 120 are achieved by switching the sampling head 100 between the first state and the second state.

Preferably, a plurality of rotating hinges 130 are installed at both ends of the sampling tube 110, and one end of the barbed sheet 140 is rotatably connected to the sampling tube 110 through the rotating hinges 130. The rotating connection structure of the rotating hinge 130 and the thorn piece 140 is simple, stable and reliable.

Further, an end of the barbed sheet 140 away from the rotating hinge 130 is provided with a tapered tip. The setting of toper closed angle has further reduced the resistance that receives when sampling head 100 contacts with the coal pile for it is more convenient that sampling head 100 removes in the coal pile, thereby has improved the efficiency of sampling operation more effectively.

In this embodiment, each end of the sampling tube 110 is rotatably connected with four pricking pieces 140 uniformly distributed in the circumferential direction of the opening of the sampling tube 110, each pricking piece 140 is a quarter round piece, one end of each pricking piece 140 close to the rotating hinge 130 is sequentially connected with the lever and the pricking piece driving member, and the pricking piece driving member drives the lever to drive the pricking pieces 140 to rotate, so that the pricking pieces 140 at the two ends of the sampling tube 110 can successively complete opening and closing actions, and each pricking piece 140 at one end of the sampling tube 110 can successively turn over. The arrangement reduces the extrusion of the coal samples in the sampling pipe 110, and avoids the potential safety hazard of the sampling head 100. Specifically, the stab plate driving member is a bidirectional hydraulic cylinder.

Preferably, the sampling head 100 further includes a first driving unit, the first driving unit includes a first sampling driving member and a sampling transmission link, the first sampling driving member and the sampling transmission link are sequentially connected to the pricking sheet 140, and the first sampling driving member is configured to drive the pricking sheet 140 to open or close the sampling cavity 120. Specifically, the first driving unit is used for driving the sampling head 100 to switch between a first state and a second state. The first driving unit greatly reduces the workload of operators, and is easily connected with the control system, so that the rotating action of the thorn sheet 140 can be automatically completed, and the sampling operation efficiency of the sampling head 100 can be further improved.

As shown in fig. 3, the present invention further provides a sampling vehicle, which comprises a sampling vehicle body and the sampling head 100; the sampling vehicle body comprises a vehicle body 210, a traveling unit 220 for driving the vehicle body 210, a lifting arm 230, a manipulator 240 and a coal hopper 250 arranged on the vehicle body 210, wherein the vehicle body 210, the lifting arm 230 and the manipulator 240 are sequentially connected in a rotating manner, the sampling head 100 is arranged on the manipulator 240, and the coal hopper 250 is used for containing coal samples. The sampling head 100 can accurately collect coal samples at different positions and different depths by utilizing the walking unit 220, the lifting arm 230 and the mechanical arm 240 on the sampling vehicle body, so that the sampling precision is improved, the sampling deviation is reduced, and meanwhile, the sampling vehicle is easily connected with a control system, so that the action of the sampling vehicle can be automatically completed, and the sampling operation efficiency of the sampling vehicle can be further improved. Specifically, the lifting arm 230 is a multi-stage hydraulic support, the manipulator 240 is formed by sequentially connecting a body, a large arm and a small arm, the body is connected with the multi-stage hydraulic support, and the small arm is connected with the sampling head 100.

In the present embodiment, the coal hopper 250 is provided in plurality. The arrangement of the plurality of coal hoppers 250 facilitates the sampling vehicle to distinguish coal samples collected in different sampling units during the sampling operation. Specifically, the coal hopper 250 may be placed at the front or rear end of the sampling vehicle.

Preferably, the coal hopper 250 includes a weighing unit for weighing the coal sample received in the coal hopper 250. The weighing unit is arranged to facilitate timely and accurate grasping of the weight of the coal sample in the coal hopper 250 for operators, the weight of the coal sample taken by the sampling head 100 at each time can be known by the operators, and the operators can find out the problems existing in the sampling operation process in time.

In the present embodiment, the coal hopper 250 includes an opening and closing unit for opening the coal hopper 250 when the sampling head 100 conveys the coal sample to the coal hopper 250, and closing the coal hopper 250 after the conveyance of the coal sample to the coal hopper 250 by the sampling head 100 is completed. The arrangement enables the coal hopper 250 to be closed under the condition that the non-sampling head 100 conveys the coal samples, avoids the occurrence of the condition that the coal samples are changed by human factors, and avoids the problem of false sampling of the coal samples obtained by sampling to a certain extent, thereby ensuring the accuracy of sampling operation and the representativeness of the samples. Specifically, the opening and closing of the coal hopper 250 is hydraulically driven.

Preferably, the traveling unit 220 includes wheels. In other embodiments of the present invention, the traveling unit 220 includes a caterpillar. Specifically, the traveling unit 220 is driven by an electric power or an internal combustion engine.

Preferably, the sampling head 100 is rotatably mounted on the manipulator 240, so that the resistance of the sampling head 100 in the coal pile can be further reduced, and the situation that the sampling head 100 is stuck is avoided; the same power system can be applied to the sampling head 100, the pricking piece 140 and the sampling vehicle, thereby simplifying the structure of the sampling vehicle.

Example two

As shown in fig. 4, the utility model provides another kind of sampling head 100 for take the coal sample, sampling head 100 includes that interior barrel 150 and cover locate the outer barrel 160 on interior barrel 150, the protruding conical member 153 that is equipped with of interior barrel 150 one end, outer barrel 160 rotates with interior barrel 150 to be connected, interior barrel 150 is equipped with the interior barrel chamber 151 that is used for collecting the coal sample, interior barrel 150 side is seted up the inner cylinder hole 152 of communicating interior barrel chamber 151, outer barrel hole 161 has been seted up to outer barrel 160 side, when outer barrel hole 161 and inner cylinder hole 152 intercommunication/cut off, interior barrel chamber 151 is opened/closed. The outer cylinder hole 161 and the inner cylinder hole 152 can be communicated/separated in a relative rotation mode of the inner cylinder 150 and the outer cylinder 160, so that the inner cylinder cavity 151 is opened/closed, the sampling function of the sampling head 100 is realized, the sampling head 100 can perform sampling operation after reaching a preset position, the condition that non-representative coal samples enter the inner cylinder cavity 151 is avoided, and the representative collected coal samples are ensured; the conical member 153 reduces the resistance to contact, facilitates the movement of the sampling head 100 in the coal pile, and improves the efficiency of the sampling operation.

In this embodiment, an inner cylinder slide rail annular groove is formed in the outer side of the inner cylinder 150, an outer cylinder slide rail annular groove is formed in the inner side of the outer cylinder 160, the inner cylinder slide rail annular groove and the outer cylinder slide rail annular groove are communicated with each other to form a bearing slide rail, and a bearing ball 170 is slidably disposed in the bearing slide rail. The structure realizes the rotary connection of the outer cylinder 160 and the inner cylinder 150 by arranging the rolling bearing, and the structure is simple and reliable; meanwhile, an inner cylinder sliding rail annular groove is directly formed in the inner cylinder 150, and a gap between the outer cylinder 160 and the inner cylinder 150 can be reduced by forming the outer cylinder sliding rail annular groove in the outer cylinder 160, so that the risk that fine particles in a coal pile fall into the gap between the outer cylinder 160 and the inner cylinder 150 and further cause the sampling head 100 to be blocked due to faults can be reduced.

Preferably, the sampling head 100 further comprises a second drive unit for driving the outer cylinder 160 to rotate relative to the inner cylinder 150. With the help of the arrangement of the second driving unit, the workload of operators can be greatly reduced, and the second driving unit is easily connected with the control system, so that the rotation of the outer cylinder 160 can be automatically completed, and the sampling operation efficiency of the sampling head 100 can be further improved.

Further, the outer side of the outer cylinder 160 is further provided with an outer cylinder gear ring 163, one end of the inner cylinder 150, which is not provided with the conical member 153, is fixedly connected with the bottom plate 180, the bottom plate 180 is provided with a second driving unit, the second driving unit comprises a transmission gear 191 and a second sampling driving member 192, the transmission gear 191 and the outer cylinder gear ring 163 are in transmission connection, the second sampling driving member 192 is used for driving the transmission gear 191, and the transmission gear 191 is meshed with the outer cylinder gear ring 163. The meshing connection has simple and reliable structure, easy maintenance and long service life.

Still further, a protective shell is connected to the bottom plate 180, and the protective shell covers the outer cylinder gear ring 163 and the second driving unit. The protective shell prevents the outer cylinder gear ring 163 and the second driving unit from contacting the coal pile, and reduces the risk of damage to the sampling head 100.

Preferably, a sealing ring 162 is disposed at one end of the outer cylinder 160 close to the cone 153, and the sealing ring 162 abuts against the cone 153. The sealing ring 162 is arranged, so that the situation that fine particles near the conical piece 153 in the coal pile enter an end face gap between the inner cylinder 150 and the outer cylinder 160 is avoided, the risk of the sampling head 100 being stuck due to faults is effectively reduced, the smoothness of sampling operation is ensured, and the service life of the sampling head 100 is prolonged.

In this embodiment, the length of the inner cylinder hole 152 in the direction perpendicular to the extension direction of the inner cylinder 150 is half of the circumference of the bottom surface of the inner cylinder 150; the length of the outer cylinder hole 161 in the direction perpendicular to the extension direction of the outer cylinder 160 is half the circumference of the bottom surface of the outer cylinder 160. Specifically, the projections of the inner cylinder hole 152 and the outer cylinder hole 161 are both rectangular; and the inner cylinder bore 152 can completely coincide with the outer cylinder bore 161. By switching the sampling head 100 between a state in which the inner cylinder hole 152 and the outer cylinder hole 161 are completely overlapped and a state in which the inner cylinder hole 152 and the outer cylinder hole 161 are completely blocked after rotating by 180 °, the opening and closing operation of the inner cylinder chamber 151 can be completed. By means of the above-mentioned size optimization setting of the inner cylinder body hole 152 and the outer cylinder body hole 161, the coal samples conveyed from the inner cylinder body cavity 151 to the coal hopper 250 can be completely discharged, and meanwhile, the speed of the coal samples entering the inner cylinder body cavity 151 from the coal pile and entering the coal hopper 250 from the inner cylinder body cavity 151 can be effectively increased, so that the efficiency of sampling operation can be greatly improved.

As shown in fig. 5, the sampling vehicle of the second embodiment is substantially the same as the first embodiment, except that the manipulator 240 is connected to the end of the sampling head 100 of the second embodiment, which is not provided with the cone 153. The connection mode ensures that the inner cylinder body 150 is fixedly connected to the sampling vehicle, and avoids the risk that the inner cylinder body cavity 151 is accidentally opened due to relative displacement of the inner cylinder body 150.

In the present invention, the first sampling driving member and the second sampling driving member 192 are hydraulic motors. In other embodiments of the present invention, the first and second sampling drivers 192 are motors.

The utility model also provides a coal sampling method is applied to foretell sampling car for to the coal pile sampling, including following step: firstly, acquiring the appearance of a coal pile, and determining the volume of the coal pile; calculating the weight of the coal pile by using the density of the coal pile, determining sampling units according to the weight of the coal pile, and acquiring a plurality of subsample acquisition area coordinates in each sampling unit; then the sampling vehicle moves to the vicinity of a sub-sample collection area; then shooting the coal pile located in the sub-sample collection area by a shooting device; then the sampling head 100 takes the corresponding coal sample of the sub-sample collection area; and finally, shooting the coal pile located in the sub-sample collection area again by the shooting device. By means of the method, the sampling units can be automatically calculated and determined according to the shape and the weight of the coal pile, the number of the sub-samples and the coordinates of the sub-sample collecting area are determined, and further the target position of sampling operation is determined.

When sampling a coal pile stacked in a field, as shown in fig. 6, the sampling vehicle further includes a scanning device and a computing device, and the step of obtaining the morphology of the coal pile and determining the volume of the coal pile includes the steps of scanning the coal pile by using the scanning device to obtain a two-dimensional image, and performing surface fitting processing and data calculation on the two-dimensional image by using the computing device. By means of the components and the operation steps, the computing equipment can automatically identify the shape and the volume of the coal pile, the shape and the volume of the coal pile can be rapidly and accurately measured, the coal pile setting position and the coordinates of the stacking curved surface of the coal pile can be obtained, and the follow-up running of the sampling vehicle and the selection of the sampling position coordinates of the sampling head 100 are facilitated.

When sampling a coal pile carried on a train, as shown in fig. 7, the sampling vehicle further includes an information recognition device, and the step of obtaining the morphology of the coal pile and determining the volume of the coal pile includes the step of reading material information of the coal pile by using the information recognition device, where the material information includes the morphology, the volume, and the density of the coal pile. The utility model discloses an among other embodiments, material information can be through operating personnel manual input. By means of the components and the operation steps, automatic identification of material information of a train carriage carrying the coal pile can be achieved, vehicle information, the number of carriages and the volume and the density of the carried coal pile can be obtained through identification, the information identification equipment can determine the position of each carriage and the coordinates corresponding to the curved surface of the coal pile while obtaining the information, and the follow-up sample collection vehicle can walk conveniently and the sampling position coordinates of the sampling head 100 can be selected conveniently.

In this embodiment, the sampling vehicle further includes a sampling calibration module, and after the step of sampling the coal samples corresponding to the sub-sample collection area by the sampling head 100, the sampling calibration module detects whether the sampling position of the sampling head 100 is located in the sub-sample collection area, and when the sampling position is not located in the sub-sample collection area, the sampling head 100 drops the coal samples and returns to the sampling head 100 to take the coal samples corresponding to the sub-sample collection area; and if not, continuing to shoot the coal pile located in the sub-sample collection area again by the shooting device. By utilizing the sampling calibration module, the distance between the sampling vehicle and the coal pile and the distance between the sampling head 100 and the coal surface can be measured, the sampling head 100 can accurately collect the coal samples in the sub-sample collection area, and the influence of the coal samples with unrepresentative characteristics on the sampling result is avoided.

As shown in fig. 8, the sampling vehicle further includes a camera and a work detection module for detecting the work condition of the sampling vehicle, and the coal sampling method includes: the photographing device starts photographing a sampling vehicle; the working detection module detects the working condition of the sampling vehicle; when the sampling vehicle finishes all sampling operations, the photographing device stops photographing the sampling vehicle; otherwise, returning to the step of detecting the working condition of the sampling vehicle by the working detection module. Specifically, the photographing apparatus includes a high-speed camera. By means of the arrangement of the photographic device and the work detection module, the whole-process monitoring of the sampling process can be realized, the correctness of the sampling process is further guaranteed, the interference of human factors can be greatly avoided in the sampling process, and a real and representative coal sample can be obtained in the sampling process.

As shown in fig. 9, the sampling vehicle further includes a speed adjusting device for adjusting the speed of the sampling vehicle and a positioning device for sending the coordinates of the sampling vehicle, and the coal sampling method includes: the positioning device firstly detects the distance between sampling vehicles; comparing the space between the coordinates of the two sampling vehicles with the space safety threshold, adjusting the speed of the sampling vehicles by the speed adjusting device when the space between the coordinates of the two sampling vehicles is smaller than or equal to the space safety threshold, and then returning to the step of detecting the space between the sampling vehicles by the positioning device; otherwise, directly returning to the step of detecting the distance between the sampling vehicles by the positioning device. The sampling vehicle has the advantages that the situation that the sampling vehicles interfere with each other due to too close distance between the sampling vehicles is avoided by means of interlocking control, the risk of accidents in the sampling process is reduced, and the service life of the sampling vehicles is prolonged.

Preferably, the positioning device can also measure the distance between the sampling vehicle and the obstacle in the coal pile stacking environment, and further control the sampling vehicle to avoid the obstacle to act, so that accidents are avoided, and the safety of the sampling process is guaranteed.

As shown in fig. 10, the sampling vehicle further includes a fault detection module for detecting a working state of the sampling vehicle and an alarm module in communication connection with the fault detection module, and the coal sampling method includes: the fault detection module detects the working state of the sampling vehicle; when the sampling vehicle has a fault, the alarm module gives an alarm; otherwise, returning to the step of detecting the working state of the sampling vehicle by the fault detection module. By means of the arrangement of the fault detection module and the alarm module, the fault state of the sampling vehicle can be rapidly and timely received by an operator, potential safety hazards caused by faults of the sampling vehicle are avoided, and the risk of damage to the sampling vehicle is reduced. Specifically, the alarm module comprises an indicator light and a buzzer. The setting of pilot lamp and bee calling organ has guaranteed the effect of light and sound feedback for alarm signal is received by operating personnel more easily.

Preferably, the sampling vehicle adopts a PLC control system and is provided with a human-computer interaction operation screen, so that the walking and hydraulic lifting of the sampling vehicle can be realized stably and controllably, the lifting arm 230 and the manipulator 240 can be operated accurately and flexibly, the thorn pieces 140, the coal hopper 250 and other structures can be opened and closed in time, weighing data can be stored in time, a monitoring system has clear images, data transmission is rapid and accurate, the sampling vehicle and the sampling head 100 are accurately positioned, the shape and weight estimation of the coal pile are close to the true value, and operation programs and control parameters can be changed in time according to requirements.

It is obvious that the above embodiments of the present invention are only examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. And are neither required nor exhaustive of all embodiments. Any modification, equivalent replacement, and improvement made within the spirit and principle of the present invention should be included in the protection scope of the claims of the present invention.

Claims (10)

1. A sampling head is used for taking a coal sample and is characterized by comprising a sampling pipe (110), wherein a plurality of thorn pieces (140) are rotatably connected to two ends of the sampling pipe (110), when the sampling head is in a first state, the thorn pieces (140) close two ends of the sampling pipe (110), a plurality of thorn pieces (140) and the sampling pipe (110) are enclosed to form a sampling cavity (120), the sampling cavity (120) is used for collecting the coal sample, and two ends of the sampling cavity (120) are communicated with the external environment.

2. The sampling head according to claim 1, characterized in that the puncturing sheet (140) is located at the same position as the extension direction of the sampling tube (110) when the sampling head is in the second state.

3. The sampling head according to claim 1, wherein a plurality of rotating hinges (130) are installed at both ends of the sampling tube (110), and one end of the thorn sheet (140) is rotatably connected with the sampling tube (110) through the rotating hinges (130).

4. The sampling head according to claim 3, characterized in that the end of the lance (140) remote from the rotation hinge (130) is provided with a conical point.

5. The sampling head according to any one of claims 1 to 4, further comprising a first drive unit comprising a first sampling drive member and a sampling transmission link, the first sampling drive member and the sampling transmission link being connected in series with the spike (140), the first sampling drive member being configured to drive the spike (140) to open or close the sampling cavity (120).

6. A sampling vehicle, characterized in that the sampling vehicle comprises a sampling vehicle body and a sampling head according to any one of claims 1 to 5; the sampling vehicle body comprises a vehicle body main body (210), a traveling unit (220) used for driving the vehicle body main body (210), a lifting arm (230), a manipulator (240) and a coal hopper (250) arranged on the vehicle body main body (210), the lifting arm (230) and the manipulator (240) are sequentially connected in a rotating mode, a sampling head is installed on the manipulator (240), and the coal hopper (250) is used for containing coal samples.

7. The sampling cart of claim 6, wherein the coal hopper (250) is provided in plurality.

8. The sampling cart of claim 6, wherein the coal hopper (250) comprises a weighing unit for weighing the coal sample received within the coal hopper (250).

9. The sampling cart of claim 6, wherein the coal hopper (250) comprises an open and close unit for opening the coal hopper (250) when the sampling head delivers the coal sample to the coal hopper (250) and closing the coal hopper (250) after the delivery of the coal sample to the coal hopper (250) by the sampling head is completed.

10. The sampling trolley according to claim 6, characterized in that the walking unit (220) comprises wheels.

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