CN217200820U - Sample bottle processing unit for sampling of raw milk tank truck - Google Patents

Abstract

The utility model discloses a former sample bottle processing unit for storage tank car sample, including sample bottle send-receiver device, sample bottle open and close bottle lid device, sample bottle handing-over device, spout a yard device and sample bottle and handle electrically controlled device, sample bottle handles electrically controlled device and includes sample bottle send-receiver control circuit, sample bottle transport control circuit, sample bottle and open and close bottle lid control circuit and sample bottle and spout a yard control circuit. This former milk sample for tank car sample bottle processing unit can accept automatically the clean sample empty bottle that covers the bottle lid that the laboratory was carried through pneumatic conveying line and is uncapped and export to follow-up unit, or will be from the automatic bottle lid of covering of the sample bottle that follow-up unit backward transported and contain the former milk sample and send into pneumatic conveying line after spouting the sign indicating number, can greatly reduce the interference of human factor to the inspection process of raw milk sample delivery, the automatic sampling system of tank car of raw milk that is particularly useful for milk and dairy products processing enterprise raw milk factory inspection.

Description

Sample bottle processing unit for sampling of raw milk tank truck

Technical Field

The utility model relates to a sample bottle processing unit specifically is a sample bottle processing unit who is applicable to the former milk that comes through former milk tank car transportation and takes a sample usefulness, belongs to former milk and detects technical field.

Background

The milk is a complex mixture composed of various molecules, has high nutritional value, and gradually becomes one of important nutriments in daily life along with the improvement of the living standard of people. To produce high quality milk and dairy products, high quality raw milk must be selected. Raw milk purchased from a milk station needs to meet standard requirements such as sensory indexes, physical and chemical indexes, microbial indexes and the like of GB 6914-86, normal milk extruded by normally-raised healthy cows without infectious diseases and mastitis needs not to have microorganisms and impurities mixed in the raw milk, the total number of bacteria is required to be less than 50 ten thousand/ml, and substances which can obstruct normal fermentation of a leavening agent, such as penicillin, residual cleaning solution, disinfectant and the like, are not required to be contained; the total solid shape of the cow milk is not less than 11.5 percent, and the fat content is not less than 3.2 percent.

After raw milk is purchased in a milk station, the raw milk is generally delivered to dairy product processing enterprises in a raw milk tank truck filling and transporting mode, and in order to ensure the subsequent quality of the milk and the dairy products, the dairy and dairy product processing enterprises must strictly carry out factory inspection on the raw milk in the raw milk tank truck. The raw milk inspection usually comprises sensory index inspection, physical and chemical index inspection and microorganism index inspection, usually, a roof sealing cover 5 at the top of a raw milk tank truck is opened to sample and then is sent to a biochemical chamber for inspection, and in order to ensure the accuracy of the inspection, a closed sample bottle containing a raw milk sample is required to be sent to the biochemical chamber in a short time so as to reduce the influence of the external environment on the raw milk sample. The roof sealing cover 5 on the top of the raw milk tank truck is generally a double-layer sealing cover structure comprising an inner cover and an outer cover which are connected up and down, as shown in fig. 16, in order to facilitate quick opening and closing, the double-layer sealing cover structure generally adopts the outer cover to be hinged and installed on the top of the raw milk tank truck through a hinge shaft horizontally arranged in the axial direction, the outer cover is installed on the top of the raw milk tank truck through a plum blossom-shaped locking nut 51 and a hinge locking bolt 52 which is hinged and installed on the roof of the raw milk tank truck and can be overturned and clamped into a locking bayonet of the outer cover along the radial direction of the outer cover to be compacted and sealed and locked, and the outer cover is also provided with a pull rod 53 which is convenient for pulling the outer cover to rotate and open around the hinge shaft. The traditional raw milk sampling and sample conveying process is usually completed manually, namely a sampling person climbs to the top of a raw milk tank truck and then manually opens the roof sealing cover 5, the raw milk is sampled to a raw milk sample bottle through a scooping tool, and the raw milk sample bottle is delivered to the sampling person to convey samples and then reset and seal the roof sealing cover 5. According to the traditional manual sampling and sample conveying mode, on one hand, the labor intensity of operators is high, and the potential safety hazard is caused by climbing operation; on the other hand, the sampling operation is greatly influenced by human factors, and the sampling efficiency is related to the operation experience and responsibility of a sampling person and the fatigue degree of the sampling person; on the other hand, the manual sampling mode is easier to sample on the shallow layer of the original milk liquid level in the original milk tank car and is more difficult to sample on the deep layer of the original milk liquid level in the original milk tank car, and the detection index of the original milk sample obtained by sampling the original milk on the shallow layer and the detection index of the original milk on the deep layer are possibly different because the shallow layer of the original milk is contacted with the outside air during sampling and is more likely to be polluted by the outside.

Disclosure of Invention

The problem that exists to the above-mentioned prior art, the utility model provides a sample bottle processing unit is used in former milk tank car sample, the former milk sample to former milk tank car, can carry the clean sample empty bottle that is stamped the bottle lid that comes through pneumatic conveying line transport in laboratory and accept automatically and uncap output to follow-up unit, perhaps will be from the automatic lid bottle lid of the automatic lid bottle of the sample bottle that the splendid attire that follow-up unit backward carried the former milk sample of having and send pneumatic conveying line into after spouting the sign indicating number, can greatly reduce the interference of human factor to former milk sample censorship process, the automatic sampling system of former milk tank car that specially adapted milk and dairy products processing enterprise's former milk went into the factory inspection.

In order to realize the purpose, the sample bottle processing unit for sampling of the original milk tank truck comprises a sample bottle receiving and sending device, a sample bottle opening and closing bottle cap device, a sample bottle handing-over device, a code spraying device and a sample bottle processing electric control device;

the sample bottle receiving and sending device comprises a bottom supporting plate and a bottom supporting plate lifting mechanism, wherein the bottom supporting plate corresponds to a receiving and sending port of a vertically arranged pneumatic conveying pipeline;

the sample bottle opening and closing bottle cap device is in butt joint with the sample bottle receiving and sending device through a sample bottle translation conveying mechanism penetrating through the sample bottle opening and closing bottle cap device, and the sample bottle opening and closing bottle cap device comprises a horizontally arranged bottle clamping mechanism and a vertically arranged cap screwing mechanism;

the sample bottle transfer device is used for transferring sample bottles between the sample bottle processing unit and the subsequent unit;

the code spraying device is arranged along the sample bottle translation conveying mechanism corresponding to the conveying direction of the sample bottle translation conveying mechanism and is used for spraying codes on sample bottles covered with bottle caps and containing raw milk samples;

the sample bottle processing electric control device comprises a sample bottle processing controller, a sample bottle receiving and sending control loop, a sample bottle conveying control loop, a sample bottle opening and closing bottle cap control loop and a sample bottle code spraying control loop, wherein the sample bottle processing controller is respectively electrically connected with the bottom supporting plate lifting mechanism, the sample bottle translation conveying mechanism, the bottle clamping mechanism, the cap screwing mechanism, the sample bottle handing-over device and the code spraying device.

As a further improvement of the utility model, the centre gripping telescoping cylinder that the bottle clamping mechanism set up including flexible direction perpendicular to sample bottle translation conveying mechanism direction of delivery, the flexible end of centre gripping telescoping cylinder be equipped with the bottle size complex centre gripping dop of sample bottle.

As a further improvement of the utility model, the spiral cover mechanism includes the spiral cover support frame and installs the spiral cover manipulator on the spiral cover support frame, the centre gripping center setting when the spiral cover manipulator corresponds the centre gripping dop and closes the clamping state, and the spiral cover manipulator is installed on the spiral cover support frame through the Z coordinate drive assembly that can follow vertical upper and lower direction removal and the C coordinate drive assembly that can wind the Z coordinate rotation at least, be equipped with a plurality of centre gripping jack catchs that set up along the circumference direction equipartition on the spiral cover manipulator, and the centre gripping jack catch is installed on the spiral cover manipulator through the flexible control part of jack catch that sets up along the radial direction of spiral cover manipulator.

As a further improvement scheme of the utility model, the sample bottle is a double-bottle structure comprising an outer protection bottle and an inner sample bottle which are arranged in a matching way, and the outer protection bottle and the inner sample bottle are respectively provided with a detachable bottle cap;

the inner diameter of the pneumatic conveying pipeline is matched with the outer diameter of the outer protective bottle;

the sample bottle opening and closing bottle cap device comprises an outer protection bottle opening and closing bottle cap part and an inner sample bottle opening and closing bottle cap part, the sample bottle connecting device comprises a sample bottle grabbing and stacking mechanical arm with a sample bottle grabbing and stacking mechanical arm, the sample bottle grabbing and stacking mechanical arm at least comprises an X coordinate driving assembly for controlling horizontal left and right movement, a Y coordinate driving assembly for controlling horizontal front and back movement and a Z coordinate driving assembly for controlling vertical up and down movement, the sample bottle grabbing and stacking mechanical arm is arranged at the end part of a tail section arm of the sample bottle grabbing and stacking mechanical arm through an A coordinate driving assembly capable of rotating around an X coordinate axis and/or a B coordinate driving assembly capable of rotating around a Y coordinate axis, a clamping component comprising two clamping fingers capable of being opened and closed is arranged on the sample bottle grabbing and stacking mechanical arm, and the clamping fingers are hinged and arranged on the sample bottle grabbing and stacking mechanical arm, And the clamping fingers are in transmission connection with the clamping finger opening and closing control mechanism, and a coordinate driving assembly of the sample bottle grabbing and stacking mechanical arm, a coordinate driving assembly of the sample bottle grabbing and stacking mechanical arm and the clamping finger opening and closing control mechanism of the sample bottle grabbing and stacking mechanical arm are respectively and electrically connected with the sample bottle processing controller.

As the utility model discloses a further improvement scheme, sample bottle processing unit still includes refrigerator, outer protection bottle buffer memory frame, interior sample bottle buffer memory frame and preserves sample cleaning device, preserves sample cleaning device and includes the sample pouring tank and sprays disinfection mechanism.

Compared with the prior art, the sample bottle processing unit for sampling of the original milk tank truck can automatically receive clean sample empty bottles covered with bottle caps and conveyed by a laboratory through a pneumatic conveying pipeline through the sample bottle receiving and sending device 21, convey the clean sample empty bottles to the sample bottle cap opening and closing device for bottle cap opening, deliver the empty sample bottles after the bottle caps are opened to the subsequent unit through the sample bottle delivery device, and after the subsequent unit finishes sampling and injects original milk samples into the sample bottles, the sample bottle containing the original milk sample which is reversely conveyed is covered by the sample bottle handing-over device through the sample bottle opening and closing device, the interference of human factors to the sampling and inspecting process of the raw milk can be greatly reduced by sending the raw milk into the pneumatic conveying pipeline after the code is sprayed by the code spraying device, the system is particularly suitable for the automatic sampling system of the raw milk tank truck for the factory inspection of raw milk of milk and dairy product processing enterprises.

Drawings

FIG. 1 is a schematic three-dimensional structure diagram of an automated sampling system of a raw milk tanker;

FIG. 2 is a front view of FIG. 1;

fig. 3 is a schematic three-dimensional structure diagram of the external protective bottle opening and closing bottle cap part of the sample bottle receiving and dispatching device and the sample bottle opening and closing bottle cap device of the present invention;

fig. 4 is a schematic three-dimensional structure diagram of a sample bottle opening and closing cap part in the sample bottle opening and closing cap device of the present invention;

fig. 5 is a schematic three-dimensional structure diagram of the code spraying device of the present invention;

fig. 6 is a schematic three-dimensional structure diagram of the refrigerator, the external protection bottle buffer storage rack, the internal sample bottle buffer storage rack and the preserved sample cleaning device of the utility model;

FIG. 7 is a schematic three-dimensional structure diagram of a sample bottle lifting and conveying unit of an automatic sampling system of a raw milk tanker;

FIG. 8 is an enlarged partial view of FIG. 7;

FIG. 9 is a schematic three-dimensional structure diagram of an automatic sampling unit of an automatic sampling system of a raw milk tank truck;

FIG. 10 is a schematic three-dimensional structure of a tool rack of an automated sampling system of a raw milk tanker;

FIG. 11 is a schematic structural diagram of a sampling tool quantitative sampling barrel of an automated sampling system of a raw milk tanker;

FIG. 12 is a schematic three-dimensional structure diagram of a vehicle roof sealing cover opening and closing tool of an automatic sampling system of a raw milk tank truck;

FIG. 13 is a schematic three-dimensional structure diagram of a sampling bench of an automatic sampling system of a raw milk tank truck;

FIG. 14 is a schematic three-dimensional structure diagram of a sampling, grabbing and stacking manipulator of an automatic sampling system of a raw milk tank truck;

FIG. 15 is a schematic three-dimensional structure of a raw milk tanker when the automatic sampling system of the raw milk tanker is used for automatically sampling the raw milk tanker;

fig. 16 is a three-dimensional structure schematic diagram of a sealing cover of a crude milk tank truck roof.

In the figure: 1. a sample bottle pneumatic conveying unit, 11, a pneumatic conveying pipeline, 2, a sample bottle processing unit, 21, a sample bottle receiving and sending device, 211, a bottom supporting plate, 212, a bottom supporting plate lifting mechanism, 22, a sample bottle opening and closing bottle cap device, 221, a bottle clamping mechanism, 2211, a clamping telescopic cylinder, 2212, a clamping chuck, 222, a cover screwing mechanism, 2221, a cover screwing supporting frame, 2222, a cover screwing mechanical arm, 23, a sample bottle grabbing and stacking mechanical arm, 231, a sample bottle grabbing and stacking mechanical arm, 24, a code spraying device, 25, a refrigerator, 26, a preserved sample cleaning device, 3, a sample bottle lifting conveying unit, 31, a lifting platform, 32, a lifting platform lifting control device, 4, an automatic sampling unit, 41, a walking chassis, 42, a tool rack, 421, a roof opening and closing tool, 422, a sampling tool, 4221, a bottom plate, 4222, a holding mechanism, 43, a sampling and stacking mechanical arm, 431. the device comprises a sampling, grabbing and stacking manipulator, 44, a sampling rack, 441, a receiving table, 442, a funnel assembly, 4421, a push rod, 5, a roof sealing cover, 51, a plum blossom locking nut, 52, a hinged locking bolt, 53 and a pull rod.

Detailed Description

The utility model discloses a take the former milk tank car automatic sampling system who is provided with sample bottle processing unit for the sample of former milk tank car as an example below, combine the figure to right the utility model discloses do further the explanation.

As shown in fig. 1 and 2, the automatic sampling system of the raw milk tanker comprises a sample bottle pneumatic conveying unit 1, a sample bottle processing unit 2, a sample bottle lifting and conveying unit 3, an automatic sampling unit 4 and a centralized electric control unit.

The sample bottle pneumatic conveying unit 1 comprises a pneumatic conveying pipeline 11 and a sample bottle pneumatic conveying electric control device, the pneumatic conveying pipeline 11 with the inner diameter size matched with the outer diameter size of the sample bottle is connected with an air source capable of generating positive pressure or negative pressure, the sample bottle pneumatic conveying electric control device comprises a sample bottle pneumatic conveying controller, the sample bottle pneumatic conveying controller is electrically connected with the air source, the sample bottle in the pneumatic conveying pipeline 11 is pushed to move through positive pressure air supply, or the sample bottle in the pneumatic conveying pipeline 11 is pulled to move through negative pressure air suction.

The sample bottle processing unit 2 fixedly installed on the ground comprises a sample bottle receiving and sending device 21, a sample bottle cap opening and closing device 22, a sample bottle connecting and connecting device, a code spraying device 24 and a sample bottle processing electric control device;

as shown in fig. 3, the sample bottle receiving and dispatching device 21 is used for automatically receiving empty bottle capped with bottle cap conveyed from the pneumatic conveying pipeline 11, or automatically feeding bottle capped with bottle cap containing raw milk sample into the pneumatic conveying pipeline 11, the sample bottle receiving and dispatching device 21 includes a bottom support plate 211 corresponding to the receiving and dispatching port of the pneumatic conveying pipeline 11 vertically arranged and a bottom support plate lifting mechanism 212 connected with the bottom support plate 211, the bottom support plate lifting mechanism 212 may be a telescopic cylinder structure or other linear reciprocating structure such as a rack and pinion structure, when automatically receiving empty bottle capped with bottle cap conveyed from the pneumatic conveying pipeline 11, the bottom support plate 211 is in a high position and is in a state of being close to the receiving and dispatching port of the pneumatic conveying pipeline 11, the empty bottle capped with bottle cap conveyed from the pneumatic conveying pipeline 11 can be conveyed to the bottom support plate 211 by positive pressure air, the lifting action of the bottom supporting plate lifting mechanism 212 is controlled to realize that the bottom supporting plate 211 can support empty sample bottles to fall to a set low position and realize automatic carrying, when the sample bottles covered with bottle caps and containing raw milk samples are automatically sent into the pneumatic conveying pipeline 11, the sample bottles covered with the bottle caps and containing the raw milk samples are sent to the bottom supporting plate 211 at the low position, and the lifting action of the bottom supporting plate lifting mechanism 212 is controlled to realize that the bottom supporting plate 211 can support the sample bottles covered with the bottle caps and containing the raw milk samples to rise to a set high position and send the sample bottles into a receiving and sending port of the pneumatic conveying pipeline 11 of negative pressure air;

as shown in fig. 3 and 4, the sample bottle opening and closing and capping device 22 is connected to the sample bottle transceiver 21 through a sample bottle translation and transportation mechanism penetrating through the sample bottle opening and closing and capping device 22, the sample bottle translation and transportation mechanism may be a belt type transportation structure for realizing translation and transportation of sample bottles through a whole chain belt or a conveyer belt, or other translation and transportation structures such as a transmission chain push type transportation structure for realizing translation and transportation of sample bottles through driving a shifting tooth or a pushing plate by a transmission chain, and the sample bottle opening and closing and capping device 22 includes a horizontally arranged bottle clamping mechanism 221 and a vertically arranged cap screwing mechanism 222; the bottle clamping mechanism 221 comprises a clamping telescopic cylinder 2211, the telescopic direction of which is perpendicular to the conveying direction of the sample bottle translation conveying mechanism, the telescopic end of the clamping telescopic cylinder 2211 is provided with a clamping chuck 2212 matched with the bottle body size of the sample bottle, the clamping telescopic cylinder 2211 can be arranged into one piece on one side or two pieces in a bilateral opposite mode, and the clamping chuck 2212 can be in a complete clamping state or a release state by controlling the telescopic action of the clamping telescopic cylinder 2211; the cap screwing mechanism 222 comprises a cap screwing support frame 2221 and a cap screwing mechanical hand 2222 arranged on the cap screwing support frame 2221, the cap screwing mechanical hand 2222 is arranged corresponding to the clamping center when the clamping chuck 2212 is in the clamping state, the cap screwing mechanical hand 2222 is arranged on the cap screwing support frame 2221 at least through a Z coordinate driving assembly capable of moving along the vertical up-down direction and a C coordinate driving assembly capable of rotating around a Z coordinate axis, the cap screwing mechanical hand 2222 is provided with a plurality of clamping jaws uniformly distributed along the circumferential direction, the clamping jaws are arranged on the cap screwing mechanical hand 2222 through jaw extension control parts arranged along the radial direction of the cap screwing mechanical hand 2222 in an extension way, the jaw extension control parts can be a linear motion telescopic cylinder or a rotary motion driving motor, the clamping state that a plurality of clamping jaws are synchronously retracted or the non-clamping state that the clamping jaws are synchronously extended can be realized by controlling the action of the jaw extension control part;

the sample bottle transfer device is used for transferring sample bottles between the sample bottle processing unit 2 and the sample bottle lifting and conveying unit 3, can be a sample bottle translation conveying mechanism directly butted with the sample bottle lifting and conveying unit 3 and can transfer the sample bottles in a translation conveying mode, and also can be a sample bottle grabbing and stacking mechanical arm 23 which is independently arranged and provided with a sample bottle grabbing and stacking mechanical arm 231 and can transfer the sample bottles in a grabbing and stacking mode;

as shown in fig. 5, the code spraying device 24 is arranged along the sample bottle translation conveying mechanism corresponding to the conveying direction of the sample bottle translation conveying mechanism, and is used for spraying codes to the sample bottles covered with bottle caps and containing raw milk samples according to the detection items;

the sample bottle processing electric control device comprises a sample bottle processing controller, a sample bottle receiving and sending control loop, a sample bottle conveying control loop, a sample bottle opening and closing bottle cap control loop and a sample bottle code spraying control loop, wherein the sample bottle processing controller is electrically connected with the bottom supporting plate lifting mechanism 212, the sample bottle translation conveying mechanism, the clamping telescopic cylinder 2211, the cap screwing manipulator 2222, the sample bottle handover device and the code spraying device 24 respectively.

As shown in fig. 7, the sample bottle lifting and conveying unit 3 includes a lifting platform 31 mounted on a lifting platform frame, a lifting platform lifting control device 32 and a sample bottle lifting and conveying electric control device; as shown in fig. 8, the table top of the lifting table 31 is a table top translation circulating belt type conveying structure including a table top conveying belt driving component, and in order to ensure the positioning of the sample bottles during the lifting process, the lifting table 31 is further provided with a sample bottle clamping and positioning mechanism, which may be a positioning rod structure as shown in fig. 8 or a positioning lath structure; the lifting platform lifting control device 32 comprises a lifting platform lifting driving part, the lifting platform lifting driving part can be a lifting hydraulic cylinder structure, the lifting of the lifting platform 31 is controlled in a mode of hydraulically controlling the lifting hydraulic cylinder, and the lifting platform lifting driving part can also be a driving motor structure, and the lifting of the lifting platform 31 is controlled in a mode of driving a transmission chain or a transmission belt by a driving motor; the sample bottle lifting and conveying electric control device comprises a sample bottle lifting and conveying controller and a sample bottle lifting and conveying control loop, wherein the sample bottle lifting and conveying controller is electrically connected with a table-board conveying belt driving part of the lifting table 31 and a lifting table lifting and driving part of the lifting table lifting and conveying control device 32 respectively.

The automatic sampling unit 4 is horizontally erected and installed above the sample bottle processing unit 2 through a sampling platform, as shown in fig. 9, the automatic sampling unit 4 comprises a walking chassis 41, a tool rack 42, a sampling, grabbing and stacking mechanical arm 43, a sampling rack 44 and an automatic sampling electric control device;

the walking chassis 41 comprises wheels and a wheel driving mechanism in transmission connection with the wheels, the wheel driving mechanism can be an electric control driving structure driven by an electric motor, or a hydraulic driving structure driven by a hydraulic motor, and the like, and coordinate movement of the walking chassis 41 can be realized by controlling the wheel driving mechanism; in order to simplify the mechanism configuration, the traveling chassis 41 may be a linear reciprocating mode without a steering mechanism, and in order to further realize accurate coordinate movement, the traveling chassis 41 may be an RGV structure that moves through linear guide coordinates, or an AGV structure that moves based on laser navigation or visual navigation or magnetic stripe navigation coordinates;

as shown in fig. 10, the tool rack 42 fixedly mounted on the walking chassis 41 is used for positioning and stacking sampling tools, the sampling tools include a roof sealing cover opening and closing tool 421 for opening a roof sealing cover 5 of a raw milk tanker, a fishing rake for fishing foreign matters, a stirring rod for stirring, a sampling tool 422 for sampling, and the like, and temperature sensors may be further disposed on the fishing rake, the stirring rod, and the sampling tool 422; as shown in fig. 12, the opening and closing tool 421 for the roof sealing cover includes a quincunx locknut rotary manipulator, which at least includes a Z-coordinate driving assembly capable of moving in the vertical up-down direction and a C-coordinate driving assembly capable of rotating around a Z coordinate axis, the quincunx locknut rotary manipulator is provided with a plurality of clamping jaws uniformly distributed in the circumferential direction, and the clamping jaws are mounted on the quincunx locknut rotary manipulator through jaw extension control parts extending in the radial direction of the quincunx locknut rotary manipulator, the jaw extension control parts can be linear-motion telescopic cylinders or rotary-motion driving motors, and the clamping state where the plurality of clamping jaws are synchronously retracted or synchronously extended out can be realized by controlling the actions of the jaw extension control parts; as shown in fig. 11, the bottom end of the sampling tool 422 is provided with a quantitative sampling barrel;

the sampling, grabbing and stacking mechanical arm 43 mounted on the traveling chassis 41 at least comprises an X coordinate driving assembly for controlling movement along the horizontal left-right direction, a Y coordinate driving assembly for controlling movement along the horizontal front-back direction and a Z coordinate driving assembly for controlling movement along the vertical up-down direction, and the sampling, grabbing and stacking mechanical arm 43 can adopt a joint mechanical arm structure shown in fig. 9 or other mechanical arm structures such as a door-type truss mechanical arm structure; as shown in fig. 14, the end of the end arm of the sampling, grabbing and stacking mechanical arm 43 is provided with a sampling, grabbing and stacking mechanical arm 431 mounted on the sampling, grabbing and stacking mechanical arm 43 through an a coordinate driving assembly capable of rotating around the X coordinate axis and/or a B coordinate driving assembly capable of rotating around the Y coordinate axis, the sampling, grabbing and stacking mechanical arm 431 is provided with a clamping component comprising two clamping fingers capable of being opened and closed, the clamping fingers are hinged on the sampling, grabbing and stacking mechanical arm 431 and are in transmission connection with a clamping finger opening and closing control mechanism, the clamping finger opening and closing control mechanism can be a hydraulic control structure controlled by a hydraulic cylinder, a pneumatic control structure controlled by an air cylinder, or other opening and closing control structures such as an electric control structure controlled by an electric cylinder, for realizing stable clamping, the clamping components can be arranged in two groups in parallel, for realizing positioning and capturing image pictures and accurately positioning clamping, a visual detection probe is also arranged on the sampling, grabbing and stacking manipulator 431 and/or the walking chassis 41;

as shown in fig. 13, the sampling stage 44 is fixedly mounted on the traveling chassis 41, and includes a receiving stage 441 capable of being abutted to the lifting stage 31 and a funnel assembly 442 positioned above the receiving stage 441, the table of the receiving stage 441 is also a table translation circulating belt type conveying structure including a table conveyor belt driving component, and in order to ensure that the sample bottles are accurately positioned to receive the funnel assembly 442, the receiving stage 441 is further provided with a sample bottle guiding and positioning mechanism, which may be a positioning rod structure as shown in fig. 13 or a positioning lath structure; funnel assembly 442 may include a plurality of funnel bodies (four as shown in fig. 13) arranged side-by-side;

the automatic sampling electric control device comprises an automatic sampling controller and an automatic sampling control loop, wherein the automatic sampling controller is respectively electrically connected with a wheel driving mechanism of the walking chassis 41, a coordinate driving assembly of the sampling grabbing stacking mechanical arm 43, a coordinate driving assembly of the sampling grabbing stacking mechanical arm 431, a clamping finger opening and closing control mechanism of the sampling grabbing stacking mechanical arm 431, a plum blossom-shaped locking nut rotating mechanical arm of the roof sealing cover opening and closing tool 421 and a table-board conveying belt driving part of the bearing table 441.

The centralized electric control unit comprises a central controller which is respectively electrically connected with the sample bottle pneumatic conveying controller of the sample bottle pneumatic conveying unit 1, the sample bottle processing controller of the sample bottle processing unit 2, the sample bottle lifting conveying controller of the sample bottle lifting conveying unit 3 and the automatic sampling controller of the automatic sampling unit 4.

In order to prevent the phenomenon that the bottle caps are accidentally loosened due to vibration and the like in the process of pneumatic conveying of the sample bottles through the pneumatic conveying pipeline 11, so that the leakage of the original milk sample pollutes the pneumatic conveying pipeline 11, as a further improvement scheme of the utility model, the sample bottles are of a double-bottle structure comprising an outer protection bottle and an inner sample bottle which are matched, and the outer protection bottle and the inner sample bottle are respectively provided with detachable bottle caps; the inner diameter of the pneumatic conveying pipeline 11 is matched with the outer diameter of the outer protection bottle; as shown in fig. 3 and 4, the sample bottle cap opening and closing device 22 includes an outer protective bottle opening and closing cap portion and an inner sample bottle opening and closing cap portion, as shown in fig. 1 and 2, the sample bottle transfer device includes a sample bottle grabbing and stacking mechanical arm 23 having a sample bottle grabbing and stacking mechanical arm 231, the sample bottle grabbing and stacking mechanical arm 23 at least includes an X coordinate driving assembly for controlling movement in the horizontal left-right direction, a Y coordinate driving assembly for controlling movement in the horizontal front-back direction, and a Z coordinate driving assembly for controlling movement in the vertical up-down direction, the sample bottle grabbing and stacking mechanical arm 23 may be a joint mechanical arm structure as shown in fig. 1 and 2, or may be other mechanical arm structures such as a portal truss mechanical arm structure, the sample bottle grabbing and stacking mechanical arm 231 may be mounted at the end of the sample bottle grabbing and stacking mechanical arm 23 through an a coordinate driving assembly rotatable about the X coordinate axis and/or a B coordinate driving assembly rotatable about the Y coordinate axis, the sample bottle grabbing and stacking manipulator 231 is provided with a clamping assembly comprising two clamping fingers which can be opened and closed, the clamping fingers are hinged on the sample bottle grabbing and stacking manipulator 231 and are in transmission connection with a clamping finger opening and closing control mechanism, the clamping finger opening and closing control mechanism can be a hydraulic control structure controlled by a hydraulic cylinder, a pneumatic control structure controlled by an air cylinder or an electric control structure controlled by an electric cylinder or other opening and closing control structures, in order to realize the positioning and image capturing and accurate positioning and clamping, the sample bottle grabbing and stacking manipulator 231 is also provided with a visual probe, the coordinate driving assembly of the sample bottle grabbing and stacking mechanical arm 23, the coordinate driving assembly of the sample bottle grabbing and stacking mechanical arm 231 and the clamping finger opening and closing control mechanism of the sample bottle grabbing and stacking mechanical arm 231 are respectively and electrically connected with the sample bottle processing controller. After the outer protective bottle opening and closing bottle cap part of the sample bottle opening and closing bottle cap device 22 opens the bottle cap of the outer protective bottle, the inner sample bottle can be taken out from the inner protective bottle through the sample bottle grabbing and stacking mechanical arm 23 and then stacked on the inner sample bottle opening and closing bottle cap part of the sample bottle opening and closing bottle cap device 22 to open the bottle cap of the inner sample bottle, and then the inner sample bottle is handed over to the sample bottle lifting and conveying unit 3 to perform subsequent sample collection; on the contrary, the inner sample bottle with the original milk sample can be placed into the outer protective bottle through the sample bottle grabbing and stacking mechanical arm 23, the bottle cap is covered on the bottle cap opening and closing part of the outer protective bottle opening and closing device 22 through the sample bottle, and finally the inner sample bottle is sent into the pneumatic conveying pipeline 11 through the sample bottle receiving and sending device 21.

In order to avoid subsequent detection disputes, the raw milk samples collected by a part of the same raw milk tank truck need to be stored for a set time, so as to serve as a further improvement of the present invention, as shown in fig. 1, 2 and 6, the sample bottle processing unit 2 further includes a refrigerator 25, an outer protective bottle buffer storage rack, an inner sample bottle buffer storage rack and a stored sample cleaning device 26, and the stored sample cleaning device 26 includes a sample dumping groove and a spray disinfection mechanism; the inner sample bottles collected with original milk samples can be sequentially stacked in the refrigerator 25 for freezing and preservation through the sample bottle grabbing stacking mechanical arm 23, the outer protection bottles matched with the inner sample bottles can be sequentially stacked on the outer protection bottle caching frame through the sample bottle grabbing stacking mechanical arm 23 for caching, after the set preservation time is up, the inner sample bottles in the refrigerator 25 can be taken out through the sample bottle grabbing stacking mechanical arm 23 and then stacked on the inner sample bottle caching frame for unfreezing, after the unfreezing and uncovering, the original milk samples in the inner sample bottles can be poured into the sample pouring groove of the preserved sample cleaning device 26 through the sample bottle grabbing stacking mechanical arm 23 and are subjected to temporary spray disinfection, then the temporarily disinfected inner sample bottles are stacked to the inner sample bottle opening and closing bottle cap device 22, bottle caps are covered on the bottle cap opening and closing part of the inner sample bottles, and then the inner sample bottles covered with the bottle caps are sequentially stacked into the outer protection bottles, the sample bottles, the outer protection bottles, the sample bottles, the outer protection bottles, the sample bottles, the inner sample bottles, the bottle opening and the bottle caps are stacked through the sample bottles, the bottle opening and the bottle caps are stacked mechanical arm 23, the bottle caps are placed into the sample bottle opening and the bottle caps are placed into the sample bottle caps of the sample bottle opening and the sample bottle caps of the inner sample bottle opening and the inner sample bottle caps of the inner sample bottle opening and the caps of the inner sample bottle caps of the inner sample bottles of the inner sample bottle opening and the inner sample bottle caps of the inner sample bottles of the sample bottle caps of the sample bottle opening and the sample bottle caps of the sample bottle opening and the sample bottles of the sample bottle caps of the sample bottle opening and the sample bottle caps of the sample bottle opening and the sample bottle caps of the sample bottle caps, And the bottle cap is covered on the bottle cap opening and closing part of the outer protective bottle of the sample bottle opening and closing bottle cap device 22, and finally the sample bottle is sent into the pneumatic conveying pipeline 11 through the sample bottle receiving and sending device 21 to be shunted to a laboratory for secondary disinfection.

In order to disinfect and clean the tools such as the fishing rake, the stirring rod, the sampling tool and the like after one-time sampling and collection, as shown in fig. 1 and 2, a clear water tank containing clear water which can be replaced regularly and a disinfection tank containing disinfection liquid which can be replaced regularly are further arranged on the sampling platform of the automatic sampling unit 4 or on the lifting rack of the sample bottle lifting and conveying unit 3. After tools such as a salvaging rake, a stirring rod, a sampling tool and the like and the funnel assembly 442 are used, the mechanical arm 43 can be grabbed and stacked through sampling and is firstly placed into the sterilizing box for sterilization and then placed into the clean water box for cleaning, so that cross contamination is avoided.

In order to carry out even stirring, in order to obtain more accurate former milk sample to the former milk in the former milk tank car before the sample, as the utility model discloses a further improvement scheme, the puddler is hollow tube structure, and the top of puddler is passed through the hose and is connected with the nitrogen gas input source, promptly, snatchs through the sample and puts in good order the manipulator 431 and snatch when the puddler carries out the mechanical motion stirring, further stir through the nitrogen gas of input to can realize more even stirring effect.

In order to simplify the sampling process and improve the sampling efficiency, as shown in fig. 11, the quantitative sampling barrel at the bottom end of the sampling tool 422 includes a weight bottom plate 4221, the weight bottom plate 4221 is connected to the quantitative sampling container through a tapered surface fit connection structure with a large upper part and a small lower part, and a retaining mechanism 4222 capable of retaining the weight bottom plate 4221 to move along the axial direction of the quantitative sampling barrel is arranged in the quantitative sampling barrel, the retaining mechanism 4222 may be a limit block structure capable of limiting the weight bottom plate 4221 to turn as shown in fig. 11, or may be other structures such as a guide groove and a guide protrusion structure which are arranged on the weight bottom plate 4221 and the inner wall of the quantitative sampling barrel in a fit manner; as shown in fig. 13, the funnel assembly 442 has a push rod 4421 extending vertically upward and located at a position corresponding to the weight bottom plate 4221 at the funnel large opening end of the funnel body. According to the arrangement, when the sampling tool 422 is grabbed by the sampling grabbing and stacking manipulator 431 for sampling, the quantitative sampling barrel is submerged below the original milk liquid level only by vertical up-and-down movement, the bottom end of the quantitative sampling barrel can be opened by pushing the heavy hammer bottom plate 4221 to move upwards along the axial direction of the quantitative sampling barrel under the action of the pressure of the original milk, and the heavy hammer bottom plate 4221 can be reset under the action of self gravity to be closed after the interior of the quantitative sampling barrel is filled with the original milk; when the sampling grabbing and stacking manipulator 431 grabs the sampling tool 422 for sampling, the weight bottom plate 4221 can be jacked open by the jacking rod 4421 by vertically moving downwards for a set distance after aligning the funnel component 442, so that the quantitative sampling barrel is opened, and the raw milk sample in the quantitative sampling barrel can flow into the funnel body of the funnel component 442.

In order to improve the sampling efficiency, as shown in fig. 1, 2, and 15, the automatic sampling units 4 are symmetrically provided in two sets with respect to the sample bottle lifting and conveying unit 3, and the two sets of automatic sampling units 4 share the same sample bottle lifting and conveying unit 3.

The central controller of the automatic sampling system of the raw milk tank truck can be connected with a digital bus of a milk and dairy product processing enterprise to realize centralized digital management. When the automatic sampling system initial state of former milk tank car, the walking chassis 41 of automatic sampling unit 4 is located the state of butt joint with sample bottle lift conveying unit 3, and elevating platform 31 is located the handing-over position of sample bottle lift conveying unit 3 bottom, and specific work flow is as follows:

after the raw milk tank truck enters a factory, an automatic sampling system of the raw milk tank truck can be triggered according to the acquisition task number in the SAP system, and the raw milk tank truck is stagnated at a specified sampling station according to a specific sampling address;

as shown in fig. 15, after the raw milk tank truck is stagnated at the designated sampling station, a sampling confirmation program is carried out, the central processing unit automatically photographs and identifies the license plate of the vehicle through the visual detection probe and compares the license plate with the information in the SAP system, the conformity of the pull time is judged, if an abnormal result occurs, the central processing unit automatically identifies and alarms, after an alarm state, a detection person can manually select to stop/continue, or different links are respectively and automatically executed to stop/continue according to a set program, and data information is automatically stored and uploaded to the LIMS system; the central controller controls the walking chassis 41 to start and cruise back and forth along the sampling platform, the visual detection probe automatically takes pictures of the sealing cover 5 of the top of the raw milk tank car and positions the specific coordinate position of the sealing cover 5 of the top of the car, whether the lead seal or the lock of the sealing cover 5 of the top of the car is normal or not and the sanitary conformity of the car body are automatically judged, if an abnormal result occurs, an alarm is automatically identified, and a detector can select to stop/continue after the alarm state, or different links are respectively and automatically executed to stop/continue according to a set program; the data information is automatically stored and uploaded to an LIMS system;

after the sampling confirmation program is performed, the central controller controls the walking chassis 41 to return to the initial position, then controls the sampling, grabbing and stacking mechanical arm 43 to grab and grab tools such as a salvaging rake, a stirring rod, a sampling tool 422 and the like soaked in the disinfection box and the funnel assembly 442 into the clean water box for washing in sequence, and grabs and picks the tools on the tool rack 42 and the sampling rack 44 respectively after washing; the central controller controls the walking chassis 41 to move and be positioned near the roof sealing cover 5 according to the specific coordinate position of the roof sealing cover 5, and the Bluetooth lock of the roof sealing cover 5 is opened after the Bluetooth lock information is automatically matched; after the central controller controls the sampling, grabbing and stacking manipulator 431 to grab the roof sealing cover opening and closing tool 421, the plum blossom-shaped locking nut 51 on the roof sealing cover 5 is unscrewed through the plum blossom-shaped locking nut rotating manipulator, then the coordinate movement pushes the hinged locking bolt 52 to enable the hinged locking bolt to overturn and abdicate along the hinged center to be separated from the outer cover locking bayonet of the roof sealing cover 5, after the central controller controls the sampling, grabbing and stacking manipulator 431 to put the roof sealing cover opening and closing tool 421 back to the tool rack 42, the sampling, grabbing and stacking manipulator 431 is controlled to stably clamp the pull rod 53 of the roof sealing cover 5, and the coordinate movement enables the roof sealing cover 5 to overturn and open around the hinged shaft of the roof sealing cover, so that the opening work of the roof sealing cover 5 is completed, and meanwhile, data information is automatically stored and uploaded to the LIMS system;

then, the central controller firstly carries out image acquisition on the original milk surface layer in the tank through a visual detection probe, then the central controller controls a sampling, grabbing and stacking manipulator 431 to grab a salvaging rake and move in coordinates, salvages the original milk surface layer in the tank and carries out image acquisition on original milk fat on the salvaging rake, then the acquired original milk surface layer image and original milk fat image are checked to be in accordance with the built-in standard original milk surface layer image and original milk fat image and are uploaded to an LIMS system, the images are synchronously filed for 48 hours, and whether an empty sample tank file which is recorded in the LIMS system in advance is automatically identified to be an empty tank or not; the temperature sensor on the salvaging rake can automatically measure the temperature of the raw milk during salvaging, the result is uploaded to the LIMS system to be compared with the set detection temperature range of the raw milk, the process can be stopped when abnormality exists, the system alarms, and data information is automatically stored and uploaded to the LIMS system;

after the above steps all meet the collection requirements, the central controller controls the traveling chassis 41 to return to the initial position, the sample bottle processing unit 2 at the lower layer of the sampling platform receives empty sample bottles with set volume conveyed by the pneumatic conveying pipeline 11 through the sample bottle receiving and sending device 21 and conveys the empty sample bottles to the sample bottle opening and closing device 22 for bottle opening and closing, the empty sample bottles after bottle opening are stacked on the lifting platform 31 through the sample bottle handing-over device, four empty sample bottles can be stacked once aiming at microbial samples, physicochemical samples and sample retention samples, then the central controller controls the lifting platform 31 to lift the empty sample bottles to the sampling platform, controls the lifting platform 31 and the table-board conveyor belt driving part of the receiving platform 441 to simultaneously convey the empty sample bottles in the same direction, and the empty sample bottles are transferred to the receiving platform 441 and are positioned right below the funnel assembly 442 to stand by standby; the central controller controls the walking chassis 41 to move and position to the position near the roof sealing cover 5, then controls the sampling, grabbing and stacking manipulator 431 to grab the stirring rod and move in a coordinate mode to insert the stirring rod to the bottom of the tank, and nitrogen is introduced for stirring while mechanical stirring is carried out; after stirring, the central controller controls the sampling, grabbing and stacking manipulator 431 to grab the sampling tool 422 and move in a coordinate mode to insert the sampling tool 422 to a position which is half of the height of the liquid level in the tank, quantitative sampling is carried out through a quantitative sampling barrel, after sampling, the coordinate moves to the position above a funnel assembly 442, a raw milk sample in the quantitative sampling barrel is injected into an empty sample bottle through the funnel assembly 442, and four samples aiming at a microorganism sample, a physicochemical sample and a sample retention sample are sequentially completed; then the central controller controls the walking chassis 41 to return to the initial position, controls the table-board conveyor belt driving parts of the lifting platform 31 and the receiving platform 441 to simultaneously and reversely convey, transfers the sample bottles containing the raw milk samples to the lifting platform 31, lowers the lifting platform 31 to reset and then stands by, controls the sampling, grabbing and stacking mechanical arm 431 to sequentially place the sampling tools in the clean water tank, washes the sampling tools and then immerses the sampling tools in the disinfection tank to stand by, and controls the sampling, grabbing and stacking mechanical arm 431 to close the roof sealing cover 5 after all sampling tasks of the same raw milk tank truck are completed;

the central controller controls the sample bottle transfer device to sequentially place sample bottles containing raw milk samples on the lifting platform 31 back to the sample bottle opening and closing bottle cap device 22 according to original positions to cover bottle caps, the sample bottles containing the raw milk samples, which are covered on the bottle caps, are conveyed to the code spraying device 24 through the sample bottle translation conveying mechanism to be subjected to code labeling, unique identification (two-dimensional codes or bar codes) is given to each sample, and code printing and labeling information comes from the LIMS system; sample bottles which need to be sent to a laboratory and finish coding and labeling are correspondingly placed in an outer protective bottle with an RFID card one by one through a sample bottle grabbing and stacking mechanical arm 23, bottle caps are covered on the outer protective bottle opening and closing bottle cap part of a sample bottle opening and closing bottle cap device 22, information of the inner sample bottles, the outer protective bottles and conveying bottles is bound through a read-write card device to realize the whole-process sample tracing, the information is sent to each designated laboratory through a sample bottle receiving and sending device 21 according to an LIMS system instruction, data information is automatically stored and uploaded to an LIMS system, and sterilized clean sample empty bottles return from the laboratory along a pneumatic conveying pipeline 11; after being electronically signed by a driver, the sample bottles needing to be backed up and subjected to code printing and labeling are correspondingly placed in a tray of a refrigerator 25 one by a sample bottle grabbing and stacking mechanical arm 23, are frozen and stored according to dates, are taken out by the sample bottle grabbing and stacking mechanical arm 23 after reaching the sample retention time (8 days), are stacked on an inner sample bottle cache frame for unfreezing, are stacked on an inner sample bottle opening and closing bottle cap part of a sample bottle opening and closing bottle cap device 22 through the sample bottle grabbing and stacking mechanical arm 23 after unfreezing, are opened and closed by opening the inner sample bottle opening and closing bottle cap part of the sample bottle opening and closing bottle cap device 22 through the sample bottle grabbing and stacking mechanical arm 23, pour the original milk samples in the bottles into a sample pouring groove of a stored sample cleaning device 26, are temporarily sprayed and sterilized, are stacked on the temporarily sterilized until the inner sample bottles are stacked on the inner sample bottle cap part of the sample bottle opening and closing bottle cap device 22, are capped, and the inner sample bottles covered with bottle caps are stacked into an outer protective bottle through the sample bottle grabbing and stacking mechanical arm 23, And the bottle cap is covered on the bottle cap opening and closing part of the outer protection bottle of the sample bottle opening and closing bottle cap device 22, and finally the sample bottle is sent into the pneumatic conveying pipeline 11 through the sample bottle receiving and sending device 21 to be shunted to a laboratory for thorough disinfection, and data information is automatically stored and uploaded to an LIMS system.

Claims (5)

1. A sample bottle processing unit for sampling of a raw milk tank truck is characterized in that the sample bottle processing unit (2) comprises a sample bottle receiving and sending device (21), a sample bottle cap opening and closing device (22), a sample bottle handing-over device, a code spraying device (24) and a sample bottle processing electric control device;

the sample bottle receiving and sending device (21) comprises a bottom supporting plate (211) which is arranged corresponding to a receiving and sending port of the vertically arranged pneumatic conveying pipeline (11) and a bottom supporting plate lifting mechanism (212) which is connected with the bottom supporting plate (211);

the sample bottle opening and closing bottle cap device (22) is in butt joint with the sample bottle receiving and sending device (21) through a sample bottle translation conveying mechanism penetrating through the sample bottle opening and closing bottle cap device (22), and the sample bottle opening and closing bottle cap device (22) comprises a bottle clamping mechanism (221) arranged horizontally and a cap screwing mechanism (222) arranged vertically;

the sample bottle handing-over device is used for handing-over the sample bottle between the sample bottle processing unit (2) and the subsequent unit;

the code spraying device (24) is arranged along the sample bottle translation conveying mechanism corresponding to the conveying direction of the sample bottle translation conveying mechanism and is used for spraying codes on sample bottles which are filled with raw milk samples and are covered with bottle caps;

the sample bottle processing electric control device comprises a sample bottle processing controller, a sample bottle receiving and sending control loop, a sample bottle conveying control loop, a sample bottle opening and closing bottle cap control loop and a sample bottle code spraying control loop, wherein the sample bottle processing controller is electrically connected with the bottom supporting plate lifting mechanism (212), the sample bottle translation conveying mechanism, the bottle clamping mechanism (221), the cap screwing mechanism (222), the sample bottle handing-over device and the code spraying device (24) respectively.

2. The sample bottle processing unit for sampling of the raw milk tanker according to claim 1, characterized in that the bottle clamping mechanism (221) comprises a clamping telescopic cylinder (2211) with a telescopic direction perpendicular to the conveying direction of the sample bottle translation conveying mechanism, and the telescopic end of the clamping telescopic cylinder (2211) is provided with a clamping chuck (2212) matched with the size of the bottle body of the sample bottle.

3. The sample bottle processing unit for the raw milk tanker sampling according to claim 1, wherein the cap screwing mechanism (222) comprises a cap screwing support frame (2221) and a cap screwing manipulator (2222) installed on the cap screwing support frame (2221), the cap screwing manipulator (2222) is arranged corresponding to the clamping center when the clamping chuck (2212) is closed, and the cap screwing manipulator (2222) is installed on the cap screwing support frame (2221) at least through a Z coordinate driving assembly capable of moving vertically and a C coordinate driving assembly capable of rotating around a Z coordinate axis, the cap screwing manipulator (2222) is provided with a plurality of clamping jaws uniformly distributed along the circumferential direction, and the clamping jaws are installed on the cap screwing manipulator (2222) through a telescopic jaw control part arranged in a telescopic manner along the radial direction of the cap screwing manipulator (2222).

4. The sample bottle processing unit for sampling of the raw milk tanker according to claim 1, 2 or 3, wherein the sample bottle is a double bottle structure comprising an outer protective bottle and an inner sample bottle which are arranged in a matched manner, and the outer protective bottle and the inner sample bottle are respectively provided with a detachable bottle cap;

the inner diameter of the pneumatic conveying pipeline (11) is matched with the outer diameter of the outer protection bottle;

the sample bottle opening and closing bottle cap device (22) comprises an outer protection bottle opening and closing bottle cap part and an inner sample bottle opening and closing bottle cap part, the sample bottle connecting device comprises a sample bottle grabbing and stacking mechanical arm (23) with a sample bottle grabbing and stacking mechanical arm (231), the sample bottle grabbing and stacking mechanical arm (23) at least comprises an X coordinate driving assembly for controlling horizontal left and right movement, a Y coordinate driving assembly for controlling horizontal front and back movement and a Z coordinate driving assembly for controlling vertical up and down movement, the sample bottle grabbing and stacking mechanical arm (231) is arranged at the end part of a tail section arm of the sample bottle grabbing and stacking mechanical arm (23) through an A coordinate driving assembly capable of rotating around an X coordinate axis and/or a B coordinate driving assembly capable of rotating around a Y coordinate axis, and a clamping component comprising two clamping fingers capable of being opened and closed is arranged on the sample bottle grabbing and stacking mechanical arm (231), the clamping fingers are hinged to the sample bottle grabbing and stacking mechanical arm (231), the clamping fingers are in transmission connection with the clamping finger opening and closing control mechanism, and the sample bottle grabbing and stacking mechanical arm (23) coordinate driving assembly, the sample bottle grabbing and stacking mechanical arm (231) coordinate driving assembly and the sample bottle grabbing and stacking mechanical arm (231) clamping finger opening and closing control mechanism are respectively electrically connected with the sample bottle processing controller.

5. The sample bottle processing unit for the sampling of the raw milk tanker according to claim 1, 2 or 3, characterized in that the sample bottle processing unit (2) further comprises a refrigerator (25), an outer protective bottle buffer storage rack, an inner sample bottle buffer storage rack and a preserved sample cleaning device (26), and the preserved sample cleaning device (26) comprises a sample pouring tank and a spray disinfection mechanism.

Images