Muck Sampling and Detection System for Muck Trucks

Abstract

The present invention discloses a muck sampling and detection system for a muck truck, which includes a muck sampling position, a robot, a sampling component and a detection component. A muck truck position sensor is provided at the muck sampling position. The robot is fixedly arranged beside the muck sampling position. The sampling component is fixedly connected to the free end of the robot. A position sensor is provided on the sampling component. The detection component is arranged beside the robot, and the detection component can perform PID detection and XRF detection on the sampled muck. In the present invention, the robot drives the sampling component to automatically perform sampling. After the sampling is completed, it automatically moves to the detection component for detection. The degree of automation of the detection process is high, and it can be applied to the detection of muck on different models of muck trucks, with a wider scope of application. By driving the sampling component to perform sampling by the robot, the sampling position is random, which can better represent the content level of pollutants in the muck, and the sampling success rate is higher. The detection component is not easily affected by frequent movement, which can extend the service life of the detection component.

Description

Technical Field

[0001] The present invention relates to the field of soil pollutant detection, and particularly to a soil sampling and detection system for a muck truck. Background Art

[0002] A muck truck is a vehicle for transporting muck. The muck is loaded in the rear compartment of the muck truck. When the muck in the muck truck is poured into a muck landfill, it is usually necessary to first sample and detect the muck carried on the muck truck.

[0003] During traditional muck sampling and detection, the detector collects and prepares a small amount of soil samples from the muck truck at the detection site for detection. When detecting, it is necessary to hold the detection instrument by hand. Because there is a large amount of muck carried by the muck truck, therefore, when detecting, the randomness of the sampled muck is poor, and sampling can only be carried out near the surface of the muck. The representativeness of the sampled muck is poor. By detecting this part of the muck, the true heavy metal content and the content of VOCs gas in the muck on the entire muck truck cannot be obtained. Secondly, the detection process requires manual detection by the operator, with low efficiency, and the detection data cannot be stored and managed quickly. During the detection process, the detection instrument is easily in contact with the muck, affecting the accuracy of the detection, and improper use of the detection instrument will affect its service life and the accuracy of the detection.

[0004] The first-generation muck sampling device for muck trucks applied by our company (publication number: CN111948378A) discloses a muck detection device. In this solution, the muck sampling mechanism is arranged on the gantry. An X-axis drive device, a Y-axis drive device, and a detection device moving seat are arranged on the gantry. The VOCs gas detection component and the heavy metal detection component are arranged on the detection device moving seat. The sampling mechanism is arranged on the detection device moving seat. The sampling mechanism can move downward and insert into the muck on the muck truck, clamp a part of the muck, rise to the height of the VOCs gas detection component and the heavy metal detection component, and the VOCs gas detection component and the heavy metal detection component move to the side of the sampling mechanism to detect the sampled muck. The disadvantages of this solution are as follows: 1) It can only sample and detect the muck at one part of the muck truck. When the sampling device is sampling, if the resistance is too large, the sampling needs to be stopped, and the sampling device returns to its original position, unable to complete the sampling and detection. Moreover, this sampling mechanism cannot adapt to the muck sampling of muck trucks with different sizes and loading heights. 2) The movement of the sampling mechanism needs to be driven by a hydraulic and pneumatic system, and corresponding pneumatic and hydraulic pipelines need to be configured. The structure is complex, a special electric control cabinet needs to be set up, and the electric control cabinet is placed outdoors without rain shelters and other wind and rain protection measures. The mechanical equipment is prone to damage and needs to be maintained regularly, and the maintenance cost is relatively high. 3) The VOCs gas detection component and the heavy metal detection component are respectively installed on both sides of the sampling mechanism. After the muck sampled by the sampling mechanism rises in place, the VOCs gas detection component and the heavy metal detection component move to the side of the sampling mechanism to detect the muck. Therefore, the VOCs gas detection component and the heavy metal detection component are not fixedly arranged, which increases the risk of damage to the detection instruments in the detection device. 4) The soil sample after collection and detection can only be returned to the muck truck, and cannot be automatically collected directly, which affects the chemical detection of the soil sample sent to the laboratory and cannot realize the comparative analysis of on-site rapid detection data and laboratory chemical detection data. Therefore, it is necessary to improve the existing muck sampling device. Summary of the Invention

[0005] The purpose of the present invention is to provide a muck sampling and detection system for muck trucks to solve the problems existing in the existing muck sampling device described in the background technology, such as inability to adapt to muck trucks of different models, easy damage to the VOCs gas detection component and the heavy metal detection component, the need to use pneumatic and hydraulic systems, and high maintenance costs.

[0006] To achieve the above object, the present invention is realized by the following technical solutions: A muck sampling and detection system for a muck truck, which includes a muck sampling position, a robot, a sampling component, a detection component and a muck recycling component. A muck truck position sensor is provided at the muck sampling position. The robot is fixedly arranged beside the muck sampling position. The sampling component is fixedly connected to the free end of the robot. A position sensor is provided on the sampling component. The detection component is arranged beside the robot and can perform PID detection and XRF detection on the sampled muck. The muck recycling component is arranged beside the detection component and is used for recycling the detected muck.

[0007] In the above solution, a muck recycling component is also provided beside the detection component. The muck recycling component is used for recycling the detected muck. The muck recycling component includes a trailer and a muck container. The size of the muck container is adapted to the size of the support plate of the trailer. Through this setting, it is not only convenient for the recycling of muck, but also convenient for the staff to transport the recycled muck to the laboratory for further detection.

[0008] In the above solution, a protective awning is provided above the muck sampling position. The muck sampling position, the robot, the sampling component, the detection component and the muck recycling component are all arranged inside the protective awning. By setting the protective awning, it can prevent the corrosion of the muck sampling position, the robot, the sampling component, the detection component and the muck recycling component by natural environments such as sunlight and rain, and extend their service lives.

[0009] In the above solution, an electric control room is provided beside the muck sampling position. The robot, the sampling component, the detection component, the electric control devices of the muck truck position sensor and the power supply are all arranged inside the electric control room. By setting the electric control room and arranging all the electric control devices inside it, it can prevent the electric control devices from being exposed to the natural environment and suffering damages such as short circuits and aging, and extend their service lives.

[0010] In the above solution, the sampling component includes a housing, a lifting seat plate, a lifting drive component, a sampling plate, a sampling plate opening and closing control component and a soil pushing mechanism. The lifting seat plate, the lifting drive component, the sampling plate, the sampling plate opening and closing control component and the soil pushing mechanism are all arranged inside the housing. A connecting arm is provided at the rear side of the housing, and a flange seat for connecting with the free end of the robot is provided at the end of the connecting arm;

[0011] There are two sampling plates. The two sampling plates are arranged oppositely, and grooves for accommodating muck are respectively provided on the inner sides of the two sampling plates. A support part for retaining the clamped muck in the grooves is provided below the grooves of the two sampling plates.

[0012] The lifting drive component is fixed on the inner wall of the housing, and the lifting seat plate is fixedly connected to the lifting moving end of the lifting drive component. The sampling plate opening and closing control component and the soil pushing mechanism are both arranged on the lifting seat plate;

[0013] The sampling plate opening and closing control assembly includes an opening and closing drive assembly and a linkage mechanism, which includes a pushing block, link rods, a rotating arm, and an angle iron connecting piece. The inner ends of the two link rods are respectively movably connected to the left and right ends of the pushing block, and the outer ends of the two link rods are respectively connected to the upper free ends of the rotating arm. The lower free end of the rotating arm is fixedly connected to the upper end of the corresponding sampling plate through the angle iron connecting piece. The rotating arm includes a vertical plate and a horizontal plate. The upper end of the vertical plate is the upper free end of the rotating arm, and the lower end of the vertical plate is fixedly connected to the outer end of the horizontal plate. The upper horizontal part of the angle iron connecting piece is fixedly connected to the lower surface of the horizontal plate. The upper end of the sampling plate is fixedly connected to the vertical position of the middle and lower part of the angle iron connecting piece. The middle part of the rotating arm is movably connected to the lifting seat plate through a rotating shaft;

[0014] The opening and closing drive assembly is used to drive the pushing block to move up and down, and drive the opening and closing movement of the sampling plate through the linkage mechanism;

[0015] The earth-pushing mechanism includes an earth-pushing drive assembly and an earth-pushing assembly. The earth-pushing assembly includes a mounting seat and an elastic earth-pushing plate. The mounting seat is fixedly connected to the lifting movable end of the earth-pushing drive assembly. There are two elastic earth-pushing plates, and the elastic earth-pushing plates are respectively movably connected to both sides of the mounting seat. The two elastic earth-pushing plates respectively extend into the grooves of the sampling plate;

[0016] The lifting drive assembly, the opening and closing drive assembly, and the earth-pushing drive assembly are all electric linear drive devices.

[0017] Through the design of the above-mentioned sampling component, the lifting drive component, the opening and closing drive component, and the earth-pushing drive component all adopt electric linear drive devices, eliminating the need to design pneumatic or hydraulic pipelines and control systems. This can greatly simplify the overall structure. With electric drive devices, mechanical devices are less likely to be damaged and have a longer maintenance cycle. Generally, the robot only needs to be maintained once a year, which can significantly reduce the equipment maintenance cost and increase the effective operation time of the equipment. The muck sampling component is installed on the robot and can sample the muck at multiple random sites on the muck truck. The randomness of sampling can better ensure that the sampled muck can represent the true situation of the muck in the muck truck. Compared with the first-generation muck sampling device, the sampling flexibility is higher. In the prior art, since sampling can only be performed at one site, if sampling fails, the sampling will fail. In the muck sampling device of the present invention, when sampling fails at one site, the robot can move the muck sampling device to another site for sampling, which can greatly improve the sampling success rate. The sampling plate opening and closing control component of the above-mentioned muck sampling component uses a linkage mechanism to control the opening and closing of the sampling plate. When the opening and closing drive component drives the pushing block to move downward, it will drive the linkage to rotate downward accordingly, driving the upper free end of the rotating arm to rotate outward and the lower end of the rotating arm to rotate inward, driving the two sampling plates to rotate towards each other and clamp the muck between the two sampling plates. When the opening and closing drive component drives the pushing block to move upward, it will drive the linkage to rotate upward accordingly, driving the upper free end of the rotating arm to rotate inward and the lower end of the rotating arm to rotate outward, causing the two sampling plates to open at a certain angle. Since the upper ends of the two sampling plates are connected to the linkage, the pushing block, and the opening and closing drive component through the rotating arm, when the pushing block is stationary, the angle between the two sampling plates can be ensured to be stable. In this way, during sampling, the sampling plate can be controlled to vertically insert into the muck to improve the penetration force of the sampling plate. When sampling is completed and the sampling plate is clamped, it can also form a stable clamping force on the muck to prevent the muck from falling. The above-mentioned muck sampling component is provided with a soil scraping seat. When sampling is completed and the sampling plate rises, through the relative lifting displacement between the sampling plate and the soil scraping seat, the muck exposed in the gap between the sampling plates can be scraped off, avoiding contamination or damage to the muck detection device and ensuring the accuracy of muck detection.

[0018] In the above solution, a soil scraping seat is further provided inside the housing. The soil scraping seat is arranged below the sampling plate. An opening is provided in the middle of the soil scraping seat, and the sampling plate passes through the opening. A scraping plate is provided in the opening, and the position of the scraping plate is opposite to the gap between the two sampling plates. Through this setting, after the sampling plate samples the muck, the scraping plate can scrape off the muck exposed from the gap between the sampling plates, preventing the muck exposed from the sampling plate from contaminating or damaging the detection instrument of the detection component and extending the service life of the detection component.

[0019] In the above solution, the mounting seat of the earth-pushing assembly includes a first horizontal connecting plate, a vertical connecting plate, a second horizontal connecting plate and a connecting seat. The first horizontal connecting plate is fixedly connected to the lifting movable end of the earth-pushing driving assembly. An opening groove is provided in the middle of the first horizontal connecting plate, and the width of the opening groove is greater than the width of the sampling plate. Two sampling plates pass through the opening groove. Two vertical connecting plates are connected below the first horizontal connecting plate. The two vertical connecting plates are respectively located on the front and rear sides of the gap between the two sampling plates, and the width of the vertical connecting plate is less than the width of the gap between the two sampling plates. The second horizontal connecting plate is fixedly connected to the lower parts of the two vertical connecting plates. The second horizontal connecting plate passes through the gap between the two sampling plates. The connecting seat is fixedly connected to the lower surface of the second horizontal connecting plate. The two elastic earth-pushing plates are respectively movably connected to the left and right sides of the connecting seat, and the lower ends of the two elastic earth-pushing plates respectively abut against the inner walls of the grooves of the corresponding sampling plates. By setting the earth-pushing assembly, after the detection of the muck is completed, the robot drives the sampling assembly to move to the muck recycling assembly, and can quickly and thoroughly push out the muck in the sampling plate, so that the muck falls into the muck recycling assembly, which can not only avoid the influence of the residual muck on the subsequent detection, but also facilitate the recycling and detection of the muck.

[0020] In the above solution, the connecting seat includes a bottom plate and two connecting columns arranged on the upper surface of the bottom plate. The connecting columns are fixedly connected to the second horizontal connecting plate. An empty groove is formed between the two connecting columns. Assembly grooves are respectively provided on the left and right sides of the bottom plate, and assembly holes are provided on both sides of the assembly groove. A through hole corresponding to the middle of the elastic earth-pushing plate is provided. The elastic earth-pushing plate is movably connected to the assembly groove through a connecting shaft. The upper parts of the two elastic earth-pushing plates extend to a height corresponding to the empty groove. A spring connecting column is provided on the inner side surface of the elastic earth-pushing plate. Two spring fixing columns corresponding to the spring connecting columns are provided on the lower surface of the second horizontal connecting plate. The spring connecting columns on the two elastic earth-pushing plates are correspondingly connected to the spring fixing columns on the lower surface of the second horizontal connecting plate through springs. Through this setting, the earth-pushing assembly can push out the muck more quickly and thoroughly.

[0021] In the above solution, guardrails are respectively provided on the left and right sides of the muck sampling position, and gate barriers are respectively provided on the front and rear sides of the muck sampling position. Status indicator lights are provided on the gate barriers. By setting the guardrails, the muck sampling position can be separated from the outer robots, sampling assemblies, detection assemblies, electrical control rooms and muck recycling assemblies, preventing the car from colliding with the peripheral components due to misoperation and causing damage to these devices. By setting the gate barriers, the muck trucks entering the muck sampling position can be limited, and at the same time, other vehicles are prevented from accidentally entering the detection area. By setting the status indicator lights on the gate barriers, it is not only convenient for the muck truck drivers to know the detection status, but also convenient for the muck truck drivers to understand the detection results of the muck.

[0022] In the above solution, the robot is fixedly arranged on a robot fixing base. A detection table is provided on the robot fixing base, and the detection assembly is fixedly installed on the detection table. A maintenance ladder is provided beside the detection table, and the top of the maintenance ladder is adapted to the height of the detection table. By providing the robot fixing base, the height of the robot can be adjusted to adapt to the heights of various muck trucks, enabling the sampling assembly to sample muck trucks of various models; by providing the detection table, it is convenient for the assembly of the detection assembly. After the sampling assembly has completed sampling, the robot can send the sampled muck into the detection assembly for detection. At the same time, by providing the maintenance ladder, it is convenient for staff to perform maintenance on the robot, the sampling assembly, and the detection assembly.

[0023] The present invention has positive effects: 1) In the muck sampling and detection system for muck trucks of the present invention, the robot drives the sampling assembly to perform sampling, so it can be applied to the detection of muck on different models of muck trucks, with a wider scope of application; 2) In the muck sampling and detection system for muck trucks of the present invention, the robot drives the sampling assembly to perform sampling, and the sampling position is random, which can better represent the content level of pollutants in the muck; 3) In the muck sampling and detection system for muck trucks of the present invention, the robot drives the sampling assembly to perform sampling. When there are stones at the first selected position and sampling is impossible, the robot can also drive the sampling assembly to move to change the sampling position. Compared with the sampling assembly arranged on the gantry in the prior art, the sampling success rate of the present invention is higher; 4) In the muck sampling and detection system for muck trucks of the present invention, the detection assembly is fixedly arranged on the detection table and does not need to move with the sampling assembly. Instead, after the sampling assembly has completed sampling, it carries the muck into the detection assembly for detection. Therefore, the detection assembly is not easily affected by frequent movement and can extend the service life of the detection assembly; 5) In the muck sampling and detection system for muck trucks of the present invention, a muck sampling position is set, and a muck truck position sensor is provided. Therefore, when the muck truck drives to the muck sampling position and stops in place, the robot can be triggered to start automatically detecting the muck on the muck truck. After the detection is completed, the detection result data can be transmitted to the console in a timely manner through the network, and the staff can quickly determine whether the content of harmful gases and heavy metals in the muck on the muck truck exceeds the standard. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of the muck sampling and detection system for muck trucks of the present invention.

[0025] Figure 2 It is a schematic structural position diagram of the muck truck, the robot, the sampling assembly, the detection assembly, and the muck recycling assembly of the present invention.

[0026] Figure 3 It is a schematic connection structure diagram of the robot and the sampling assembly of the present invention.

[0027] Figure 4 This is a schematic structural diagram of the muck sampling device of the present invention.

[0028] Figure 5 This is a schematic structural diagram of the internal components of the housing of the muck sampling device of the present invention.

[0029] Figure 6 This is a schematic rear - side structural diagram of the internal components of the housing of the muck sampling device of the present invention.

[0030] Figure 7 This is a schematic front - side structural diagram of the internal components of the housing of the muck sampling device of the present invention.

[0031] Figure 8 This is a schematic structural diagram of the internal components of the housing of the muck sampling device of the present invention (with one sampling plate removed).

[0032] Figure 9 This is a schematic connection structure diagram of the elastic earth - pushing plate and the connection seat of the earth - pushing component.

[0033] In the figure, there are muck truck 1, muck sampling position 2, gate 21, guardrail 22, robot 3, sampling component 4, housing 41, opening 411, flange seat 412, lifting seat plate 42, limiting component 421, fixed seat plate 4211, adjustable ejector rod 4212, lifting drive component 43, sampling plate 44, groove 441, support part 442, sampling - plate opening - and - closing control component 45, opening - and - closing drive component 451, link mechanism 452, pushing block 4521, link 4522, swing arm 4523, angle - iron connecting piece 4524, earth - pushing mechanism 46, earth - pushing drive component 461, earth - pushing component 462, mounting seat 4621, first horizontal connecting plate 46211, opening slot 462111, vertical connecting plate 46212, second horizontal connecting plate 46213, connection seat 46214, bottom plate 462141, connecting column 462142, tension spring 46215, elastic earth - pushing plate 4622, connecting part 46221, elastic earth - pushing part 46222, reinforcing angle iron 463, position sensor 47, soil - scraping seat 48, opening 481, scraper 482, dust - proof cover 49, detection component 5, muck recycling component 6, trailer 61, muck container 62, robot fixing seat 7, detection table 71, maintenance ladder 72, protective awning 8, and electric control room 9. Detailed implementation manners

[0034] The technical solutions of the present invention will be clearly and completely described below through embodiments. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the scope of protection of the present invention.

[0035] As shown Figure 1 in the figure, a muck sampling and detection system for a muck truck according to the present invention includes a muck sampling position 2, a robot 3, a sampling assembly 4, a detection assembly 5, and a muck recycling assembly 6.

[0036] The muck sampling position 2 can be a muck sampling position flush with the ground on the ground, or a muck sampling position protruding from the ground or recessed. A muck truck position sensor is provided at the muck sampling position, and the muck truck position sensor can detect whether the parking position of the muck truck is in place, so as to facilitate the robot to drive the sampling assembly to sample the muck.

[0037] The robot 3 can be an existing robot or a robot. For example, a six-axis robot of ABB Company can be used. The specific structure, control method, and working principle of the robot can all adopt existing technologies and will not be elaborated here.

[0038] In order to make the height of the robot 3 adapt to the height of the muck truck 1, a robot fixing seat 7 can be set beside the muck sampling position 2. By setting the robot fixing seat 7, the height of the robot can be increased, so that the robot 3 and the sampling assembly 4 can sample various models of muck trucks 1.

[0039] In order to facilitate the assembly of the detection assembly 5, a detection table 71 is provided on the robot fixing seat 7. The position of the detection table 71 can be set as required. Preferably, it is set at the top of the robot fixing seat 7. The detection table 71 can be set as a horizontal detection table, and an assembly hole is provided on the detection table 71. The detection assembly 5 is fixedly arranged at the assembly hole.

[0040] The detection assembly 5 is arranged beside the robot 3, and the detection assembly 5 can perform PID detection and XRF detection on the sampled muck. The specific structure of the detection assembly can be designed as required. A PID detector for detecting the content of harmful gases in the muck and an XRF detector for detecting the content of heavy metals in the muck are provided in the detection assembly 5. The specific structure of the detection assembly 5 does not involve the improvement points of the present invention, so it will not be elaborated here.

[0041] In order to facilitate the maintenance and repair of the robot 3, the sampling assembly 4, and the detection assembly 5, a maintenance ladder 72 can also be set beside the detection table. The staff can climb onto the detection table 71 through the maintenance ladder 72 to maintain and repair the robot 3, the sampling assembly 4, and the detection assembly 5.

[0042] For the convenience of recycling construction waste, a construction waste recycling component 6 is provided beside the detection component 5. The construction waste recycling component 6 includes a trailer 61 and a construction waste container 62, and the size of the construction waste container 62 is adapted to the size of the support plate of the trailer 61. To prevent the construction waste from spilling outside the construction waste container, a construction waste funnel can be set on the detection table 71. Placing the construction waste container 62 directly below the construction waste funnel can completely recycle the construction waste into the construction waste container. After the construction waste detection is completed, the robot 3 can directly drive the sampling component 4 to move above the construction waste recycling component 6 and push the construction waste into the construction waste recycling component 6 for backup and further detection of the construction waste.

[0043] To prevent the equipment from being corroded by natural environments such as wind, sun, and rain, a protective awning 8 is provided above the construction waste sampling position 2. The construction waste sampling position 2, the robot 3, the sampling component 4, the detection component 5, and the construction waste recycling component 6 are all arranged inside the protective awning 8. By setting the protective awning 8, the service life of these devices is extended.

[0044] To prevent the electric control devices from being damaged such as short-circuited and aged when exposed to the natural environment, an electric control room 9 is provided beside the construction waste sampling position 2. The electric control devices of the robot 3, the sampling component 4, the detection component 5, the construction waste vehicle position sensor, and the power supply are all arranged inside the electric control room 9. By setting the electric control room 9 and arranging all the electric control devices inside the electric control room 9, the service life of these electric control devices can be extended.

[0045] To prevent the construction waste vehicle from colliding with components such as the robot 3, the sampling component 4, the detection component 5, the electric control room 9, and the construction waste recycling component 6 outside the construction waste sampling position 2 due to misoperation, resulting in damage to these devices, protective fences 22 are respectively provided on the left and right sides of the construction waste sampling position 2, and gate barriers 21 are respectively provided on the front and back sides of the construction waste sampling position 2. Status indicator lights are provided on the gate barriers 21. By setting the protective fences 22, the construction waste sampling position 2 can be isolated from the robot 3, the sampling component 4, the detection component 5, the electric control room 9, and the construction waste recycling component 6 outside, preventing the construction waste vehicle from colliding with the peripheral components due to misoperation and causing damage to these devices. By setting the gate barriers 21, the construction waste vehicle entering the construction waste sampling position can be limited, and at the same time, other vehicles are prevented from accidentally entering the detection area. By setting the status indicator lights on the gate barriers, it is not only convenient for the construction waste vehicle driver to know the detection status but also convenient for the construction waste vehicle driver to understand the detection results of the construction waste.

[0046] The sampling component 4 is a sampling component fixedly connected to the free end of the robot. It includes a housing 41, a lifting seat plate 42, a lifting drive component 43, a sampling plate 44, a sampling plate opening and closing control component 45, and a soil pushing mechanism 46; the lifting seat plate 42, the lifting drive component 43, the sampling plate 44, the sampling plate opening and closing control component 45, and the soil pushing mechanism 46 are all arranged inside the housing 41.

[0047] The housing 41 is a rectangular or other-shaped housing. An opening 411 is provided at the lower end of the housing 41. The sampling plate 44 can extend downward from the opening 411 to sample the muck on the muck truck 1. The housing 41 can be made of a high-strength and corrosion-resistant material. To facilitate the maintenance of the components inside the housing, the housing can be set as a detachable housing. To facilitate the connection between the housing 41 and the robot 3, a flange seat 412 that can be connected to the free end of the robot 3 is provided on the rear side plate of the housing.

[0048] To facilitate the detection of the height of the muck truck 1 and the height of the muck loaded on the muck truck 1, a position sensor 47 is also provided on the housing 41. The position sensor 47 can be set at a position in the housing 41 close to the opening 411 at the lower end of the housing.

[0049] The rear side plate of the housing 41 is a mounting plate, and the lifting drive assembly 43 is fixedly arranged on the rear side plate. The lifting drive assembly 43 can adopt a variety of electric-driven linear drive devices. For example, a lead screw transmission mechanism driven by a motor can be adopted. To prevent dust or muck from polluting the lifting drive assembly, a dust-proof cover 49 can be arranged outside the lifting drive assembly. The dust-proof cover 49 is an elastic and retractable dust-proof cover.

[0050] The lifting seat plate 42 is a plate-shaped member with a certain strength. The lifting seat plate 42 is fixedly connected to the lifting movable end of the lifting drive assembly 43. To ensure the stability of the lifting movement of the lifting seat plate 42, the lifting movable end of the lifting drive assembly 43 can adopt a long plate-shaped member.

[0051] There are two sampling plates 44. The two sampling plates 44 are arranged oppositely, and grooves 441 for accommodating muck are respectively provided on the inner sides of the two sampling plates 44. Below the grooves 441 of the two sampling plates 44, there are support parts 442 for retaining the clamped muck in the grooves 441.

[0052] The sampling plate opening and closing control assembly 45 and the earth-pushing mechanism 46 are both fixedly arranged on the lifting seat plate 42. The sampling plate opening and closing control assembly 45 is arranged in the upper middle part of the lifting seat plate 42, and the earth-pushing mechanism 46 is arranged beside the sampling plate opening and closing control assembly 45.

[0053] The sampling plate opening and closing control assembly 45 includes an opening and closing drive assembly 451 and a connecting rod mechanism 452. The connecting rod mechanism 452 includes a pushing block 4521, connecting rods 4522, a rotating arm 4523, and an angle iron connecting piece 4524. The inner ends of the two connecting rods 4522 are respectively movably connected to the left and right ends of the pushing block 4521. The outer ends of the two connecting rods 4522 are respectively connected to the upper free ends of the rotating arm 4523. The lower free end of the rotating arm 4523 is fixedly connected to the upper end of the corresponding sampling plate 44 through the angle iron connecting piece 4524. The rotating arm 4523 includes a vertical plate and a horizontal plate. The upper end of the vertical plate is the upper free end of the rotating arm. The lower end of the vertical plate is fixedly connected to the outer end of the horizontal plate. The upper horizontal part of the angle iron connecting piece 4524 is fixedly connected to the lower surface of the horizontal plate. The upper end of the sampling plate 44 is fixedly connected to the vertical position at the lower part of the angle iron connecting piece 4524. The middle part of the rotating arm 4523 is movably connected to the lifting seat plate 42 through a rotating shaft.

[0054] In the above solution, a limiting assembly 421 can also be provided on the lifting seat plate 42. The limiting assembly 421 is arranged below the pushing block 4521 of the sampling plate opening and closing control assembly 45. The limiting assembly 421 includes a fixed seat plate 4211 and an adjustable ejector rod 4212 connected to the fixed seat plate 4211. The adjustable ejector rod 4212 faces the lower surface of the pushing block 4521. By providing the limiting assembly 421, the downward movement range of the pushing block 4521 of the sampling plate opening and closing control assembly 45 can be restricted. Since the adjustable ejector rod 4212 is adopted, the height of the adjustable ejector rod 4212 can be adjusted according to the clamping force requirement of the sampling plate 44, so that the clamping force of the sampling plate 44 on the muck reaches the required state.

[0055] The opening and closing drive assembly 451 is used to drive the pushing block 4521 to move up and down, and drive the opening and closing movement of the sampling plate 44 through the connecting rod mechanism 452. The opening and closing drive assembly 451 can adopt a variety of electric-driven linear drive devices. For example, a lead screw transmission mechanism driven by a motor can be adopted. In order to prevent dust or muck from polluting the opening and closing drive assembly, a dust-proof cover 49 can be provided outside the opening and closing drive assembly 451. The dust-proof cover 49 is an elastic and telescopic dust-proof cover.

[0056] The earth-pushing mechanism 46 includes an earth-pushing drive assembly 461 and an earth-pushing assembly 462. The earth-pushing assembly 462 includes a mounting seat 4621 and elastic earth-pushing plates 4622. The mounting seat 4621 is fixedly connected to the lifting movable end of the earth-pushing drive assembly 461. There are two elastic earth-pushing plates 4622. The elastic earth-pushing plates 4622 are respectively movably connected to both sides of the mounting seat 4621. The two elastic earth-pushing plates 4622 respectively extend into the groove 441 of the sampling plate 44.

[0057] Specifically, the mounting base 4621 of the earth-pushing assembly 462 includes a first horizontal connecting plate 46211, a vertical connecting plate 46212, a second horizontal connecting plate 46213 and a connecting seat 46214. The first horizontal connecting plate 46211 is fixedly connected to the lifting movable end of the earth-pushing drive assembly 461. An opening groove 462111 is provided in the middle of the first horizontal connecting plate 46211. The width of the opening groove 462111 is greater than the width of the sampling plate 44. The two sampling plates 44 pass through the opening groove 462111. The two vertical connecting plates 46212 are connected below the first horizontal connecting plate 46211. The two vertical connecting plates 46212 are respectively located on the front and rear sides of the gap between the two sampling plates 44, and the width of the vertical connecting plate 46212 is less than the width of the gap between the two sampling plates 44. The second horizontal connecting plate 46213 is fixedly connected to the lower parts of the two vertical connecting plates 46212. The second horizontal connecting plate 46213 passes through the gap between the two sampling plates 44. The connecting seat 46214 is fixedly connected to the lower surface of the second horizontal connecting plate 46213. The two elastic earth-pushing plates 4622 are respectively movably connected to the left and right sides of the connecting seat 46214. The lower ends of the two elastic earth-pushing plates 4622 respectively abut against the inner walls of the grooves 441 of the corresponding sampling plates 44. With this setting, after the sampling assembly 4 delivers the sampled muck to the muck detection device 5 for detection, the robot 3 can move the sampling assembly 4 to the muck recycling assembly 6. Then, the opening and closing drive assembly 451 drives the lower parts of the two sampling plates 44 to move outward, releasing the clamping of the muck. The lifting drive assembly 43 drives the lifting seat plate 42 to rise. At the same time, the earth-pushing drive assembly 461 drives the earth-pushing assembly 462 to descend, so that the elastic earth-pushing plates 4622 push the muck between the two sampling plates 44 out of the grooves 441 in the sampling plates 44 and fall into the muck recycling assembly 6, facilitating further detection analysis and backup of the collected muck.

[0058] The above-mentioned connecting seat 46214 includes a bottom plate 462141 and two connecting columns 462142 arranged on the upper surface of the bottom plate 462141. The connecting columns 462142 are fixedly connected to the second horizontal connecting plate 46213. An empty groove is formed between the two connecting columns 462142. Assembly grooves are respectively provided on the left and right sides of the bottom plate. Assembly holes are provided on both sides of the assembly groove. Through holes corresponding to the middle parts of the elastic earth-pushing plates 4622 are provided. The elastic earth-pushing plates 4622 are movably connected to the assembly grooves through connecting shafts. The upper parts of the two elastic earth-pushing plates 4622 extend to a height corresponding to the empty groove. Spring connecting columns are provided on the inner side surfaces of the elastic earth-pushing plates 4622. Two spring fixing columns corresponding to the spring connecting columns are provided on the lower surface of the second horizontal connecting plate 46213. The spring connecting columns on the two elastic earth-pushing plates 4622 are correspondingly connected to the spring fixing columns on the lower surface of the second horizontal connecting plate 46213 through a spring 46215.

[0059] A reinforcing angle iron 463 is provided between the first horizontal connecting plate 46211 and the lifting movable plate of the earth-pushing drive assembly 461. By providing the reinforcing angle iron 463, the connection between the first horizontal connecting plate 46211 and the lifting movable plate of the earth-pushing drive assembly 461 can be made more firm, and the bending deformation of the connection part can be prevented, ensuring that the earth-pushing mechanism 46 can move up and down in a straight line and making the pushing out of the muck more thorough.

[0060] The above-mentioned elastic earth-pushing plate 4622 includes a connecting part 46221 and an elastic earth-pushing part 46222. The connecting part 46221 is movably connected to the connecting seat 46221, and the elastic earth-pushing part 46222 is obliquely connected below the connecting part 46221 at an angle α. The inclination angle α can be set as required, preferably 30-60°, and the elastic earth-pushing part 46222 is inclined towards the groove 441 in the sampling plate 44. By setting the inclination angle of the elastic earth-pushing part 46222, the effect of pushing out the muck can be better.

[0061] The earth-pushing drive assembly 461 is used to drive the earth-pushing assembly 462 to move downward, so that the elastic earth-pushing plate 4622 slides downward in the groove 441 inside the sampling plate 44 to push out the muck in the sampling plate 44. The earth-pushing drive assembly 461 can adopt a variety of electric-driven linear drive devices. For example, a lead screw transmission mechanism driven by a motor can be adopted. In order to prevent dust or muck from contaminating the opening and closing drive assembly 451, a dust-proof cover 49 can be provided outside the earth-pushing drive assembly. The dust-proof cover 49 is an elastic and telescopic dust-proof cover.

[0062] In the above solution, a soil scraping seat 48 can also be provided inside the housing 41. The soil scraping seat 48 is arranged at the lower part of the sampling plate 44. An opening 481 is provided in the middle of the soil scraping seat 48. The sampling plate 44 passes through the opening 481. A scraping plate 482 is provided in the opening 481. The position of the scraping plate 482 is opposite to the gap between the two sampling plates 44. By providing the soil scraping seat 48 and the scraping plate 482, after the sampling plate 44 samples the muck from the muck truck 1 and rises through the soil scraping seat 48, the scraping plate 482 can scrape off the excess muck outside the gap between the two sampling plates 44, avoiding contaminating the detection instrument during subsequent muck detection.

[0063] In the above solution, a power signal connection seat and a cable drag chain are further provided on the inner wall of the housing 41. The power lines and signal lines of the opening and closing drive assembly 451 and the earthmoving drive assembly 461 pass through the cable drag chain. The power lines and signal lines of the lifting drive assembly 43, the opening and closing drive assembly 451, and the earthmoving drive assembly 461 are respectively connected to the power signal connection seat. By providing the power signal connection seat, it is convenient for the lifting drive assembly 43, the opening and closing drive assembly 451, and the earthmoving drive assembly 461 to be connected to the power supply and controller outside the housing 41. Since the opening and closing drive assembly 451 and the earthmoving drive assembly 461 will move up and down with the lifting of the lifting seat plate 42, therefore, the power lines and signal lines are prone to entanglement or bending, and may even be pulled off. By providing the cable drag chain, it can protect the power lines and signal lines of the opening and closing drive assembly 451 and the earthmoving drive assembly 461 provided on the lifting seat plate 42.

[0064] Through the design of the above-mentioned sampling component 4, the lifting drive component 43, the opening and closing drive component 451, and the earth-pushing drive component 461 all adopt electric linear drive devices, eliminating the need to design pneumatic or hydraulic pipelines and control systems. This can greatly simplify the overall structure. With electric drive devices, mechanical devices are less likely to be damaged, and the maintenance cycle is relatively long. Generally, the robot only needs to be maintained once a year, which can significantly reduce the equipment maintenance cost and increase the effective operation time of the equipment. The muck sampling component is installed on the robot and can sample the muck at multiple random sites on the muck truck. The randomness of sampling can better ensure that the sampled muck can represent the true situation of the muck in the muck truck. Compared with the first-generation muck sampling device, the sampling flexibility is higher. In the prior art, since sampling can only be performed at one site, if sampling fails, the sampling will fail. In the muck sampling device of the present invention, when sampling fails at one site, the robot can move the muck sampling device to another site for sampling, which can greatly improve the sampling success rate. The sampling plate opening and closing control component of the above-mentioned muck sampling component adopts a link mechanism to control the opening and closing of the sampling plate. When the opening and closing drive component drives the push block to move downward, the link will be driven to rotate downward accordingly, driving the upper free end of the rotating arm to rotate outward and the lower end of the rotating arm to rotate inward, driving the two sampling plates to rotate towards each other and clamp the muck between the two sampling plates. When the opening and closing drive component drives the push block to move upward, the link will be driven to rotate upward accordingly, driving the upper free end of the rotating arm to rotate inward and the lower end of the rotating arm to rotate outward, causing the two sampling plates to open at a certain angle. Since the upper ends of the two sampling plates are connected to the link, the push block, and the opening and closing drive component through the rotating arm, when the push block is stationary, the angle between the two sampling plates can be ensured to be stable. In this way, during sampling, the sampling plate can be controlled to vertically insert into the muck to improve the penetration force of the sampling plate. When sampling is completed and the sampling plate is clamped, a stable clamping force can be formed on the muck to prevent the muck from falling. The above-mentioned muck sampling component is provided with a soil scraping seat. When sampling is completed and the sampling plate rises, through the relative lifting displacement between the sampling plate and the soil scraping seat, the muck exposed in the gap between the sampling plates can be scraped off, avoiding contamination or damage to the muck detection device and ensuring the accuracy of muck detection.

[0065] The muck sampling and detection system for a muck truck according to the present invention, when in use, after the muck truck loaded with muck drives to the muck sampling position, the position sensor of the muck truck detects that the position of the muck truck is in place, and then triggers the detection process. The robot drives the sampling assembly to move above the muck truck. The position sensor arranged on the sampling assembly detects the height of the muck truck and the height of the muck. According to the detection results, the robot drives the sampling assembly to descend and randomly sample at a position in the muck loaded on the muck truck. When sampling, the robot drives the sampling assembly to move to a position at a certain height above the muck. The lifting drive device drives the lifting seat plate to move downward, drives the sampling plate to move downward, and extends out from the opening below the housing and inserts into the muck on the muck truck. After the sampling plate is inserted into the muck to a certain depth, the opening drive assembly drives the push block to move downward, drives the connecting rod to rotate downward, drives the upper free end of the rotating arm to rotate outward, so that the sampling plate connected to the lower free end of the rotating arm rotates inward to clamp the sampled muck. Then the lifting drive device drives the lifting seat plate to move upward, so that the sampling plate retracts into the housing. When passing through the soil scraping seat, the scraping plate scrapes off the muck exposed outside the sampling plate. Then the robot drives the muck sampling device to move to the detection port of the muck detection device. The lifting drive device drives the lifting seat plate to descend, so that the lower end of the sampling plate carrying the sampled muck extends into the detection port of the muck detection assembly to perform PID and XRF detections on the muck, and obtain data on the harmful gas content and heavy metal content in the muck. After the detection is completed, the detection assembly transmits the detection results to the console through the communication network. The staff judges whether the harmful gas and heavy metal content of the muck truck exceed the standard according to the detection results; the lifting drive device drives the lifting seat plate to move upward, so that the sampling plate leaves the muck detection assembly. Then the robot drives the muck sampling device to move to the muck recycling assembly. The earth-pushing drive assembly drives the earth-pushing mechanism to move downward, drives the elastic earth-pushing plate to move downward along the groove inside the sampling plate, and pushes the muck sampled in the sampling plate into the muck recycling assembly, so as to facilitate further detection or backup processing of the muck.

[0066] Although the embodiments of the present invention have been shown and described, for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A muck sampling and detection system for a muck truck, characterized in that: it includes a muck sampling position, a robot, a sampling component and a detection component. A muck truck position sensor is provided at the muck sampling position. The robot is fixedly arranged beside the muck sampling position. The sampling component is fixedly connected to the free end of the robot. A position sensor is provided on the sampling component. The detection component is arranged beside the robot, and the detection component can perform PID detection and XRF detection on the sampled muck; the sampling component includes a housing, a lifting seat plate, a lifting drive component, a sampling plate, a sampling plate opening and closing control component and a soil pushing mechanism. The lifting seat plate, the lifting drive component, the sampling plate, the sampling plate opening and closing control component and the soil pushing mechanism are all arranged in the housing. A connecting arm is provided at the rear side of the housing, and a flange seat for connecting with the free end of the robot is provided at the end of the connecting arm; there are two sampling plates, the two sampling plates are arranged oppositely, grooves for accommodating muck are respectively provided on the inner sides of the two sampling plates, and a supporting part for retaining the clamped muck in the grooves is provided below the grooves of the two sampling plates; the lifting drive component is fixed on the inner wall of the housing, the lifting seat plate is fixedly connected to the lifting movable end of the lifting drive component, and the sampling plate opening and closing control component and the soil pushing mechanism are both arranged on the lifting seat plate; the sampling plate opening and closing control component is used to control the opening and closing movement of the sampling plate; the soil pushing mechanism includes a soil pushing drive component and a soil pushing component. The soil pushing component includes a mounting seat and an elastic soil pushing plate. The mounting seat is fixedly connected to the lifting movable end of the soil pushing drive component. There are two elastic soil pushing plates, and the elastic soil pushing plates are respectively movably connected to both sides of the mounting seat, and the two elastic soil pushing plates respectively extend into the grooves of the sampling plate; a muck recycling component is also provided beside the detection component. The muck recycling component is used to recycle the muck after detection. The muck recycling component includes a trailer and a muck container, and the size of the muck container is adapted to the size of the support plate of the trailer.

2. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: a protective awning is provided above the muck sampling position, and the muck sampling position, the robot, the sampling component and the detection component are all arranged in the protective awning.

3. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: an electric control room is provided beside the muck sampling position, and the robot, the sampling component, the detection component, the electric control devices of the muck truck position sensor and the power supply are all arranged in the electric control room.

4. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: The sampling plate opening and closing control assembly includes an opening and closing drive assembly and a link mechanism. The link mechanism includes a pushing block, link rods, a rotating arm, and an angle iron connecting piece. The inner ends of the two link rods are respectively movably connected to the left and right ends of the pushing block. The outer ends of the two link rods are respectively connected to the upper free ends of the rotating arm. The lower free end of the rotating arm is fixedly connected to the upper end of the corresponding sampling plate through the angle iron connecting piece. The rotating arm includes a vertical plate and a horizontal plate. The upper end of the vertical plate is the upper free end of the rotating arm. The lower end of the vertical plate is fixedly connected to the outer end of the horizontal plate. The upper horizontal part of the angle iron connecting piece is fixedly connected to the lower surface of the horizontal plate. The upper end of the sampling plate is fixedly connected to the vertical position of the middle and lower part of the angle iron connecting piece. The middle part of the rotating arm is movably connected to the lifting seat plate through a rotating shaft; The opening and closing drive assembly is used to drive the pushing block to move up and down, and drive the opening and closing of the sampling plate through the link mechanism; The lifting drive assembly, the opening and closing drive assembly, and the earth-pushing drive assembly are all electric linear drive devices.

5. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: A soil scraping seat is further provided in the housing. The soil scraping seat is arranged below the sampling plate. An opening is provided in the middle of the soil scraping seat. The sampling plate passes through the opening. A scraping plate is provided in the opening. The position of the scraping plate is opposite to the gap between the two sampling plates.

6. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: The mounting seat of the earth-pushing assembly includes a first horizontal connecting plate, a vertical connecting plate, a second horizontal connecting plate, and a connecting seat. The first horizontal connecting plate is fixedly connected to the lifting movable end of the earth-pushing drive assembly. An opening groove is provided in the middle of the first horizontal connecting plate. The width of the opening groove is greater than the width of the sampling plate. The two sampling plates pass through the opening groove. The two vertical connecting plates are connected below the first horizontal connecting plate. The two vertical connecting plates are respectively located on the front and rear sides of the gap between the two sampling plates. And the width of the vertical connecting plate is less than the width of the gap between the two sampling plates. The second horizontal connecting plate is fixedly connected to the lower parts of the two vertical connecting plates. The second horizontal connecting plate passes through the gap between the two sampling plates. The connecting seat is fixedly connected to the lower surface of the second horizontal connecting plate. The two elastic earth-pushing plates are respectively movably connected to the left and right sides of the connecting seat. The lower ends of the two elastic earth-pushing plates respectively abut against the inner walls of the grooves of the corresponding sampling plates.

7. The muck sampling and detection system for a muck truck according to claim 6, characterized in that: The connecting seat includes a bottom plate and two connecting columns arranged on the upper surface of the bottom plate. The connecting columns are fixedly connected to the second horizontal connecting plate. An empty groove is formed between the two connecting columns. Assembly grooves are respectively provided on the left and right sides of the bottom plate, and assembly holes are provided on both sides of the assembly grooves. Through holes corresponding thereto are provided in the middle of the elastic earth-pushing plate. The elastic earth-pushing plate is movably connected in the assembly groove through a connecting shaft. The upper parts of the two elastic earth-pushing plates extend to a height corresponding to the empty groove. Spring connecting columns are provided on the inner side surfaces of the elastic earth-pushing plates. Two spring fixing columns corresponding to the spring connecting columns are provided on the lower surface of the second horizontal connecting plate. The spring connecting columns on the two elastic earth-pushing plates are correspondingly connected to the spring fixing columns on the lower surface of the second horizontal connecting plate through springs.

8. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: Guardrails are respectively provided on the left and right sides of the muck sampling position. Gate barriers are respectively provided on the front and rear sides of the muck sampling position, and status indicator lights are provided on the gate barriers.

9. The muck sampling and detection system for a muck truck according to claim 1, characterized in that: The robot is fixedly arranged on a robot fixing seat. A detection table is provided on the robot fixing seat. The detection assembly is fixedly installed on the detection table. A maintenance ladder is provided beside the detection table, and the top of the maintenance ladder is adapted to the height of the detection table.

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