Full-automatic sampling system for vehicle-mounted materials

Abstract

The invention discloses a full-automatic sampling system for vehicle-mounted materials. The full-automatic sampling system comprises a garage, a travelling mechanism, a multi-axis robot, a sampler, a visual positioning mechanism and a controller, the traveling mechanism comprises a traveling guide rail, a cart, a cart drive and a robot track, the robot drive is erected on the traveling guide rail, the cart is erected on the traveling guide rail and driven by the cart drive to move along the traveling guide rail, the robot track is laid at the bottom of the cart, and the multi-axis robot is reversely hung and fixed to the robot track. And the multi-axis robot is driven by the robot driver to move along the robot track, a sampler and a visual positioning mechanism are installed at the movable end of the multi-axis robot, and the moving range of the multi-axis robot covers the garage. The device has the advantages that full-automatic random position sampling operation of the vehicle-mounted ton bag is achieved, the device is not affected by empty bags above the ton bag and stacking of hanging belts, and sampling is conducted from the side face of the ton bag.

Description

Technical Field

[0001] The invention relates to a full-automatic sampling system for vehicle-mounted materials, belonging to the technical field of automatic sampling. Background Art

[0002] At present, major domestic manufacturers have two ways to sample on-board materials: The first is manual sampling, which is labor-intensive, complicated, and subject to interference from various human factors, making it difficult to ensure the effectiveness and authenticity of material sampling. The second type is automatic sampling. The current automatic sampling technology usually uses grab buckets, spiral drills, shovels, etc. to directly perform sampling operations, which can only adapt to the direct up and down automatic sampling scenarios of bulk materials.

[0003] However, in the existing technology, in many scenarios, materials need to be packed in ton bags and then transported by vehicle. This scenario has technical difficulties that restrict automatic sampling: after filling the ton bag with materials, there are usually empty bags on the top, and after the ton bag is hoisted onto the vehicle, its own slings will form a stack on top of it, making the existing automatic sampling technology impossible to implement, which seriously restricts the development of vehicle automatic sampling. Summary of the invention

[0004] Purpose of the invention: In view of the above problems, the purpose of the present invention is to provide a fully automatic sampling system for vehicle-mounted materials, which can adapt to the fully automatic sampling of vehicle-mounted ton bags.

[0005] Technical solution: A fully automatic sampling system for vehicle-mounted materials, comprising a garage, a driving mechanism, a multi-axis robot, a sampler, a visual positioning mechanism, and a controller; the driving mechanism comprises a driving guide rail, a cart, a cart drive, a robot track, and a robot drive; the driving guide rail is mounted on the garage, the cart is mounted on the driving guide rail, and moves along the driving guide rail under the drive of the cart; the robot track is laid on the bottom of the cart, the multi-axis robot is fixed upside down on the robot track, and moves along the robot track under the drive of the robot drive; the sampler and the visual positioning mechanism are installed at the active end of the multi-axis robot, and the activity range of the multi-axis robot covers the garage; the multi-axis robot, sampler, visual positioning mechanism, cart drive, and robot drive are respectively associated with the controller signal.

[0006] The principle of the present invention is: when in use, the vehicle drives into the designated position in the garage, the controller drives the visual positioning mechanism through the multi-axis robot to face the ton bag loaded on the vehicle, the signal controls the visual positioning mechanism to collect the image of the ton bag, and uses the existing image processing algorithm to locate the sampling point, preferably avoiding the upper position of the ton bag, and selecting a suitable sampling point on the side of the ton bag. After that, the controller signal controls the multi-axis robot to reach the sampling position, adjusts the posture, and drives the sampler to insert the ton bag sampling point for sampling, thereby completing the entire fully automatic sampling operation.

[0007] Furthermore, it also includes an integrated recognition machine and a door access control device. The integrated recognition machine is installed at the entrance of the door access control device and is used to identify the license plate number. The door access control device is set at the entrance of the garage. The integrated recognition machine and the door access control device are respectively associated with the controller signal. After the controller obtains the sampling information, it compares it with the license plate information obtained by the integrated recognition machine, so as to control the opening and closing of the door access control device.

[0008] Furthermore, it also includes a quick-change male head, a quick-change female head, and a sampler storage mechanism, wherein a plurality of the samplers are placed in the sampler storage mechanism, each of the samplers is respectively fixed with the quick-change female head, the quick-change male head is fixed at the movable end of the multi-axis robot, the quick-change male head is aligned with the quick-change female head, and the movable range of the multi-axis robot covers the sampler storage mechanism; the quick-change male head and the quick-change female head are respectively associated with the controller signal, so as to facilitate the replacement of the sampler.

[0009] Furthermore, the sampler is a spiral sampler or a brazing rod sampler to adapt to the sampling of different materials.

[0010] Furthermore, it also includes an L-shaped calibration block. The sampler storage mechanism includes a main body bracket and a plurality of lateral positioning sensors and a plurality of longitudinal positioning sensors fixed on the main body bracket. The main body bracket is provided with a plurality of V-shaped slots, and the sampler is placed in each of the V-shaped slots. The L-shaped calibration block is fixed on the quick-change male head, and one side is aligned with the plurality of lateral positioning sensors, and the other side is aligned with the plurality of longitudinal positioning sensors; the lateral positioning sensor and the plurality of longitudinal positioning sensors are respectively associated with the controller signal. In this structure, since the quick-change male head and the quick-change female head need to be automatically positioned and assembled, the positioning requirements for the multi-axis robot are extremely high. Therefore, a lateral positioning sensor and a longitudinal positioning sensor are designed to respectively form the lateral and longitudinal positioning of the quick-change male head to ensure the positioning accuracy.

[0011] Furthermore, the sampler storage mechanism also includes at least three lower sensors fixed on the main support, the lower sensors are aligned with the bottom surface of the L-shaped calibration block; the lower sensors are associated with the controller signal. In this structure, in some scenarios where foundation settlement may occur, it is also necessary to accurately position and verify the vertical height of the quick-change male head. Therefore, through the at least three lower sensors, a three-point measurement structure is formed to facilitate height verification.

[0012] Furthermore, it also includes a connected crusher and a reducer, and the activity range of the multi-axis robot covers the crusher; the crusher and the reducer are respectively associated with the controller signal to perform automated crushing and reducing operations of the sampled materials.

[0013] Furthermore, it also includes a sample packaging machine, which is located below the shrinking machine and is associated with the controller signal to facilitate the execution of automated sample packaging operations.

[0014] Furthermore, the visual positioning mechanism adopts a 3D industrial camera, and the 3D industrial camera is associated with the controller signal to realize automatic image acquisition and processing.

[0015] Beneficial effects: The fully automatic random position sampling operation of the vehicle-mounted ton bags is realized, and the sampling is carried out from the side of the ton bags without being affected by the empty bags and slings stacked above the ton bags. At the same time, the automatic crushing, shrinking and sample packaging operations can be performed after sampling. In addition, the precise assembly of different samplers can be carried out through repeated positioning in multiple directions, which greatly improves the reliability of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 for Figure 1 A magnified schematic diagram of position A in the middle; Figure 3 It is a three-dimensional structural schematic diagram of the sampler storage mechanism; Figure 4 for Figure 3 A magnified schematic diagram of position B in the middle; Figure 5 for Figure 3 A magnified schematic diagram of the C position in the middle; Figure 6 It is a schematic diagram of the structure when performing calibration work; Figure 7 for Figure 6 Enlarged schematic diagram of position D in the middle. DETAILED DESCRIPTION

[0017] The present invention is further explained below in conjunction with the accompanying drawings and specific embodiments. These embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0018] A fully automatic sampling system for vehicle-mounted materials, as shown in the attached Figure 1 , 2 As shown, it includes a garage 1, a driving mechanism 2, a multi-axis robot 3, a sampler 4, a visual positioning mechanism 5, an identification integrated machine 6, an access control device 7, a quick-change male head 8, a quick-change female head 9, a sampler storage mechanism 10, an L-shaped calibration block 11, a crusher 12, a shrinking machine 13, a sample packaging machine 14, and a controller.

[0019] The identification integrated machine 6 is installed at the entrance of the access control device 7 for identifying the license plate number. The access control device 7 is arranged at the entrance of the garage 1. The access control device 7 may specifically include a gate and a vehicle detector. The vehicle detector is used to check whether there is a vehicle at the entrance. The opening and closing of the gate can be used to control the entry and exit of vehicles.

[0020] The driving mechanism 2 includes a driving guide rail 2a, a cart 2b, a cart drive 2c, a robot track 2d, and a robot drive 2e. The driving guide rail 2a is mounted on the garage 1, and the cart 2b is mounted on the driving guide rail 2a, and moves along the driving guide rail 2a under the drive of the cart drive 2c. The robot track 2d is laid at the bottom of the cart 2b, and the multi-axis robot 3 is fixed upside down on the robot track 2d, and moves along the robot track 2d under the drive of the robot drive 2e.

[0021] The active end of the multi-axis robot 3 is installed with a quick-change male head 8, an L-shaped calibration block 11, and a visual positioning mechanism 5. The visual positioning mechanism 5 preferably adopts a 3D industrial camera with image acquisition and image processing functions, and can automatically identify the appropriate sampling point on the side of the ton bag.

[0022] In this embodiment, due to the use of a large-span crane, a gap is easily formed between the crane track and the roller, resulting in overall position deviation. At the same time, in some special sites, long-term practical use will cause foundation settlement, resulting in vertical deviation. Therefore, multiple calibration structures are set up: As attached Figures 3 to 7As shown, the sampler storage mechanism 10 specifically includes a main support 10a and a plurality of lateral positioning sensors 10b, a plurality of longitudinal positioning sensors 10c, and at least three lower sensors 10e fixed on the main support 10a. The main support 10a is provided with a plurality of V-shaped slots 10d, and a sampler 4 is placed in each V-shaped slot 10d. The sampler 4 preferably adopts a spiral sampler or a brazing sampler. A quick-change female head 9 is fixed on each sampler 4, and the quick-change male head 8 is aligned with the quick-change female head 9. One side of the L-shaped calibration block 11 is aligned with the lateral positioning sensor 10b, the other side is aligned with the longitudinal positioning sensor 10c, and the bottom surface is aligned with the lower sensor 10e. When the sampler 4 and the multi-axis robot 3 are automatically installed, firstly, one side of the L-shaped calibration block 11 is aligned with the plurality of lateral positioning sensors 10b to measure their lateral deviations, and then the other side is aligned with the plurality of longitudinal positioning sensors 10c to measure their longitudinal deviations, thereby completing the horizontal position calibration. Then, the bottom surface is aligned with at least three lower sensors 10e to complete the vertical position calibration. Each position calibration process can be performed separately to reduce space requirements. Finally, the quick-change male head 8 and the quick-change female head 9 are automatically assembled to greatly improve the assembly success rate.

[0023] As attached Figure 1 As shown, the crusher 12 and the reducer 13 are connected to each other, and the sample packaging machine 14 is located below the reducer 13, which are used to perform automatic crushing, reduction and sample packaging operations of the sampled materials.

[0024] The activity range of the multi-axis robot 3 covers the garage 1, the sampler storage mechanism 10, and the crusher 12, so as to realize the sampling of the vehicle-mounted ton bags, the replacement of the sampler, and the transfer of the materials after sampling.

[0025] The multi-axis robot 3, sampler 4, visual positioning mechanism 5, cart drive 2c, robot drive 2e, identification integrated machine 6, access control device 7, quick-change male head 8, quick-change female head 9, lateral positioning sensor 10b, multiple longitudinal positioning sensors 10c, lower sensor 10e, crusher 12, reducer 13, and sample packaging machine 14 are respectively associated with the controller signals.

[0026] Before using the fully automatic sampling system of this embodiment, the controller can be pre-connected to the production system on site to obtain the license plate information and the material information loaded on the vehicle, such as whether the ton bag is loaded with limestone or dolomite, etc. Then, when the vehicle drives to the entrance of the access control device, the vehicle's license plate information is identified by the identification integrated machine and compared with the license plate information pre-acquired by the controller. If it matches, the access control is opened, otherwise it remains closed, thereby avoiding misoperation in subsequent processes.

[0027] Secondly, after the license plate information is verified, on the one hand, the access control device is opened and the vehicle can enter the garage normally. On the other hand, the controller signal controls the vehicle drive and the robot drive to drive the multi-axis robot to the sampler storage mechanism to perform the position calibration of the quick-change male head, and then selects the sampler at the corresponding position according to the pre-acquired vehicle material information, and drives the multi-axis robot to the corresponding position to perform the assembly of the quick-change male head and the quick-change female head.

[0028] Again, the software sends out random sampling points according to the sampling rules, and controls the visual positioning mechanism through controller signals to automatically collect and process images of the vehicle loading area, identifies the ton bag side wall collection points suitable for sampling, and then controls the sampler to reach the designated position for material sampling.

[0029] After that, the sampler is driven to the crusher, the material is put down, and the subsequent automated crushing, shrinking and sample packaging operations are performed, thus completing the entire sampling process.

[0030] The fully automatic sampling system of this embodiment realizes the fully automatic random position sampling process of the vehicle-mounted ton bags, and is not affected by the empty bags and slings stacked above the ton bags, and samples are taken from the side of the ton bags. At the same time, the system can also be precisely assembled by repeated positioning in multiple directions, greatly improving the reliability of the system.

Claims

1. A fully automatic sampling system for vehicle-mounted materials, characterized in that: The invention comprises a garage (1), a driving mechanism (2), a multi-axis robot (3), a sampler (4), a visual positioning mechanism (5), and a controller; the driving mechanism (2) comprises a driving guide rail (2a), a trolley (2b), a trolley drive (2c), a robot track (2d), and a robot drive (2e); the driving guide rail (2a) is mounted on the garage (1); the trolley (2b) is mounted on the driving guide rail (2a) and moves along the driving guide rail (2a) driven by the trolley drive (2c); the robot track (2d) is laid At the bottom of the trolley (2b), the multi-axis robot (3) is fixed upside down on the robot track (2d), and driven by the robot drive (2e), moves along the robot track (2d). The sampler (4) and the visual positioning mechanism (5) are installed on the movable end of the multi-axis robot (3), and the movable range of the multi-axis robot (3) covers the garage (1); the multi-axis robot (3), the sampler (4), the visual positioning mechanism (5), the trolley drive (2c), and the robot drive (2e) are respectively associated with the controller signal.

2. The fully automatic sampling system for vehicle-mounted materials according to claim 1 is characterized in that: It also includes an integrated recognition machine (6) and an access control device (7); the integrated recognition machine (6) is installed at the entrance of the access control device (7) and is used to recognize the license plate number; the access control device (7) is arranged at the entrance of the garage (1); the integrated recognition machine (6) and the access control device (7) are respectively associated with the controller signal.

3. The fully automatic sampling system for vehicle-borne materials according to claim 1 is characterized in that: The multi-axis robot (3) further comprises a quick-change male head (8), a quick-change female head (9), and a sampler storage mechanism (10). A plurality of the samplers (4) are placed in the sampler storage mechanism (10), and the quick-change female head (9) is fixed to each of the samplers (4). The quick-change male head (8) is fixed to the movable end of the multi-axis robot (3), the quick-change male head (8) and the quick-change female head (9) are aligned and matched, and the movable range of the multi-axis robot (3) covers the sampler storage mechanism (10); the quick-change male head (8) and the quick-change female head (9) are respectively associated with the controller signal.

4. The fully automatic sampling system for vehicle-borne materials according to claim 1 is characterized in that: The sampler (4) is a spiral sampler or a brazing rod sampler.

5. The fully automatic sampling system for vehicle-mounted materials according to claim 3 is characterized in that: The invention also comprises an L-shaped calibration block (11). The sampler storage mechanism (10) comprises a main frame (10a) and a plurality of transverse positioning sensors (10b) and a plurality of longitudinal positioning sensors (10c) fixed on the main frame (10a). The main frame (10a) is provided with a plurality of V-shaped slots (10d), and the sampler (4) is placed in each of the V-shaped slots (10d). The L-shaped calibration block (11) is fixed on the quick-change male head (8), with one side aligned with the plurality of transverse positioning sensors (10b) and the other side aligned with the plurality of longitudinal positioning sensors (10c); the transverse positioning sensor (10b) and the plurality of longitudinal positioning sensors (10c) are respectively associated with the controller signal.

6. The fully automatic sampling system for vehicle-borne materials according to claim 5 is characterized in that: The sampler storage mechanism (10) further comprises at least three lower sensors (10e) fixed on the main frame (10a), wherein the lower sensors (10e) are aligned with the bottom surface of the L-shaped calibration block (11); and the lower sensors (10e) are associated with the controller signal.

7. The fully automatic sampling system for vehicle-borne materials according to claim 1 is characterized in that: It also includes a connected crusher (12) and a reducer (13); the range of movement of the multi-axis robot (3) covers the crusher (12); and the crusher (12) and the reducer (13) are respectively associated with the controller signal.

8. The fully automatic sampling system for vehicle-borne materials according to claim 7 is characterized in that: It also includes a sample packaging machine (14), which is located below the shrinking machine (13) and is associated with the controller signal.

9. The fully automatic sampling system for vehicle-borne materials according to claim 1, characterized in that: The visual positioning mechanism (5) adopts a 3D industrial camera, and the 3D industrial camera is associated with the controller signal.

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