Automatic sampling system of milk tank truck

Abstract

The invention discloses an automatic sampling system for a milk tank truck. The automatic sampling system comprises a portal robot, a sampling part, a sampling bottle temporary storage part and a centralized electric control part, the sampling part comprises a car roof sealing cover opening and closing mechanical arm, a sampling mechanical arm, a sampling rake and a filling and cleaning assembly; the portal robot is used for installing a roof sealing cover opening and closing mechanical arm and a sampling mechanical arm, the roof sealing cover opening and closing mechanical arm is used for opening or closing a roof sealing cover, the sampling mechanical arm is used for sampling raw milk in a milk tank car through a sampling rake, and the filling and cleaning assembly is used for flushing or disinfecting the sampling rake and a filling device; the sampling bottle temporary storage part comprises a bottle moving mechanical arm and a screw cap temporary storage cabinet, the bottle moving mechanical arm is used for grabbing and stacking the sample bottles, and the screw cap temporary storage cabinet is used for supplying and temporarily storing the sample bottles. The method can improve the accuracy of raw milk detection and reduce the interference of human factors on the premise of realizing rapid and automatic sampling, and is particularly suitable for raw milk factory-entering inspection procedures of milk and milk product processing enterprises.

Description

Technical Field

[0001] The invention relates to an automatic sampling system for a milk tanker, in particular to an automatic sampling system suitable for automatically sampling raw milk transported by a raw milk tanker, and belongs to the technical field of raw milk detection. Background Art

[0002] Milk is a complex mixture of various molecules. It has high nutritional value. With the improvement of people's living standards, milk and dairy products have gradually become one of the important nutrients in people's daily life. In order to produce high-quality milk and dairy products, high-quality raw milk must be selected. The raw milk purchased by the milk station must meet the sensory indicators, physical and chemical indicators and microbiological indicators of GB6914-86. It is required to be milk squeezed from healthy cows without infectious diseases and mastitis. There must be no microorganisms and impurities mixed in the raw milk, and the total number of bacteria must be less than 500,000 / ml. It must not contain penicillin, residual cleaning fluid and disinfectant, etc., which hinder the normal fermentation of the starter. The total solid content of cow milk is not less than 11.5%, and the fat content is not less than 3.2%.

[0003] After the milk station purchases the raw milk, it is usually transported to the dairy product processing enterprises by filling and transporting it in raw milk tankers. In order to ensure the quality of subsequent milk and dairy products, the milk and dairy product processing enterprises must conduct strict factory inspections on the raw milk in the raw milk tankers. Raw milk inspections usually include sensory index inspections, physical and chemical index inspections, and microbiological index inspections. Usually, the roof sealing cover 9 on the top of the raw milk tanker is opened to take samples and then sent to the biochemical laboratory for inspection. In order to ensure the accuracy of the inspection, the sealed sample bottles containing the raw milk samples are required to be sent to the biochemical laboratory within a short time to reduce the impact of the external environment on the raw milk samples. The roof sealing cover 9 on the top of the raw milk tanker is usually a double-layer sealing cover structure including an inner cover and an outer cover connected up and down, such as Figure 8As shown, in order to facilitate quick opening and closing, the double-layer sealing cover structure generally adopts an outer cover hingedly installed on the top of the raw milk tanker through a hinged shaft arranged horizontally in the axial direction, and the outer cover is compacted, sealed and locked by a plum blossom locking nut 91 and a hinged locking bolt 92 hingedly installed on the top of the raw milk tanker, which can be turned and inserted into the outer cover locking bayonet in the radial direction of the outer cover. The outer cover is also provided with a pull rod 93 for facilitating pulling the outer cover to rotate around the hinge shaft to open. The traditional raw milk sampling and sample delivery process is usually completed manually, that is, the sampling personnel climb to the top of the raw milk tanker and manually open the roof sealing cover 9, and then use a scooping tool to sample the raw milk into a raw milk sample bottle, and then hand the raw milk sample bottle to the sample delivery personnel for sample delivery, and then reset the roof sealing cover 9 to seal. This traditional manual sampling and sample delivery method, on the one hand, is not only labor-intensive for the operators, but also poses safety hazards in height operations; on the other hand, the sampling operation is greatly affected by human factors, and the sampling efficiency is related to the sampling personnel's work experience, sense of responsibility and fatigue level; on the other hand, the manual sampling method is easier to sample the shallow layer of the raw milk surface in the raw milk tanker, but more difficult to sample the deep layer of the raw milk surface in the raw milk tanker. Since the shallow raw milk is in contact with the outside air during sampling, it is more likely to be contaminated by the outside world. Therefore, the detection indicators of the raw milk samples obtained by sampling the shallow raw milk may be different from those of the deep raw milk. Summary of the invention

[0004] In view of the problems existing in the above-mentioned prior art, the present invention provides an automatic sampling system for a milk tanker. For the raw milk transported by the raw milk tanker, the accuracy of raw milk detection can be improved under the premise of realizing rapid and automatic sampling, and the interference of human factors in the raw milk sampling process can be greatly reduced. The system is particularly suitable for the raw milk entry inspection process of milk and dairy product processing enterprises.

[0005] In order to achieve the above purpose, the automatic sampling system of the milk tanker includes a gantry robot, a sampling part, a sampling bottle buffer part and a centralized electric control part;

[0006] The sampling part includes the roof sealing cover opening and closing mechanical arm, sampling mechanical arm, sampling rake and filling and cleaning components;

[0007] The gantry robot is used to install the roof sealing cover opening and closing mechanical arm and the sampling mechanical arm. The gantry robot at least includes an X-coordinate drive assembly for controlling the roof sealing cover opening and closing mechanical arm and the sampling mechanical arm to move in the horizontal front-back direction, and a Y-coordinate drive assembly for controlling the roof sealing cover opening and closing mechanical arm and the sampling mechanical arm to move in the horizontal left-right direction;

[0008] The roof sealing cover opening and closing mechanical arm is used to open or close the roof sealing cover, and the roof sealing cover opening and closing mechanical arm includes a grabbing and stacking mechanical arm I, and the grabbing and stacking mechanical arm I at least includes a Z coordinate driving assembly for controlling the grabbing and stacking mechanical arm I to move in a vertical up and down direction;

[0009] The sampling mechanical arm is used to sample the raw milk in the milk tanker. The sampling mechanical arm includes a grabbing and stacking mechanical arm II. The grabbing and stacking mechanical arm II at least includes a Z coordinate drive assembly for controlling the grabbing and stacking mechanical arm II to move in the vertical up and down directions. The end arm of the grabbing and stacking mechanical arm II is provided with a sampling rake quick-change connection structure.

[0010] The sampling rake comprises a salvage rod vertically arranged in the axial direction, a sampling rake quick-change joint matched with the sampling rake quick-change connection structure is fixedly arranged at the top of the salvage rod, a positioning shaft section is arranged below the sampling rake quick-change joint, a plurality of quantitative sampling barrels symmetrically arranged relative to the center of the salvage rod are fixedly arranged at the bottom of the salvage rod, a weight plugging head is arranged at the bottom end of the quantitative sampling barrel, and the weight plugging head is matched and connected with the quantitative sampling barrel through a cone matching connection structure with a larger upper portion and a smaller lower portion;

[0011] The filling and cleaning assembly includes a liquid distribution box, a flushing box and a filling box; a liquid distribution pumping assembly including a liquid distribution pump and a pump pressure pipeline is arranged in the liquid distribution box; the flushing box is a box-type structure with an open top, the flushing box includes a flushing cover shell and a hanger and a flushing spray rack fixedly arranged inside the flushing cover shell, the hanger is provided with a bayonet structure that cooperates with the positioning shaft section of the sampling rake, the flushing spray rack includes a plurality of spray pipes I arranged around the inner surface of the flushing cover shell, the spray pipes I are tightly connected with the pump pressure pipeline of the liquid distribution box, and the spray pipes I are provided with a plurality of spray heads I, and a flushing waste liquid discharge channel I is arranged at the bottom of the flushing box; the filling box is a box-type structure with an open top, the filling box includes a filling cover shell, a filling spray rack, a filler and a sample bottle holder, the filling spray rack includes a plurality of surrounding A spray pipe II is arranged on the inner surface of the filling cover, the spray pipe II is tightly connected with the pump pressure pipeline of the liquid distribution box, and a plurality of spray heads II are arranged on the spray pipe II. A filler fixedly arranged inside the filling cover includes a plurality of funnel parts corresponding in number and position to the quantitative sampling tube, the large mouth end of the funnel part corresponds to the bottom end of the quantitative sampling tube, and a plug opening and closing structure is arranged between the large mouth end of the funnel part and the heavy hammer plugging head. An opening for allowing a sample bottle holder to enter and exit is arranged at a position corresponding to the filler on one side of the filling cover, the sample bottle holder is installed on the filling box through a sample bottle holder driving mechanism, a sample bottle positioning structure is arranged at a position corresponding to the small mouth end of the funnel part on the sample bottle holder, and a flushing waste liquid discharge channel II is arranged at the bottom of the filling box;

[0012] The sampling bottle buffer part includes a bottle transfer robot arm and a capping buffer cabinet; the bottle transfer robot arm is positioned corresponding to the filling box and is used to grab and stack the sample bottles. The bottle transfer robot arm at least includes an X-coordinate drive assembly for controlling the bottle transfer robot arm to move in the horizontal front and rear direction, a Y-coordinate drive assembly for controlling the bottle transfer robot arm to move in the horizontal left and right direction, and a Z-coordinate drive assembly for controlling the bottle transfer robot arm to move in the vertical up and down direction. The end arm of the bottle transfer robot arm is provided with a grabbing and stacking robot; the capping buffer cabinet corresponds to the positioning setting of the bottle transfer robot arm and is used to supply and buffer the sample bottles. The capping buffer cabinet includes a sample bottle buffer part located on the upper layer and a sample bottle capping part located on the lower layer. The sample bottle buffer part is provided with a plurality of sample bottle positioning structures arranged side by side, and the sample bottle capping part includes a plurality of sample bottle cap opening and closing devices arranged side by side.

[0013] The centralized electrical control part includes an electrical control cabinet, which includes a central controller and an automatic sampling control circuit. The central controller is electrically connected to the gantry robot, the roof sealing cover opening and closing robotic arm, the sampling robotic arm, the liquid dosing pump of the filling and cleaning component, the sample bottle holder drive mechanism of the filling and cleaning component, the bottle transfer robotic arm and the sample bottle cap opening and closing device of the screw cap cache cabinet.

[0014] As an embodiment of the gantry robot of the present invention, the gantry robot includes at least four centrally symmetrically arranged legs and two transverse top beams and two longitudinal top beams fixedly installed on the top ends of the legs and forming a rectangular frame structure. A movable crossbeam is provided between the two longitudinal top beams. The movable crossbeam is installed on the longitudinal top beam through a movable crossbeam guiding drive mechanism arranged along the front and rear directions. The movable crossbeam guiding drive mechanism includes a movable crossbeam driving component and a longitudinal guiding structure cooperatively arranged between the movable crossbeam and the longitudinal top beam. A movable seat I and a movable seat II are respectively provided on the front end face and the rear end face of the movable crossbeam, and the movable seat I and the movable seat II are respectively installed on the movable crossbeam through a transverse guiding drive mechanism I and a transverse guiding drive mechanism II arranged along the left and right directions. The transverse guiding drive mechanism I includes a movable seat I driving component, and the transverse guiding drive mechanism II includes a movable seat II driving component. The transverse guiding drive mechanism I and the transverse guiding drive mechanism II both include a transverse guiding structure.

[0015] As a further improvement of the present invention, the roof sealing cover opening and closing mechanical arm also includes a mounting seat I and a rotating quick-change chuck, the mounting seat I is fixedly mounted on the movable seat I or the movable seat II, the rotating quick-change chuck is mounted on the quick-change chuck support frame, and the quick-change chuck support frame is positioned and mounted on the movable crossbeam or the mounting seat I, the rotating quick-change chuck includes a C coordinate drive assembly that can rotate around the Z coordinate axis in the vertical up and down direction, the top of the rotating quick-change chuck is provided with a chuck quick-change joint, the bottom of the rotating quick-change chuck is provided with a plurality of clamping claws evenly distributed along the circumferential direction, and the clamping claws are arranged along the rotating quick The claw telescopic control component that is telescopic in the radial direction of the changing chuck is installed on the rotating quick-change chuck, and the end arm of the grabbing and stacking robot arm I that is fixedly installed on the mounting seat I is provided with a chuck quick-change connection structure that cooperates with the chuck quick-change joint at the top of the rotating quick-change chuck, and the end arm of the grabbing and stacking robot arm I is also fixedly provided with a pattern recognition sensor and a cover opening hook, and the bottom end of the cover opening hook that extends vertically downward is provided with a hook-shaped structure; the sampling robot arm also includes a mounting seat II, and the mounting seat II is fixedly installed on the movable seat II or the movable seat I, and the grabbing and stacking robot arm II is installed on the mounting seat II.

[0016] As a further improvement of the present invention, a temperature sensor is provided on the salvage rod, the salvage rod is a hollow tube structure, the wire of the temperature sensor is arranged in the hollow tube structure of the salvage rod, the sampling rake quick-change connection structure and the sampling rake quick-change joint are provided with a matching contact docking structure, and the top end of the wire of the temperature sensor is electrically connected to the contact on the sampling rake quick-change joint.

[0017] As a further improvement scheme of the present invention, the salvage rod is a hollow tube structure, a stirring tube is provided inside the hollow tube structure, and the bottom end of the stirring tube extends to the outside of the salvage rod, the sampling rake quick-change connection structure and the sampling rake quick-change joint are provided with a matching air path docking structure, and the top end of the stirring tube is tightly connected to the air path joint on the sampling rake quick-change joint.

[0018] As a further improvement of the present invention, a salvage net is fixedly provided at the bottom end of the salvage rod.

[0019] As a further improvement of the present invention, a guide positioning slot is provided on the sample bottle holder at a position corresponding to the salvage rod and passes through the sample bottle holder in a vertical direction, and the direction of the guide positioning slot matches the translation direction of the sample bottle holder.

[0020] As a further improvement of the present invention, a drying tube I and a drying tube II are respectively arranged on the inner surface of the flushing box and the inner surface of the filling box. The drying tube I and the drying tube II are respectively connected to the hot air source through a control valve, and a plurality of drying nozzles I and a drying nozzle II are respectively arranged on the drying tube I and the drying tube II.

[0021] As an embodiment of the grabbing and stacking robot arm II of the present invention, the grabbing and stacking robot arm II is a conveyor belt type lifting structure, and a primary transmission belt arranged along the vertical up and down direction is provided on the mounting seat II of the long vertical frame structure, and the primary transmission belt is connected end to end to form a closed loop structure, and the upper and lower ends of the closed loop structure are respectively provided with support rollers, and at least one support roller is provided with a primary driving motor, and the arm section of the long vertical frame structure is installed on the mounting seat II through a cooperating lifting guide mechanism, and the arm section is provided with a secondary transmission belt arranged along the vertical up and down direction, and the secondary transmission belt is connected end to end to form a closed loop structure, and the upper and lower ends of the closed loop structure are also respectively provided with support rollers, one side belt surface of the secondary transmission belt corresponds to the one side belt surface of the first transmission belt, and the belt surfaces abutting together are fixedly connected through a secondary connecting seat, and a third connecting seat is fixedly provided at a position corresponding to the second connecting seat on the other side belt surface of the secondary transmission belt, and a sampling rake quick-change connection structure is provided on the third connecting seat.

[0022] As an embodiment of the grabbing and stacking robot of the bottle transferring robot arm of the present invention, the grabbing and stacking robot of the bottle transferring robot arm is provided with a clamping assembly including at least two clamping fingers that can be opened and closed, the clamping fingers are hingedly mounted on the grabbing and stacking robot arm, and the clamping fingers are transmission connected with the clamping finger opening and closing control mechanism.

[0023] Compared with the prior art, the automatic sampling system of the milk tanker is an intelligent digital control system, which can be connected to the digital bus of the milk and dairy product processing enterprises to realize centralized digital management. Through the coordinated operation of the roof sealing cover opening and closing mechanical arm, the sampling mechanical arm, the filling and cleaning component, the bottle moving mechanical arm and the screw capping cache cabinet, the raw milk in the milk tanker can be automatically sampled and the sample bottles can be automatically filled after opening the roof sealing cover, and the sample bottles containing raw milk samples can be automatically closed and stacked in the set area of ​​the sample bottle cache part of the screw capping cache cabinet. The operator can send the sample bottles containing raw milk samples to the laboratory. At the same time, the sampling rake and the filler can be rinsed or disinfected to avoid cross contamination. The accuracy of raw milk detection can be improved under the premise of rapid and automatic sampling of the raw milk in the milk tanker, and the interference of human factors on the raw milk sampling process can be greatly reduced. It is particularly suitable for raw milk entry inspection of milk and dairy product processing enterprises. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a three-dimensional structural schematic diagram when automatic sampling is performed using the automatic sampling system of a milk tanker;

[0025] Figure 2 It is a schematic diagram of the three-dimensional structure of the gantry robot of the present invention;

[0026] Figure 3 It is a schematic diagram of the three-dimensional structure of the opening and closing mechanical arm of the roof sealing cover of the present invention;

[0027] Figure 4 It is a schematic diagram of the three-dimensional structure of the sampling mechanical arm of the present invention;

[0028] Figure 5 It is a schematic diagram of the three-dimensional structure of the sampling rake of the present invention;

[0029] Figure 6 It is a three-dimensional structural schematic diagram of the filling and cleaning component of the present invention;

[0030] Figure 7 It is a three-dimensional structural schematic diagram of the bottle transfer robot arm and the capping cache cabinet of the present invention;

[0031] Figure 8 It is a schematic diagram of the three-dimensional structure of the roof sealing cover of the milk tanker.

[0032] In the figure: 1, gantry robot, 11, outrigger, 12, horizontal top beam, 13, longitudinal top beam, 131, longitudinal guide structure, 14, movable crossbeam driving component, 15, movable crossbeam, 151, transverse guide structure, 16, movable seat I, 17, movable seat I driving component, 18, movable seat II driving component, 19, movable seat II;

[0033] 2. Opening and closing mechanical arm for roof sealing cover, 21. Mounting seat Ⅰ, 22. Rotating quick-change chuck, 23. Grasping and stacking mechanical arm Ⅰ, 24. Mounting plate, 25. Pattern recognition sensor, 26. Opening hook;

[0034] 3. Sampling mechanical arm, 31. Fixed seat, 32. Fixed guide rail, 33. Driving head, 34. Primary transmission belt, 35. Secondary connecting seat, 36. Secondary guide rail, 37. Secondary transmission belt, 38. Third-level connecting seat, 39. Sampling rake quick-change connection structure;

[0035] 4. Sampling rake, 41. Sampling rake quick-change joint, 42. Salvage rod, 43. Quantitative sampling tube, 44. Heavy hammer plugging head, 45. Temperature sensor, 46. Salvage net;

[0036] 5. Filling and cleaning components, 51. liquid preparation box, 52. flushing box, 521. flushing cover, 522. rack, 523. spray rack, 53. filling box, 531. filling cover, 532. filling spray head, 533. filler, 534. sample bottle holder, 535. sample bottle holder driving mechanism;

[0037] 6. Bottle transfer robot; 7. Capping cache cabinet; 8. Electric control cabinet;

[0038] 9. Roof sealing cover, 91. Plum blossom locking nut, 92. Articulated locking bolt, 93. Pull rod. DETAILED DESCRIPTION

[0039] The present invention is further described below in conjunction with the accompanying drawings (hereinafter, the description is made with the running direction of the milk tanker as the front-to-back direction, the front-to-back direction corresponds to the longitudinal direction, the left-to-right direction corresponds to the transverse direction, the front-to-back direction is the X-coordinate direction, the left-to-right direction is the Y-coordinate direction, and the vertical up-and-down direction is the Z-coordinate direction).

[0040] The automatic sampling system of the milk tanker comprises a gantry robot 1, a sampling part, a sampling bottle buffer part and a centralized electric control part.

[0041] like Figure 2 As shown, the gantry robot 1 includes at least four supporting legs 11 arranged symmetrically in the center, two horizontal top beams 12 and two vertical top beams 13 fixedly installed on the top of the supporting legs 11 and forming a rectangular frame structure, a movable horizontal beam 15 is arranged between the two vertical top beams 13, and the movable horizontal beam 15 is arranged parallel to the horizontal top beam 12, and the movable horizontal beam 15 is installed on the vertical top beam 13 through a movable horizontal beam guide drive mechanism arranged along the front-back direction, and the movable horizontal beam guide drive mechanism includes a movable horizontal beam drive component 14 and a movable horizontal beam drive component 14 arranged between the movable horizontal beam 15 and the vertical top beam 13. The movable crossbeam driving component 14 can be a rotary driving structure such as a motor or a hydraulic motor, or a linear reciprocating driving structure such as a hydraulic cylinder or an electric cylinder. The longitudinal guiding structure 131 can be a gear rack type guiding transmission structure provided in conjunction with it, or can be a guide wheel guide rail type guiding transmission structure provided in conjunction with it, or other guiding transmission structures. By controlling the action of the movable crossbeam driving component 14, the movable crossbeam 15 can be controlled to move horizontally on the longitudinal top beam 13 in the front and rear directions, and the front end surface and the rear end surface of the movable crossbeam 15 can be controlled to move horizontally on the longitudinal top beam 13 in the front and rear directions. A movable seat Ⅰ 16 and a movable seat Ⅱ 19 are respectively provided, and the movable seat Ⅰ 16 and the movable seat Ⅱ 19 are respectively installed on the movable crossbeam 15 through a transverse guide drive mechanism Ⅰ and a transverse guide drive mechanism Ⅱ arranged for guiding along the left and right directions. The transverse guide drive mechanism Ⅰ includes a movable seat Ⅰ drive component 17, and the transverse guide drive mechanism Ⅱ includes a movable seat Ⅱ drive component 18. The movable seat Ⅰ drive component 17 and the movable seat Ⅱ drive component 18, which are the same as the movable crossbeam drive component 14, can be a rotary drive structure such as an electric motor or a hydraulic motor, or a linear reciprocating drive structure such as a hydraulic cylinder or an electric cylinder. The transverse guide drive mechanism Ⅰ and the transverse guide drive mechanism Ⅱ both include a transverse guide structure 151. The transverse guide structure 151 can be a gear rack type guide transmission structure arranged in conjunction with it, or can be other guide transmission structures such as a guide wheel guide rail type guide transmission structure arranged in conjunction with it. By respectively controlling the actions of the movable seat Ⅰ drive component 17 and the movable seat Ⅱ drive component 18, it is possible to respectively control the movable seat Ⅰ 16 and the movable seat Ⅱ 19 to move in translation along the left and right directions on the movable crossbeam 15.

[0042] The sampling part includes a roof sealing cover opening and closing mechanical arm 2, a sampling mechanical arm 3, a sampling rake 4 and a filling and cleaning component 5;

[0043] like Figure 3 As shown, the roof sealing cover opening and closing mechanical arm 2 includes a mounting seat Ⅰ21, a rotating quick-change chuck 22 and a grabbing and stacking mechanical arm Ⅰ23, the mounting seat Ⅰ21 is fixedly mounted on the movable seat Ⅰ16 or the movable seat Ⅱ19, the rotating quick-change chuck 22 is mounted on the quick-change chuck support frame, and the quick-change chuck support frame is positioned and mounted on the movable crossbeam 15 or the mounting seat Ⅰ21, the rotating quick-change chuck 22 at least includes a C coordinate drive assembly that can rotate around the Z coordinate axis in the vertical up and down direction, the top of the rotating quick-change chuck 22 is provided with a chuck quick-change joint, and the bottom of the rotating quick-change chuck 22 is provided with a plurality of chucks evenly distributed in the circumferential direction. The clamping claws are arranged, and the clamping claws are installed on the rotating quick-change chuck 22 by a claw extension control component that is extended and retracted along the radial direction of the rotating quick-change chuck 22. The claw extension control component can be a telescopic cylinder for linear motion or a driving motor for rotary motion. By controlling the action of the claw extension control component, a plurality of clamping claws can be realized in a clamping state in which they are synchronously retracted or in a non-clamping state in which they are synchronously extended. The grabbing and stacking robot arm Ⅰ23 fixedly mounted on the mounting seat Ⅰ21 includes at least a Z coordinate drive assembly that moves in the vertical up and down direction. The grabbing and stacking robot arm Ⅰ23 can be adopted as follows Figure 3 The joint mechanical arm structure shown in the figure may also adopt other mechanical arm structures such as truss mechanical arm structure. The end arm of the grabbing and stacking mechanical arm Ⅰ23 is provided with a chuck quick-change connection structure that cooperates with the chuck quick-change joint at the top of the rotating quick-change chuck 22. The end arm of the grabbing and stacking mechanical arm Ⅰ23 is also fixed with a pattern recognition sensor 25 and a cover opening hook 26 installed through a mounting plate 24, and the bottom end of the cover opening hook 26 extending vertically downward is provided with a hook-shaped structure. The pattern recognition sensor 25 can be a visual camera or a video probe. A matching contact docking structure is provided between the chuck quick-change joint at the top of the rotating quick-change chuck 22 and the chuck quick-change connection structure on the grabbing and stacking mechanical arm Ⅰ23. When the chuck quick-change connection structure on the grabbing and stacking mechanical arm Ⅰ23 is docked and connected with the chuck quick-change joint at the top of the rotating quick-change chuck 22, power can be supplied to the C coordinate drive assembly and the claw extension and retraction control component of the rotating quick-change chuck 22.

[0044] like Figure 4 As shown, the sampling robot 3 includes a mounting seat II 31 and a grabbing and stacking robot II. The mounting seat II 31 is fixedly mounted on the movable seat II 19 or the movable seat I 16. The grabbing and stacking robot II mounted on the mounting seat II 31 includes at least a Z coordinate drive assembly moving in the vertical up and down direction. The grabbing and stacking robot II can be used as follows Figure 4The conveyor belt lifting structure shown in the figure may also adopt other mechanical arm lifting structures such as telescopic cylinder lifting structure, and the last arm of the grabbing and stacking mechanical arm II is provided with a sampling rake quick-change connection structure 39;

[0045] like Figure 5 As shown, the sampling rake 4 includes a salvage rod 42 vertically arranged in the axial direction, and a sampling rake quick-change joint 41 which is arranged in cooperation with the sampling rake quick-change connection structure 39 is fixedly arranged at the top of the salvage rod 42. A positioning shaft section 421 may be arranged below the sampling rake quick-change joint 41, and the positioning shaft section 421 is coaxially fixedly arranged with the salvage rod 42. The outer diameter of the positioning shaft section 421 may be larger than the outer diameter of the salvage rod 42, or smaller than the outer diameter of the salvage rod 42. In order to facilitate the grabbing and stacking mechanical arm II to firmly grab the sampling rake 4, the sampling rake quick-change connection structure 39 The salvage rod 42 also includes a bayonet that cooperates with the positioning shaft section 421; a plurality of quantitative sampling barrels 43 are fixedly provided at the bottom of the salvage rod 42, and the plurality of quantitative sampling barrels 43 are symmetrically arranged relative to the center of the salvage rod 42; a weight plugging head 44 is provided at the bottom of the quantitative sampling barrel 43, and the weight plugging head 44 is connected to the quantitative sampling barrel 43 through a cone-shaped matching connection structure with a larger top and a smaller bottom; in order to facilitate real-time testing of the temperature of the raw milk, a temperature sensor 45 can be provided on the salvage rod 42, and the salvage rod 42 can be arranged as a hollow tube structure that is convenient for arranging wires, and the wires of the temperature sensor 45 The sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are provided in the hollow tube structure of the salvage rod 42, and the contact docking structure provided with the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are provided, and the top of the wire of the temperature sensor 45 is electrically connected to the contact on the sampling rake quick-change joint 41. When the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are docked and connected, the circuit of the temperature sensor 45 can be turned on to realize temperature measurement. In order to achieve the accuracy of sampling, a stirring tube 422 can be provided inside the salvage rod 42 of the hollow tube structure, and the bottom end of the stirring tube 422 extends to the salvage rod 42. Externally, the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are provided with a matching gas path docking structure, and the top end of the stirring tube 422 is tightly connected to the gas path joint on the sampling rake quick-change joint 41. When the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are docked and connected, the gas path of the stirring tube 422 can be conducted, thereby realizing the pressure nitrogen flowing out through the bottom end of the stirring tube 422 to stir the raw milk; in order to facilitate the salvage of raw milk fat on the surface of the raw milk and foreign matter in the raw milk, a salvage net 46 can also be fixedly set at the bottom end of the salvage rod 42;

[0046] The filling and cleaning assembly 5 is arranged on the left or right side of the gantry robot 1. Figure 6As shown, the filling and cleaning assembly 5 includes a liquid distribution box 51, a flushing box 52 and a filling box 53; the liquid distribution box 51 is provided with a liquid distribution pump pressure assembly including a liquid distribution pump and a pump pressure pipeline; the flushing box 52 is a box-shaped structure with an open top, and the flushing box 52 includes a flushing cover 521 and a hanger 522 and a flushing spray rack 523 fixedly arranged inside the flushing cover 521. The hanger 522 is used to position the sampling rake 4, and the hanger 522 is provided with a bayonet structure that cooperates with the positioning shaft section 421 of the sampling rake 4. The flushing spray rack 523 includes a plurality of surrounding The spray pipe I on the inner surface of the flushing housing 521 is tightly connected to the pump pressure pipeline of the liquid distribution box 51, and a plurality of spray heads I are arranged on the spray pipe I. The bottom of the flushing box 52 is provided with a flushing waste liquid discharge channel I, which can be connected to a waste liquid treatment device. In order to achieve multi-stage flushing, the flushing box 52 can be arranged in multiples; the filling box 53 is a semi-enclosed box-type structure with the top and the middle of one side open. The filling box 53 includes a filling housing 531, a filling spray rack 532, a filler 533 and a sample bottle holder 534. The filling spray rack 532 includes a plurality of spray pipes II arranged around the inner surface of the filling cover 531, the spray pipes II are tightly connected to the pump pressure pipeline of the liquid distribution box 51, and a plurality of spray heads II are arranged on the spray pipes II, and the filler 533 fixedly arranged inside the filling cover 531 includes a plurality of funnel parts corresponding in number and position to the quantitative sampling cylinder 43, the large mouth end of the funnel part corresponds to the bottom end of the quantitative sampling cylinder 43, and a plug opening and closing structure is arranged between the large mouth end of the funnel part and the heavy hammer plugging head 44, and the plug opening and closing structure can be The structure of the rod coaxially arranged at the bottom end of the heavy hammer plugging head 44 and the block structure cooperating and positioned on the large mouth end of the funnel component can also be a block structure arranged at the bottom end of the heavy hammer plugging head 44 and a rod structure cooperating and positioned on the large mouth end of the funnel component. An opening is provided on one side of the filling cover 531 corresponding to the position of the filler 533 to allow the sample bottle holder 534 to enter and exit. The sample bottle holder 534 is installed on the filling box 53 through a sample bottle holder driving mechanism 535. The sample bottle holder driving mechanism 535 can be as follows Figure 6 The rotary swing translation control structure shown is controlled by a swing drive motor, or it can be other translation control structures such as a linear reciprocating translation control structure controlled by a linear reciprocating drive structure. By controlling the action of the sample bottle holder driving mechanism 535, it is possible to control the sample bottle holder 534 to translate to the inside of the filling box 53 or to translate to the outside of the filling box 53. A sample bottle positioning structure is provided at the position of the small mouth end of the funnel component on the sample bottle holder 534. The sample bottle positioning structure can be a protruding positioning ring structure or a concave positioning groove structure or other structures for positioning the sample bottle. A flushing waste liquid discharge channel II is provided at the bottom of the filling box 53, and the flushing waste liquid discharge channel II can be connected to a waste liquid treatment device.

[0047] The sampling bottle buffer section includes a bottle transfer robot 6 and a capping buffer cabinet 7; the bottle transfer robot 6 is positioned corresponding to the filling box 53 and is used to grab and stack the sample bottles, such as Figure 7 As shown, the bottle transfer robot 6 at least includes an X-coordinate drive assembly for controlling movement in the horizontal front-to-back direction, a Y-coordinate drive assembly for controlling movement in the horizontal left-to-right direction, and a Z-coordinate drive assembly for controlling movement in the vertical up-down direction. The bottle transfer robot 6 can be configured as follows: Figure 7 The joint mechanical arm structure shown in the figure may also adopt other mechanical arm structures such as a gantry truss mechanical arm structure. The end arm of the bottle transfer mechanical arm 6 is provided with a grabbing and stacking mechanical arm. Figure 7 In the joint robot arm structure shown in the figure, the grabbing and stacking robot is installed on the end arm of the bottle moving robot arm 6 through the A coordinate drive assembly that can rotate around the X coordinate axis and / or the B coordinate drive assembly that can rotate around the Y coordinate axis. The grabbing and stacking robot is provided with a clamping assembly including at least two clamping fingers that can be opened and closed. The clamping fingers are hingedly mounted on the grabbing and stacking robot, and the clamping fingers are transmission-connected to the 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 a cylinder, or an electric control structure controlled by an electric cylinder, or other opening and closing control structures. In order to achieve efficient and stable clamping, the clamping assembly can be arranged in two groups in parallel. In order to achieve positioning and capturing of image frames and accurate positioning and clamping, a pattern recognition sensor 25 can also be arranged on the grabbing and stacking robot; the capping cache cabinet 7 is positioned and arranged corresponding to the bottle moving robot arm 6, and is used to supply and cache sample bottles, such as Figure 7As shown, the screw-capping cache cabinet 7 includes a sample bottle caching part located at the upper layer and a sample bottle screw-capping part located at the lower layer, the sample bottle caching part is provided with a plurality of sample bottle positioning structures arranged side by side, the sample bottle positioning structure can be a protruding positioning ring structure, or a recessed positioning groove structure or other structures for positioning the sample bottle, the sample bottle can be positioned and placed by the sample bottle positioning structure, the sample bottle screw-capping part includes a plurality of sample bottle opening and closing bottle cap devices arranged side by side, the sample bottle opening and closing bottle cap device includes a horizontally arranged bottle clamping mechanism and a vertically arranged screw-capping mechanism, the bottle clamping mechanism corresponds to the bottle clamping position, the bottle clamping mechanism includes a clamping telescopic cylinder arranged along the radial direction of the bottle body of the sample bottle, the telescopic end of the clamping telescopic cylinder is provided with a clamping clamp matched with the bottle body size of the sample bottle, the clamping telescopic cylinder can be set as one piece on one side, or can be set as two pieces on both sides, the clamping position of the clamping clamp is the bottle clamping position, and the extension and extension of the clamping telescopic cylinder can be controlled The retraction action can realize the clamping clamping head in the closed clamping state or the separated non-clamping state. The capping mechanism includes a capping support frame and a capping manipulator installed on the capping support frame. The capping manipulator is arranged corresponding to the clamping center of the clamping clamping head in the closed clamping state, and the capping manipulator is installed on the capping support frame at least through a Z coordinate driving assembly movable in the vertical up and down directions and a C coordinate driving assembly rotatable around a Z coordinate axis. The capping manipulator is provided with a plurality of clamping claws evenly distributed in the circumferential direction, and the clamping claws are installed on the capping manipulator through a claw retraction control component retractable in the radial direction of the capping manipulator. The claw retraction control component can be a telescopic cylinder of linear motion or a driving motor of rotational motion. By controlling the action of the claw retraction control component, the clamping state of the plurality of clamping claws being retracted synchronously or the non-clamping state being extended synchronously can be realized. The bottle clamping mechanism and the capping mechanism are prior art and will not be described in further detail here.

[0048] The centralized electrical control part includes an electrical control cabinet 8, which includes a central controller and an automatic sampling control circuit. The central controller is electrically connected to the gantry robot 1, the roof sealing cover opening and closing robotic arm 2, the sampling robotic arm 3, the liquid dispensing pump of the filling and cleaning component 5, the sample bottle holder driving mechanism 535 of the filling and cleaning component 5, the bottle moving robotic arm 6 and the sample bottle capping part of the capping cache cabinet 7.

[0049] The central controller of the automatic sampling system of the milk tanker can be connected to the digital bus of the milk and dairy product processing enterprise to realize centralized digital management. In the initial state of the automatic sampling system of the milk tanker, the rotating quick-change chuck 22 is mounted on the quick-change chuck support frame, the sampling rake 4 is mounted on the hanger 522 of the flushing box 52, the sample bottle bracket 534 is located outside the filling box 53, and the empty sample bottle is placed in the sample bottle cache part on the upper layer of the screw cap cache cabinet 7. The specific workflow is as follows:

[0050] After the milk tanker enters the factory, the original milk tanker automatic sampling system can be triggered according to the collection task number in the SAP system, such as Figure 1 As shown, the milk tanker stops at a designated sampling station below the gantry robot 1 according to a specific sampling address;

[0051] After the milk tanker stops at the designated sampling station, the sampling confirmation procedure is carried out. The central processor can automatically take photos to identify the vehicle license plate through the visual detection probe located in front or behind the milk tanker, and compare it with the information in the SAP system to determine the compliance of the transportation time. If an abnormal result occurs, it will automatically identify and alarm. After the alarm state, the detection personnel can manually choose to stop / continue, or automatically execute stop / continue in different links according to the set program, and the data information is automatically saved and uploaded to the LIMS system; the central controller controls the actions of the movable crossbeam driving component 14 and the movable seat I driving component 17 (or the movable seat II driving component 18) respectively to enable the grabbing and stacking mechanical arm I 23 to locate the specific coordinate position of the roof sealing cover 9 through the pattern recognition sensor 25, and automatically determine whether the lead seal or lock of the roof sealing cover 9 is normal and the compliance of the vehicle body hygiene. If an abnormal result occurs, it will automatically identify and alarm. After the alarm state, the detection personnel can choose to stop / continue, or automatically execute stop / continue in different links according to the set program; the data information is automatically saved and uploaded to the LIMS system;

[0052] After the sampling confirmation procedure, the automatic sampling procedure is performed. The central controller first controls the roof sealing cover opening and closing mechanical arm 2 to automatically match the Bluetooth lock information and then open the Bluetooth lock of the roof sealing cover 9. Then the central controller controls the grabbing and stacking mechanical arm I23 to dock and grab the rotating quick-change chuck 22 and move the coordinates to the top of the roof sealing cover 9. Then, the clamping claws of the rotating quick-change chuck 22 are controlled to firmly clamp the plum blossom locking nut 91 on the roof sealing cover 9, and then the C coordinate driving assembly action of the rotating quick-change chuck 22 is controlled to loosen the plum blossom locking nut 91. Then, the articulated locking bolt 92 is pushed by coordinate translation to make it flip along the hinge center to make way for the outer cover locking bayonet of the roof sealing cover 9. Finally, the cover opening hook 26 is used to hook the pull rod 93 of the roof sealing cover 9, and the coordinate movement is used to make the roof sealing cover 9 flip and open around its hinge axis, that is, the opening work of the roof sealing cover 9 is completed. At the same time, the data information is automatically saved and uploaded to the LIMS system.

[0053] After the central controller acquires an image of the surface of the raw milk in the tank through the pattern recognition sensor 25, the central controller controls the actions of the movable crossbeam driving component 14 and the movable seat II driving component 18 (or the movable seat I driving component 17) to move the coordinates of the grabbing and stacking mechanical arm II of the sampling mechanical arm 3 to the position just above the flushing box 52, and docks with the sampling rake quick-change joint 41 of the sampling rake 4 through the sampling rake quick-change connecting structure 39 to achieve stable grabbing of the sampling rake 4, and then the central controller controls the grabbing and stacking mechanical arm II of the sampling mechanical arm 3 to move to the position just above the tank mouth of the milk tanker, and controls the vertical up and down coordinates of the grabbing and stacking mechanical arm II to achieve the use of the salvage net 46 to salvage the raw milk fat on the surface of the raw milk in the tank, and then the central controller controls the grabbing and stacking mechanical arm II to move to the position just above the tank mouth of the milk tanker, and controls the vertical up and down coordinates of the grabbing and stacking mechanical arm II to salvage the raw milk fat on the surface of the raw milk in the tank, and then the central controller controls the grabbing and stacking mechanical arm II to move to the position just above the tank mouth of the milk tanker ... The raw milk fat on the salvage net 46 is imaged by the pattern recognition sensor 25, and then the collected raw milk surface image and raw milk fat image are checked for consistency with the built-in standard raw milk surface image and raw milk fat image, and uploaded to the LIMS system, and the synchronous image is archived for 48 hours. The temperature sensor 45 on the sampling rake 4 can automatically measure the raw milk temperature during salvage, and the result is uploaded to the LIMS system for comparison with the set raw milk detection temperature range. If there is an abnormality, the process can be terminated and the system alarms, and the data information is automatically saved and uploaded to the LIMS system; at the same time, the sample bottle files pre-entered into the LIMS system (empty sample bottles placed in the sample bottle cache part on the upper layer of the screw-cap cache cabinet 7) are automatically identified as empty bottles;

[0054] After all the above steps meet the sampling requirements, on the one hand, the central controller controls the 6-coordinate movement of the bottle moving robot arm to enable the grabbing and stacking robot to grab the empty sample bottle from the sample bottle buffer part and send the empty sample bottle to the bottle clamping station of the sample bottle capping part. Then the central controller first controls the bottle clamping mechanism of the sample bottle opening and closing device to position the empty sample bottle, and then controls the capping mechanism to make the gripping claw of the capping robot lock the bottle cap of the empty sample bottle and then rotate in the opposite direction and lift it to the set height where the bottle cap is separated from the bottle body, thus completing the empty sample. The central controller first controls the bottle clamping mechanism of the bottle cap opening and closing device of the sample bottle to reset, and then controls the coordinate movement of the bottle moving robot arm 6 to make the grabbing and stacking robot stack the opened empty sample bottles on the sample bottle bracket 534 and wait for the next operation; on the other hand, the central controller controls the coordinate movement of the grabbing and stacking robot arm II to make the sampling rake 4 move vertically downward to the set sampling depth that the quantitative sampling cylinder 43 is immersed below the raw milk liquid surface, and at the same time controls the pressure nitrogen to gush out through the bottom end of the stirring tube 422 to stir the raw milk, and the raw milk is fed into the vacuum tube 422, and the vacuum tube 422 is used to open the sample bottle cap. When the quantitative sampling cylinder 43 is inserted, the heavy hammer plugging head 44 seals the bottom end of the quantitative sampling cylinder 43 under the action of its own gravity, and then the central controller first controls the grabbing and stacking mechanical arm II to move the coordinates so that the sampling rake 4 moves vertically upward to leave the tank mouth and then moves the coordinates to just above the filling box 53, and then controls the grabbing and stacking mechanical arm II to move the coordinates so that the sampling rake 4 moves vertically downward to the set position; after the above processes are completed, the central controller first controls the sample bottle holder driving mechanism 535 to move the sample bottle holder carrying the opened empty sample bottle The rack 534 is translated to the set position inside the filling box 53. At this time, the opened empty sample bottle is located just below the small mouth of the funnel component of the filler 533. The central controller controls the coordinate movement of the grabbing and stacking mechanical arm II to make the sampling rake 4 continue to move vertically downward to the set position. During the downward movement of the sampling rake 4, the heavy hammer plugging head 44 touches the plugging opening and closing structure of the filler 533 and is relatively stationary. The raw milk sample in the quantitative sampling cylinder 43 flows into the opened empty sample bottle through the funnel component of the filler 533 to achieve filling.

[0055] After the filling process is completed, the central controller controls the sample bottle holder driving mechanism 535 to reset so that the sample bottle holder 534 carrying the sample bottle containing the raw milk sample is translated to the set position outside the filling box 53, and then controls the grabbing and stacking robot arm II to move the coordinates so that the sampling rake 4 first moves vertically upward to leave the filling box 53, then translates to the position just above the flushing box 52, and then moves the coordinates to stack the sampling rake 4 on the hanger 522. Then the central controller controls the grabbing and stacking robot arm I23 to move the coordinates to The roof sealing cover 9 is closed (the closing process of the roof sealing cover 9 is the reverse process of the opening process, which will not be described in detail here); at the same time, the central controller controls the liquid dispensing pump of the liquid dispensing box 51 to start so that the spray head I in the flushing box 52 and the spray head II in the filling box 53 spray the flushing liquid (or disinfectant) to flush (or disinfect) the sampling rake 4 in the flushing box 52 and the filler 533 in the filling box 53, and the flushing waste liquid is discharged through the flushing waste liquid discharge channel I and the flushing waste liquid discharge channel II respectively; the roof sealing cover 9 is closed and the sampling rake 4 and the filler 533 are rinsed (or disinfected), the central controller controls the coordinate movement of the bottle moving robot arm 6 so that the grabbing and stacking robot first grabs the sample bottle containing the raw milk sample on the sample bottle bracket 534, and then stacks it on the bottle clamping station of the sample bottle screw capping part, and then the central controller first controls the bottle clamping mechanism of the sample bottle opening and closing bottle cap device to position the sample bottle containing the raw milk sample, and then controls the screw capping mechanism to move the screw capping robot arm that locks the bottle cap downward by a set distance and rotates forward, that is, completing the capping process of the sample bottle containing the raw milk sample, and then the central controller first controls the bottle clamping mechanism of the sample bottle opening and closing bottle cap device to reset, and then controls the coordinate movement of the bottle moving robot arm 6 so that the grabbing and stacking robot arm stacks the closed sample bottle in the set area of ​​the sample bottle cache part of the screw capping cache cabinet 7, the data information is automatically saved and uploaded to the LIMS system, that is, completing the entire automatic sampling process, and the operator can send the sample bottle containing the raw milk sample to the laboratory.

[0056] In order to avoid interference between the sample bottle holder 534 and the sampling rake 4 during the process of entering and exiting the filling box 53, and to further achieve accurate positioning of the sample bottle, as a further improvement scheme of the present invention, a guide positioning groove is provided on the sample bottle holder 534 corresponding to the salvage rod 42, which passes through the sample bottle holder 534 in the vertical direction, and the direction of the guide positioning groove is coordinated with the translation direction of the sample bottle holder 534. When the sample bottle holder 534 enters the filling box 53, the guide positioning groove can be clamped on the salvage rod 42, which can not only avoid interference between the sample bottle holder 534 and the sampling rake 4, but also can achieve further accurate translation positioning of the sample bottle to the bottom of the small mouth end of the funnel component through the guide positioning groove.

[0057] In order to shorten the time between two automatic samplings and realize continuous automatic sampling, as a further improvement scheme of the present invention, a drying tube I and a drying tube II are respectively arranged on the inner surface of the flushing box 52 and the inner surface of the filling box 53, and the drying tube I and the drying tube II are respectively connected to the hot air source through a control valve, and a plurality of drying nozzles I and a drying nozzle II are respectively arranged on the drying tube I and the drying tube II. After flushing (or disinfecting) the sampling rake 4 and the filler 533, the control valve can be opened to allow the drying nozzles I and the drying nozzles II to blow out hot air to dry the sampling rake 4 and the filler 533, thereby realizing rapid drying of the sampling rake 4 and the filler 533, which can not only shorten the time between two automatic samplings and realize continuous automatic sampling, but also avoid cross contamination.

[0058] As an implementation mode of the sampling mechanical arm 3 of the present invention, Figure 4 As shown, when the grabbing and stacking robot arm II adopts a conveyor-type lifting structure, a primary transmission belt 34 arranged along a vertical up-and-down direction is provided on the mounting seat II 31 of the long vertical frame structure, and the primary transmission belt 34 is connected end to end to form a closed loop structure, and support rollers are respectively provided at the upper and lower ends of the closed loop structure, and at least one support roller is provided with a primary driving motor 33, and the arm section of the long vertical frame structure is installed on the mounting seat II 31 through a lifting guide mechanism provided in cooperation, and the lifting guide mechanism may include a fixed guide rail 32 provided on the mounting seat II 31 and a fixed guide rail 32 provided on the arm section. The secondary guide rail 36 is provided with a secondary transmission belt 37 arranged vertically up and down on the arm section. The secondary transmission belt 37 is connected end to end to form a closed loop structure, and the upper and lower ends of the closed loop structure are also provided with support rollers. One side of the secondary transmission belt 37 is correspondingly abutted against one side of the primary transmission belt 34, and the abutted belt surfaces are fixedly connected through a secondary connecting seat 35. A tertiary connecting seat 38 is fixedly provided on the other side of the secondary transmission belt 37 at a position corresponding to the secondary connecting seat 35, and a sampling rake quick-change connecting structure 39 is provided on the tertiary connecting seat 38. When the grabbing and stacking robot arm II is lowered (or raised) through the Z coordinate drive assembly, the primary drive motor 33 rotates forward (or reversely) to make the primary transmission belt 34 drive the arm section to be lowered (or raised) through the secondary connecting seat 35.

[0059] The automatic sampling system of the milk tanker is an intelligent digital control system, which can be seamlessly connected with the digital bus of the milk and dairy product processing enterprises to realize centralized digital management. It is not limited to the above-mentioned specific control method. Through the coordinated operation of the roof sealing cover opening and closing mechanical arm 2, the sampling mechanical arm 3, the filling and cleaning component 5, the bottle transfer mechanical arm 6 and the screw cap buffer cabinet 7, it can realize the rapid and automatic sampling of the raw milk in the milk tanker to improve the accuracy of raw milk detection, which can greatly reduce the interference of human factors on the raw milk sampling process, and is particularly suitable for raw milk entry inspection of milk and dairy product processing enterprises.

Claims

1. An automatic sampling system for a milk tanker, characterized in that: It comprises a gantry robot (1), a sampling part, a sampling bottle buffer part and a centralized electric control part; The sampling part comprises a roof sealing cover opening and closing mechanical arm (2), a sampling mechanical arm (3), a sampling rake (4) and a filling and cleaning component (5); The gantry robot (1) is used to install a roof sealing cover opening and closing mechanical arm (2) and a sampling mechanical arm (3), and the gantry robot (1) at least comprises an X-coordinate driving assembly for controlling the roof sealing cover opening and closing mechanical arm (2) and the sampling mechanical arm (3) to move in a horizontal front-rear direction, and a Y-coordinate driving assembly for controlling the roof sealing cover opening and closing mechanical arm (2) and the sampling mechanical arm (3) to move in a horizontal left-right direction; The roof sealing cover opening and closing mechanical arm (2) is used to open or close the roof sealing cover (9), and the roof sealing cover opening and closing mechanical arm (2) includes a grabbing and stacking mechanical arm I (23), and the grabbing and stacking mechanical arm I (23) at least includes a Z coordinate driving assembly for controlling the grabbing and stacking mechanical arm I (23) to move in a vertical up and down direction; The sampling mechanical arm (3) is used to sample the raw milk in the milk tanker. The sampling mechanical arm (3) comprises a grabbing and stacking mechanical arm II. The grabbing and stacking mechanical arm II at least comprises a Z coordinate drive assembly for controlling the grabbing and stacking mechanical arm II to move in the vertical up and down direction. The end arm of the grabbing and stacking mechanical arm II is provided with a sampling rake quick-change connection structure (39). The sampling rake (4) comprises a salvage rod (42) vertically arranged in the axial direction, a sampling rake quick-change joint (41) matched with the sampling rake quick-change connection structure (39) is fixedly arranged at the top of the salvage rod (42), a positioning shaft section (421) is arranged below the sampling rake quick-change joint (41), a plurality of quantitative sampling barrels (43) symmetrically arranged relative to the center of the salvage rod (42) are fixedly arranged at the bottom of the salvage rod (42), a weight plugging head (44) is arranged at the bottom end of the quantitative sampling barrel (43), and the weight plugging head (44) is matched with the quantitative sampling barrel (43) through a conical surface matching connection structure with a larger top and a smaller bottom; The filling and cleaning assembly (5) comprises a liquid dispensing box (51), a flushing box (52) and a filling box (53); a liquid dispensing pumping assembly comprising a liquid dispensing pump and a pumping pipeline is arranged in the liquid dispensing box (51); the flushing box (52) is a box-shaped structure with an open top, and the flushing box (52) comprises a flushing cover (521) and a hanging rack (522) and a flushing spray rack (523) fixedly arranged inside the flushing cover (521); the hanging rack (522) is provided with a positioning shaft section (421) for matching with the sampling rake (4). The flushing spray rack (523) comprises a plurality of spray pipes I arranged around the inner surface of the flushing housing (521), the spray pipes I are tightly connected to the pump pressure pipeline of the liquid distribution box (51), and a plurality of spray heads I are arranged on the spray pipes I, and a flushing waste liquid discharge channel I is arranged at the bottom of the flushing box (52); the filling box (53) is a box-shaped structure with an open top, and the filling box (53) comprises a filling housing (531), a filling spray rack (532), a filler (533) and a sample bottle holder (534), the filling spray rack (532) includes a plurality of spray pipes II arranged around the inner surface of the filling cover (531), the spray pipes II are tightly connected to the pump pressure pipeline of the liquid distribution box (51), and a plurality of spray heads II are arranged on the spray pipes II, and the filler (533) fixedly arranged inside the filling cover (531) includes a plurality of funnel parts whose number and position correspond to the quantitative sampling cylinder (43), the large end of the funnel part corresponds to the bottom end of the quantitative sampling cylinder (43), and the large end of the funnel part A plug opening and closing structure is provided between the heavy hammer plugging head (44), an opening is provided on one side of the filling cover (531) at a position corresponding to the filler (533) to allow the sample bottle holder (534) to enter and exit, the sample bottle holder (534) is installed on the filling box (53) through a sample bottle holder driving mechanism (535), a sample bottle positioning structure is provided on the sample bottle holder (534) at a position corresponding to the small end of the funnel component, and a flushing waste liquid discharge channel II is provided at the bottom of the filling box (53); The sampling bottle buffering part comprises a bottle moving mechanical arm (6) and a capping buffering cabinet (7); the bottle moving mechanical arm (6) is positioned and arranged corresponding to the filling box (53) and is used for grabbing and stacking sample bottles. The bottle moving mechanical arm (6) at least comprises an X-coordinate driving assembly for controlling the bottle moving mechanical arm (6) to move in a horizontal front-to-back direction, a Y-coordinate driving assembly for controlling the bottle moving mechanical arm (6) to move in a horizontal left-to-right direction and a Z-coordinate driving assembly for controlling the bottle moving mechanical arm (6) to move in a vertical up-down direction. A grabbing and stacking mechanical arm is arranged on the end arm of the bottle moving mechanical arm (6); the capping buffering cabinet (7) is positioned and arranged corresponding to the bottle moving mechanical arm (6) and is used for supplying and caching sample bottles. The capping buffering cabinet (7) comprises a sample bottle buffering part located at an upper layer and a sample bottle capping part located at a lower layer. The sample bottle buffering part is provided with a plurality of sample bottle positioning structures arranged side by side. The sample bottle capping part comprises a plurality of sample bottle cap opening and closing devices arranged side by side. The centralized electric control part comprises an electric control cabinet (8), the electric control cabinet (8) comprises a central controller and an automatic sampling control circuit, and the central controller is respectively electrically connected to the gantry robot (1), the roof sealing cover opening and closing mechanical arm (2), the sampling mechanical arm (3), the liquid dispensing pump of the filling and cleaning component (5), the sample bottle bracket driving mechanism (535) of the filling and cleaning component (5), the bottle transfer mechanical arm (6) and the sample bottle cap opening and closing device of the screw cap cache cabinet (7).

2. The automatic sampling system for milk tanker according to claim 1, characterized in that: The gantry robot (1) comprises at least four supporting legs (11) arranged symmetrically in the center, and two horizontal top beams (12) and two longitudinal top beams (13) fixedly mounted on the top ends of the supporting legs (11) and forming a rectangular frame structure. A movable crossbeam (15) is arranged between the two longitudinal top beams (13). The movable crossbeam (15) is mounted on the longitudinal top beam (13) via a movable crossbeam guide drive mechanism arranged along the front-rear direction. The movable crossbeam guide drive mechanism comprises a movable crossbeam drive component (14) and a longitudinal guide structure arranged in cooperation between the movable crossbeam (15) and the longitudinal top beam (13). A structure (131) is provided, a movable seat I (16) and a movable seat II (19) are respectively provided on the front end face and the rear end face of the movable crossbeam (15), and the movable seat I (16) and the movable seat II (19) are respectively installed on the movable crossbeam (15) through a transverse guide drive mechanism I and a transverse guide drive mechanism II arranged for guiding in the left and right directions, the transverse guide drive mechanism I includes a movable seat I drive component (17), the transverse guide drive mechanism II includes a movable seat II drive component (18), and the transverse guide drive mechanism I and the transverse guide drive mechanism II both include a transverse guide structure (151).

3. The automatic sampling system for milk tanker according to claim 2, characterized in that: The roof sealing cover opening and closing mechanical arm (2) also includes a mounting seat I (21) and a rotating quick-change chuck (22), wherein the mounting seat I (21) is fixedly mounted on a movable seat I (16) or a movable seat II (19), the rotating quick-change chuck (22) is mounted on a quick-change chuck support frame, and the quick-change chuck support frame is positioned and mounted on a movable crossbeam (15) or the mounting seat I (21), the rotating quick-change chuck (22) includes a C coordinate drive assembly that can rotate around a Z coordinate axis in a vertical up-and-down direction, the top of the rotating quick-change chuck (22) is provided with a chuck quick-change joint, the bottom of the rotating quick-change chuck (22) is provided with a plurality of clamping claws evenly distributed in a circumferential direction, and the clamping claws are extended and retracted in a radial direction of the rotating quick-change chuck (22). The claw extension and retraction control component is installed on the rotating quick-change chuck (22), and the end arm of the grabbing and stacking mechanical arm I (23) fixedly installed on the mounting seat I (21) is provided with a chuck quick-change connection structure that cooperates with the chuck quick-change joint at the top of the rotating quick-change chuck (22). The end arm of the grabbing and stacking mechanical arm I (23) is also fixedly provided with a pattern recognition sensor (25) and a cover opening hook (26), and the bottom end of the cover opening hook (26) extending vertically downward is provided with a hook-shaped structure; the sampling mechanical arm (3) also includes a mounting seat II (31), the mounting seat II (31) is fixedly installed on the movable seat II (19) or the movable seat I (16), and the grabbing and stacking mechanical arm II is installed on the mounting seat II (31).

4. The automatic sampling system for milk tanker trucks according to claim 1, 2 or 3, characterized in that: A temperature sensor (45) is provided on the salvage rod (42). The salvage rod (42) is a hollow tube structure. The wire of the temperature sensor (45) is arranged in the hollow tube structure of the salvage rod (42). A contact docking structure is provided on the sampling rake quick-change connection structure (39) and the sampling rake quick-change joint (41) to match the contact docking structure, and the top end of the wire of the temperature sensor (45) is electrically connected to the contact on the sampling rake quick-change joint (41).

5. The automatic sampling system for milk tanker truck according to claim 1, 2 or 3, characterized in that: The salvage rod (42) is a hollow tube structure, a stirring tube (422) is provided inside the hollow tube structure, and the bottom end of the stirring tube (422) extends to the outside of the salvage rod (42), a matching gas path docking structure is provided on the sampling rake quick-change connection structure (39) and the sampling rake quick-change joint (41), and the top end of the stirring tube (422) is tightly connected to the gas path joint on the sampling rake quick-change joint (41).

6. The automatic sampling system for milk tanker truck according to claim 1, 2 or 3, characterized in that: A salvage net (46) is also fixedly provided at the bottom end of the salvage rod (42).

7. The automatic sampling system for milk tanker truck according to claim 1, 2 or 3, characterized in that: A guide and positioning through groove is provided on the sample bottle bracket (534) at a position corresponding to the salvage rod (42) and passes through the sample bottle bracket (534) in a vertical direction, and the direction of the guide and positioning through groove matches the translation direction of the sample bottle bracket (534).

8. The automatic sampling system for milk tanker trucks according to claim 1, 2 or 3, characterized in that: A drying pipe I and a drying pipe II are respectively arranged on the inner surface of the flushing box (52) and the inner surface of the filling box (53). The drying pipe I and the drying pipe II are respectively connected to the hot air source through a control valve, and a plurality of drying nozzles I and a plurality of drying nozzles II are respectively arranged on the drying pipe I and the drying pipe II.

9. The automatic sampling system for milk tanker trucks according to claim 1, 2 or 3, characterized in that: The grabbing and stacking mechanical arm II is a conveyor-type lifting structure. A primary transmission belt (34) arranged along a vertical up-and-down direction is provided on a mounting seat II (31) of a long vertical frame structure. The primary transmission belt (34) is connected end to end to form a closed loop structure, and support rollers are provided at the upper and lower ends of the closed loop structure. At least one support roller is provided with a primary driving motor (33). The arm section of the long vertical frame structure is installed on the mounting seat II (31) through a lifting guide mechanism provided in cooperation. The arm section is provided with a secondary transmission belt (34) arranged along a vertical up-and-down direction. 7), the secondary transmission belt (37) is connected end to end to form a closed loop structure, and the upper and lower ends of the closed loop structure are also provided with support rollers respectively, one side of the secondary transmission belt (37) is in contact with the side of the primary transmission belt (34), and the two surfaces in contact are fixedly connected through a secondary connecting seat (35), and a tertiary connecting seat (38) is fixedly provided on the other side of the secondary transmission belt (37) at a position corresponding to the secondary connecting seat (35), and a sampling rake quick-change connecting structure (39) is provided on the tertiary connecting seat (38).

10. The automatic sampling system for milk tanker trucks according to claim 1, 2 or 3, characterized in that: A gripping and stacking robot of the bottle transfer robot (6) is provided with a gripping assembly comprising at least two gripping fingers that can be opened and closed. The gripping fingers are hingedly mounted on the gripping and stacking robot, and the gripping fingers are transmission-connected to a gripping finger opening and closing control mechanism.

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