Unattended autonomous intelligent powder sampling and sealing device and working method

Abstract

The invention discloses an unattended autonomous intelligent powder sampling and sealing device and a working method.The unattended autonomous intelligent powder sampling and sealing device is characterized in that a moving device, a sampling device, a discharging device, a clamp switching device and a charging device are arranged on an upper-layer platform, a lower-layer platform and the upper-layer platform are built in a sampling plant, and a material shape detecting device is arranged in the center of the top of the sampling plant; a three-dimensional model is established to upload data to a control system; the sampling device is arranged on the moving device, and the moving device is used for carrying the sampling device; an unloading device is arranged on one side of the moving device, and the clamp switching device is arranged at the end of the unloading device; a charging device is arranged at the end part of the moving device; the sample sealing device is arranged on the lower-layer platform; unmanned operation of the complete process of sampling, sample unloading and sample sealing can be achieved, the situation that the sampling position is manually mastered and the taken-out sample is directly packaged is effectively avoided by controlling the number and the density of coordinate points generated by the system every time, and the risk that powder samples are manually processed when being manually transferred is eradicated.

Description

Technical Field

[0001] The present invention belongs to the technical field of material sampling inspection equipment, and particularly relates to an unattended autonomous intelligent powder sampling and sealing device and a working method thereof. Background Art

[0002] The statements in this part only provide background technical information related to the present invention and do not necessarily constitute prior art.

[0003] At present, most of the sampling methods for commercial colored concentrates are manual sampling. However, manual sampling has disadvantages such as insufficient sampling depth, artificial control of the sampling point position and quantity, and poor representativeness of the sampled samples. Especially for the sampling of bagged colored concentrates, the representativeness of the samples manually taken is basically less than 40%. In order to reduce the influence of human factors in the sampling process, objectively and fairly reflect the quality of commercial colored concentrates, and protect the legitimate rights and interests of both trading parties, it is necessary to achieve automatic sampling of ore powder.

[0004] Although the sampling devices in the prior art have achieved automatic sampling, they only implement the automatic sampling and unloading links, lacking the sealing link. There is still a risk of being artificially processed when the taken powder samples are transported by workers. At the same time, in order to sample quickly, the sampling form of the sampler in the automatic sampling equipment is limited to the shallow surface, and the representativeness is poor due to insufficient sampling depth. Moreover, although the automatic sampling system can generate random coordinate points, the set sampling area is relatively fixed, and it is easy for humans to master the sampling position, affecting the sample detection. Currently, the automatic cleaning process of the sampler is incomplete, and there may still be residual slag, resulting in the problem of easy sample mixing. Summary of the Invention

[0005] In view of the above problems, the present invention provides an unattended autonomous intelligent powder sampling and sealing device and a working method thereof, which can realize the unmanned operation of the complete processes of sampling, unloading, and sealing. By generating different numbers and densities of coordinate points each time through the control system, it effectively avoids humans mastering the sampling position. At the same time, the taken samples are directly encapsulated by the sealing device, eliminating the risk of being artificially processed when the powder samples are transported manually.

[0006] In order to achieve the above object, the present invention is realized by the following technical solutions:

[0007] In a first aspect, the present invention provides an unattended autonomous intelligent powder sampling and sealing device, comprising: a lower platform and an upper platform, wherein a sealing device and a control system are arranged on the lower platform; a moving device, a sampling device, a discharging device, a fixture switching device and a charging device are arranged on the upper platform, and the lower platform and the upper platform are built inside a sampling workshop. A material shape detection device is arranged at the center of the top of the sampling workshop, which is used to monitor the material distribution information in the carriage of the ore powder truck, establish a three-dimensional model and upload the data to the control system for randomly determining the sampling position.

[0008] The sampling device is arranged on the moving device, and the moving device is used to carry the sampling device; a discharging device is arranged on one side of the moving device, and the fixture switching device is arranged at the end of the discharging device for the sampling device to collect different types of ore powder; a charging device is arranged at the end of the moving device for supplying power to the moving drive battery and the sampling drive battery respectively.

[0009] The sealing device is arranged on the lower platform and is located below the discharging device for sealing the sample from the discharging device.

[0010] Further, the moving device includes a translation rail car, a sampling chassis and a vertical rail. Servo motors, translation motors, air compressors, a moving drive battery and a sampling drive battery are arranged on both sides of the upper part of the translation rail car; the sampling chassis is arranged at the central position of the translation rail car, the vertical rail is arranged on the sampling chassis, and the sampling device is arranged on the vertical rail; a slide rail is arranged between the translation rail car and the upper platform, the slide rail is fixedly arranged on the upper platform, the translation rail car is slidably arranged on the slide rail, and the translation rail car is driven by a servo motor.

[0011] The sampling device includes a sampling arm and a sampler. The sampling arm is a six-axis sampling arm, which is slidably arranged on the vertical rail through a sampling base, driven by the translation motor and powered by the sampling drive battery; the sampler is installed on the fixture chassis at the end of the sampling arm.

[0012] Further, the sampler includes a sampling rod and a metal air pipe. The sampling rod is a hollow rod, and holes are arranged at the bottom of the sampling rod for storing the sample material inserted into the ore powder during sampling. On the left side of the sampling rod are a metal air pipe and a material locking airbag. The metal air pipe is connected to the sampling terminal at the top of the sampler through a flexible air pipe, and the sampling terminal is fixedly connected to the sampler through a bent bracket; a metal shell is arranged on one side of the material locking airbag away from the sampling rod, and the metal shell is fixedly connected to the metal air pipe.

[0013] Further, the unloading device includes a translation slider provided with a plurality of unloaders, a toothed slide rail, a drag chain and a driving motor; the toothed slide rail is fixedly arranged on one side of the upper platform, the translation slider is slidably arranged on the toothed slide rail, the driving motor is arranged on the translation slider and is connected to the toothed slide rail in a meshing manner through a gear; one end of the drag chain is connected to the translation slider, and the other end is connected to the end of the toothed slide rail. An air source pipeline is arranged in the drag chain; an optoelectronic sensor is installed on the toothed slide rail for positioning and limiting the translation slider during movement.

[0014] The unloader includes a plunger rod, a pusher cylinder and a vertical slider. The vertical slider is slidably arranged on the translation slider. The plunger rod is fixed on the left side of the vertical slider, and the pusher cylinder is fixed on the right side of the vertical slider. The vertical slider is driven to slide up and down by the pusher cylinder, and then the plunger rod is driven to push the sampling rod.

[0015] Further, the fixture switching device includes a fixed frame, a central shaft, a protective cover, a fixture turntable, a fixture cover plate, a cover plate cylinder, a stepping motor, a plurality of U-shaped bracket seats, a heater, a purge solenoid valve and purge air holes. The stepping motor and the cover plate cylinder are both installed at the bottom of the fixed frame. The heater is fixed on the inner cavity wall of the fixed frame through a connecting piece, and the purge solenoid valve is fixed on the outer wall of the fixed frame through a connecting piece; the fixture cover plate is arranged at the top of the fixed frame, and the opening and closing actions of the fixture cover plate are controlled by the cover plate cylinder arranged on the outer wall of the fixed frame; a magnetic switch is installed on the cover plate cylinder, and the magnetic switch is used to detect the telescopic state of the rod chamber in the cover plate cylinder.

[0016] The U-shaped bracket is arranged inside the fixed frame through the fixture turntable. The stepping motor is arranged at the bottom of the fixed frame, and the stepping motor drives the fixture turntable to rotate through the central shaft; the U-shaped bracket seat includes a mechanical positioning pin and a proximity switch.

[0017] The purge air holes are arranged on the protective cover at the top of the fixed frame for connecting an external purge air pipe. The air source inlet and outlet of the purge air pipe are controlled by the purge solenoid valve arranged on the side of the fixed frame, so as to realize the purge and cleaning of the inner cavity of the fixed frame.

[0018] Further, the charging device includes a power supply chassis, a first charging pile and a second charging pile; the power supply chassis is used for parking the translation rail vehicle. The first charging pile and the second charging pile are both installed at the center of the power supply chassis and are respectively used for charging the mobile drive battery and the sampling drive battery; a fourth optoelectronic sensor is installed on the side of the power supply chassis, and the fourth optoelectronic sensor is used for monitoring the movement of the translation rail vehicle and parking positioning.

[0019] Furthermore, the lower platform is provided with a license plate recognition system and a guardrail. The license plate recognition system is used for visually recognizing the information of the ore powder truck and recording and uploading it. The guardrail is used to control the entry and exit of vehicles. The license plate recognition device is arranged at one end of the lower platform, and the license plate recognition device and the charging device are located at the same end.

[0020] Furthermore, the material shape detection device includes a lidar and a bracket. The lidar is fixedly connected to the bracket through a connecting piece, and the bracket is fixedly installed on the roof of the sampling workshop through a connecting piece.

[0021] Furthermore, the sample sealing device includes a packing machine, an inkjet printer, a re-inspection scale, a conveyor belt, and a finished product container arranged in sequence; a weighing sensor is built in the packing machine, and the weighing sensor is used for real-time measurement of the weight of the sample material to be packed currently. The re-inspection scale is used for re-inspecting and weighing the packaged finished product sample material and recording data. The inkjet printer is used for information inkjet marking on the outer packaging of the finished product sample material.

[0022] In a second aspect, the present invention also provides a working method for an unattended autonomous intelligent powder sampling and sealing device, including the following steps:

[0023] S1. When the ore powder truck enters the sampling workshop, the license plate recognition system on the lower platform visually recognizes its license plate, records and uploads the license plate information, and the guardrail opens to allow the vehicle to drive into the designated position; the material shape detection device scans the material distribution information in the carriage of the ore powder truck through the lidar, establishes a three-dimensional model, and uploads the data to the control system. The control system randomly determines the sampling position based on this.

[0024] S2. The translation rail vehicle of the moving device is on the slide rail and moves above the designated sampling position; at the same time, the sampling arm moves on the vertical rail through the translation motor and adjusts to a suitable height; the sampling arm drives the sampler at the end to penetrate into the ore powder, the holes at the bottom of the sampling rod collect the ore powder, and the metal air pipe provides air source for the locking air bag to lock the sample material; when different types of ore powder need to be collected, the sampling device moves to the fixture switching device, and the stepping motor of the fixture switching device drives the fixture turntable to rotate to select a suitable fixture; the cover plate cylinder controls the opening and closing of the fixture cover plate, and at the same time, the heater can heat the fixture, and the purge solenoid valve purges and cleans the inner cavity of the fixing frame through the purge air holes to ensure that the fixture is pollution-free.

[0025] S3. After sampling is completed, the translation slider of the discharging device is on the toothed slide rail and is driven by the driving motor through gear engagement to move below the sampler; the pushing cylinder of the discharger drives the vertical slider to slide up and down, and the plunger rod pushes the sample material in the sampling rod out and falls into the sample sealing device below.

[0026] S4. The sample enters the sample sealing device. The weighing sensor built in the packing machine measures the weight of the sample in real time, packs it, and the inkjet printer sprays information and identification on the outer package of the packaged finished sample; the re-inspection scale re-inspects and weighs the finished sample and records the data, and finally transports the finished sample to the finished product container through the conveyor belt;

[0027] S5. The translation rail vehicle moves to the power chassis of the charging device, and the first charging pile and the second charging pile charge the mobile drive battery and the sampling drive battery respectively to prepare for the next sampling task.

[0028] Compared with the prior art, the advantages and positive effects of the present invention are:

[0029] The present invention can realize the unmanned operation of the complete processes of sampling, unloading, and sample sealing. The material shape detection device scans the material distribution in the carriage of the ore powder truck, and the control system establishes a three-dimensional model based on this and randomly generates sampling coordinate points, and the number and density of the coordinate points generated each time are different; it effectively avoids manual control of the sampling position, prevents artificial pre-arrangement of ore samples, reduces human interference, and ensures the fairness and randomness of sampling; at the same time, the sample is directly encapsulated by the sample sealing device on the lower layer platform, eliminating the risk of being artificially processed during manual transfer of powder samples, and ensuring the authenticity and reliability of the whole process from sample collection to encapsulation.

[0030] The sampling device of the present invention is a special tubular deep penetration sampling device. Its sampling rod is a hollow rod, with holes at the bottom for storing samples, and is equipped with a metal air pipe and a locking airbag. It can penetrate the entire cross-section depth of the ore truck sample to obtain more representative samples, overcoming the drawbacks of insufficient sampling depth and poor representativeness of traditional shallow surface sampling; the six-axis sampling arm is installed on a mobile device composed of a translation rail vehicle, a sampling chassis, and a vertical rail. The translation rail vehicle is driven by a servo motor to slide on the slide rail, and the vertical rail provides flexible sliding for the sampling arm in the vertical direction. This enables the sampling device to fully cover the sampling of the ore material in the carriage of the ore powder truck, while reducing the hard requirements for the arm span of the sampling arm, adapting to different vehicle models of different sizes, and improving the versatility of the equipment.

[0031] The unloading device of the present invention is composed of the translation sliders of multiple unloaders, toothed slide rails, etc. The unloader drives the plunger rod to push the material through the push cylinder, avoiding leakage, sticking, and residual samples during the unloading process. Different numbered samplers are configured for various concentrates, and the unloading device can identify the sampler number and corresponding unloading position to prevent sample mixing and achieve accurate unloading without human participation, excluding human intervention in the sampling and unloading process; the fixture switching device can freely switch multiple samplers through a stepping motor to meet the sampling requirements of different ore powder types; designs such as heaters and purge solenoid valves achieve dust prevention, cleaning, and heat preservation of the samplers, extend the service life of the samplers, ensure the sampling accuracy, and prevent cross-contamination between different samples, realizing non-mixing of the sampling process.

[0032] The sealing sample device packaging machine of the present invention is built-in with a weighing sensor for real-time weighing. The recheck scale rechecks and records data, and the inkjet printer sprays inkjet identification on the outer packaging to ensure the standardization, traceability and data accuracy of the sealing sample link; the license plate recognition system recognizes the license plate information of the ore powder truck and records and uploads it, and the guardrail controls the entry and exit of vehicles, realizing the intelligent management of vehicles, facilitating the information-based tracking and management of the sampling process. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The schematic diagrams in the specification that form a part of the present invention are used to provide a further understanding of the present invention. The schematic embodiments and descriptions thereof of the present invention are used to explain the present invention and do not constitute an improper limitation of the present invention.

[0034] Figure 1 It is a top view of the overall structure of the sealing sample device of the present invention;

[0035] Figure 2 It is a left view of the overall structure of the sealing sample device of the present invention;

[0036] Figure 3 It is a right view of the overall structure of the sealing sample device of the present invention;

[0037] Figure 4 It is a schematic diagram of the structure of the sampler of the present invention;

[0038] Figure 5 It is a schematic diagram of the structure of the fixture quick-change device of the present invention;

[0039] Figure 6 It is a schematic diagram of the structure of the U-shaped support seat of the present invention;

[0040] Figure 7 It is a schematic diagram of the structure of the cover plate cylinder of the present invention;

[0041] Figure 8 It is a schematic diagram of the structure of the push rod of the unloading device of the present invention;

[0042] Figure 9 It is a schematic diagram of the structure of the quick-change lock disk of the present invention.

[0043] In the figure: 1, translation rail vehicle; 2, servo motor; 3, mobile drive battery; 4, first photoelectric sensor; 5, laser ranging sensor; 6, vertical rail; 7, sampling chassis; 8, sampling arm; 9, sampling base; 10, translation motor; 11, sampler; 12, air compressor; 13, sampling drive battery; 14, sampling rod; 15, metal air pipe; 16, locking material airbag; 17, metal shell; 18, sampling terminal; 19, sampling arm fixture chassis; 20, locking steel ball; 21, air passage hole; 22, solenoid valve; 23, cylindrical docking pin; 24, fixture chassis; 25, cylindrical docking pin hole; 26, translation slider; 27, discharger; 28, toothed slide rail; 29, drag chain; 30, plunger rod; 31, pushing cylinder; 32, vertical slider; 33, drive motor; 34, third photoelectric sensor; 35, fixing bracket; 36, central axis; 37, protective cover; 38, fixture turntable; 39, fixture cover plate; 40, cover plate cylinder; 41, stepping motor; 42, U-shaped bracket seat; 43, heater; 44, purging solenoid valve; 45, magnetic switch; 46, proximity receiver; 47, mechanical positioning pin; 48, proximity switch; 49, strapping machine; 50, inkjet printer; 51, re-inspection scale; 52, conveyor belt; 53, finished product container; 54, load cell; 55, license plate recognition system; 56, guardrail; 57, independent steel ball slot; 58, slide rail; 59, lidar; 60, bracket; 61, gear; 62, fixture switching device; 63, power supply chassis; 64, first charging pile; 65, second charging pile; 66, second photoelectric sensor; 67, purging air hole; 68, flexible air pipe; 69, hole; 70, bent bracket. Detailed implementation mode

[0044] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used in the present invention have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0045] It should be noted that the terms used herein are only for describing specific implementation modes and are not intended to limit the exemplary implementation modes of the present invention. As used herein, unless the present invention clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof;

[0046] Embodiment 1

[0047] This embodiment provides an unattended autonomous intelligent powder sampling and sealing device, as Figures 1-9As shown, it includes a lower platform and an upper platform. A sample sealing device and a control system are arranged on the lower platform; a moving device, a sampling device, a discharging device, a fixture switching device 62 and a charging device are arranged on the upper platform. The lower platform and the upper platform are built inside a sampling workshop, and a material shape detection device is arranged at the center of the top of the sampling workshop for monitoring the material distribution information in the carriage of the ore powder truck.

[0048] The sampling device is arranged on the moving device, and the moving device is used to carry the sampling device; a discharging device is arranged on one side of the moving device, and the fixture switching device 62 is arranged at the end of the discharging device for the sampling device to collect different types of ore powder; a charging device is arranged at the end of the moving device for supplying power to the mobile drive battery 3 and the sampling drive battery 13 respectively.

[0049] The sample sealing device is arranged on the lower platform and is under the discharging device for sealing the sample from the discharging device.

[0050] Specifically, the moving device includes a translation rail vehicle 1, a sampling chassis 7 and a vertical rail 6. Servo motors 2, translation motors 10, air compressors 12, a mobile drive battery 3 and a sampling drive battery 13 are arranged on both sides of the upper part of the translation rail vehicle 1; the sampling chassis 7 is arranged at the central position of the translation rail vehicle 1, the vertical rail 6 is arranged on the sampling chassis 7, and the sampling device is arranged on the vertical rail 6; a slide rail 58 is arranged between the translation rail vehicle 1 and the upper platform, the slide rail 58 is fixedly arranged on the upper platform, the translation rail vehicle 1 is slidably arranged on the slide rail 58, and the translation rail vehicle 1 is driven by the servo motor 2.

[0051] Specifically, the sampling device includes a sampling arm 8 and a sampler 11. The sampling arm 8 is a six-axis sampling arm 8. The sampling arm 8 is slidably arranged on the vertical rail 6 through a sampling base 9 and is driven by the translation motor 10. The translation motor 10 is powered by the sampling drive battery 13; the sampler 11 is installed on a fixture chassis 24 at the end of the sampling arm 8; the air compressor 12 is used to supply air source, the sampling drive battery 13 is used to supply power to the sampling arm 8 and the air compressor 12, and the sampler 11 is a special tube-type deep-penetration sampling device that can penetrate the overall cross-sectional depth of the ore truck sample material, and the sample powder taken out has inspection representativeness.

[0052] Specifically, the sampler 11 includes a sampling rod 14 and a metal air pipe 15. The sampling rod 14 is a hollow rod. A hole 69 is provided at the bottom of the sampling rod 14 for storing the sample material inserted into the ore powder during sampling. On the left side of the sampling rod 14 are the metal air pipe 15 and the material-locking airbag 16. The metal air pipe 15 is connected to the sampling terminal 18 at the top of the sampler 11 through a flexible air pipe 68 to complete the air source connection. The sampling terminal 18 is fixedly connected to the sampler 11 through a bent bracket 70. On the side of the material-locking airbag 16 away from the sampling rod 14, there is a metal shell 17, and the metal shell 17 is fixedly connected to the metal air pipe 15. A gap exists between the metal shell 17 and the material-locking airbag 16 to form an air chamber. During use, the sampling rod 14 is inserted into the carriage for sampling. After sampling is completed, the material-locking airbag 16 expands towards the pipe under the action of the air pressure from the metal air pipe 15. The sample material at the lowermost end of the pipe is squeezed by the material-locking airbag 16 and moves towards the opposite hole 69 until it is discharged. Finally, the airbag blocks the material at the bottom of the sampling pipe, preventing the upper material in the sampling pipe from falling during transportation. The right-side material pipe is blocked to avoid the occurrence of material dropping.

[0053] The sampler 11 and the sampling arm 8 are connected and disassembled through a quick-change lock disc. The quick-change lock disc includes a sampling terminal 18 and a sampling arm fixture chassis 19. The sampling arm fixture chassis 19 is fixed to the fixture chassis 24 by screws. The sampling arm fixture chassis 19 includes locking steel balls 20, air passage holes 21, solenoid valves 22, and cylindrical docking pins 23. The sampling terminal 18 includes a cylindrical docking pin hole 25 and an independent steel ball slot 57. During use, the solenoid valve 22 controls the extension and retraction of the locking steel balls 20. Through the locking and loosening of the independent steel ball slot 57 and the locking steel balls 20, the connection between the sampling terminal 18 and the sampling arm fixture chassis 19 is achieved. After the connection is completed, the air source is supplied through the air passage holes 21, thereby realizing the control of the extension and retraction of the cylinder in the sampler 11.

[0054] The sampling arm 8 drives the sampler 11 to sample on the mineral powder car. After the sampler 11 is inserted into the mineral powder car and reaches the sampling depth, the sampling rod 14 of the sampler 11 is full of sample materials. The locking airbag 16 on the side wall of the sampling rod 14 is ventilated and expanded, and the lower end outlet of the tube is blocked through the through hole to prevent material from falling. This tubular deep-piercing sampling method can penetrate the entire cross-sectional depth of the sample material in the mine car and improve the detection value of the sampled material. The sampling device is carried by the mobile device and slides on the track, so that the sampling device can cover the whole range of the mineral material in the car of the mineral powder car. The first photoelectric sensor 4, the second photoelectric sensor 66 and the laser ranging sensor 5 loaded on the slide rail 58 can correctly regulate the parking distance between the mineral powder car and the track through distance measurement, regulate the parking position of the vehicle, and avoid the influence of human factors. The vertical track 6 on the chassis of the translation rail vehicle 1 in the mobile device provides flexible vertical sliding for the chassis of the sampling arm 8, thereby reducing the rigid requirements for the span of the sampling arm 8, and is also suitable for vehicles of different sizes in different scenarios.

[0055] Specifically, the unloading device includes a translation slider 26 provided with a plurality of unloaders 27, a toothed slide rail 28, a drag chain 29 and a driving motor 33; the toothed slide rail 28 is fixedly arranged on one side of the upper platform, the translation slider 26 is slidably arranged on the toothed slide rail 28, the driving motor 33 is arranged on the translation slider 26, and is engaged and connected with the toothed slide rail 28 through a gear 61; one end of the drag chain 29 is connected to the translation slider 26, and the other end is connected to the end of the toothed slide rail 28, and an air source tube is arranged in the drag chain 29; the third photoelectric sensor 34 is installed on the toothed slide rail 28 for positioning and limiting the translation slider 26 during movement;

[0056] The unloader 27 includes a plunger rod 30, a pushing cylinder 31, and a vertical slider 32. The vertical slider 32 is slidably set on the translation slider 26. The plunger rod 30 is fixed on the left side of the vertical slider 32, and the pushing cylinder 31 is fixed on the right side of the vertical slider 32. The vertical slider 32 is driven by the pushing cylinder 31 to slide up and down, thereby driving the plunger rod 30 to realize the pushing operation of the sampling rod 14.

[0057] The unloader 27 is used to push the sample collected on the right side of the sampling rod 14 in the sampler 11. When in use, the sampling arm 8 moves to the designated position after collecting the sample and waits for the unloader 27 to move into place. After the unloader 27 is in place, it pushes the sample stored on the right side of the sampling rod 14 into the packaging machine 49 to complete the automatic unloading process. This method avoids leakage, sticking and residual sample material during the unloading process, and realizes unmanned participation in the unloading process.

[0058] If there are multiple types of concentrated ore powder, a corresponding number of samplers 11 are configured. The control system numbers the samplers 11. The unloading device can identify the number of the sampler 11 carried by the current sampling arm 8. Each number of the sampler 11 on the sampling arm 8 corresponds to an independent unloading position. After the single sampling action of the sampling arm 8 is completed, the unloading device will select a plunger rod 30 with the same number as the sampler 11 of the sampling arm 8 according to the control system instruction, and move to the corresponding independent unloading position through the translation slider 26. After reaching the designated position, the unloading device drives the corresponding plunger rod 30 to unload by pushing through the push cylinder 31. This solution not only avoids the problem of easy sample mixing of the sampled materials, but also replaces the traditional manual sampling and unloading, eliminating the interference of human actions on the sampling and unloading process.

[0059] Specifically, for different types of ore powder, the free switching and cleaning of multiple samplers 11 can be achieved through the fixture switching device 62, realizing non-mixing of the sampling process and the maintenance of the samplers 11. The fixture switching device 62 includes a fixed frame 35, a central shaft 36, a protective cover 37, a fixture turntable 38, a fixture cover plate 39, a cover plate cylinder 40, a stepping motor 41, a plurality of U-shaped bracket seats 42, a heater 43, a purge solenoid valve 44, and a purge air hole 67. The stepping motor 41 and the cover plate cylinder 40 are both installed at the bottom of the fixed frame 35. The heater 43 is fixed to the inner cavity wall of the fixed frame 35 through a connecting piece. The purge solenoid valve 44 is fixed to the outer wall of the fixed frame 35 through a connecting piece. The fixture cover plate 39 is arranged at the top of the fixed frame 35, and the cover plate cylinder 40 arranged on the outer wall of the fixed frame 35 controls the opening and closing action of the fixture cover plate 39. A magnetic switch 45 is installed on the cover plate cylinder 40, and the magnetic switch 45 is used to detect the telescopic state of the rod chamber in the cover plate cylinder 40, so as to obtain the feedback result after the cover plate cylinder 40 executes the action.

[0060] The U-shaped bracket 60 is arranged inside the fixed frame 35 through the fixture turntable 38. The stepping motor 41 is arranged at the bottom of the fixed frame 35. The stepping motor 41 drives the fixture turntable 38 to rotate through the central shaft 36. The U-shaped bracket seat 42 includes a mechanical positioning pin 47 and a proximity switch 48. A proximity receiver 46 is arranged on the fixed frame. When the fixture needs to be replaced, the mechanical positioning pin 47 is used for mechanical rough positioning with the cylindrical docking pin 23 on the fixture chassis 19 of the sampling arm, and the proximity switch 48 is used to detect that the fixture is completely placed on the U-shaped bracket seat 42.

[0061] The purging air holes 67 are arranged on the protective cover 37 at the top of the fixing frame 35 and are used to connect an external purging air pipe. The air source of the purging air pipe is controlled by the purging solenoid valve 44 arranged on the side of the fixing frame 35, so as to realize the purging and cleaning of the inner cavity of the fixing frame 35. During use, the central shaft 36 is driven by the stepping motor 41 to rotate to realize the angle change of the fixture turntable 38, so as to realize the rapid switching of the fixture. The cover plate cylinder 40 drives the fixture cover plate 39 to complete the opening and closing actions. When the fixture needs to be switched, the cover plate cylinder 40 drives the fixture cover plate 39 to open and wait for switching. When the fixture does not need to be switched, the cover plate cylinder 40 drives it to close to realize dust protection.

[0062] Specifically, the charging device includes a power supply chassis 63, a first charging pile 64 and a second charging pile 65; the power supply chassis 63 is used for parking the translation rail vehicle 1, and both the first charging pile 64 and the second charging pile 65 are installed at the center of the power supply chassis 63 and are respectively used for charging the mobile drive battery 3 and the sampling drive battery 13; a fourth photoelectric sensor is installed on the side of the power supply chassis 63, and the fourth photoelectric sensor is used for monitoring the movement of the translation rail vehicle 1 and parking positioning.

[0063] Specifically, the lower layer platform is provided with a license plate recognition system 55 and a guardrail 56. The license plate recognition system 55 is used for visually recognizing the license plate information of the ore powder truck and recording and uploading it. The guardrail 56 is used for controlling the entry and exit of vehicles. The license plate recognition device is arranged at one end of the lower layer platform, and the license plate recognition device and the charging device are located at the same end.

[0064] Specifically, the material shape detection device includes a lidar 59 and a bracket 60. The lidar 59 is fixedly connected with the bracket 60 through a connecting piece, and the bracket 60 is fixedly installed on the roof of the sampling workshop through a connecting piece. The lidar 59 is used for scanning and detecting the distribution information of the materials in the carriage of the ore powder truck, establishing a three-dimensional model and uploading the data to the control system; the control system screens and processes the data according to the uploaded three-dimensional model, and sends the final three-dimensional coordinate position to the sampling device to complete the fixed-point sampling of the ore powder; the control system establishes a three-dimensional model according to the feedback data of the lidar 59 and randomly generates sampling coordinate points; the control system establishes a three-dimensional model and sampling coordinate points according to the feedback data of the lidar 59, and the number of the sampling coordinate points can be freely set; the density of the sampling coordinate points generated in a certain area on the ore powder carriage changes randomly and follows the following formula:

[0065] The spatial dimension of the ore powder carriage is a cuboid. First, the origin of the coordinate system (X0, Y0, Z0) is located, and the defined range includes: the X dimension ranges from X0 to X max , the Y dimension ranges from Y0 to Y max , and the Z dimension ranges from Z0 to Z max, for the i-th coordinate point (X i , Y i , Z i )(where i = 1, 2,...), the farthest coordinate point (X max , Y max , Z max ) of the carriage space size

[0066] X i = X0 + rand() * (X max + X0);

[0067] Y i = Y0 + rand() * (Y max + Y0);

[0068] Z i = Z0 + rand() * (Z max + Z0);

[0069] where rand() represents generating a random floating-point number in the range [0, 1]. The generated three-dimensional coordinates are processed for secondary data using a computer language, and the finally processed coordinate data is sent to the six-axis robotic arm for sampling operations.

[0070] Through the above technical solution, after the ore powder truck arrives at the designated sampling position and stops, the material shape detection device detects the ore distribution in the carriage and feeds back the data to the control system. The control system establishes a three-dimensional model based on the feedback data and randomly generates sampling coordinate points, and sends the sampling coordinates to the sampling robotic arm to perform sampling. At the same time, after the sampling of this ore powder truck is completed and the next ore powder truck arrives, the number and density of the sampling coordinate points generated by the control system this time are completely different from those of the previous ore powder truck. This solution can eliminate the artificial exploration of the sampling mode and sampling rules, and prevent the occurrence of artificial interference and cheating.

[0071] Specifically, the sealing device includes a packing machine 49, an inkjet printer 50, a recheck scale 51, a conveyor belt 52, and a finished product container 53 arranged in sequence; a weighing sensor 54 is built into the packing machine 49, and the weighing sensor 54 is used to measure the weight of the sample material to be packed in real time. The recheck scale 51 is used to recheck and weigh the packed finished product sample material and record the data. The inkjet printer 50 is used to spray information and identification on the outer packaging of the finished product sample material.

[0072] Embodiment 2

[0073] This embodiment also provides a working method for an unattended autonomous intelligent powder sampling and sealing device, including the following steps:

[0074] S1. The ore powder truck enters the sampling workshop. The license plate recognition system 55 on the lower platform visually recognizes its license plate, records and uploads the license plate information. The guardrail opens to allow the vehicle to drive into the designated position. The material shape detection device scans the material distribution information in the ore powder truck carriage through the lidar 59, establishes a three-dimensional model, and uploads the data to the control system. The control system randomly determines the sampling position based on this;

[0075] S2. The translation rail vehicle 1 of the mobile device is on the slide rail and moves above the designated sampling position. At the same time, the sampling arm 8 moves on the vertical rail 6 through the translation motor 10 and adjusts to the appropriate height. The sampling arm 8 drives the sampler 11 at its end to penetrate into the ore powder. The bottom hole of the sampling rod 14 collects the ore powder, and the metal air pipe 15 provides air source for the locking air bag 16 to lock the sample material. When different types of ore powder need to be collected, the sampling device moves to the fixture switching device. The stepping motor 41 of the fixture switching device drives the fixture turntable 38 to rotate to select the appropriate fixture. The cover plate cylinder 40 controls the opening and closing of the fixture cover plate 39. At the same time, the heater 43 can heat the fixture, and the purge solenoid valve 44 purges and cleans the inner cavity of the fixed frame through the purge air holes to ensure that the fixture is pollution-free;

[0076] S3. After sampling, the translation slider 26 of the unloading device is on the toothed slide rail 28 and is driven by the driving motor 33 through gear engagement to move below the sampler 11. The pushing cylinder 31 of the unloader 27 drives the vertical slider 32 to slide up and down, and the plunger rod 30 pushes the sample material in the sampling rod 14 out and falls into the sample sealing device below;

[0077] S4. The sample material enters the sample sealing device. The weighing sensor built in the packing machine 49 measures the weight of the sample material in real time, packs it, and the inkjet printer 50 sprays information on the outer package of the packaged finished sample material for identification. The recheck scale 51 rechecks and weighs the finished sample material and records the data. Finally, the finished sample material is transported to the finished product container through the conveyor belt 52;

[0078] S5. The translation rail vehicle 1 moves to the power chassis 63 of the charging device, and the first charging pile 64 and the second charging pile 64 charge the mobile drive battery 3 and the sampling drive battery 13 respectively to prepare for the next sampling task.

[0079] Although the specific implementation manners of the present invention are described above in conjunction with the drawings, it is not a limitation to the protection scope of the present invention. Those skilled in the art should understand that based on the technical solutions of the present invention, various modifications or deformations that can be made by those skilled in the art without creative labor are still within the protection scope of the present invention.

Claims

1. An unattended autonomous intelligent powder sampling and sealing device, characterized in that, Including: A lower platform and an upper platform, with a sample sealing device and a control system arranged on the lower platform; a moving device, a sampling device, a discharging device, a fixture switching device and a charging device are arranged on the upper platform. The lower platform and the upper platform are built inside a sampling workshop. A material shape detection device is arranged at the center of the top of the sampling workshop to monitor the material distribution information in the carriage of the ore powder truck, and establish a three-dimensional model for uploading data to the control system, which is used to randomly determine the sampling position; The sampling device is arranged on the moving device, and the moving device is used to carry the sampling device; a discharging device is arranged on one side of the moving device, and the fixture switching device is arranged at the end of the discharging device for the sampling device to collect different types of ore powder; a charging device is arranged at the end of the moving device for supplying power to the moving drive battery and the sampling drive battery respectively; The sample sealing device is arranged on the lower platform and is located below the discharging device for sealing the sample from the discharging device.

2. The unattended autonomous intelligent powder sampling and sealing device according to claim 1, characterized in that The moving device includes a translation rail vehicle, a sampling chassis and a vertical rail. Servo motors, translation motors, air compressors, a moving drive battery and a sampling drive battery are arranged on both sides of the upper part of the translation rail vehicle; the sampling chassis is arranged at the central position of the translation rail vehicle, the vertical rail is arranged on the sampling chassis, and the sampling device is arranged on the vertical rail; a slide rail is arranged between the translation rail vehicle and the upper platform, the slide rail is fixedly arranged on the upper platform, and the translation rail vehicle is slidably arranged on the slide rail, and the translation rail vehicle is driven by a servo motor; The sampling device includes a sampling arm and a sampler. The sampling arm is a six-axis sampling arm. The sampling arm is slidably arranged on the vertical rail through a sampling base, driven by the translation motor, and powered by the sampling drive battery; the sampler is installed on the fixture chassis at the end of the sampling arm.

3. The unattended autonomous intelligent powder sampling and sealing device according to claim 2, characterized in that, The sampler includes a sampling rod and a metal air pipe. The sampling rod is a hollow rod, and holes are arranged at the bottom of the sampling rod for storing the sample material inserted into the ore powder during sampling. On the left side of the sampling rod are the metal air pipe and the material locking airbag. The metal air pipe is connected to the sampling terminal at the top of the sampler through a flexible air pipe, and the sampling terminal is fixedly connected to the sampler through a bent bracket; a metal shell is arranged on the side of the material locking airbag away from the sampling rod, and the metal shell is fixedly connected to the metal air pipe.

4. The unattended autonomous intelligent powder sampling and sealing device according to claim 3, wherein The discharging device includes a translation slider provided with a plurality of dischargers, a toothed slide rail, a drag chain and a drive motor; the toothed slide rail is fixedly arranged on one side of the upper platform, the translation slider is slidably arranged on the toothed slide rail, the drive motor is arranged on the translation slider and is connected to the toothed slide rail through a gear; one end of the drag chain is connected to the translation slider, and the other end is connected to the end of the toothed slide rail. An air source pipeline is arranged in the drag chain; a photoelectric sensor is installed on the toothed slide rail for positioning and limiting the translation slider during movement; The unloader includes a plunger rod, a pusher cylinder, and a vertical slider. The vertical slider is slidably arranged on the translation slider. The plunger rod is fixed to the left side of the vertical slider, and the pusher cylinder is fixed to the right side of the vertical slider. The pusher cylinder drives the vertical slider to slide up and down, thereby driving the plunger rod to perform the pusher operation on the sampling rod.

5. The unattended autonomous intelligent powder sampling and sealing device according to claim 4, characterized in that, The fixture switching device includes a fixed frame, a central shaft, a protective cover, a fixture turntable, a fixture cover plate, a cover plate cylinder, a stepping motor, a plurality of U-shaped bracket seats, a heater, a purge solenoid valve, and purge air holes. The stepping motor and the cover plate cylinder are both installed at the bottom of the fixed frame. The heater is fixed to the inner cavity wall of the fixed frame through a connecting member. The purge solenoid valve is fixed to the outer wall of the fixed frame through a connecting member. The fixture cover plate is arranged at the top of the fixed frame, and the cover plate cylinder arranged on the outer wall of the fixed frame controls the opening and closing actions of the fixture cover plate. A magnetic switch is installed on the cover plate cylinder, and the magnetic switch is used to detect the telescopic state of the rod chamber in the cover plate cylinder. The U-shaped bracket is arranged inside the fixed frame through the fixture turntable. The stepping motor is arranged at the bottom of the fixed frame, and the stepping motor drives the fixture turntable to rotate through the central shaft. The U-shaped bracket seat includes a mechanical positioning pin and a proximity switch. The purge air holes are arranged on the protective cover at the top of the fixed frame and are used to connect to an external purge air pipe. The purge solenoid valve arranged on the side of the fixed frame controls the air source inlet and outlet of the purge air pipe, thereby realizing the purge cleaning of the inner cavity of the fixed frame.

6. The unattended autonomous intelligent powder sampling and sealing device according to claim 1, characterized in that, The charging device includes a power supply chassis, a first charging pile, and a second charging pile. The power supply chassis is used to park the translation rail vehicle. The first charging pile and the second charging pile are both installed at the center of the power supply chassis and are respectively used to charge the mobile drive battery and the sampling drive battery. A fourth photoelectric sensor is installed on the side of the power supply chassis, and the fourth photoelectric sensor is used for the movement monitoring and parking positioning of the translation rail vehicle.

7. The unattended autonomous intelligent powder sampling and sealing device according to claim 1, wherein, The lower layer platform is provided with a license plate recognition system and a guardrail. The license plate recognition system is used to visually recognize the license plate information of the ore powder truck and record and upload it. The guardrail is used to control the entry and exit of vehicles. The license plate recognition device is arranged at one end of the lower layer platform, and the license plate recognition device and the charging device are located at the same end.

8. The unattended autonomous intelligent powder sampling and sealing device according to claim 1, characterized in that, The material shape detection device includes a lidar and a bracket. The lidar and the bracket are fixedly connected through a connecting member. The bracket is fixed to the roof of the sampling workshop through a connecting member. The lidar is used to scan and detect the material distribution information in the carriage of the ore powder truck and establish a three-dimensional model for data upload.

9. The unattended autonomous intelligent powder sampling and sealing device according to claim 1, characterized in that The sample sealing device includes a bundling machine, an inkjet printer, a recheck scale, a conveyor belt, and a finished product container arranged in sequence. A weighing sensor is built into the bundling machine, and the weighing sensor is used to measure the weight of the sample material to be bundled in real time. The recheck scale is used to recheck and weigh the packaged finished sample material and record the data. The inkjet printer is used to spray information and mark the outer packaging of the finished sample material.

10. The working method of an unattended autonomous intelligent powder sampling and sealing device according to any one of claims 1-9, characterized in that, It includes the following steps: S1. The ore powder truck enters the sampling workshop. The license plate recognition system on the lower platform visually recognizes its license plate, records and uploads the license plate information, the guardrail opens, and the vehicle is allowed to drive into the designated position; the material shape detection device scans the material distribution information in the ore powder truck compartment through a lidar, establishes a three-dimensional model, and uploads the data to the control system. The control system randomly determines the sampling position based on this; S2. The translation rail vehicle of the mobile device is on the slide rail and moves above the designated sampling position; at the same time, the sampling arm moves on the vertical rail through the translation motor and adjusts to the appropriate height; the sampling arm drives the sampler at the end to penetrate into the ore powder, the holes at the bottom of the sampling rod collect the ore powder, and the metal air pipe provides air source for the locking air bag to lock the sample material; when different types of ore powder need to be collected, the sampling device moves to the fixture switching device, and the stepping motor of the fixture switching device drives the fixture turntable to rotate to select the appropriate fixture; the cover plate cylinder controls the opening and closing of the fixture cover plate, and at the same time the heater can heat the fixture, and the purge solenoid valve purges and cleans the inner cavity of the fixed frame through the purge air holes to ensure that the fixture is pollution-free; S3. After sampling, the translation slider of the unloading device is on the toothed slide rail and is driven by the driving motor through gear engagement to move under the sampler; the pushing cylinder of the unloader drives the vertical slider to slide up and down, and the plunger rod pushes the sample material in the sampling rod out and falls into the sample sealing device below; S4. The sample material enters the sample sealing device. The weighing sensor built in the packing machine measures the weight of the sample material in real time, packs it, and the inkjet printer sprays information and marks on the outer package of the packaged finished sample material; the recheck scale rechecks and weighs the finished sample material and records the data, and finally transports the finished sample material to the finished product container through the conveyor belt; S5. The translation rail vehicle moves to the power chassis of the charging device, and the first charging pile and the second charging pile charge the mobile drive battery and the sampling drive battery respectively to prepare for the next sampling task.

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