A rail-mounted sampling robot

Abstract

The present application relates to the technical field of mineral sampling, in particular to a track type sampling robot, which comprises a mechanical arm and a sampler; the sampler comprises an inner cylinder, a screw auger is inserted into the inner cylinder and used for conveying coal; an outer cylinder is rotatably sleeved on the outer side of the inner cylinder, and the rotating speed of the outer cylinder is less than that of the screw auger; an outer clamping part is fixedly arranged at the bottom of the outer cylinder and has a plurality of outer clamping teeth which are arranged in a circumferential direction; an inner clamping part is rotatably arranged on the inner side of the outer clamping part and has a plurality of inner clamping teeth which are arranged in a circumferential direction; a variable-volume clamping space is formed between the inner clamping teeth and the outer clamping teeth; and a plurality of first spiral blades are fixedly arranged on the inner side wall of the inner clamping part and arranged in a circumferential direction. The outer clamping teeth and the inner clamping teeth are in direct contact with the coal, thereby reducing the vibration of the coal pile; meanwhile, the clamping space is used for clamping and breaking the large coal pieces, and then the first spiral blades are used for conveying the coal, thereby ensuring the sampling integrity.

Description

Technical Field

[0001] The present invention relates to the technical field of mineral sampling, in particular to a track-type sampling robot. Background Art

[0002] Accurately controlling coal quality is crucial in coal production and distribution, and sampling and testing is a key step in achieving this goal. Both coal producers and users require sampling to obtain representative coal samples after production and when purchasing coal. The coal's quality is then assessed based on the test results, providing a crucial basis for production scheduling and trade settlements.

[0003] Currently, coal sampling is mostly done in cars or train compartments. In the early days, manual sampling was the primary method. However, this method is not only inefficient but also subject to variability in human operation, resulting in significant sampling errors and difficulty ensuring accurate test results. To improve this situation, mechanical sampling methods have gradually gained application, with the mechanical screw sampler, due to its high degree of automation, becoming the most commonly used device.

[0004] In the related art, Chinese patent CN221078114U discloses a sampling device for use in sampling coal trucks. When sampling coal, the sampling device first drives the sampling tube and the sampling rod to be inserted into the coal pile of the coal truck, and then drives the auger-shaped sampling rod to drill and sample the coal blocks in the coal pile.

[0005] However, there are some problems in the actual use of the sampling device used for sampling coal trucks mentioned above: on the one hand, during the rotation of the sampling rod, its direct contact with the coal will transmit its own vibration to the surrounding coal pile. This vibration will cause the fine coal inside the coal pile to fall to the bottom of the coal pile due to the force, resulting in this part of the important representative fine coal sample cannot be effectively collected, thereby affecting the integrity of the coal sample; on the other hand, when the sampling tube encounters a large piece of coal, due to its continuous insertion into the coal pile, the large piece of coal will be pushed to the outside of the sampling area, resulting in the inability to sample the large piece of coal, and then the sampling results cannot truly reflect the overall quality status of the coal pile, affecting the accuracy of the test results. Summary of the Invention

[0006] Based on this, it is necessary to provide a track-type sampling robot to address the problem of low sampling accuracy in the current coal sampling process.

[0007] The above purpose is achieved through the following technical solutions:

[0008] A track-type sampling robot, comprising a robotic arm and a sampler disposed on the robotic arm, wherein the robotic arm is mounted on a track and is capable of sliding along the track when in use;

[0009] The sampler comprises an inner cylinder; an auger is inserted in the inner cylinder, and the auger can rotate around its own axis; an outer cylinder is connected to the outer cylinder, and the outer cylinder can rotate around its own axis, and the rotation speed is lower than the rotation speed of the auger; the top of the inner cylinder is located on the outside of the outer cylinder, and the part of the inner cylinder located on the outside of the outer cylinder is provided with a discharge port and a storage chamber, the discharge port is communicated with the inner cylinder and the outside at the same time, the storage chamber is communicated with the inner cylinder, and is configured to store coal samples; the bottom of the outer cylinder is fixedly provided with an outer clamping part, and the outer clamping part has a plurality of outer clamping teeth, The outer clamping teeth are arranged along the circumferential direction; an inner clamping part is provided on the inner side of the outer clamping part, and the inner clamping part can rotate around the axis of the inner cylinder, and the rotation speed is lower than the rotation speed of the auger; the inner clamping part has a plurality of inner clamping teeth, and the plurality of inner clamping teeth are arranged along the circumferential direction, and a pinching space with a variable volume is formed between the inner clamping teeth and the outer clamping teeth, and the pinching space is configured to be able to pinch off coal; a plurality of first spiral blades are fixedly provided on the inner side wall of the inner clamping part, and the plurality of first spiral blades are arranged along the circumferential direction and are configured to be able to transport the coal from bottom to top to the bottom of the auger.

[0010] Furthermore, the outer clamping teeth and the inner clamping teeth have the same structure and are both curved triangular structures; clamping strips are fixed and inclined at the bottom ends of the outer clamping teeth and the inner clamping teeth, and the inclination directions of the clamping strips on the outer clamping teeth and the clamping strips on the inner clamping teeth are opposite.

[0011] Furthermore, the inner clamping part is connected to the outer clamping part through a rotating assembly; the rotating assembly includes an inner gear ring, an outer gear ring and a first gear, and the inner gear ring is fixedly inserted on the outer cylinder; the outer gear ring is arranged on the inner clamping part and can rotate around its own axis and can drive the inner clamping part to rotate; the first gear is arranged on the inner cylinder and can rotate around its own axis and engage with the inner gear ring and the outer gear ring at the same time.

[0012] Furthermore, a differential portion is provided on the inner side of the outer clamping portion, and the differential portion can rotate around the axis of the inner cylinder. The differential portion is located above the inner clamping portion and is fixedly connected to the inner clamping portion and is connected to the outer gear ring through a one-way mechanism. Under the action of the one-way mechanism, the outer gear ring and the differential portion can rotate differentially; a plurality of second spiral blades are fixedly provided on the inner side wall of the differential portion, and the plurality of second spiral blades are arranged along the circumferential direction and respectively coincide with the spiral trajectories of the first spiral blades; the spiral inclination angles of the first spiral blade and the auger are equal; the auger can slide along its own axial direction.

[0013] Furthermore, the one-way mechanism includes a one-way component, which includes a wedge-shaped groove, which is arranged on the inner circumferential wall of the outer gear ring; an elastic part is fixedly arranged in the wedge-shaped groove, and a friction part is fixedly arranged on the elastic part, and the friction part can be inserted into the wedge-shaped groove and can form a friction fit with the outer gear ring.

[0014] Furthermore, the elastic member is a corrugated spring.

[0015] Furthermore, there are multiple one-way components, which are arranged along the circumferential direction.

[0016] Furthermore, the sampler further includes a first drive assembly, which is configured to provide a driving force for the sliding of the auger.

[0017] Furthermore, the sampler also includes a second drive assembly, which is configured to provide driving force for the rotation of the auger.

[0018] Furthermore, the sampler further includes a third driving assembly, and the third driving assembly is configured to provide a driving force for the rotation of the outer cylinder.

[0019] The beneficial effects of the present invention are:

[0020] The present invention relates to a track-type sampling robot. By arranging rotating inner and outer clamping teeth, the robot can achieve rapid drilling into a coal pile, thereby improving sampling efficiency. At the same time, by utilizing the motion characteristic that the rotational speeds of the inner and outer clamping teeth are both lower than the rotational speed of the auger, the robot can reduce vibrations on the coal pile, thereby reducing the situation where fine coal inside the coal pile is shaken to the bottom of the coal pile due to force. In addition, a pinching space is formed between the inner and outer clamping teeth, which can pinch off large pieces of coal. After the large pieces of coal are pinched off, they can be sampled, thereby ensuring the integrity of the sampling and improving the accuracy of the detection results.

[0021] Furthermore, by setting up a differential part and a one-way mechanism cooperating therewith, the auger can penetrate into the bottom of the coal pile while ensuring that the movements of the various components do not interfere with each other, thereby enabling sufficient sampling of the coal at the bottom of the coal pile, which is conducive to further improving the sampling integrity and further improving the accuracy of the test results. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic diagram of the three-dimensional structure of the track-type sampling robot provided by an embodiment of the present invention when in operation;

[0023] Figure 2 A schematic diagram of the three-dimensional structure of a sampler of a track-type sampling robot provided in an embodiment of the present invention;

[0024] Figure 3 for Figure 2 A schematic diagram of the partially enlarged structure at the middle U;

[0025] Figure 4 Schematic diagram of the three-dimensional cross-sectional structure of the sampler of the track-type sampling robot provided in an embodiment of the present invention Figure 1 ;

[0026] Figure 5 for Figure 4 Schematic diagram of the partially enlarged structure at the middle V;

[0027] Figure 6 for Figure 4 A schematic diagram of the partially enlarged structure at W in the middle;

[0028] Figure 7 Schematic diagram of the three-dimensional cross-sectional structure of the sampler of the track-type sampling robot provided in an embodiment of the present invention Figure 2 ;

[0029] Figure 8 for Figure 7 Schematic diagram of the partially enlarged structure at X in the middle;

[0030] Figure 9 for Figure 7 A schematic diagram of the partially enlarged structure at Y in the middle;

[0031] Figure 10 A schematic cross-sectional view of a sampler of a track-type sampling robot provided in an embodiment of the present invention;

[0032] Figure 11 for Figure 10 Middle AA section view;

[0033] Figure 12 for Figure 11 Schematic diagram of the partially enlarged structure at Z in the middle;

[0034] Figure 13A schematic diagram of the three-dimensional structure of the outer clamping part of the track-type sampling robot provided by an embodiment of the present invention;

[0035] Figure 14 A schematic diagram of the three-dimensional structure of the inner clamping part of the track-type sampling robot provided in an embodiment of the present invention;

[0036] Figure 15 A schematic diagram of the three-dimensional structure of the differential part of the track-type sampling robot provided in an embodiment of the present invention.

[0037] in:

[0038] 1. Robotic arm;

[0039] 2. Sampler; 201. Inner cylinder; 2011. Discharge port; 2012. Storage chamber; 2013. End cap; 20131. Hook strip; 2014. Second ring groove; 2015. Third ring groove; 2016. Fixed shaft; 202. Auger; 2021. Retaining ring; 203. Outer cylinder; 204. Outer clamping part; 2041. Outer clamping teeth; 205. Inner clamping part; 2051. Inner clamping teeth; 2052. First spiral blade; 206. Clamping strip; 207. Rotating assembly; 2071. Inner gear ring; 2072. Outer gear ring; 2073. First gear; 208. Differential unit; 2081. Second spiral blade 2082, annular convex; 2091, one-way component; 20911, wedge groove; 20912, corrugated spring; 20913, friction roller; 210, first drive component; 2101, drive cylinder; 2102, rotating ring; 211, second drive component; 2111, third gear; 2112, second drive motor; 2113, fourth gear; 213, third drive component; 2131, second outer ring gear; 2132, third drive motor; 2133, fifth gear; 214, fourth drive component; 2141, rack; 2142, fourth drive motor; 2143, sixth gear;

[0040] 3. Track; 301. Bracket. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below through embodiments and in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0042] The serial numbers assigned to components herein, such as "first," "second," etc., are used solely to distinguish the objects being described and do not convey any sequential or technical meaning. References to "connection" and "coupling" herein, unless otherwise specified, include both direct and indirect connections (couplings). In the description of the present invention, it should be understood that terms such as "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise" indicate positions or relationships based on those shown in the accompanying drawings. These terms are intended solely to facilitate the description of the present invention and simplify the description. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation. Therefore, they should not be construed as limitations on the present invention.

[0043] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0044] Refer to the following Figures 1 to 15 To describe the track-type sampling robot provided in an embodiment of the present invention, it is particularly suitable for sampling coal mines. Of course, it is also suitable for sampling other minerals.

[0045] Specifically, the track-type sampling robot is configured to include a robotic arm 1 and a sampler 2 arranged on the robotic arm 1. The robotic arm 1 is installed on the track 3 when in use and can slide along the track 3. In conjunction with the multi-degree-of-freedom adjustment of the robotic arm 1, the sampler 2 can arbitrarily select a sampling point at the coal pile in a car compartment or a train compartment, thereby helping to ensure the accuracy of the sampling results; in order to facilitate the installation and support of the track 3, a bracket 301 is provided under the track 3, and the bracket 301 is set on the ground when in use.

[0046] The sampler 2 is configured to include an inner cylinder 201, the bottom of the inner cylinder 201 is open, and an auger 202 is inserted in the inner cylinder 201. The auger 202 has a coaxially arranged shaft portion and a blade portion, the shaft portion and the blade portion are fixedly connected, and the shaft portion and the inner cylinder 201 are coaxially arranged. The top end of the shaft portion is rotatably arranged at the top end of the inner cylinder 201 to ensure that the coal can be transported from bottom to top through the blade portion; a discharge port 201 is provided on the top circumferential side wall of the inner cylinder 201. 1 and the storage chamber 2012, the discharge port 2011 and the storage chamber 2012 are arranged opposite to each other, and the discharge port 2011 is located below the storage chamber 2012, the discharge port 2011 is communicated with the inner cylinder 201 and the outside at the same time, and the storage chamber 2012 is communicated with the inner cylinder 201, to ensure that most of the coal transported by the auger 202 can return to the car or train compartment through the discharge port 2011, and a small part can enter the storage chamber 2012 for storage, so as to ensure the integrity of the sampling. The blade portion of the auger 202 extends upward to the top of the storage chamber 2012, ensuring that the coal can be transported into the storage chamber 2012; a retaining ring 2021 is fixedly sleeved on the shaft portion of the auger 202, and the retaining ring 2021 is located above the blade portion and inside the inner tube 201, and can divide the interior of the inner tube 201 into upper and lower chambers isolated from each other. Under the blocking effect of the retaining ring 2021, the blade portion is prevented from transporting the coal too high, resulting in ineffective transportation and waste of energy.

[0047] To facilitate the removal of coal samples stored in storage chamber 2012, the outer wall of storage chamber 2012 is open and sealed with an end cap 2013. End cap 2013 is detachably connected to storage chamber 2012 via bolts. During sampling, end cap 2013 is sealed against storage chamber 2012, allowing storage chamber 2012 to communicate only with inner cylinder 201, ensuring smooth sampling. When it is necessary to remove the coal sample, end cap 2013 is removed, allowing storage chamber 2012 to communicate with the outside world, making it easier to remove the coal sample stored in storage chamber 2012.

[0048] Existing sampling equipment has two prominent problems when sampling coal piles in car compartments or train compartments, which directly affect the sampling quality and detection accuracy:

[0049] On the one hand, it adopts a sampling method in which the auger 202 is in direct contact with the coal pile. When the auger 202 rotates at high speed to drill the coal, it will transmit its own mechanical vibration directly to the surrounding coal pile. This vibration causes the internal structure of the coal pile to loosen through the force conduction between the coal blocks. In particular, the fine coal with smaller particle size will break away from its original stacking state due to the inertial force generated by the vibration and gradually settle to the bottom of the coal pile. Since the sampling range of existing equipment is mainly concentrated in the upper and middle parts of the coal pile, the fine coal samples that settle to the bottom cannot be effectively collected. However, this part of the coal samples is very representative for the detection of key indicators such as coal ash and volatile matter. Their absence directly leads to insufficient integrity of the collected coal samples, making it difficult to fully reflect the true quality of the coal pile.

[0050] On the other hand, the bottom end of the inner cylinder 201 of existing equipment is often a closed annular structure. As it is continuously inserted into the coal pile, the annular edge exerts radial thrust on any large pieces of coal it comes into contact with. When encountering large pieces of coal whose particle size exceeds the sampling port size, this thrust forces them outward from the sampling area, causing them to fall outside the sampling range. Because large pieces of coal have different physical properties (such as hardness and density) than finely divided coal, their proportion in the coal pile directly affects the overall quality assessment. Existing equipment fails to sample large pieces of coal, resulting in deviations in the final sampling results in terms of particle size distribution and composition, making it impossible to truly reflect the overall quality of the coal pile, and thus adversely affecting the accuracy of subsequent test results.

[0051] Based on this, in the track-type sampling robot provided in the embodiment of the present invention, an outer cylinder 203 is coaxially sleeved on the outside of the inner cylinder 201. The outer cylinder 203 is a cylindrical structure with open ends at the upper and lower ends, and the top of the outer cylinder 203 is located below the discharge port 2011 to avoid interference. The top of the outer cylinder 203 is rotatably connected to the inner cylinder 201, and the rotation speed is lower than the rotation speed of the auger 202; an outer clamping part 204 is fixedly provided at the bottom of the outer cylinder 203. The outer clamping part 204 is a ring-like structure and is coaxially arranged with the outer cylinder 203. The outer clamping part 204 has a plurality of outer clamping teeth 2041. The plurality of outer clamping teeth 2041 are arranged circumferentially on the lower end surface of the outer clamping part 204. The outer clamping teeth 2041 are curved structures, and the inner curved surface coincides with the inner circumferential wall of the outer clamping part 204, and the outer curved surface coincides with the outer circumferential wall of the outer clamping part 204 to avoid interference. When the outer cylinder 203 rotates, the outer clamping part 204 is synchronously driven to rotate.

[0052] An inner clamping portion 205 is provided on the inner side of the outer clamping portion 204. The inner clamping portion 205 is a ring-like structure and is coaxially arranged with the inner cylinder 201. The inner clamping portion 205 can rotate around the axis of the inner cylinder 201, and the rotation speed is lower than the rotation speed of the auger 202. The inner clamping portion 205 has a plurality of inner clamping teeth 2051. The plurality of inner clamping teeth 2051 are arranged circumferentially on the lower end surface of the inner clamping portion 205 and are flush with the outer clamping teeth 2041. The inner clamping teeth 2051 are curved structures, and the inner The curved surface coincides with the inner circumferential wall of the inner clamping portion 205, while the outer curved surface coincides with the outer circumferential wall of the inner clamping portion 205, thereby preventing interference. A variable-volume pinching space is formed between the inner clamping teeth 2051 and the outer clamping teeth 2041, configured to pinch and pinch coal. A plurality of first spiral blades 2052 are fixedly mounted on the inner sidewall of the inner clamping portion 205. These first spiral blades 2052 are arranged circumferentially and configured to convey coal upward from bottom to the bottom of the auger 202. The blade portion of the auger 202 extends downward to above the first spiral blades 2052, ensuring that the coal conveyed by the first spiral blades 2052 can be promptly received.

[0053] During use, first move the car or train car to the side of the bracket 301, then drive the robotic arm 1 to move along the track 3 to the preset position, then adjust the posture of the robotic arm 1 so that the sampler 2 is located directly above the sampling point of the coal pile in the car or train car, and then drive the sampler 2 to move from top to bottom through the robotic arm 1, while driving the auger 202, the outer cylinder 203 and the inner clamp 205 to rotate, and set the rotation speed of the outer cylinder 203 and the inner clamp 205 to be lower than the rotation speed of the auger 202, and the outer cylinder 203 and the inner clamp 205 have opposite directions, or the same directions but different rotation speeds, so that the outer cylinder 203 and the inner clamp 205 can rotate relative to each other, and then the volume of the clamping space can be continuously changed to clamp the coal. During the downward drilling process of the sampler 2, the movement characteristic that the rotation speed of the inner clamping teeth 2051 and the outer clamping teeth 2041 are lower than the rotation speed of the auger 202 is utilized, thereby significantly reducing the impact frequency and amplitude of the inner clamping teeth 2051 and the outer clamping teeth 2041 in direct contact with the coal pile on the coal pile, and reducing the transmission of vibration to the interior of the coal pile. As a result, the stability of the internal structure of the coal pile is maintained, effectively avoiding the problem that the fine coal is separated from the original stacking state due to violent vibration and falls to the bottom of the coal pile and cannot be collected, thereby ensuring the representativeness of the fine coal sample.

[0054] At the same time, the coordinated rotation of the outer clamping teeth 2041 and the inner clamping teeth 2051 forms a shearing drilling action, which can not only reduce the pushing resistance to the coal pile during the drilling process, but also achieve cutting and crushing of the coal through the relative movement between the teeth, thereby achieving rapid drilling of the coal pile and effectively improving the sampling efficiency; the inner clamping part 205 simultaneously drives the first spiral blade 2052 to rotate, and transports the coal from bottom to top to the bottom of the auger 202, and the auger 202 then drives the coal to be transported from bottom to top, so that most of the coal returns to the car or train compartment through the discharge port 2011, and a small part of the coal enters the storage chamber 2012 for storage; when encountering large pieces of coal, it will enter the inner and outer clamping teeth 2051 and the outer clamping teeth 20 As the inner and outer teeth 2051 and 2041 continue to rotate, the relative positions of the two change, and the volume of the pinching space decreases as the degree of tooth engagement deepens. With the help of the tooth structure of the inner and outer teeth 2051 and 2041, a gradually tightening clamping of the large piece of coal is formed, and the large piece of coal is finally pinched off. After being pinched off, the large piece of coal on the inside is immediately captured by the first spiral blade 2052 and transported upward. After being transferred by the auger 202, it enters the storage chamber 2012. This process effectively solves the problem that large pieces of coal are difficult to enter the sampling range, ensures that coal of different particle sizes can be collected, thereby ensuring the integrity of the sampling and providing reliable guarantee for the accuracy of subsequent test results.

[0055] In order to realize the rotation of the inner clamping part 205, a first annular groove can be provided on the inner peripheral wall of the bottom of the inner cylinder 201. The first annular groove also runs through the bottom of the inner cylinder 201 to form a step structure. The inner clamping part 205 is a two-step ring structure. When installing, the annular part of the inner clamping part 205 with a smaller diameter is arranged upward and inserted into the first annular groove. An annular slot is coaxially provided at the bottom of the inner cylinder 201. The cross-sectional shape of the slot is T-shaped. An insert ring is coaxially and fixedly provided at the top of the inner clamping part 205. The cross-sectional shape of the insert ring is T-shaped. The insert ring is rotated and inserted into the slot during installation, so that the inner clamping part 205 can rotate relative to the inner cylinder 201. A first drive motor is provided at the first annular groove. The first drive motor The motor and the inner cylinder 201 are fixedly connected, and the motor shaft of the first drive motor is parallel to the axis of the inner cylinder 201. A second gear is fixedly sleeved on the motor shaft of the first drive motor, and a first outer ring gear is fixedly sleeved on the outer peripheral wall of the annular part with a smaller diameter of the inner clamping part 205. The first outer ring gear and the second gear are engaged with each other, so that the inner clamping part 205 can be driven to rotate by the first drive motor, and the rotation speed of the inner clamping part 205 is lower than the rotation speed of the auger 202, and the direction of the inner clamping part 205 is opposite to that of the outer cylinder 203, or the direction is the same but the speed is different, so that the outer cylinder 203 and the inner clamping part 205 can rotate relative to each other, and the volume of the clamping space can be continuously changed to clamp the coal.

[0056] In order to provide driving force for the rotation of the auger 202, the sampler 2 is configured to also include a second drive assembly 211, and the second drive assembly 211 is configured to include a third gear 2111 and a second drive motor 2112, wherein the third gear 2111 is fixedly sleeved on the shaft portion of the auger 202 during installation, and is located in the inner cylinder 201 and is arranged near the top of the inner cylinder 201; the second drive motor 2112 is arranged on the top surface of the inner cylinder 201 during installation, and is arranged on the outside of the inner cylinder 201, the motor shaft of the second drive motor 2112 faces downward and vertically passes through the top of the inner cylinder 201, and is inserted into the interior of the inner cylinder 201, and a fourth gear 2113 is fixedly sleeved on the motor shaft of the second drive motor 2112, and the fourth gear 2113 is engaged with the third gear 2111, so that the auger 202 can be driven to rotate by the second drive motor 2112, and the coal can be transported from bottom to top.

[0057] In order to provide driving force for the rotation of the outer cylinder 203, the sampler 2 is configured to also include a third driving component 213, and the third driving component 213 is configured to include a second outer ring gear 2131 and a third driving motor 2132, wherein the second outer ring gear 2131 is fixedly sleeved on the outer cylinder 203 during installation and is arranged near the top of the outer cylinder 203; the third driving motor 2132 is arranged on the outer peripheral wall of the inner cylinder 201 during installation, and the motor shaft of the second driving motor 2112 faces downward and is parallel to the inner cylinder 201, and a fifth gear 2133 is fixedly sleeved on the motor shaft of the third driving motor 2132, and the fifth gear 2133 is engaged with the second outer ring gear 2131, so that the outer cylinder 203 can be driven to rotate by the third driving motor 2132.

[0058] In a further embodiment, in order to reduce the pushing effect on large pieces of coal, the outer clamping teeth 2041 and the inner clamping teeth 2051 are configured to have the same structure, and both are curved triangular structures. This structure retains the traditional tooth shape's ability to cut and crush coal - the curved surface portion can reduce rigid collisions with coal pieces, and the sharp corners of the triangle can form effective shear force, ensuring the crushing efficiency of the coal pile during drilling and maintaining the drilling speed of the sampling device; and the curved surface shape disperses the radial thrust on large pieces of coal, avoiding large pieces of coal being forcibly pushed out of the sampling range due to local stress concentration.

[0059] At the same time, inclined bars 206 are fixedly mounted at the bottom ends of both the outer and inner gripping teeth 2041, with their inclinations in opposite directions: the bars 206 of the outer gripping teeth 2041 tilt leftward, while the bars 206 of the inner gripping teeth 2051 tilt rightward. This inversely inclined design allows the two sets of bars 206 to form an inverted V-shaped entrance to the pinching space at the bottom. When large pieces of coal approach the sampling area, the inverted V-shaped structure, guided by its inclined surfaces, guides the large pieces of coal into the pinching space rather than forcing them outward. As the inner and outer gripping teeth 2051 rotate synchronously, the volume of the pinching space changes dynamically with the meshing state of the teeth. The inverted V-shaped structure, combined with the relative motion of the curved triangular teeth, gradually reduces the pinching space, creating a uniform and continuous clamping force on the large pieces of coal that enter it, ultimately achieving efficient pinching and ensuring that the large pieces of coal can be effectively collected.

[0060] In other embodiments, in order to realize the rotation of the inner clamping part 205, it can also be set that the inner clamping part 205 is connected to the outer clamping part 204 through a rotating component 207, so that no additional driving source is required, which is conducive to reducing manufacturing costs and energy consumption; a second annular groove 2014 and a third annular groove 2015 are coaxially opened on the inner peripheral wall of the bottom of the outer cylinder 203, and the second annular groove 2014 and the third annular groove 2015 form a step structure, and the second annular groove 2014 is located above the third annular groove 2015, and the diameter of the second annular groove 2014 is larger than that of the third annular groove 2015; a ring platform is coaxially provided on the outer peripheral wall of the inner clamping part 205, and the ring platform is rotated and inserted into the third annular groove 2015 during installation. 015, so that the inner clamping part 205 can be supported by the outer cylinder 203 and can rotate relative to the outer cylinder 203; the rotating assembly 207 is configured to include an inner gear ring 2071, an outer gear ring 2072 and a first gear 2073, wherein the inner gear ring 2071 is fixedly inserted in the second ring groove 2014 during installation, the outer gear ring 2072 is coaxially and fixedly arranged on the top of the inner clamping part 205, and a fixed shaft 2016 is vertically and fixedly arranged at the bottom of the inner cylinder 201, and the axis of the fixed shaft 2016 is parallel to the axis of the inner cylinder 201. The first gear 2073 is rotatably sleeved on the fixed shaft 2016 during installation, and is engaged with the inner gear ring 2071 and the outer gear ring 2072 at the same time. When the outer cylinder 203 rotates, it drives the inner gear ring 2071 to rotate, and the inner gear ring 2071 drives the outer gear ring 2072 and the inner clamping part 205 to rotate through the first gear 2073. Since the inner gear ring 2071 and the outer gear ring 2072 have different engagement forms with the first gear 2073, the inner clamping part 205 and the outer clamping part 204 have opposite directions and different rotation speeds, so that the outer cylinder 203 and the inner clamping part 205 can rotate relative to each other, and the volume of the clamping space can be continuously changed to clamp the coal.

[0061] In other embodiments, in order to further improve the integrity of the sampling, a differential portion 208 is provided on the inner side of the outer clamping portion 204. The differential portion 208 is a ring-like structure and is coaxially arranged with the inner cylinder 201. The differential portion 208 is a two-step ring structure. When the differential portion 208 is installed, the annular portion with a smaller diameter is on the top and corresponds to the second annular groove 2014. An annular installation space is formed between it and the second annular groove 2014. The outer gear ring 2072 is rotated and inserted into the installation space during installation, and is rotatably sleeved on the annular portion with a smaller diameter of the differential portion 208; an annular convex 2082 is coaxially provided on the outer peripheral wall of the annular portion with a smaller diameter of the differential portion 208, and the annular convex 2082 is rotated and inserted into the third annular groove 2015 during installation, so that the differential portion 20 8 can be supported by the outer cylinder 203 and can rotate relative to the outer cylinder 203; the differential part 208 is located above the inner clamping part 205, and is fixedly connected to the inner clamping part 205, and is connected to the outer gear ring 2072 through a one-way mechanism. Under the action of the one-way mechanism, the outer gear ring 2072 and the differential part 208 can rotate differentially; a plurality of second spiral blades 2081 are fixedly provided on the inner side wall of the differential part 208, and the plurality of second spiral blades 2081 are arranged along the circumferential direction and respectively coincide with the spiral trajectory of the first spiral blade 2052, ensuring that the coal transported by the first spiral blade 2052 can be transported to the bottom of the auger 202 through the second spiral blade 2081; the spiral inclination angles of the first spiral blade 2052 and the auger 202 are equal, and the auger 202 can slide along its own axial direction. When the inner cylinder 201 moves to the bottom of the car compartment or train compartment, it drives the auger 202 to move downward. Since the spiral inclination angles of the first spiral blade 2052 and the auger 202 are equal, the auger 202 can pass through the second spiral blade 2081 and the first spiral blade 2052 from top to bottom in sequence and move to the bottom of the car compartment or train compartment. When the auger 202 rotates, the blade part drives the differential part 208 and the inner clamping part 205 to rotate through the first spiral blade 2052 and the second spiral blade 2081. At this time, under the action of the one-way mechanism, the outer gear ring 2072 and the differential part 208 can rotate differentially to avoid motion interference.

[0062] The one-way mechanism is configured to include a one-way component 2091, such as Figure 12As shown, the one-way component 2091 is configured to include a wedge-shaped groove 20911, which is opened on the inner circumferential wall of the outer gear ring 2072 and has a square-like portion and a right-angled triangle-like portion arranged along the circumferential direction. The short right-angled side of the right-angled triangle-like portion coincides with the right side of the square-like portion, and the long right-angled side is arranged inwardly relative to the hypotenuse; an elastic member is fixedly inserted in the wedge-shaped groove 20911, and the elastic member can be a corrugated spring sheet 20912. The corrugated spring sheet 20912 extends along the circumferential direction, and the left end is fixed on the left side wall of the square-like portion, and the right end is fixed with a friction member, which can be configured as a friction roller 20913. The friction roller 20913 is parallel to the fixed shaft 2016. The friction roller 20913 and the outer gear ring 2072 form a friction fit and can be inserted into the wedge-shaped groove 20911, so that the outer gear ring 2072 and the differential portion 208 can rotate synchronously, thereby driving the inner clamping portion 205 to rotate.

[0063] During use, if Figure 12 As shown, the outer cylinder 203 rotates counterclockwise, synchronously driving the inner gear ring 2071 to rotate counterclockwise. The inner gear ring 2071, through meshing transmission, drives the first gear 2073 to rotate counterclockwise. The first gear 2073, through meshing transmission, drives the outer gear ring 2072 to rotate clockwise. When the outer gear ring 2072 rotates clockwise, the friction roller 20913 moves rightward due to friction with the differential unit 208, and then inserts into the wedge-shaped groove 20911, forming a snap fit between the outer gear ring 2072 and the differential unit 208 and rotating synchronously. The differential unit 208 drives the inner clamping unit 205 to rotate. When the auger 202 moves to the bottom of the car compartment or train compartment, the auger 202 rotates in the clockwise direction, and synchronously drives the differential part 208 and the inner clamping part 205 to rotate in the clockwise direction through the first spiral blade 2052 and the second spiral blade 2081. When the differential part 208 rotates in the clockwise direction, it drives the friction roller 20913 to move to the left through the friction fit between it and the friction roller 20913, so that the outer gear ring 2072 and the differential part 208 are disengaged from the snap fit, and then can rotate differentially to avoid motion interference.

[0064] It can be understood that the component inserted into the wedge-shaped groove 20911 can be a friction roller 20913, or a friction strip, friction block or other structure.

[0065] In order to provide a driving force for the auger 202 to slide axially, the sampler 2 is configured to also include a first driving component 210, and the first driving component 210 is configured to include a driving cylinder 2101 and a rotating ring 2102, wherein the rotating ring 2102 is rotatably sleeved on the shaft portion of the auger 202, and is located in the inner cylinder 201, and is located above the retaining ring 2021; the driving cylinder 2101 is located in the inner cylinder 201, and is parallel to the axis of the inner cylinder 201, the top end of the driving cylinder 2101 is fixedly set on the inner top end surface of the inner cylinder 201, and the output shaft is downward and fixedly set on the upper end surface of the rotating ring 2102; the third gear 2111 is rotatably set on the inner top end surface of the inner cylinder 201, and forms a spline fit with the shaft portion of the auger 202, ensuring that it neither affects the third gear 2111 driving the auger 202 to rotate, nor affects the axial sliding of the auger 202.

[0066] It is understandable that the driving cylinder 2101 can be configured as any one of a hydraulic cylinder, a pneumatic cylinder or an electric cylinder.

[0067] In a further embodiment, to improve the sampling reliability of the sampler 2, multiple one-way components 2091 are provided, arranged circumferentially. This allows for simultaneous frictional engagement and power transmission between the outer gear ring 2072 and the differential portion 208 from multiple angles, preventing power transmission failure due to wear or uneven force on a single one-way component 2091. This ensures that the outer gear ring 2072 and the differential portion 208 can stably rotate in conjunction when synchronous rotation is required, thereby guaranteeing the normal operation of the inner clamping portion 205 and the first spiral blade 2052.

[0068] At the same time, multiple one-way components 2091 evenly distributed along the circumference can disperse the force between the outer gear ring 2072 and the differential unit 208 to each component, reducing the friction and impact force experienced by a single one-way component 2091, reducing component wear and tear, and extending the service life of the equipment. In addition, when some one-way components 2091 become temporarily stuck or fail, the remaining one-way components 2091 that are functioning normally can still maintain their basic power transmission function, ensuring that the sampler 2 can continue to complete the sampling operation in a short period of time, thereby improving the fault tolerance and stability of the equipment operation, and further enhancing the sampling reliability of the sampler 2.

[0069] In other embodiments, the elastic member may also be configured as a spring or a rubber matrix.

[0070] In other embodiments, in order to realize the automatic opening and closing of the end cover 2013 and improve the automation degree of the sampling robot, two hook strips 20131 are fixedly provided on the inner end surface of the end cover 2013, the hook strips 20131 are arranged parallel to the inner cylinder 201, the cross-section of the hook strips 20131 is L-shaped, and the hook ends of the two hook strips 20131 are facing inward, and sliding strips are fixedly provided on the left and right side walls of the storage chamber 2012, the sliding strips are arranged parallel to the inner cylinder 201, and are respectively slidably inserted into the hooks of the two hook strips 20131. end; the sampler 2 is configured to also include a fourth drive assembly 214, the fourth drive assembly 214 is configured to include a rack 2141 and a fourth drive motor 2142, the rack 2141 is parallel and fixedly arranged on one of the hooks 20131; the fourth drive motor 2142 is arranged on the top of the storage chamber 2012, and a sixth gear 2143 is fixedly sleeved on the motor shaft of the fourth drive motor 2142, and the sixth gear 2143 is engaged with the rack 2141, so that the end cover 2013 can be driven to open and close by the fourth drive motor 2142.

[0071] In other embodiments, the top end of the driving cylinder 2101 is hingedly disposed on the inner top end surface of the inner cylinder 201 , and the output shaft faces downward and is hingedly disposed on the upper end surface of the rotating ring 2102 .

[0072] The technical features of the above embodiments can be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-described embodiments merely illustrate several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that a person skilled in the art would be able to make numerous variations and improvements without departing from the spirit of the present invention, and all such variations and improvements fall within the scope of protection of the present invention.

Claims

1. A track-type sampling robot, characterized in that: The track-type sampling robot includes a mechanical arm and a sampler arranged on the mechanical arm. When in use, the mechanical arm is installed on a track and can slide along the track. The sampler comprises an inner cylinder; an auger is inserted in the inner cylinder, and the auger can rotate around its own axis; an outer cylinder is connected to the outer cylinder, and the outer cylinder can rotate around its own axis, and the rotation speed is lower than the rotation speed of the auger; the top of the inner cylinder is located on the outside of the outer cylinder, and the part of the inner cylinder located on the outside of the outer cylinder is provided with a discharge port and a storage chamber, the discharge port is communicated with the inner cylinder and the outside at the same time, the storage chamber is communicated with the inner cylinder, and is configured to store coal samples; the bottom of the outer cylinder is fixedly provided with an outer clamping part, and the outer clamping part has a plurality of outer clamping teeth, The outer clamping teeth are arranged circumferentially; an inner clamping portion is provided on the inner side of the outer clamping portion, and the inner clamping portion can rotate around the axis of the inner cylinder, and the rotation speed is lower than the rotation speed of the auger; the inner clamping portion has a plurality of inner clamping teeth, and the plurality of inner clamping teeth are arranged circumferentially, and a pinching space with a variable volume is formed between the inner clamping teeth and the outer clamping teeth, and the pinching space is configured to pinch off coal; a plurality of first spiral blades are fixedly provided on the inner side wall of the inner clamping portion, and the plurality of first spiral blades are arranged circumferentially and configured to transport the coal from bottom to top to the bottom of the auger; The outer clamping teeth and the inner clamping teeth have the same structure and are both triangular structures with curved surfaces; clamping strips are fixed and inclined at the bottom ends of the outer clamping teeth and the inner clamping teeth, and the inclined directions of the clamping strips on the outer clamping teeth and the clamping strips on the inner clamping teeth are opposite; The inner clamping part is connected to the outer clamping part through a rotating assembly; the rotating assembly includes an inner gear ring, an outer gear ring and a first gear, and the inner gear ring is fixedly inserted on the outer cylinder; the outer gear ring is arranged on the inner clamping part and can rotate around its own axis and can drive the inner clamping part to rotate; the first gear is arranged on the inner cylinder and can rotate around its own axis and engage with the inner gear ring and the outer gear ring at the same time.

2. The track-type sampling robot according to claim 1, characterized in that: A differential portion is also provided on the inner side of the outer clamping portion, and the differential portion can rotate around the axis of the inner cylinder. The differential portion is located above the inner clamping portion and is fixedly connected to the inner clamping portion and is connected to the outer gear ring through a one-way mechanism. Under the action of the one-way mechanism, the outer gear ring and the differential portion can rotate differentially; a plurality of second spiral blades are fixedly provided on the inner side wall of the differential portion, and the plurality of second spiral blades are arranged along the circumferential direction and respectively coincide with the spiral trajectories of the first spiral blades; the first spiral blade and the auger have the same spiral inclination angle; the auger can slide along its own axial direction.

3. The track-type sampling robot according to claim 2, characterized in that: The one-way mechanism includes a one-way component, which includes a wedge-shaped groove, which is arranged on the inner circumferential wall of the outer gear ring; an elastic part is fixedly arranged in the wedge-shaped groove, and a friction part is fixedly arranged on the elastic part, and the friction part can be inserted into the wedge-shaped groove and can form a friction fit with the outer gear ring.

4. The track-type sampling robot according to claim 3, characterized in that: The elastic member is a corrugated spring.

5. The track-type sampling robot according to claim 3, characterized in that: There are multiple one-way components, which are arranged along the circumferential direction.

6. The track-type sampling robot according to claim 2, characterized in that: The sampler further includes a first drive assembly configured to provide a driving force for sliding the auger.

7. The track-type sampling robot according to claim 1, characterized in that: The sampler further includes a second drive assembly configured to provide a driving force for the rotation of the auger.

8. The track-type sampling robot according to claim 1, characterized in that: The sampler further includes a third driving assembly configured to provide a driving force for rotating the outer cylinder.

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