Sampling robot for industrial sample detection

Abstract

The invention discloses a sampling robot for industrial sample detection, and relates to the technical field of product detection, the sampling robot comprises a laser radar, a camera, a manipulator, a T-shaped sampling tube, an automatic blanking unit and an upper computer; the manipulator is used for inserting the T-shaped sampling tube into a carrying object of a carrying vehicle for sampling; the automatic discharging unit is used for automatically discharging samples in the T-shaped sampling pipe into a material receiving tank; the camera is used for observing whether a carrier loader is parked at a detection position or not and identifying a license plate, the position of mineral powder and the position of a material receiving tank; the laser radar is used for scanning the height of the carrier loader and the piled ore, and the upper computer automatically distributes points to take materials according to a scanning result; and the manipulator is mounted on the moving track through a sliding base. The manipulator and the T-shaped sampling tube are controlled by the upper computer to cooperate for automatic sampling, and then the automatic blanking unit is used for completing automatic blanking operation, so that a worker does not need to climb a vehicle to climb to perform manual sampling, the labor intensity of the worker can be greatly reduced, and safety accidents can be avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of product detection, and in particular to a sampling robot for industrial sample detection. Background Art

[0002] As the basic raw material of the chemical industry, the quality of mineral sand directly affects the performance and process stability of downstream products. In the process of mineral resource development, mineral sand needs to be transported from the mining site to the processing or storage site by transport vehicles. Traditional mineral sand quality inspection usually adopts manual sampling method, and the sampled products are sent to the laboratory for chemical composition analysis, particle size distribution detection, etc. When sampling, the quality inspectors need to climb onto the truck and insert the sample rod into the mineral sand for sampling. Each truck requires manual sampling before unloading, which is labor-intensive and prone to safety accidents. Therefore, this application provides a sampling robot for industrial sample testing to meet the needs. Summary of the Invention

[0003] The purpose of this application is to provide a sampling robot for industrial sample detection to solve existing technical problems.

[0004] To achieve the above-mentioned purpose, the present application provides the following technical solutions: a sampling robot for industrial sample detection, comprising a laser radar, a camera, a manipulator, a T-shaped sampling tube, an automatic unloading unit, and a host computer; Manipulator: used to insert the T-shaped sampling tube into the load of the carrier for sampling; Automatic unloading unit: used to realize automatic unloading of the sample in the T-shaped sampling tube into the receiving tank; Camera: used to observe whether there are transport vehicles parked at the detection position, identify the license plate, the location of the mineral powder and the location of the receiving tank; LiDAR: Used to scan the height of the carrier and the ore pile. The host computer automatically arranges points for picking materials based on the scanning results. The manipulator is mounted on a movable track via a sliding base, a mounting frame is mounted on the manipulator, a mounting plate is mounted on the mounting frame, the T-shaped sampling tube is mounted on the mounting plate, and the laser radar, camera, automatic unloading unit and the manipulator are all electrically connected to the host computer.

[0005] As a preferred implementation in this embodiment, the automatic unloading unit includes a hollow cylinder and a driving cylinder provided on the upper end of the mounting plate, an annular airbag is provided in the inner cavity of the hollow cylinder, and multiple groups of extrusion blocks with inclined surfaces are slidably provided on the inner wall of the hollow cylinder, and the multiple groups of extrusion blocks are fixedly connected to the annular airbag near the end surface of the annular airbag; The sampling cavity of the T-shaped sampling tube is provided with a cylindrical airbag, the outer wall of the cylindrical airbag is fixedly connected to the inner wall of the T-shaped sampling tube, and a hollow cavity is provided at the axis of the cylindrical airbag; The T-shaped sampling tube is provided with a first flow channel, the lower end of the first flow channel is connected to the cylindrical air bag through a connecting hose, and the upper end of the first flow channel is connected to the first butt joint pipe; A second butt joint is installed on the outer wall of the hollow tube, and the upper end of the second butt joint is communicated with the annular airbag, and the lower end of the second butt joint is sealed and connected to the upper end of the first butt joint, and the inner cavity is communicated with each other.

[0006] As a preferred implementation in this embodiment, a first annular fold and a second annular fold are respectively provided at the upper and lower ends of the cylindrical airbag, and the second annular fold is higher on the outside and lower on the inside.

[0007] As a preferred implementation in this embodiment, a sealing unit is further provided to seal the lower end of the T-shaped sampling tube after sampling is completed.

[0008] As a preferred implementation in this embodiment, the sealing unit includes an elastic movable strip movably arranged in the inner cavity of the T-shaped sampling tube and an extrusion rod fixedly arranged on the outer wall of the movable end of the driving cylinder. The inner wall of the outlet at the lower end of the T-shaped sampling tube is provided with a card groove adapted to the elastic movable strip, and the right end of the card groove passes through the T-shaped sampling tube. The outer wall of the elastic movable strip is fixed with a contact plate passing through the T-shaped sampling tube, and the T-shaped sampling tube is provided with a rectangular movable opening adapted to the contact plate.

[0009] As a preferred implementation in this embodiment, a fixing plate and a clamping cylinder are fixed to the lower end of the mounting plate, a clamping plate is installed on the movable end of the clamping cylinder, and both the clamping plate and the fixing plate are provided with clamping grooves adapted to the T-shaped sampling tube.

[0010] As a preferred implementation in this embodiment, a protection unit is further provided to prevent the lower end of the T-shaped sampling tube from being over-extruded and deformed during sampling.

[0011] As a preferred implementation in this embodiment, the protective unit includes four groups of columns fixedly arranged on the upper end of the mounting plate, the upper ends of the four groups of columns slide through the mounting frame, and the periphery of the four groups of columns is provided with buffer springs, and the two ends of the buffer springs are respectively fixedly connected to the mounting frame and the mounting plate.

[0012] As a preferred implementation in this embodiment, a second flow channel is provided on the T-shaped sampling tube, and the inner cavity of the second flow channel is communicated with the outside and the hollow cavity respectively.

[0013] In summary, the technical effects and advantages of the present invention are: The present invention has a reasonable structure. The upper computer controls the manipulator and the T-shaped sampling tube to automatically sample. The automatic unloading operation is then completed by the automatic unloading unit. There is no need for personnel to climb up to a height to manually sample. This can greatly reduce the labor intensity of the staff and avoid the occurrence of safety accidents. In the present invention, a sealing unit is also provided to seal the outlet at the lower end of the T-shaped sampling tube immediately after sampling is completed, which can effectively prevent the sample from falling during the movement; In the present invention, a protection unit is further provided to prevent the lower end of the T-shaped sampling tube from being over-extruded and deformed during sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For those skilled in the art, other drawings can be obtained based on these drawings without paying any creative work.

[0015] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 for Figure 1 Schematic diagram of the robot structure; Figure 3 for Figure 2 Schematic diagram of the structure of the middle mounting frame and mounting plate; Figure 4 for Figure 3 Rear view structure diagram; Figure 5 for Figure 3 Schematic diagram of the structure viewed from above; Figure 6 for Figure 3 Schematic diagram of the partial cross-section structure of the hollow core tube; Figure 7 for Figure 2 Schematic diagram of the partial cross-sectional structure of the middle T-shaped sampling tube.

[0016] In the figure: 1. Moving track; 2. Sliding base; 3. Manipulator; 4. Mounting frame; 5. Mounting plate; 6. T-shaped sampling tube; 7. Driving cylinder; 8. Hollow cylinder; 9. Annular airbag; 10. Extrusion block; 11. Inclined surface; 12. First butt joint; 13. Second butt joint; 14. First flow channel; 15. Cylindrical airbag; 16. Connecting hose; 17. Hollow cavity; 18. Elastic movable strip; 19. Contact plate; 20. Slot; 21. Extrusion rod; 22. Second flow channel; 23. First annular fold; 24. Second annular fold; 25. Column; 26. Buffer spring; 27. Clamping cylinder; 28. Clamping plate; 29. ​​Fixed plate. DETAILED DESCRIPTION

[0017] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0018] Example: Reference Figure 1-2 The sampling robot for industrial sample detection shown is characterized by comprising a laser radar, a camera, a manipulator 3, a T-shaped sampling tube 6, an automatic unloading unit and a host computer; Manipulator 3: used to insert the T-shaped sampling tube 6 into the load of the carrier for sampling; Automatic unloading unit: used to realize automatic unloading of samples in the T-shaped sampling tube 6 into the receiving tank; Camera: used to observe whether there are transport vehicles parked at the detection position, identify the license plate, the location of the mineral powder and the location of the receiving tank; LiDAR: Used to scan the height of the carrier and the ore pile. The host computer automatically arranges points for picking materials based on the scanning results. The manipulator 3 is installed on the movable track 1 through the sliding base 2. The manipulator 3 is equipped with a mounting frame 4, the mounting frame 4 is equipped with a mounting plate 5, and the T-shaped sampling tube 6 is installed on the mounting plate 5. The laser radar, camera, automatic unloading unit and manipulator 3 are all electrically connected to the upper machine.

[0019] During operation, the camera observes whether there is a transport vehicle parked at the detection position and identifies the license plate number. When it is identified as the company's exclusive transport vehicle, the laser radar is used to scan the size of the transport vehicle and the pile of ore. The upper computer automatically arranges points for material collection based on the scanning results. When collecting materials, the robot 3 is controlled to drive the T-shaped sampling tube 6 to move, and the T-shaped sampling tube 6 is inserted into the pile of ore for sampling. After sampling is completed, the T-shaped sampling tube 6 moves to the top of the corresponding receiving tank. At this time, the mineral powder sample in the T-shaped sampling tube 6 is discharged into the receiving tank through the automatic unloading unit and then restored to its original position.

[0020] It should be noted that multiple groups of cameras and lidars can be set up as needed.

[0021] As a preferred implementation in this embodiment, Figure 1-7 As shown, the automatic unloading unit includes a hollow cylinder 8 and a driving cylinder 7 provided at the upper end of the mounting plate 5. An annular airbag 9 is provided in the inner cavity of the hollow cylinder 8. Multiple groups of extrusion blocks 10 with inclined surfaces 11 are slidably provided on the inner wall of the hollow cylinder 8. The multiple groups of extrusion blocks 10 are fixedly connected to the annular airbag 9 near the end surface of the annular airbag 9. The sampling cavity of the T-shaped sampling tube 6 is provided with a cylindrical airbag 15, the outer wall of the cylindrical airbag 15 is fixedly connected to the inner wall of the T-shaped sampling tube 6, and a hollow cavity 17 is provided at the axis of the cylindrical airbag 15; The T-shaped sampling tube 6 is provided with a first flow channel 14. The lower end of the first flow channel 14 is connected to the cylindrical air bag 15 through a connecting hose 16, and the upper end of the first flow channel 14 is connected to the first butt joint 12. A second butt joint 13 is installed on the outer wall of the hollow tube 8 , and the upper end of the second butt joint 13 is communicated with the annular airbag 9 , and the lower end of the second butt joint 13 is sealed and butt-jointed with the upper end of the first butt joint 12 and the inner cavities are communicated with each other.

[0022] During use, when the camera 7 detects that a carrier vehicle has stopped at the detection station, the upper computer will control the manipulator 3 to move on the moving track 1 and insert the T-shaped sampling tube 6 with a reduced diameter into the ore sand (before this, the driving cylinder 7 can be controlled to make its output end move downward, and the output end moving downward will conflict with the inclined surface 11 of the extrusion block 10, and make the extrusion block 10 perform the movement of squeezing the annular airbag 9, which can make the extrusion in the annular airbag 9 be sent to the cylindrical airbag 15, so that the inner wall of the cylindrical airbag 15 expands, and then the hollow cavity 17 is reduced in diameter, and the movable end drops a certain distance and waits until it can no longer be used). After the extrusion block 10 forms an extrusion on the annular airbag 9, it stops), after the T-shaped sampling tube 6 is inserted into the set depth, the T-shaped sampling tube is pulled out by the manipulator 3 and transferred to the top of the corresponding receiving tank. After it is in place, the driving cylinder 7 is controlled to return to its original position, so that the inner diameter of the cylindrical airbag 15 is restored to its original state. At this time, due to the increase in the inner diameter, the ore sand in the hollow cavity 17 will fall into the receiving tank by gravity. Every time the staff comes to get the receiving tank filled with samples, they can replace it with a new one. There is no need for personnel to climb up the vehicle to manually take samples, which can greatly reduce the labor intensity of the staff and avoid the occurrence of safety accidents.

[0023] Note: The receiving tanks are set up in multiple groups and arranged in a straight line on the material rack. After each sampling, the sample is placed in the corresponding receiving tank.

[0024] As a preferred implementation in this embodiment, Figure 7 As shown, a first annular fold 23 and a second annular fold 24 are respectively provided at the upper and lower ends of the cylindrical airbag 15 , and the second annular fold 24 is arranged to be higher on the outside and lower on the inside.

[0025] The provision of the first annular fold 23 and the second annular fold 24 is conducive to increasing the expansion degree of the inner wall of the cylindrical airbag 15, thereby increasing the subsequent diameter reduction ratio, and facilitating the separation of the inner wall of the cylindrical airbag 15 from the ore sand in the hollow cavity 17, so that the ore sand can fall into the receiving tank by its own gravity; The second annular fold 24 is set to be higher on the outside and lower on the inside, so that the lower end of the inflated cylindrical airbag 15 has an inverted cone structure. When the T-shaped sampling tube 6 moves downward and is inserted into the ore sand, its inverted cone structure has a guiding effect, so that the ore sand is concentrated toward the hollow cavity 17, thereby preventing the ore sand from forming a conflict with the lower end of the inflated cylindrical airbag 9 when the T-shaped sampling tube 6 moves downward (the conflict will hinder the downward movement of the T-shaped sampling tube 6, affect the sampling depth of the T-shaped sampling tube 6, and also easily cause the cylindrical airbag 15 to loosen or be damaged).

[0026] As a preferred implementation in this embodiment, a sealing unit is further provided to seal the lower end of the T-shaped sampling tube 6 after sampling is completed.

[0027] In practice, when the robot 3 is used to move the T-shaped sampling tube 6 after sampling, part or all of the sample will often fall from the outlet at the lower end of the T-shaped sampling tube 6. Therefore, a sealing unit is provided to seal the outlet at the lower end of the T-shaped sampling tube 6 immediately after the sampling is completed, which can effectively prevent the sample from falling during the movement.

[0028] As a preferred implementation in this embodiment, Figure 3-7 As shown, the sealing unit includes an elastic movable strip 18 movably arranged in the inner cavity of the T-shaped sampling tube 6 and an extrusion rod 21 fixedly arranged on the outer wall of the movable end of the driving cylinder 7. The inner wall of the outlet at the lower end of the T-shaped sampling tube 6 is provided with a card slot 20 adapted to the elastic movable strip 18, and the right end of the card slot 20 passes through the T-shaped sampling tube 6. The outer wall of the elastic movable strip 18 is fixed with a contact plate 19 passing through the T-shaped sampling tube 6, and the T-shaped sampling tube 6 is provided with a rectangular movable opening adapted to the contact plate 19.

[0029] During operation, after the T-shaped sampling tube 6 has completed sampling, the movable end of the control driving rod 7 continues to move downward, and the lower end of the extrusion rod 21 will contact the upper end of the contact plate 19 and drive the elastic movable bar 18 to move downward, so that the lower end of the elastic movable bar 18 seals the discharge port of the T-shaped sampling tube 6. At this time, the T-shaped sampling tube 6 can be transferred to the top of the receiving tank by the manipulator 3. After it is in place, the control driving cylinder 7 is restored to its original position at one time. At this time, the elastic movable bar 18 moves upward, the cylindrical airbag 15 also returns to its original position, and the ore sand in the hollow cavity 17 will automatically fall into the receiving tank.

[0030] It should be noted that the right end of the slot 20 passes through the T-shaped sampling tube 6, and the ore in the slot can be pushed out through the lower end of the elastic movable bar 18, thereby forming a good seal on the lower end discharge port of the T-shaped sampling tube 6 through the elastic movable bar 18.

[0031] As a preferred implementation in this embodiment, Figure 5 As shown, a fixing plate 29 and a clamping cylinder 27 are fixed to the lower end of the mounting plate 5, a clamping plate 28 is mounted on the movable end of the clamping cylinder 27, and both the clamping plate 28 and the fixing plate 29 are provided with clamping grooves adapted to the T-shaped sampling tube 6.

[0032] The clamping plate 28 can be controlled to move by the clamping cylinder 27 , thereby achieving clamping and releasing of the T-shaped sampling tube 6 . During installation, the T-shaped sampling tube 6 is clamped in the clamping groove.

[0033] As a preferred implementation in this embodiment, a protection unit is further provided to prevent the lower end of the T-shaped sampling tube 6 from being over-extruded and deformed during sampling.

[0034] In actual operation, the T-shaped sampling tube 6 often falls too far, causing the lower end of the T-shaped sampling tube 6 to be excessively squeezed and rubbed against the vehicle body, thus causing damage. Therefore, a protective unit is provided to prevent the T-shaped sampling tube 6 from being damaged.

[0035] As a preferred implementation in this embodiment, Figure 3 As shown, the protection unit includes four groups of columns 25 fixedly arranged on the upper end of the mounting plate 5. The upper ends of the four groups of columns 25 slide through the mounting frame 4. The periphery of the four groups of columns 25 is provided with a buffer spring 26, and the two ends of the buffer spring 26 are fixedly connected to the mounting frame 4 and the mounting plate 5 respectively.

[0036] The T-shaped sampling tube 6 and the mounting frame 4 are movably arranged. When the lower end of the T-shaped sampling tube 6 is subjected to resistance, it can be buffered by the buffer spring 26, which can effectively prevent the T-shaped sampling tube from being damaged due to excessive resistance.

[0037] As a preferred implementation in this embodiment, Figure 7As shown, the T-shaped sampling tube 6 is provided with a second flow channel 22 , and the inner cavity of the second flow channel 22 is communicated with the outside and the hollow cavity 17 respectively.

[0038] The setting of the second flow channel 22 allows the hollow cavity 17 to communicate with the outside world, reducing the resistance when the T-shaped sampling tube 6 is inserted into the ore sand, ensuring that the atmospheric pressure inside and outside the hollow cavity 17 is consistent, and also facilitating the rapid discharge of subsequent samples from the T-shaped sampling tube 6.

[0039] Finally, it should be noted that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A sampling robot for industrial sample testing, characterized by: It includes a laser radar, a camera, a manipulator (3), a T-shaped sampling tube (6), an automatic unloading unit and a host computer; Manipulator (3): used for inserting the T-shaped sampling tube (6) into the load of the carrier vehicle for sampling; Automatic unloading unit: used to realize automatic unloading of the sample in the T-shaped sampling tube (6) into the receiving tank; Camera: used to observe whether there are transport vehicles parked at the detection position, identify the license plate, the location of the mineral powder and the location of the receiving tank; LiDAR: Used to scan the height of the carrier and the ore pile. The host computer automatically arranges points for picking materials based on the scanning results. The manipulator (3) is mounted on a movable track (1) via a sliding base (2); a mounting frame (4) is mounted on the manipulator (3); a mounting plate (5) is mounted on the mounting frame (4); the T-shaped sampling tube (6) is mounted on the mounting plate (5); and the laser radar, camera, automatic unloading unit and manipulator (3) are all electrically connected to the upper machine.

2. The sampling robot for industrial sample detection according to claim 1, characterized in that: The automatic unloading unit comprises a hollow cylinder (8) and a driving cylinder (7) arranged at the upper end of the mounting plate (5); an annular airbag (9) is provided in the inner cavity of the hollow cylinder (8); a plurality of groups of extrusion blocks (10) with inclined surfaces (11) are slidably provided on the inner wall of the hollow cylinder (8); and the plurality of groups of extrusion blocks (10) are fixedly connected to the annular airbag (9) near the end surface of the annular airbag (9); The sampling cavity of the T-shaped sampling tube (6) is provided with a cylindrical airbag (15), the outer wall of the cylindrical airbag (15) is fixedly connected to the inner wall of the T-shaped sampling tube (6), and the axis of the cylindrical airbag (15) is provided with a hollow cavity (17); The T-shaped sampling tube (6) is provided with a first flow channel (14). The lower end of the first flow channel (14) is connected to the cylindrical air bag (15) via a connecting hose (16), and the upper end of the first flow channel (14) is connected to the first butt joint (12). A second butt joint (13) is installed on the outer wall of the hollow cylinder (8), and the upper end of the second butt joint (13) is communicated with the annular airbag (9), and the lower end of the second butt joint (13) is sealed and butt jointed with the upper end of the first butt joint (12), and the inner cavities of the two are communicated.

3. The sampling robot for industrial sample detection according to claim 2, characterized in that: A first annular fold (23) and a second annular fold (24) are respectively provided at the upper and lower ends of the cylindrical airbag (15), and the second annular fold (24) is arranged to be higher on the outside and lower on the inside.

4. The sampling robot for industrial sample detection according to claim 2, characterized in that: A sealing unit is also provided for sealing the lower end of the T-shaped sampling tube (6) after sampling is completed.

5. The sampling robot for industrial sample detection according to claim 4, characterized in that: The sealing unit comprises an elastic movable strip (18) movably arranged in the inner cavity of the T-shaped sampling tube (6) and an extrusion rod (21) fixedly arranged on the outer wall of the movable end of the driving cylinder (7); a card slot (20) adapted to the elastic movable strip (18) is provided on the inner wall of the outlet at the lower end of the T-shaped sampling tube (6), and the right end of the card slot (20) passes through the T-shaped sampling tube (6); a contact plate (19) passing through the T-shaped sampling tube (6) is fixed on the outer wall of the elastic movable strip (18); and a rectangular movable opening adapted to the contact plate (19) is provided on the T-shaped sampling tube (6).

6. The sampling robot for industrial sample detection according to claim 2, characterized in that: A fixing plate (29) and a clamping cylinder (27) are fixed to the lower end of the mounting plate (5), a clamping plate (28) is mounted on the movable end of the clamping cylinder (27), and a clamping groove adapted to the T-shaped sampling tube (6) is provided on both the clamping plate (28) and the fixing plate (29).

7. The sampling robot for industrial sample detection according to claim 2, characterized in that: A protection unit is also provided to prevent the lower end of the T-shaped sampling tube (6) from being over-extruded and deformed during sampling.

8. The sampling robot for industrial sample detection according to claim 7, characterized in that: The protection unit comprises four groups of columns (25) fixedly arranged on the upper end of the mounting plate (5), the upper ends of the four groups of columns (25) all slide through the mounting frame (4), and buffer springs (26) are provided on the periphery of the four groups of columns (25), and the two ends of the buffer springs (26) are fixedly connected to the mounting frame (4) and the mounting plate (5), respectively.

9. The sampling robot for industrial sample detection according to claim 2, characterized in that: The T-shaped sampling tube (6) is provided with a second flow channel (22), and the inner cavity of the second flow channel (22) is communicated with the outside and the hollow cavity (17) respectively.

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