Automobile coal sampling device
By introducing technologies such as force sensors and laser rangefinders into the vehicle coal sampling device, the problems of insufficient sampling depth and poor safety have been solved, achieving comprehensive sampling and good safety.
Patent Information
- Application Number
- CN202510932320.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-07
- Publication Date
- 2025-11-07
AI Technical Summary
Existing vehicle coal sampling devices suffer from insufficient sampling depth and poor safety, especially since the sampling head cannot reach the bottom and lacks an effective protection mechanism, leading to equipment wear and safety hazards.
The design incorporates a sampling head, a walking mechanism, a force sensor, and a rotary reducer. Combined with a laser rangefinder and limiting components, it achieves precise positioning and protection, ensuring sampling depth and preventing equipment collisions. The force sensor monitors mechanical changes during the sampling process and automatically adjusts parameters to ensure successful sampling.
It achieves comprehensive sampling depth and improves the safety of sampling devices, reduces equipment wear and safety hazards, and improves sampling efficiency and the adaptability and versatility of equipment.
Smart Images
Figure CN120907882A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of automobile sampling, in particular to an automobile coal sampling device. BACKGROUND
[0002] The sampling head cutter head leaks out of the sampling cylinder, so that the sampling head is far away from the bottom of the car compartment and cannot be sampled to the bottom of the car; the sampling outer cylinder lacks a drill bottom protection mechanism; the spiral drill rod and the output shaft flange of the speed reducer are rigidly connected and cannot self-center and align, which easily causes eccentric wear of the spiral drill rod and the inner wall of the sampling cylinder, resulting in a large local gap between the spiral drill rod and the inner wall of the sampling cylinder, affecting the representativeness of the coal sample; at the same time, it is time-consuming and laborious to replace, and lacks a bottom touch protection mechanism: during the sampling process, due to the lack of a bottom touch protection mechanism, large and small cars are often lifted due to encountering hard objects, and even derailment and drill damage to the bottom of the car accidents occur, seriously threatening the safety of operation. SUMMARY
[0003] The present application aims to at least solve one of the technical problems in the related art. To this end, the embodiments of the present application provide an automobile coal sampling device, which has the advantages of comprehensive sampling depth and good safety.
[0004] The automobile coal sampling device according to the embodiments of the present application comprises a sampling head, a walking mechanism, a force sensor and a rotary speed reducer, the sampling head comprises a sampling cylinder, a spiral drill rod and a limiting piece, the spiral drill rod is arranged in the sampling cylinder, and the first end of the spiral drill rod is flush with the first end edge of the sampling cylinder, the limiting piece is arranged on the first end outer wall of the sampling cylinder to protect the sampling cylinder and the spiral drill rod, the force sensor is arranged on the transmission chain of the sampling frame to detect the force change of the transmission chain, the output shaft of the rotary speed reducer is connected with the spiral drill rod, and the rotary speed reducer is connected with the sampling frame of the trolley.
[0005] The automobile coal sampling device according to the embodiments of the present application has the advantages of comprehensive sampling depth and good safety.
[0006] In some embodiments, a positioning mechanism is further included, the positioning mechanism comprises a plurality of laser ranging sensors, a first ranging sensor is arranged on the trolley, a first laser reflector plate is arranged at one end of the trolley track, a second ranging sensor is arranged on the large trolley, a second laser reflector plate is arranged at one end of the large trolley track, and a third ranging sensor is arranged on the sampling frame, and a third laser reflector plate is arranged on the sampling head.
[0007] In some embodiments, the auger rod is connected to the rotary speed reducer through a hinge pin structure, the hinge pin structure comprises a first connecting seat and a pin shaft, a first end of the first connecting seat is connected to the auger rod, two limiting lugs are symmetrically arranged at a second end of the first connecting seat, a connecting lug is arranged at an end of an output shaft of the rotary speed reducer, the connecting lug enters between the two limiting lugs, and the pin shaft passes through the limiting lugs and the connecting lug in sequence.
[0008] In some embodiments, a hole door is arranged on the sampling cylinder, and the hole door is pivotally connected to the sampling cylinder.
[0009] In some embodiments, the positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor is arranged on the trolley to scan the rear of the automobile, and the fifth distance sensor is arranged on the trolley to scan the side of the automobile.
[0010] In some embodiments, a plurality of the limiting members are arranged along the circumferential direction of the sampling cylinder, the limiting members extend along the axial direction of the sampling cylinder, and at least part of the limiting members protrude from the first end edge of the sampling cylinder.
[0011] In some embodiments, further comprising an outer cylinder, the outer cylinder is connected to the sampling frame, the sampling cylinder is arranged in the outer cylinder, a protection member is arranged on the outer side of the outer cylinder, and a sample discarding chute is arranged on the inner side of the outer cylinder relative to the sampling cylinder.
[0012] In some embodiments, the protection member comprises a connecting frame and a rotating member, the rotating member is pivotally connected to the connecting frame, the connecting frame is connected to the outer cylinder, and the bottom lower edge of the connecting frame is flush with the first end edge of the outer cylinder, and the rotating member protrudes from the bottom of the connecting frame.
[0013] In some embodiments, the rotating member comprises a rotating plate and a connecting plate, the rotating plates are respectively arranged on both sides of the connecting frame and are connected to the connecting frame through a rotating shaft, and the two ends of the connecting plate are respectively connected to one rotating plate.
[0014] In some embodiments, the connecting frame has an inclined surface inclined away from the outer cylinder, and the length of the bottom of the connecting frame is less than the length of the top of the connecting frame. BRIEF DESCRIPTION OF DRAWINGS
[0015] Figure 1 is a structural schematic view of an automobile coal sampling device according to an embodiment of the present application.
[0016] Figure 2 is a first end of a sampling cylinder of an automobile coal sampling device according to an embodiment of the present application.
[0017] Figure 3 Fig. 1 is a schematic view of a hinge pin structure of a coal sampling device for a vehicle according to an embodiment of the present application.
[0018] Fig. 1 is a schematic view of a hinge pin structure of a coal sampling device for a vehicle according to an embodiment of the present application. DETAILED DESCRIPTION
[0019] Embodiments of the present application are described in detail below with reference to the accompanying drawings. The embodiments described below are exemplary and are intended to explain the present application, and should not be understood as limiting the present application.
[0020] The coal sampling device for a vehicle according to the embodiment of the present application comprises a sampling head, a walking mechanism, a force sensor and a rotary reducer. The sampling head comprises a sampling cylinder, a spiral drill rod and a limiting piece. The spiral drill rod is arranged in the sampling cylinder, and the first end of the spiral drill rod is flush with the first end edge of the sampling cylinder. The limiting piece is arranged on the first end outer wall of the sampling cylinder to protect the sampling cylinder and the spiral drill rod. The force sensor is arranged on the transmission chain of the sampling frame to detect the force change of the transmission chain. The output shaft of the rotary reducer is connected with the spiral drill rod, and the rotary reducer is connected with the sampling frame of the trolley.
[0021] The first end of the spiral drill rod is flush with the sampling cylinder, which can avoid the spiral drill rod from touching the bottom before the sampling cylinder, and ensure that the sampling head can smoothly contact the coal surface when entering the vehicle compartment, thereby avoiding the situation that the sampling head is too far away from the bottom of the vehicle compartment to collect the sample at the bottom of the vehicle compartment due to the sampling head drill bit leaking out of the sampling cylinder, and ensuring that the sampling head can collect complete samples at each depth. The limiting piece can prevent the sampling head from colliding with the vehicle compartment or other objects during sampling, thereby avoiding damage to the sampling cylinder and the spiral blade.
[0022] The cooperation of the large trolley and the small trolley can realize movement in two directions, i.e., the first direction and the second direction in the horizontal plane. The cooperation of the large trolley and the small trolley enables free movement in the length and width directions of the vehicle compartment, thereby realizing sampling of the entire vehicle compartment. The small trolley is connected with the sampling head through the sampling frame, and the sampling frame not only serves as a connection, but also provides support and guidance for the sampling head.
[0023] The force sensor arranged on the transmission chain can determine the running state of the sampling head by detecting the force change of the transmission chain. According to the data of the force sensor, the running parameters of the sampling device, such as the sampling speed and the sampling force, can be automatically adjusted to ensure smooth sampling and facilitate determination of whether the sampling head has touched the bottom.
[0024] In some embodiments, a positioning mechanism is further included, which comprises a plurality of laser ranging sensors, a first ranging sensor is arranged on the trolley, a first laser reflector plate is arranged at one end of the trolley track, a second ranging sensor is arranged on the cross beam, a second laser reflector plate is arranged at one end of the cross beam track, and a third ranging sensor is arranged on the sampling frame, and a third laser reflector plate is arranged on the sampling head.
[0025] Specifically, the laser ranging sensors of the cross beam and the trolley realize distance detection in the XY direction, the laser ranging sensor on the sampling frame realizes distance detection in the Z direction, and accurate positioning of the sampling machine body in the X, Y and Z dimensions is realized, thereby providing accurate spatial positioning for the sampling machine. The laser ranging sensor can measure the position of the sampling device in real time and feed back data to the control system. The control system automatically adjusts the movement of the cross beam, the trolley and the sampling head according to these data to realize automatic sampling.
[0026] In some embodiments, the auger rod is connected to the rotary reducer through a hinge pin structure, which comprises a first connecting seat and a pin shaft. The first end of the first connecting seat is connected to the auger rod, and two limiting ear plates are symmetrically arranged at the second end of the first connecting seat. The end of the output shaft of the rotary reducer is provided with a connecting ear plate, the connecting ear plate enters between the two limiting ear plates, and the pin shaft passes through the limiting ear plates and the connecting ear plate in sequence.
[0027] Specifically, the two limiting ear plates are symmetrically arranged at the second end of the first connecting seat, forming a "U" shaped structure for accommodating the connecting ear plate at the end of the output shaft of the rotary reducer. The connecting ear plate is installed at the end of the output shaft of the rotary reducer, and its shape matches the limiting ear plate and can enter between the two limiting ear plates. The pin shaft passes through the limiting ear plates and the connecting ear plate in sequence to fix them together, forming a stable connecting structure. The cooperation of the pin shaft and the multiple ear plates allows the auger rod to make slight swinging or adjustment within a certain range, which can adapt to different sampling environments and working conditions, improve the flexibility and adaptability of the sampling device, and to some extent, reduce wear caused by mechanical vibration or impact, prolong the service life of the equipment. The pin shaft connection makes the connection and disconnection between the auger rod and the rotary reducer more convenient and fast, which is convenient for the maintenance of the equipment and the replacement of parts.
[0028] In some embodiments, a hole door is arranged on the sampling cylinder, and the hole door is pivotally connected to the sampling cylinder.
[0029] Specifically, the hole door can be used for checking, cleaning and maintaining the mechanical components inside the sampling cylinder, such as the auger rod. By opening the hole door, the operator can conveniently enter the inside of the sampling cylinder to perform the necessary operation. The hole door is rotatably connected with the sampling cylinder to facilitate opening and closing and locking, and when locked, it can prevent coal dust from leaking during sampling and reduce sample pollution. When the mechanical components inside the sampling cylinder need to be repaired, the opening and closing design of the hole door can quickly provide a repair channel, shorten the repair time and improve the availability of the equipment.
[0030] In some embodiments, the positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor is arranged on the trolley to scan the rear of the automobile, and the fifth distance sensor is arranged on the trolley to scan the side of the automobile.
[0031] Specifically, the fourth distance sensor is arranged on the trolley and can detect the position of the rear of the automobile by scanning during the movement of the trolley, and the fifth distance sensor detects the position of the side of the automobile by measuring the distance between the trolley and the side of the automobile. Combining the two data facilitates positioning the automobile, and further determines the sampling range of the trolley to the automobile, so that the sampling device can adapt to various vehicle models, improve the versatility and applicability of the equipment, and reduce the sampling error caused by the difference in vehicle models.
[0032] In some embodiments, a plurality of limiting members are arranged along the circumferential direction of the sampling cylinder, the limiting members extend along the axial direction of the sampling cylinder, and at least part of the limiting members protrude from the first end edge of the sampling cylinder.
[0033] Specifically, the plurality of limiting members are uniformly distributed in the circumferential direction of the sampling cylinder, forming a protective structure around the sampling cylinder. This arrangement can ensure that the sampling cylinder is protected in all directions, avoiding damage caused by local stress. The protruding part of the limiting member can first contact the compartment wall or other obstacles when the sampling head enters the automobile compartment, preventing the sampling cylinder and the auger rod from directly colliding with the compartment wall or other hard objects, reducing equipment damage caused by collision, and playing a buffering and protection role. The limiting member can be a rectangular block, a cylinder or a sphere.
[0034] In some embodiments, an outer cylinder is further included, the outer cylinder is connected with the sampling frame, the sampling cylinder is arranged in the outer cylinder, a protection member is arranged on the outer side of the outer cylinder, and a sample discarding chute is arranged on the inner side of the outer cylinder relative to the sampling cylinder.
[0035] Specifically, the outer cylinder is the external protective structure of the sampling device, serving to support and protect the sampling cylinder. It is connected to the sampling frame, providing overall structural stability to the sampling device. The waste chute is used to collect and guide excess samples (discarded samples) generated during the sampling process. During sampling, the sampling cylinder carries coal samples into the outer cylinder; the waste chute guides excess samples to a designated collection area, preventing sample accumulation inside the sampling device and affecting sampling efficiency and equipment operation. Protective components act as a buffer, reducing equipment damage caused by collisions or impacts and extending the equipment's service life.
[0036] In some embodiments, the protective member includes a connecting frame and a rotating member, the rotating member being pivotally connected to the connecting frame, the connecting frame being connected to the outer cylinder and the bottom lower edge of the connecting frame being flush with the first end edge of the outer cylinder, and the rotating member protruding from the bottom of the connecting frame.
[0037] Specifically, the rotating component is connected to the connecting frame via a pivot (such as a shaft or hinge) and can rotate around the pivot. The rotating component protrudes from the bottom of the connecting frame, allowing it to be the first to contact the obstacle during sampling, thus providing cushioning and protection. The pivotable connection between the rotating component and the connecting frame allows the component to rotate to a certain extent when subjected to external forces, thereby better adapting to different collision angles and intensities.
[0038] In some embodiments, the rotating component includes a rotating plate and a connecting plate. The rotating plates are respectively arranged on both sides of the connecting frame and connected to the connecting frame through a rotating shaft. The two ends of the connecting plate are respectively connected to a rotating plate.
[0039] Specifically, the two ends of the connecting plate are each connected to a rotating plate, forming an "I"-shaped structure. This structure not only improves the strength of the rotating component but also increases its flexibility, allowing the rotating plate to adjust its position flexibly when subjected to external forces, thus providing cushioning and protection.
[0040] In some embodiments, the connecting frame has a slope that is inclined away from the outer cylinder, and the bottom length of the connecting frame is less than the top length of the connecting frame.
[0041] Specifically, the sides of the connecting frame are inverted trapezoids, providing greater room for the rotating parts and making them more flexible during rotation. The inclined plane guides the rotating parts to move along the inclined direction when subjected to external forces, reducing equipment damage caused by collisions.
[0042] The force sensor realizes accurate control of the sampling process by collecting mechanical data. The force sensor can be a weight sensor. When the sampling head touches the coal seam, the force sensor arranged on the transmission chain can monitor the change of the drill pipe resistance. Combined with the laser ranging sensor, the sampling depth is corrected to ensure that the sampling head can collect to the bottom of the carriage. The force sensor sets a safety threshold. When the sampling machine suffers excessive resistance exceeding the safety threshold, the overload protection is triggered in time to prevent equipment damage and sampling errors. The pressure sensor arranged on the sampling frame is used to detect the current value of the pressure of the sampling head. When the sampling head contacts the bottom of the vehicle, the system can realize smooth contact by reducing the propulsion force, which not only ensures the representativeness of the sampling, but also avoids the damage to the vehicle. In addition, during the drilling process, the system intelligently adjusts the drilling speed according to different pressures encountered. For example, high-speed drilling is used when the coal quality is good, and the speed is reduced when encountering large pressure. This not only ensures the continuity of the sampling process, but also significantly improves the sampling efficiency.
[0043] In the description of the present application, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the devices or elements indicated must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application.
[0044] In addition, the terms "first", "second" are only for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise specifically limited.
[0045] In the present application, unless otherwise specifically defined and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, for example, it can be fixed connection, or detachable connection, or integral; it can be mechanical connection, or electrical connection or communication with each other; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise specifically limited. For those skilled in the art, the specific meaning of the above terms in the present application can be understood according to the specific circumstances.
[0046] In the present application, unless otherwise explicitly specified and limited, a first feature is "on" or "under" a second feature can mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature is "over", "above" and "on top of" the second feature can mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is horizontally higher than the second feature. The first feature is "under", "below" and "underneath" the second feature can mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is horizontally lower than the second feature.
[0047] In the present application, the terms "one embodiment", "some embodiments", "an example", "a specific example", or "some examples" mean that the particular feature, structure, material, or characteristic following the term is included in at least one embodiment or example of the present application. The illustrative appearances of the above terms in various places in the specification are not necessarily referring to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples. Also, the terms "first", "second", "third", etc. are used merely as labels, and are not intended to impose numerical requirements on their objects.
[0048] Although the embodiments of the present application have been shown and described above, it is to be understood that the above embodiments are merely exemplary, and are not to be taken as limiting the present application, and any changes, modifications, replacements, and variations of the above embodiments made by those skilled in the art are within the scope of the present application.
Claims
1. An automotive coal sampling device, characterized by, The sampling head comprises a sampling cylinder, an auger rod arranged in the sampling cylinder and a first end of the auger rod flush with a first end edge of the sampling cylinder, and a limiting piece arranged on a first end outer wall of the sampling cylinder to protect the sampling cylinder and the auger rod. The walking mechanism comprises a cart and a trolley, a cart track extending in a first direction, and a trolley track extending in a second direction, the trolley and the trolley track being arranged on the cart, the trolley being connected to the sampling head through a sampling frame, the first direction being perpendicular to the second direction. A force sensor is arranged on a transmission chain of the sampling frame to detect a force change of the transmission chain. A rotary reducer is connected to the auger rod through a hinge pin structure, the hinge pin structure comprising a first connecting seat and a pin shaft, a first end of the first connecting seat being connected to the auger rod, a second end of the first connecting seat being symmetrically provided with two limiting ear plates, an end of an output shaft of the rotary reducer being provided with a connecting ear plate, the connecting ear plate entering between the two limiting ear plates, the pin shaft sequentially penetrating through the limiting ear plates and the connecting ear plate. The sampling cylinder is provided with a hole door, the hole door being pivotally connected to the sampling cylinder.
2. The automotive coal sampling device of claim 1, wherein, The positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor being arranged on the trolley to scan a vehicle tail, and the fifth distance sensor being arranged on the trolley to scan a vehicle side.
3. The automotive coal sampling device of claim 1, wherein, A plurality of limiting pieces are arranged along a circumferential direction of the sampling cylinder, the limiting pieces extending along an axial direction of the sampling cylinder and at least part of the limiting pieces protruding from the first end edge of the sampling cylinder.
4. The automotive coal sampling device of claim 1, wherein, The sampling cylinder is arranged in an outer cylinder connected to the sampling frame, an outer side of the outer cylinder being provided with a protection piece, and an inner side of the outer cylinder being provided with a sample discarding chute relative to the sampling cylinder.
5. The automotive coal sampling device of claim 2, wherein, The protection piece comprises a connecting frame and a rotating piece, the rotating piece being pivotally connected to the connecting frame, the connecting frame being connected to the outer cylinder and a bottom lower edge of the connecting frame being flush with the first end edge of the outer cylinder, and the rotating piece protruding from the bottom of the connecting frame.
6. The automotive coal sampling device of claim 1, wherein, The rotating piece comprises rotating plates arranged on both sides of the connecting frame respectively and connected to the connecting frame through a rotating shaft, and a connecting plate having two ends respectively connected to one rotating plate.
7. The automotive coal sampling device of claim 1, wherein, The sampling head comprises a sampling cylinder, an auger rod arranged in the sampling cylinder and a first end of the auger rod flush with a first end edge of the sampling cylinder, and a limiting piece arranged on a first end outer wall of the sampling cylinder to protect the sampling cylinder and the auger rod.
8. The automotive coal sampling device of claim 7, wherein, The walking mechanism comprises a cart and a trolley, a cart track extending in a first direction, and a trolley track extending in a second direction, the trolley and the trolley track being arranged on the cart, the trolley being connected to the sampling head through a sampling frame, the first direction being perpendicular to the second direction.
9. The automotive coal sampling device of claim 8, wherein, A force sensor is arranged on a transmission chain of the sampling frame to detect a force change of the transmission chain. A rotary reducer is connected to the auger rod through a hinge pin structure, the hinge pin structure comprising a first connecting seat and a pin shaft, a first end of the first connecting seat being connected to the auger rod, a second end of the first connecting seat being symmetrically provided with two limiting ear plates, an end of an output shaft of the rotary reducer being provided with a connecting ear plate, the connecting ear plate entering between the two limiting ear plates, the pin shaft sequentially penetrating through the limiting ear plates and the connecting ear plate. The sampling cylinder is provided with a hole door, the hole door being pivotally connected to the sampling cylinder. The positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor being arranged on the trolley to scan a vehicle tail, and the fifth distance sensor being arranged on the trolley to scan a vehicle side. A plurality of limiting pieces are arranged along a circumferential direction of the sampling cylinder, the limiting pieces extending along an axial direction of the sampling cylinder and at least part of the limiting pieces protruding from the first end edge of the sampling cylinder. The sampling cylinder is arranged in an outer cylinder connected to the sampling frame, an outer side of the outer cylinder being provided with a protection piece, and an inner side of the outer cylinder being provided with a sample discarding chute relative to the sampling cylinder. The protection piece comprises a connecting frame and a rotating piece, the rotating piece being pivotally connected to the connecting frame, the connecting frame being connected to the outer cylinder and a bottom lower edge of the connecting frame being flush with the first end edge of the outer cylinder, and the rotating piece protruding from the bottom of the connecting frame. The rotating piece comprises rotating plates arranged on both sides of the connecting frame respectively and connected to the connecting frame through a rotating shaft, and a connecting plate having two ends respectively connected to one rotating plate. The sampling head comprises a sampling cylinder, an auger rod arranged in the sampling cylinder and a first end of the auger rod flush with a first end edge of the sampling cylinder, and a limiting piece arranged on a first end outer wall of the sampling cylinder to protect the sampling cylinder and the auger rod. The walking mechanism comprises a cart and a trolley, a cart track extending in a first direction, and a trolley track extending in a second direction, the trolley and the trolley track being arranged on the cart, the trolley being connected to the sampling head through a sampling frame, the first direction being perpendicular to the second direction. A force sensor is arranged on a transmission chain of the sampling frame to detect a force change of the transmission chain. A rotary reducer is connected to the auger rod through a hinge pin structure, the hinge pin structure comprising a first connecting seat and a pin shaft, a first end of the first connecting seat being connected to the auger rod, a second end of the first connecting seat being symmetrically provided with two limiting ear plates, an end of an output shaft of the rotary reducer being provided with a connecting ear plate, the connecting ear plate entering between the two limiting ear plates, the pin shaft sequentially penetrating through the limiting ear plates and the connecting ear plate. The sampling cylinder is provided with a hole door, the hole door being pivotally connected to the sampling cylinder. The positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor being arranged on the trolley to scan a vehicle tail, and the fifth distance sensor being arranged on the trolley to scan a vehicle side. A plurality of limiting pieces are arranged along a circumferential direction of the sampling cylinder, the limiting pieces extending along an axial direction of the sampling cylinder and at least part of the limiting pieces protruding from the first end edge of the sampling cylinder. The sampling cylinder is arranged in an outer cylinder connected to the sampling frame, an outer side of the outer cylinder being provided with a protection piece, and an inner side of the outer cylinder being provided with a sample discarding chute relative to the sampling cylinder. The protection piece comprises a connecting frame and a rotating piece, the rotating piece being pivotally connected to the connecting frame, the connecting frame being connected to the outer cylinder and a bottom lower edge of the connecting frame being flush with the first end edge of the outer cylinder, and the rotating piece protruding from the bottom of the connecting frame. The rotating piece comprises rotating plates arranged on both sides of the connecting frame respectively and connected to the connecting frame through a rotating shaft, and a connecting plate having two ends respectively connected to one rotating plate. The sampling head comprises a sampling cylinder, an auger rod arranged in the sampling cylinder and a first end of the auger rod flush with a first end edge of the sampling cylinder, and a limiting piece arranged on a first end outer wall of the sampling cylinder to protect the sampling cylinder and the auger rod. The walking mechanism comprises a cart and a trolley, a cart track extending in a first direction, and a trolley track extending in a second direction, the trolley and the trolley track being arranged on the cart, the trolley being connected to the sampling head through a sampling frame, the first direction being perpendicular to the second direction. A force sensor is arranged on a transmission chain of the sampling frame to detect a force change of the transmission chain. A rotary reducer is connected to the auger rod through a hinge pin structure, the hinge pin structure comprising a first connecting seat and a pin shaft, a first end of the first connecting seat being connected to the auger rod, a second end of the first connecting seat being symmetrically provided with two limiting ear plates, an end of an output shaft of the rotary reducer being provided with a connecting ear plate, the connecting ear plate entering between the two limiting ear plates, the pin shaft sequentially penetrating through the limiting ear plates and the connecting ear plate. The sampling cylinder is provided with a hole door, the hole door being pivotally connected to the sampling cylinder. The positioning mechanism further comprises a fourth distance sensor and a fifth distance sensor, the fourth distance sensor being arranged on the trolley to scan a vehicle tail, and the fifth distance sensor being arranged on the trolley to scan a vehicle side. A plurality of limiting pieces are arranged along a circumferential direction of the sampling cylinder, the limiting pieces extending along an axial direction of the sampling cylinder and at least part of the limiting pieces protruding from the first end edge of the sampling cylinder. The sampling cylinder is arranged in an outer cylinder connected to the sampling frame, an outer side of the outer cylinder being provided with a protection piece, and an 10. The automotive coal sampling device of claim 7, wherein, The connecting frame has an inclined surface inclined to a direction away from the outer cylinder, and a bottom length of the connecting frame is less than a top length of the connecting frame.