Sampling device and sampling method

Abstract

The application provides a sampling device and a sampling method, relates to the technical field of mining material sampling, and aims to solve the problems of blind coverage, human error, low efficiency, high labor intensity, and poor working environment in the traditional manual sampling mode to some extent. The sampling device provided by the application comprises a stand, a first cantilever, a second cantilever, a mast and a spiral sampling mechanism. The first end of the first cantilever is rotatably connected to the top of the stand. The first end of the second cantilever is rotatably connected to the second end of the first cantilever. The top of the mast is connected to the second end of the second cantilever. The mast comprises a lifting mechanism. The spiral sampling mechanism is connected to the mast through the lifting mechanism and can be lifted along the mast through the lifting mechanism. The spiral sampling mechanism comprises a sampling drive, a spiral sampling head and a sampling assembly. The output end of the sampling drive is connected to the spiral sampling head. The sampling assembly is used for collecting the material collected by the spiral sampling head.

Description

Sampling device and sampling method Technical Field

[0001] This application relates to the field of mineral material sampling technology, and in particular to a sampling device and sampling method. Background Technology

[0002] In industries such as power, steel, and chemicals, the quality testing of raw materials like coal is crucial. Currently, sampling methods mainly include manual sampling and traditional mechanical sampling. Manual sampling suffers from problems such as high labor intensity, poor safety, susceptibility to human error, insufficient representativeness of sampling points, and poor data traceability. While traditional gantry-type coal sampling devices reduce manpower to some extent, their complex structure includes multiple components such as sampling, crushing, reducing, and collecting samples, requiring corresponding foundations and steel structural frames, resulting in significant investment. Furthermore, due to the large size of the sampling structure, blind spots exist in the sampling coverage area to avoid interference and collision with the truck bed; sampling is difficult at the edges and corners of the truck bed. Although traditional gantry-type coal sampling machines achieve automated sampling, the sampling process involves full-section sampling, and approximately 70% of the sample needs to be returned to the truck bed after crushing, making the sampling process cumbersome.

[0003] Therefore, there is an urgent need to provide a sampling device and sampling method to solve the problems existing in the prior art to a certain extent. Summary of the Invention

[0004] The purpose of this application is to provide a sampling device and sampling method to solve, to a certain extent, the problems of coverage blind spots, human error, low efficiency, high labor intensity and poor working environment in traditional manual sampling methods.

[0005] This application provides a sampling device, including a column, a first cantilever, a second cantilever, a mast, and a spiral sampling mechanism; a first end of the first cantilever is rotatably connected to the top of the column; a first end of the second cantilever is rotatably connected to the second end of the first cantilever; the top of the mast is connected to the second end of the second cantilever; the mast includes a lifting mechanism, and the spiral sampling mechanism is connected to the mast through the lifting mechanism and can move up and down along the mast through the lifting mechanism; the spiral sampling mechanism includes a sampling drive, a spiral sampling head, and a sampling assembly, the output end of the sampling drive is connected to the spiral sampling head, and the sampling assembly is used to collect the material collected by the spiral sampling head.

[0006] The column is provided with a first rotation mechanism at its top, and the first end of the first cantilever is connected to the first rotation mechanism, so that the first cantilever can rotate 360° around the axis of the column.

[0007] Specifically, the sampling device provided in this application further includes a rotary guide rail, a mating seat, a first rotary motor, and a support arm; the rotary guide rail is arranged around the column, the mating seat is mated with the rotary guide rail, the first rotary motor is arranged on the mating seat and drives the mating seat to move around the rotary guide rail, one end of the support arm is connected to the mating seat, and the other end is connected to the first cantilever.

[0008] The second end of the first cantilever is provided with a second rotation mechanism, and the first end of the second cantilever is connected to the second rotation mechanism, so that the second cantilever can rotate 360° around an axis perpendicular to the extension direction of the first cantilever.

[0009] Specifically, the sampling device provided in this application further includes a second rotary motor and a first lidar. The second rotary motor is connected to the second rotary mechanism and drives the second rotary mechanism to rotate the second cantilever relative to the first cantilever. The first lidar is mounted on the second cantilever.

[0010] The lifting mechanism includes a drive motor located at the top of the mast, a drive wheel driven by the drive motor, a driven wheel located at the bottom of the mast, and a transmission belt wound around the drive wheel and the driven wheel; the spiral sampling mechanism is fixedly connected to the transmission belt.

[0011] Specifically, the mast is provided with a guide rail on its side, and the spiral sampling mechanism is provided with a guide part that cooperates with the guide rail; a second lidar is provided at the bottom of the mast.

[0012] Furthermore, the spiral sampling mechanism also includes an outer cylinder and a sampling barrel; the spiral sampling head is housed inside the outer cylinder, and the sampling barrel is sleeved outside the outer cylinder, forming an annular gap between them; the outlet of the spiral sampling head is located inside the sampling barrel, and the sampling component is disposed on the sampling barrel for receiving and temporarily storing a portion of the material falling back from the annular gap.

[0013] Furthermore, a first connecting beam is connected to the transmission belt, and a second connecting beam is connected to the outer wall of the sampling bucket; both the first and second connecting beams are C-shaped, the upper leg of the first connecting beam is located above the leg of the second connecting beam and is connected by fasteners, and a pressure sensor is provided between the upper legs of the first and second connecting beams; the lower leg of the first connecting beam is located above the lower leg of the second connecting beam and is connected by fasteners.

[0014] Compared with existing technologies, the sampling device provided in this application has the following advantages:

[0015] The sampling device provided in this application includes a column, a first cantilever, a second cantilever, a mast, and a spiral sampling mechanism; the first end of the first cantilever is rotatably connected to the top of the column; the first end of the second cantilever is rotatably connected to the second end of the first cantilever; the top of the mast is connected to the second end of the second cantilever; the mast includes a lifting mechanism, and the spiral sampling mechanism is connected to the mast through the lifting mechanism and can move up and down along the mast through the lifting mechanism; the spiral sampling mechanism includes a sampling drive, a sampling head, and a sampling component, the output end of the sampling drive is connected to the spiral sampling head, and the sampling component is used to collect the material collected by the spiral sampling head.

[0016] Analysis reveals that a mechanical system capable of precise three-dimensional positioning and sampling above large material piles, such as truck beds, is constructed through the combination of a column, a first and second cantilever arm with multi-degree-of-freedom motion, a mast, and a spiral sampling mechanism suspended from the mast. The column is fixed to the foundation, providing stable support. The first cantilever arm rotates around the column, achieving a wide coverage area of ​​the sampler in the horizontal plane. The second cantilever arm is hinged to the end of the first cantilever arm, and its rotational motion further refines the positioning capability of the sampling points. The combination of these two components allows the spiral sampling mechanism to reach almost any point within the sampling area, fundamentally solving the coverage blind spot problem of traditional samplers.

[0017] The mast is connected to the end of the second cantilever, providing a track for the vertical movement of the spiral sampling mechanism. The spiral sampling mechanism is suspended from the mast by a lifting mechanism, and the spiral sampling mechanism of this application includes a spiral sampling head, which rotates to penetrate deep into the material and lifts the material up, thus completing the material extraction action.

[0018] The sampling component in this application works in conjunction with the spiral sampling mechanism to receive the material extracted from the discharge end of the spiral sampling head, thereby enabling real-time temporary storage of the sample at the sampling location and greatly improving sampling efficiency. After the sample collection within the sampling component is completed, the first and second cantilever arms can be used to transport the sampling component to a designated location for material unloading, thus completing the material collection at the designated sampling point.

[0019] The coordinated operation of the entire system solves the technical problems of low efficiency, poor representativeness, and blind spots that exist in manual sampling and traditional mechanical sampling.

[0020] Furthermore, this application also provides a sampling method using the above-mentioned sampling device, comprising the following steps: Step S1: Adjust the first cantilever and the second cantilever to the initial position, and raise the spiral sampling mechanism to the top of the mast for sampling preparation; Step S2: Use the first laser radar set on the second cantilever and the second laser radar set on the mast to scan the sampling area, generate a three-dimensional model, and randomly generate multiple sampling points based on the model; Step S3: According to the generated sampling points, control the rotation of the first cantilever and the second cantilever to move the spiral sampling mechanism above the target sampling point, and control the lifting mechanism to drive the spiral sampling mechanism to descend and sample; Step S4: Move the spiral sampling mechanism to the sample recovery area, open the sampling component, and discharge the temporarily stored sample; Step S5: Repeat steps S3 and S4 until sampling of all sampling points is completed.

[0021] The sampling method using a sampling device can organically combine advanced sensing technology, control algorithms, and mechanical actions. Step S1 is mechanical preparation, ensuring the equipment is in an initial safe state. Step S2 uses dual lidar to scan the carriage, generating a high-precision three-dimensional point model. This model is not only used to determine the sampling boundaries, but more importantly, it provides a data foundation for random and uniform point placement, ensuring the scientific nature and impartiality of the sampling points and solving the subjectivity problem of manual point placement.

[0022] Step S3 is the core sampling action. Precise point positioning and depth control are achieved by controlling a multi-degree-of-freedom robotic arm and lifting mechanism. Spiral sampling and waste disposal are performed simultaneously, resulting in extremely high efficiency. Pressure sensors reliably determine whether the spiral sampling head is in contact with the truck bed, preventing excessive pressure that could damage the equipment, while ensuring consistent sampling depth each time, thus enabling automated sampling. Step S4 is the centralized recovery of samples. The rotation of the first and second cantilever arms moves the sampling component to the designated unloading position, completing one sampling cycle. Repeating S3 and S4 until all points are sampled achieves full automation and intelligence in the sampling process. Simultaneously, the sampling coverage reaches 100%, positioning accuracy is high, and single sampling time is short, greatly improving the efficiency and reliability of sampling operations and reducing labor costs and human error. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0024] Figure 1 is a schematic diagram of the overall structure of the sampling device provided in an embodiment of this application;

[0025] Figure 2 is a schematic diagram of the mast structure in the sampling device provided in the embodiment of this application;

[0026] Figure 3 is a schematic diagram of the spiral sampling mechanism in the sampling device provided in the embodiment of this application;

[0027] Figure 4 is a schematic diagram of the cooperation between the first connecting beam and the second connecting beam in the sampling device provided in the embodiment of this application;

[0028] Figure 5 is a diagram showing the area division during sampling in the sampling device provided in the embodiment of this application;

[0029] Figure 6 is a flowchart illustrating the sampling method provided in an embodiment of this application.

[0030] In the diagram: 1-Column; 101-Rotary guide rail; 102-First rotary motor; 103-First rotary mechanism; 104-Reinforcing plate; 105-Base plate; 2-First cantilever; 201-Second rotary mechanism; 202-Support arm; 203-Second rotary motor; 204-Matching seat; 3-Second cantilever; 4-Mast; 401-Drive motor; 402-Driving wheel; 403-Chain; 404-Driven wheel; 4 05-First connecting beam; 5-Spiral sampling mechanism; 501-Rotary motor; 502-Sampling bucket; 503-Second connecting beam; 504-Pressure sensor; 505-Cover plate; 506-Outer cylinder; 507-Support leg; 508-Spiral sampling head; 509-Sampling bucket; 510-Upper leg; 511-Lower leg; 601-First lidar; 602-Second lidar; 7-Sampling area; 8-Sample recovery area. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. The components of the embodiments of this application described and shown in the accompanying drawings can generally be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely represents selected embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0032] In the description of the embodiments of this application, it should be noted that the terms "upper," "lower," "left," "right," "vertical," "horizontal," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of the invention is in use. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application. In addition, the terms "first," "second," and "third," etc., are only used to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0033] Furthermore, terms such as "horizontal" and "vertical" do not imply that components must be absolutely horizontal or suspended, but rather that they can be slightly tilted. For example, "horizontal" simply means that its direction is more horizontal than "vertical," and does not mean that the structure must be completely horizontal, but can be slightly tilted.

[0034] In the description of the embodiments of this application, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "connect" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0035] As used herein, the term “and / or” includes any one of the relevant items listed and any combination of any two or more items.

[0036] For ease of description, spatial relation terms such as “above,” “upper,” “below,” and “lower” may be used herein to describe the relationship between one element and another as shown in the accompanying drawings. Such spatial relation terms are intended to include not only the orientation depicted in the drawings but also the different orientations of the device during use or operation.

[0037] The terminology used herein is for the purpose of describing various examples only and is not intended to limit this disclosure. Unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. The terms “comprising,” “including,” and “having” enumerate the stated features, quantities, operations, components, elements, and / or combinations thereof, but do not exclude the presence or addition of one or more other features, quantities, operations, components, elements, and / or combinations thereof.

[0038] Variations in the shapes shown in the accompanying drawings may occur due to manufacturing techniques and / or tolerances. Therefore, the examples described herein are not limited to the specific shapes shown in the accompanying drawings, but include changes in shape that may occur during manufacturing.

[0039] The features of the examples described herein can be combined in various ways that will be apparent upon understanding the disclosure of this application. Furthermore, although the examples described herein have various constructions, other constructions are also possible, as will be apparent upon understanding the disclosure of this application. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis that they can be implemented by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed in this application.

[0040] As shown in Figure 1 and Figure 2, this application provides a sampling device, including a column 1, a first cantilever 2, a second cantilever 3, a mast 4, and a spiral sampling mechanism 5; the first end of the first cantilever 2 is rotatably connected to the top of the column 1; the first end of the second cantilever 3 is rotatably connected to the second end of the first cantilever 2; the top of the mast 4 is connected to the second end of the second cantilever 3; the mast 4 includes a lifting mechanism, and the spiral sampling mechanism 5 is connected to the mast 4 through the lifting mechanism and can be raised and lowered along the mast 4 through the lifting mechanism; the spiral sampling mechanism 5 includes a sampling drive, a spiral sampling head 508, and a sampling component, the output end of the sampling drive is connected to the spiral sampling head 508, and the sampling component is used to collect the material collected by the spiral sampling head 508.

[0041] Compared with existing technologies, the sampling device provided in this application has the following advantages:

[0042] The sampling device provided in this application, through the combination of column 1, first cantilever 2 and second cantilever 3 capable of multi-degree-of-freedom movement, mast 4 and spiral sampling mechanism 5 suspended on mast 4, constructs a mechanical system capable of precise three-dimensional positioning and sampling above large material piles, such as truck carriages.

[0043] The column 1 is fixed to the foundation, providing stable support. The first cantilever 2 rotates around the column 1, enabling the sampler to cover a wide area in the horizontal plane. The second cantilever 3 is hinged to the end of the first cantilever 2, and its rotational motion further refines the positioning capability of the sampling points. The combination of the two allows the spiral sampling mechanism 5 to reach almost any point within the sampling area, fundamentally solving the coverage blind spot problem of traditional samplers.

[0044] The mast 4 is connected to the end of the second cantilever 3, providing a track for the vertical movement of the spiral sampling mechanism 5. The spiral sampling mechanism 5 is suspended from the mast 4 by a lifting mechanism, and the spiral sampling mechanism 5 of this application includes a spiral sampling head 508, which rotates to penetrate deep into the material and lifts the material up, thus completing the material extraction action.

[0045] In an optional implementation, the bottom of the mast 4 is 3-5m above the ground, and the spiral sampling mechanism 5 can move vertically along the mast 4 for 2-3m.

[0046] The sampling component in this application works in conjunction with the spiral sampling mechanism 5 to receive the material extracted from the discharge end of the spiral sampling head 508, thereby enabling real-time temporary storage of the sample at the sampling location and greatly improving sampling efficiency. After the sample collection within the sampling component is completed, the first cantilever 2 and the second cantilever 3 can be used to transport the sampling component to a designated location for material unloading, thus completing the collection of material at the designated sampling point.

[0047] The coordinated operation of the entire system solves the technical problems of low efficiency, poor representativeness, and blind spots that exist in manual sampling and traditional mechanical sampling.

[0048] It should be noted that, in this application, a reinforcing plate 104 is further provided at the position where the column 1 contacts the ground, thereby ensuring the stability of the column 1.

[0049] Optionally, as shown in Figure 1 and Figure 5, a first rotating mechanism 103 is provided at the top of the column 1, and the first end of the first cantilever 2 is connected to the first rotating mechanism 103, so that the first cantilever 2 can rotate 360° around the axis of the column 1.

[0050] A first slewing mechanism 103 is provided at the top of the column 1, through which the first cantilever 2 is connected to the column 1. The first slewing mechanism 103 can be a large slewing bearing or a similar low-friction rotating pair, which mainly bears the entire weight and working load of the first cantilever 2, while allowing the first cantilever 2 to smoothly rotate 360° continuously around the vertical axis of the column 1.

[0051] The first rotating mechanism 103 provided in this application ensures that the sampler has an extremely wide horizontal working range, capable of covering multiple carriages or large stockpiles parked on one side of the column 1 or within a certain fan-shaped area.

[0052] By precisely controlling the rotation angle of the first rotary mechanism 103, the spiral sampling mechanism 5 can be quickly positioned approximately above the target sampling area, laying the foundation for the subsequent precise positioning of the second cantilever 3. This also reduces the need for moving equipment or configuring multiple sampling machines, thus lowering the overall cost.

[0053] Optionally, as shown in Figure 1, the sampling device provided in this application further includes a rotary guide rail 101, a mating seat 204, a first rotary motor 102, and a support arm 202; the rotary guide rail 101 is arranged around the column 1, the mating seat 204 is mated with the rotary guide rail 101, the first rotary motor 102 is arranged on the mating seat 204 and drives the mating seat 204 to move around the rotary guide rail 101, one end of the support arm 202 is connected to the mating seat 204, and the other end is connected to the first cantilever 2.

[0054] The first rotary motor 102 in this application is typically a servo motor or a conventional motor with brakes and a reducer. The mounting base 204 provides a mounting foundation for the first rotary motor 102, and the support arm 202 is connected to the first cantilever 2, thereby providing a mounting foundation for the mounting base 204.

[0055] In this application, the mating seat 204 can integrate a mating component that mates with the rotary guide rail 101, and the mating component is connected to the output end of the first rotary motor 102. It can be understood that the rotary guide rail 101 in this application can be a gear ring, which is fixedly mounted on the column 1, and the mating component is a gear. The output end of the mating component is connected to the gear, and the gear meshes with the gear ring. Thus, when the gear rotates, it can move along the rotary guide rail 101, thereby realizing the circular motion of the first cantilever 2.

[0056] Of course, in order to ensure the stability of the movement process, the mating seat 204 is formed with a C-shaped mating part facing the rotary guide rail 101, so as to realize the engagement between the mating seat 204 and the rotary guide rail 101, thereby ensuring the stability during the movement process.

[0057] The engagement of gears and a gear ring provides precise and controllable torque, driving the first cantilever 2 to rotate smoothly and accurately around the axis of the column 1 to the predetermined position. The presence of the first rotary motor 102 automates the horizontal positioning of the sampler over a wide range, ensuring the accuracy and repeatability of sampling point location. Its advantage lies in incorporating the sampler's movements into the automated control system, a crucial step in achieving fully automated sampling, and improving the standardization and efficiency of the sampling process.

[0058] Optionally, as shown in Figure 1, the second end of the first cantilever 2 is provided with a second rotation mechanism 201, and the first end of the second cantilever 3 is connected to the second rotation mechanism 201, so that the second cantilever 3 can rotate 360° around an axis perpendicular to the extension direction of the first cantilever 2.

[0059] In this application, the second cantilever 3 is connected to the first cantilever 2 via a second rotation mechanism 201. The axis of the second rotation mechanism 201 is typically designed to be vertical, parallel to the axis of the first rotation mechanism 103, allowing the second cantilever 3 to rotate 360° within a plane parallel to the rotation plane of the first cantilever 2. Therefore, the second rotation mechanism 201 provides the sampling mechanism with a second degree of freedom of movement in the horizontal plane. Combined with the rotation of the first cantilever 2, the rotation of the second cantilever 3 further adjusts the projected position of the spiral sampling mechanism 5 on the horizontal plane, achieving precise positioning of points within the sampling area, especially for points near the edges or corners of the vehicle. This, to a certain extent, solves the problem of decreased accuracy in far-end positioning or blind spots that may occur when relying solely on the rotation of the first cantilever 2.

[0060] The second slewing mechanism 201 in this application can adopt the same structure as the first slewing mechanism 103, thereby achieving the same rotational action as the first cantilever 2.

[0061] Optionally, as shown in FIG1, the sampling device provided in this application further includes a second rotary motor 203 and a first lidar 601. The second rotary motor 203 is connected to the second rotary mechanism 201 and drives the second rotary mechanism 201 to drive the second cantilever 3 to rotate relative to the first cantilever 2. The first lidar 601 is disposed on the second cantilever 3.

[0062] The second rotary motor 203, serving as the power source for the rotational motion of the second cantilever 3, is connected to the second rotary mechanism 201 via a coupling or reducer, providing precise torque output. Its control system can employ a servo drive mode to achieve closed-loop control of angle and speed, ensuring that the second cantilever 3 rotates without dead angles within the range of 0° to 360°. The first lidar 601 is typically installed at the end of the second cantilever 3 furthest from the mast 4, below the middle section. Its scanning plane is perpendicular to the ground, and it employs pulse or phase ranging principles to acquire three-dimensional coordinate data of the material pile surface with millimeter-level accuracy.

[0063] The second rotary motor 203 and the first lidar 601 are connected to the main control system through electrical circuits, forming a closed loop of data acquisition and motion execution.

[0064] During the sampling initialization phase, the second rotary motor 203 receives control commands and drives the second cantilever 3 to rotate horizontally around its hinge point, adjusting the horizontal position of the spiral sampling mechanism 5. Simultaneously, the second lidar 602 performs high-speed scanning of the surface of the carriage or stockpile, and the generated cloud data of the scan points is transmitted to the control system in real time. An algorithm is then used to fit a three-dimensional model of the stockpile.

[0065] During the sampling point positioning stage, the second rotary motor 203, based on the model analysis results and in conjunction with the rotation of the first cantilever 2, precisely moves the spiral sampling mechanism 5 directly above the randomly generated sampling point. For example, when the sampling point is located at a corner of the carriage, the second cantilever 3 can compensate for the blind spot of the first cantilever 2 through rotation, achieving joint positioning. During the sampling process, the first lidar 601 can also monitor the surface fluctuations of the material and dynamically correct the sampling depth parameters.

[0066] The second cantilever 3, driven by the second rotary motor 203, and the rotatable first cantilever 2 enable fully automated control and operation, avoiding random errors caused by manual operation. Simultaneously, it overcomes the problem of relying on human experience for the representativeness of sampling points. LiDAR modeling provides a data foundation for random point placement, ensuring blind-spot-free sampling coverage. Furthermore, through the integration of sensing and execution, it achieves adaptability to complex working conditions such as carriage deformation and material fluctuations, preventing the spiral sampling head 508 from colliding with obstacles.

[0067] Therefore, by rotating the first cantilever 2 and the second cantilever 3, and by using the first lidar 601 and the second lidar 602 in conjunction, an integrated operation of scanning, modeling, positioning and acquisition is achieved, reducing the idle movement time of the equipment.

[0068] Optionally, as shown in Figure 2, the lifting mechanism in this application includes a drive motor 401 disposed at the top of the mast 4, a drive wheel 402 driven by the drive motor 401, a driven wheel 404 disposed at the bottom of the mast 4, and a transmission belt wound around the drive wheel 402 and the driven wheel 404; the spiral sampling mechanism 5 is fixedly connected to the transmission belt.

[0069] The drive motor 401 can be a worm gear reducer motor with a brake. The output shaft of the motor is directly connected to the drive wheel 402, which is a sprocket or a transmission wheel. The driven wheel 404 is fixed to the bottom of the mast 4 by bearings, and its axis is parallel to the drive wheel 402. The two are connected by a synchronous belt or chain 403. When a transmission belt is used, the inner side of the transmission belt has a toothed structure, which can mesh with the drive wheel 402 to transmit power. To connect the spiral sampling mechanism 5 to the transmission belt, a mounting plate can be added to the transmission belt to achieve a fixed connection between the spiral sampling mechanism 5 and the transmission belt.

[0070] The main body of the mast 4 can be made of square tubing, with a reserved space inside for the transmission belt, so as to achieve stable movement of the transmission belt, the driving pulley 402 and the driven pulley 404.

[0071] When the drive motor 401 receives the lifting command, the drive wheel 402 rotates clockwise or counterclockwise, driving the spiral sampling mechanism 5 to move vertically along the mast 4 via the transmission belt. During the descent sampling, the drive motor 401 slowly releases the brake, using the weight of the spiral sampling mechanism 5 to assist in the descent.

[0072] During lifting, the drive motor 401 provides the rated torque to stably lift the spiral sampling mechanism 5 to the top of the mast 4.

[0073] Understandably, traditional winch-type lifting mechanisms suffer from problems such as easy stretching of the wire rope and decreased positioning accuracy. This application's belt drive method eliminates slippage errors through toothed meshing, ensuring accurate sampling depth control. Furthermore, the belt drive structure is simpler and easier to maintain; performance can be restored simply by replacing the belt, the drive pulley 402, or the driven pulley 404.

[0074] Optionally, as shown in Figure 2, a guide rail is provided on the side of the mast 4, and a guide part that cooperates with the guide rail is provided on the spiral sampling mechanism 5; a second lidar 602 is provided at the bottom of the mast 4.

[0075] The guide rail in this application can be two parallel linear guide rails, fixedly installed on the side of the mast 4 facing the spiral sampling mechanism 5, while the guide part is fixedly installed on the outer shell of the spiral sampling mechanism 5 and is set corresponding to the guide rail, so as to play a guiding and stabilizing role when the spiral sampling mechanism 5 moves in the vertical direction.

[0076] Of course, in practical applications, the guide rail in this application is a guide hole formed on the mast 4, and the guide hole extends in the vertical direction. The size of the guide hole is adapted to the size of the arm body that connects the spiral sampling mechanism 5 with the mounting plate provided on the transmission belt. Thus, the guiding purpose can be achieved by using the cooperation between the arm body and the guide hole.

[0077] The second lidar 602 is installed at the bottom of the mast 4, so that it can directly correspond to the sampling area below.

[0078] During the lifting and lowering of the spiral sampling mechanism 5, the guide section slides along the guide rail throughout its entire movement, limiting radial sway and ensuring that the sampling head remains vertical at all times. When the sampling head approaches the material surface, the second lidar 602 emits a laser beam to detect the distance and corrects the lifting speed curve in real time. For example, when unevenness is detected in the material, the control system dynamically adjusts the descent speed to prevent the sampling head from impacting the carriage floor 105. During the sampling process, the second lidar 602 simultaneously monitors the material accumulation state, providing anti-overlap data for multiple samplings. The second lidar 602 effectively prevents equipment collisions, thereby reducing equipment failures and damage, and lowering maintenance costs.

[0079] Optionally, as shown in Figure 3, the spiral sampling mechanism 5 further includes an outer cylinder 506 and a sampling barrel 502; the spiral sampling head 508 is housed inside the outer cylinder 506, and the sampling barrel 502 is sleeved outside the outer cylinder 506, forming an annular gap between the two; the outlet of the spiral sampling head 508 is located inside the sampling barrel 502, and the sampling component is disposed on the sampling barrel 502 for receiving and temporarily storing a portion of the material falling back from the annular gap.

[0080] The sampling barrel 502 is made of thin-walled stainless steel round tube. The rotary motor 501 is connected to the sampling barrel 502 through a flange, and the outer cylinder 506 is housed inside, forming an annular gap between the two. The top of the outer cylinder 506 is located in the upper part of the sampling barrel 502, and the top of the outer cylinder 506 is the discharge port of the spiral sampling head 508. The top of the sampling component is connected to the sampling barrel 502, and the bottom of the sampling component is connected to the outer cylinder 506. The internal space of the sampling component is connected to the annular gap. When the spiral sampling head 508 rotates and lifts the material, the material is thrown into the sampling barrel 502 from the discharge port. Part of the material passes through the annular gap and enters the sampling component, while the other part falls back to the material pile through the annular gap, realizing simultaneous sampling and disposal.

[0081] During sampling, the spiral sampling head 508 penetrates the material, and the lifted material rises along the spiral blades to the discharge port, where it is thrown into the sampling bucket 502 under centrifugal force. Some material enters the sampling assembly through the annular gap, while some material falls back to the material pile through the annular material block.

[0082] In an optional implementation, the sampling barrel 502 has a diameter of 45cm and the outer cylinder 506 has a diameter of 25cm. The sampling barrel 502 and the outer cylinder 506 are connected by spaced support plates to form a 10cm annular gap. During sampling, about 1 / 6 of the material enters the sampling component, and each sampling is about 10L.

[0083] The sampling component in this application includes a sampling bucket 509 and a cover plate 505. One end of the sampling bucket 509 is connected to an annular gap, and the cover plate 505 seals the other end of the sampling bucket 509. After sampling is completed, the first cantilever 2 and the second cantilever 3 rotate, driving the sampling bucket 509 to the discharge area. The cover plate 505 flips up, as shown in Figure 3. Since the sampling bucket 509 provided in this application is inclined, when the cover plate 505 flips up, the sample can fall into the collection device in the sampling area 7 under the influence of gravity, completing one sampling.

[0084] It should be noted that the spiral sampling head 508 in this application is further provided with an outer cylinder 506 connected to the sampling container 502, which can protect the spiral sampling head 508, ensure the stable operation of the spiral sampling head 508, and ensure the smooth transportation of samples. Preferably, the end of the outer cylinder 506 away from the sampling container 502 is also provided with a support leg 507. Therefore, during operation, the support leg 507 contacts the material or the bottom of the vehicle first, thereby ensuring the structural stability of the spiral sampling head 508.

[0085] As shown in Figures 3 and 4, preferably, the transmission belt in this application is connected to a first connecting beam 405, and the outer wall of the sampling bucket 502 is connected to a second connecting beam 503; both the first connecting beam 405 and the second connecting beam 503 are C-shaped, the upper leg 510 of the first connecting beam 405 is located above the leg of the second connecting beam 503 and is connected by fasteners, and a pressure sensor 504 is provided between the upper leg 510 of the first connecting beam 405 and the upper leg 510 of the second connecting beam 503; the lower leg 511 of the first connecting beam 405 is located above the lower leg 511 of the second connecting beam 503 and is connected by fasteners.

[0086] In this application, the first connecting beam 405 is a C-shaped channel steel. The side plate of the first connecting beam 405 is fixedly connected to the transmission belt, so that the upper leg 510 and the lower leg 511 of the first connecting beam 405 are arranged in parallel. The second connecting beam 503 is also a C-shaped structure. The side plate of the second connecting beam 503 is fixedly connected to the sampling bucket 502, so that the upper leg 510 and the lower leg 511 of the second connecting beam 503 are arranged in parallel. Thus, the upper leg 510 of the first connecting beam 405 and the upper leg 510 of the second connecting beam 503 can be fastened together by bolts, and the lower leg 511 of the first connecting beam 405 and the lower leg 511 of the second connecting beam 503 can be fastened together by bolts.

[0087] Pressure sensor 504 is embedded between the upper legs 510 of the two beams, and the fastener is a set of anti-loosening bolts, allowing the two beams to move slightly in the vertical direction. When the spiral sampling head 508 contacts the hard bottom surface, pressure sensor 504 detects a sudden pressure change signal and triggers the lifting mechanism to stop.

[0088] During normal sampling, the two connecting beams are rigidly connected by bolts, and pressure sensor 504 monitors the sampling resistance. When the sampling head touches the bottom, the sampling barrel 502 stops descending while the drive belt continues to move downwards, and the first connecting beam 405 compresses the pressure sensor 504 relative to the second connecting beam 503. After receiving the pressure threshold signal, the control system immediately reverses the drive motor 401 to lift the spiral sampling mechanism 5. The pressure data is also used to determine the material hardness and dynamically adjust the depth parameters of subsequent sampling points.

[0089] Understandably, mechanical bottom-contact detection mechanisms are prone to damage due to overload. The electrical signal detection of pressure sensor 504 achieves millisecond-level response, solving the problem of equipment collision protection and ensuring the stability and service life of the overall system.

[0090] Furthermore, as shown in Figure 6, this application also provides a sampling method using the above-mentioned sampling device, including the following steps: Step S1: Adjust the first cantilever 2 and the second cantilever 3 to the initial position, and raise the spiral sampling mechanism 5 to the top of the mast 4 for sampling preparation; Step S2: Use the first laser radar 601 set on the second cantilever 3 and the second laser radar 602 set on the mast 4 to scan the sampling area, generate a three-dimensional model, and randomly generate multiple sampling points based on the model; Step S3: According to the generated sampling points, control the first cantilever 2 and the second cantilever 3 to rotate, move the spiral sampling mechanism 5 above the target sampling point, and control the lifting mechanism to drive the spiral sampling mechanism 5 to descend and sample; Step S4: Move the spiral sampling mechanism 5 to the sample recovery area 8, open the sampling component, and discharge the temporarily stored sample; Step S5: Repeat steps S3 and S4 until all sampling points are sampled.

[0091] The sampling method using a sampling device can organically combine advanced sensing technology, control algorithms, and mechanical actions. Step S1 is mechanical preparation, ensuring the equipment is in an initial safe state. Step S2 uses dual lidar to scan the carriage, and the data is sent to the central control system to generate a high-precision three-dimensional point model. This model is not only used to determine the sampling boundaries, but more importantly, it provides a data basis for random and uniform point placement, ensuring the scientific nature and impartiality of the sampling points and solving the subjectivity problem of manual point placement.

[0092] Step S3 is the core sampling action. Precise point positioning and depth control are achieved by controlling the multi-degree-of-freedom robotic arm and lifting mechanism. Spiral sampling and waste disposal are performed simultaneously, resulting in extremely high efficiency. Pressure sensors reliably determine whether the spiral sampling head 508 is in contact with the carriage floor 105, preventing excessive pressure that could damage the equipment. This also ensures consistent sampling depth each time, thus enabling automated sampling. Step S4 is the centralized recovery of samples. The sampling component is moved to the designated unloading position by rotating the first cantilever 2 and the second cantilever 3, completing one sampling operation. Repeating S3 and S4 until all points are sampled achieves full automation and intelligence of the sampling process. Simultaneously, the sampling coverage reaches 100%, positioning accuracy is high, and single sampling time is short, greatly improving the efficiency and reliability of sampling operations and reducing labor costs and human error. The above description is merely a preferred embodiment of this application and is not intended to limit the application. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A sampling device, characterized in that, The system includes a column, a first cantilever, a second cantilever, a mast, and a spiral sampling mechanism. The first end of the first cantilever is rotatably connected to the top of the column. The first end of the second cantilever is rotatably connected to the second end of the first cantilever. The top of the mast is connected to the second end of the second cantilever. The mast includes a lifting mechanism, and the spiral sampling mechanism is connected to the mast via the lifting mechanism and can move up and down along the mast via the lifting mechanism. The spiral sampling mechanism includes a sampling drive, a spiral sampling head, and a sampling assembly. The output end of the sampling drive is connected to the spiral sampling head, and the sampling assembly is used to collect the material collected by the spiral sampling head. The system also includes a first lidar, which is mounted on the second cantilever, and a second lidar is located at the bottom of the mast. The spiral sampling mechanism further includes an outer cylinder and a sampling bucket. The spiral sampling head is housed within the outer cylinder, and the sampling bucket is fitted over the outer cylinder, forming a ring with the outer cylinder. The annular gap is described as follows: the outlet of the spiral sampling head is located inside the sampling barrel, and the sampling component is disposed on the sampling barrel to receive and temporarily store a portion of the material falling back from the annular gap; a first connecting beam is connected to the transmission belt, and a second connecting beam is connected to the outer wall of the sampling barrel; both the first and second connecting beams are C-shaped, the upper leg of the first connecting beam is located above the leg of the second connecting beam and is connected by fasteners, and a pressure sensor is provided between the upper legs of the first and second connecting beams; the lower leg of the first connecting beam is located above the lower leg of the second connecting beam and is connected by fasteners; the annular gap also includes a rotating guide rail, a mating seat, a first rotary motor, and a support arm; the rotating guide rail is arranged around the column, the mating seat mates with the rotating guide rail, the first rotary motor is disposed on the mating seat and drives the mating seat to move around the rotating guide rail, one end of the support arm is connected to the mating seat, and the other end is connected to the first cantilever.The lifting mechanism includes a drive motor mounted at the top of the mast, a drive wheel driven by the drive motor, a driven wheel mounted at the bottom of the mast, and a transmission belt wound around the drive wheel and the driven wheel; the spiral sampling mechanism is fixedly connected to the transmission belt; the sampling method using the sampling device includes the following steps: Step S1: Adjust the first cantilever and the second cantilever to their initial positions, and lift the spiral sampling mechanism to the top of the mast for sampling preparation; Step S2: Use a first lidar mounted on the second cantilever and a second lidar mounted on the mast to scan the sampling area, generate a three-dimensional model, and randomly generate multiple sampling points based on the model; Step S3: According to the generated sampling points, control the rotation of the first and second cantilever to move the spiral sampling mechanism above the target sampling point, and control the lifting mechanism to drive the spiral sampling mechanism to descend and collect samples; Step S4: Move the spiral sampling mechanism to the sample recovery area, open the sampling assembly, and discharge the temporarily stored sample; Step S5: Repeat steps S3 and S4 until all sampling points are collected.

2. The sampling device according to claim 1, characterized in that, The top of the column is provided with a first rotating mechanism, and the first end of the first cantilever is connected to the first rotating mechanism, so that the first cantilever can rotate 360° around the axis of the column.

3. The sampling device according to claim 1, characterized in that, The second end of the first cantilever is provided with a second rotation mechanism, and the first end of the second cantilever is connected to the second rotation mechanism, so that the second cantilever can rotate 360° around an axis perpendicular to the extension direction of the first cantilever.

4. The sampling device according to claim 3, characterized in that, It also includes a second rotary motor, which is connected to the second rotary mechanism and drives the second rotary mechanism to rotate the second cantilever relative to the first cantilever.

5. The sampling device according to claim 4, characterized in that, The mast is provided with a guide rail on its side, and the spiral sampling mechanism is provided with a guide part that cooperates with the guide rail.

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