Autonomous mobile sampling robot for detecting coal content of sculpture screen of coal preparation plant

Abstract

The invention relates to the technical field of coal mine sampling detection robots, in particular to an autonomous mobile sampling robot for detecting the coal content of a medium drainage screen of a coal preparation plant. Comprising a chassis and crawler wheels in transmission connection with the two sides of the chassis. The upper surface of the chassis is fixedly connected with a bearing platform; the upper surface of the bearing platform is fixedly connected with a detection cabin and a vibration distributor; the vibration distributor is positioned on the front side of the detection cabin; the upper surface of the bearing platform is fixedly connected with a mechanical arm close to the vibration distributor; an inlet of a hollow material distribution plate on the vibration material distributor is fixedly connected with an inverted taper sleeve through an L-shaped plate; according to the invention, the autonomous moving chassis is adapted to multiple production lines, visual guidance of the mechanical arm is used for accurate sampling, dual-energy X-ray and visual fusion is used for efficient detection, automatic weighing and unloading are matched, the process does not need to be transformed, manual high-risk operation is avoided, the problems of lagging of a traditional method and rigidity of fixed equipment are solved, the real-time performance and accuracy of coal content detection are improved, and the cost is reduced.

Description

Technical Field

[0001] This invention relates to the field of coal mine sampling and testing robot technology, specifically an autonomous mobile sampling robot for detecting the coal content of desliming screens in coal preparation plants. Background Technology

[0002] In the coal beneficiation process, the desliming screen is a crucial link in media recovery and material classification. After passing through the heavy media separator, the material is discharged from the discharge end of the desliming screen, usually mixed with different proportions of clean coal and gangue. These materials vary greatly in particle size, moisture content, and ash content, which directly determines product quality and economic benefits. The production site needs to accurately grasp the ratio of coal to gangue, i.e., the coal content, in order to adjust process parameters in a timely manner and ensure product indicators.

[0003] Currently, there are two main types of common methods for detecting coal content: one is manual sampling combined with laboratory testing; this method is cumbersome, has problems such as poor sample representativeness, delayed results, and high labor intensity, making it difficult to meet the real-time and safety requirements of the field; the other is fixed detection devices, such as online ash analyzers or X-ray detectors installed on belt conveyors; although these devices can achieve continuous detection, they usually need to be installed in specific locations, requiring a large amount of modification space and making it difficult to flexibly arrange them on existing coal preparation plant process lines; at the same time, fixed devices cannot accommodate multiple desliming and screening production lines, resulting in low equipment utilization and high investment costs.

[0004] Furthermore, the coal preparation plant environment is complex, with limited space, high noise levels, and numerous vibrating components. Manual entry into the vicinity of the desliming screen for sampling poses safety risks. Traditional manual methods are not only inefficient but may also affect the accuracy of test results due to improper operation. Therefore, there is an urgent need for an autonomous equipment that can automatically sample, identify online, and unload at designated points without modifying the existing production process. This would improve the real-time performance and reliability of coal content detection, and reduce labor costs and safety risks. Summary of the Invention

[0005] To overcome the shortcomings of existing technologies, this invention proposes an autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants. This invention features an autonomous mobile chassis that adapts to multiple production lines, a robotic arm with vision-guided precise sampling, efficient detection through dual-energy X-ray and vision fusion, and automatic weighing and unloading. It eliminates the need for process modifications, avoids high-risk manual operations, and solves the problems of lagging traditional methods and rigid fixed equipment. This improves the real-time performance and accuracy of coal content detection while reducing costs.

[0006] The technical solution adopted by this invention to solve its technical problem is as follows: An autonomous mobile sampling robot for detecting coal content in a coal preparation plant's desliming screen includes a chassis and tracked wheels connected to both sides of the chassis via transmission; a carrying platform is fixedly connected to the upper surface of the chassis; a detection chamber and a vibrating feeder are fixedly connected to the upper surface of the carrying platform; the vibrating feeder is located in front of the detection chamber; a robotic arm is fixedly connected to the upper surface of the carrying platform near the vibrating feeder; the inlet of the perforated feeding plate on the vibrating feeder is fixedly connected to an inverted conical sleeve via an L-shaped plate; the outlet of the vibrating feeder is connected to a belt conveyor inside the detection chamber; the robotic arm... The output end of the arm is fixedly connected to a positive conical sleeve; a flexible material receiving conduit is fixedly connected between the positive and negative conical sleeves; the detection chamber is equipped with a binocular camera, a dual-energy X-ray source, and a detector aligned with the upper surface of the belt conveyor, and is equipped with radiation shielding and safety interlocks; a perforated vibrating discharge plate is fixedly connected inside the chassis and below the bearing platform; the material inlet of the vibrating discharge plate is connected to the tail of the belt conveyor through a flexible connecting sleeve; the material outlet of the vibrating discharge plate is connected to the discharge box; a weighing plate is hinged to the lower end of the discharge box; a locking block is fastened to the weighing plate away from the hinged position; the locking block is fixedly connected to the discharge box through an electric push rod.

[0007] Preferably, the lower end of the conical sleeve is fixedly connected to the upper sleeve; the outer side of the upper sleeve is fixedly connected to the output end of the robotic arm via a connecting plate; the upper end of the inverted conical sleeve is connected to an L-shaped plate via the lower sleeve; the flexible material receiving conduit is connected between the upper and lower sleeves; an upper rotating block is provided on the inner side of the upper sleeve; upper rotating bars are fixedly connected to both sides of the upper rotating block; the two upper rotating bars are distributed in a figure-eight shape; the end of the upper rotating bar away from the upper rotating block is fixedly connected to an upper rotating rod; upper rotating grooves are symmetrically arranged on the inner side of the upper sleeve; the upper rotating rod is rotatably connected to the upper rotating groove via an upper torsion spring; a first motor is fixedly connected to the inner wall of the lower sleeve; an n-shaped bar is fixedly connected to the output end of the first motor; a lower rope sleeve is rotatably connected to the middle section of the n-shaped bar; an upper rope sleeve is rotatably connected to the outer wall of the upper rotating block; the upper rope sleeve and the lower rope sleeve are connected by a pull rope.

[0008] Preferably, the inverted conical sleeve is composed of an upper fixed sleeve and a lower reversing sleeve; the fixed sleeve is fixedly connected to the lower sleeve; the annular groove at the lower end of the fixed sleeve is rotatably connected to the annular strip at the upper end of the reversing sleeve; the first motor is fixedly connected to the inner side of the reversing sleeve; the outer wall of the reversing sleeve is provided with first teeth along the circumference; the first teeth mesh and drive a gear; the gear is fixedly connected to the output end of the second motor; the second motor is fixedly connected to the L-shaped plate.

[0009] Preferably, the upper sleeve is composed of an inner sleeve and an outer sleeve; the inner sleeve is rotatably connected to the inside of the outer sleeve; and the upper rotating groove is disposed on the inside of the inner sleeve.

[0010] Preferably, the outer wall of the pull rope is provided with a plurality of one-way blocks along the length direction; the overall shape of the one-way block is a semi-bowl shape; the arc surface of the one-way block is opposite to the n-shaped strip.

[0011] Preferably, the unidirectional block is composed of a central sleeve and a plurality of surrounding arc-shaped pieces; the central sleeve is connected to a pull rope; the outer wall of the central sleeve is provided with an annular hinge groove; a plurality of arc-shaped pieces are hinged circumferentially in the hinge groove; the plurality of arc-shaped pieces unfold as the pull rope moves, and the plurality of arc-shaped pieces retract as the pull rope moves upward.

[0012] Preferably, the central sleeve is composed of two symmetrical half-sleeves; the two half-sleeves are connected by bolts.

[0013] Preferably, the hinge groove has multiple staggered grooves on the side near the n-shaped strip; the multiple staggered grooves correspond to multiple arc-shaped pieces at intervals.

[0014] Preferably, the ends of adjacent arc-shaped pieces are connected by a limiting rope.

[0015] The beneficial effects of this invention are as follows: 1. This invention adapts to multiple production lines through an autonomous mobile chassis, uses a robotic arm for visual guidance for precise sampling, integrates dual-energy X-rays with vision for efficient detection, and combines automatic weighing and unloading. It eliminates the need for process modifications, avoids high-risk manual operations, solves the problems of lagging traditional methods and rigid fixed equipment, improves the real-time performance and accuracy of coal content detection, and reduces costs.

[0016] 2. In this invention, the pull rope will move horizontally inside the receiving conduit as the first motor rotates. During the horizontal movement of the pull rope, the sample inside the receiving conduit will be moved, so that the sample stuck inside the receiving conduit can be loosened, thus achieving the purpose of transporting the sample inside the receiving conduit. This allows the sample to be transported smoothly along the inside of the receiving conduit, making sample sampling and testing smoother.

[0017] 3. During the rotation of the gear in this invention, the reversing sleeve with the first tooth will rotate. During the rotation of the reversing sleeve, the first motor on the inner side will rotate. During the rotation of the first motor, the n-shaped strip will rotate, thereby changing the horizontal turning direction of the n-shaped strip. This expands the direction of movement of the pull rope with the lower rope sleeve, increases the loosening range of the pull rope inside the receiving guide tube, and further achieves the purpose of preventing the receiving guide tube from blocking. Attached Figure Description

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 This is a perspective view of the present invention; Figure 2 yes Figure 1A stereoscopic view from another perspective; Figure 3 This is a perspective view of the chassis and track wheels in this invention; Figure 4 yes Figure 3 A stereoscopic view from another perspective; Figure 5 This is a perspective view of the discharge box in this invention; Figure 6 This is a diagram showing the position of the locking block in this invention; Figure 7 This is a perspective view of the positive conical sleeve, the material receiving conduit, and the inverted conical sleeve in this invention; Figure 8 This is a diagram showing the position of the n-shaped strip in this invention; Figure 9 yes Figure 8 Enlarged view of point A in the middle; Figure 10 yes Figure 7 A sectional view; Figure 11 This is a cross-sectional view of the positive conical sleeve in this invention; Figure 12 This is a cross-sectional view of the inverted conical sleeve in this invention; Figure 13 This is a perspective view of the unidirectional block in this invention; Figure 14 yes Figure 13 A stereoscopic view from another angle; Figure 15 This is a diagram showing the location of the staggered slots in this invention.

[0020] In the diagram: 1. Chassis; 11. Track wheel; 12. Vibrating discharge plate; 13. Discharge box; 14. Weighing plate; 15. Locking block; 16. Electric push rod; 2. Bearing platform; 3. Detection chamber; 4. Vibrating material distributor; 41. Material distribution plate; 42. Belt conveyor; 5. Robotic arm; 6. Inverted cone sleeve; 61. L-shaped plate; 62. Lower sleeve; 63. First motor; 64. N-shaped bar; 65. Lower rope sleeve; 66. Pull rope; 67. Inverted fixed sleeve; 67. Annular groove; 68. Reversing sleeve; 69. Annular... 681, first tooth 682, gear 683, second motor 684, positive cone sleeve 7, upper sleeve 71, inner sleeve 711, outer sleeve 712, connecting plate 72, upper rotating block 73, upper rotating bar 74, upper rotating rod 75, upper rotating groove 76, upper torsion spring 77, upper rope sleeve 78, receiving guide tube 8, one-way block 9, center sleeve 91, half sleeve 911, arc-shaped piece 92, hinge groove 93, bolt 94, staggered groove 95, limit rope 96. Detailed Implementation

[0021] To make the technical means, creative features, objectives and effects of this invention easier to understand, the invention will be further described below in conjunction with specific embodiments.

[0022] like Figures 1 to 15 As shown, the present invention includes the following embodiments: Example 1: An autonomous mobile sampling robot for detecting coal content in a coal preparation plant's desliming screen includes a chassis 1 and tracked wheels 11 connected to both sides of the chassis 1; a support platform 2 is fixedly connected to the upper surface of the chassis 1; a detection chamber 3 and a vibrating cloth feeder 4 are fixedly connected to the upper surface of the support platform 2; the vibrating cloth feeder 4 is located in front of the detection chamber 3; a robotic arm 5 is fixedly connected to the upper surface of the support platform 2 near the vibrating cloth feeder 4; the inlet of the perforated cloth feeder 41 on the vibrating cloth feeder 4 is fixedly connected to an inverted cone sleeve 6 via an L-shaped plate 61; the outlet of the vibrating cloth feeder 4 is connected to a belt conveyor 42 inside the detection chamber 3; the output end of the robotic arm 5 is fixedly connected to a positive cone sleeve 7; the positive cone sleeve 7 and the inverted cone sleeve 6 are connected... A flexible receiving conduit 8 is fixedly connected; the detection chamber 3 is equipped with a binocular camera, a dual-energy X-ray source and detector aligned with the upper surface of the belt conveyor 42, and is equipped with radiation shielding and safety interlock; a hollowed-out vibrating discharge plate 12 is fixedly connected inside the chassis 1 and below the bearing platform 2; the material inlet of the vibrating discharge plate 12 is connected to the tail of the belt conveyor 42 through a flexible connecting sleeve; the material outlet of the vibrating discharge plate 12 is connected to the discharge box 13; the lower end of the discharge box 13 is hinged to a weighing plate 14; the weighing plate 14 is fastened to a locking block 15 away from the hinge position; the locking block 15 is fixedly connected to the discharge box 13 through an electric push rod 16; the receiving conduit 8 is made of wear-resistant and anti-static polyurethane material.

[0023] After receiving a sampling and testing task, the robot triggers its internal control system. The control system uses navigation and positioning to drive the track wheels 11, moving the robot to the working position at the discharge end of the desliming screen. Then, the robotic arm 5 uses rotation, pitch, or extension to accurately align the positive cone sleeve 7 with the material flow falling from the discharge end of the desliming screen, thus achieving stable material reception. The falling sample passes through the positive cone sleeve 7, the receiving guide 8, and the inverted cone sleeve 6 into the perforated material distribution plate 41 of the vibrating distributor 4. Under vibration, the material distribution plate 41 evenly disperses the material and... The sample is continuously fed onto the upper surface of the belt conveyor 42, which carries it through the detection chamber 3. Inside the chamber 3, a binocular camera simultaneously acquires visible light images and depth information, while a dual-energy X-ray source, in conjunction with a detector, obtains transmission images. The resulting data is fused and processed by an onboard computer to determine particle volume, density, and coal-gangue mass ratio, and the coal content is calculated and output in real time. After testing, the material enters the flexible connecting sleeve (not shown in the figure) via the tail end of the belt conveyor 42. The carrying platform 2 is equipped with a through-flow trough for the flexible connecting sleeve and material flow. The material falls through the through-slot onto the upper surface of the vibrating discharge plate 12. The material on the vibrating discharge plate 12 eventually gathers inside the discharge box 13, and then falls onto the weighing plate 14 to accumulate mass. Alternatively, a weighing component can be installed below the vibrating discharge plate 12 for dynamic cumulative weighing. When the accumulated weight reaches a preset threshold, the control system issues a prompt signal, and the robot then moves to the designated unloading position. The electric push rod 16 extends, causing the locking block 15 to move downward. The locking block 15 releases the limit on the weighing plate 14 away from the hinged end, allowing the weighing plate 14 to... The material opens under gravity, and with the lower port of the discharge box 13 open, the material can be discharged. During the discharge process, the vibration of the vibrating discharge plate 12 can drive the discharge box 13 to vibrate, assisting in the discharge. Then, the electric push rod 16 is controlled to shorten, causing the locking block 15 to move upward. The weighing plate 14 blocks and seals the lower port of the discharge box 13, completing a complete sampling, detection, and discharge cycle. After the cycle ends, the robot can return to the standby position or continue to perform the next sampling task according to the scheduling instructions, thereby realizing continuous automated operation of sampling, detection, storage, and discharge. The chassis 1 provides support for the tracked wheels 11 and the carrying platform 2. The tracked wheels 11 not only provide mobility but also stability and obstacle-crossing capabilities, enabling the robot to navigate and position autonomously in the complex environment of the coal preparation plant. The conical sleeve 7 is designed in a funnel shape to accurately align with the material flow at the discharge end of the desliming screen, ensuring smooth sample collection. The position of the conical sleeve 7 can be adjusted by the rotation, pitch, and extension mechanisms of the robotic arm 5 to adapt to different receiving heights and angles. To assist the conical sleeve 7 in accurately aligning with the discharge end of the desliming screen, a camera is installed at the output end of the robotic arm 5, forming an "eye in hand" vision system. Through camera recognition, the robot can autonomously plan the receiving posture of the conical sleeve 7, improving sampling accuracy and reliability. During the process, to ensure the accuracy of the detected images and the representativeness of subsequent weighing, the belt conveyor 42 maintains a constant speed, allowing the sample to pass stably through the detection area. A cleaner is installed on the lower surface of the belt conveyor 42; debris and dirt remaining on the surface are scraped off by the cleaner during the return trip and collected in the vibrating discharge plate 12 below for unified discharge, preventing dust accumulation on the belt surface from affecting detection accuracy. The detection chamber 3 adopts a closed structure and is equipped with a radiation shielding layer and multi-level safety interlocking devices to ensure that operators are protected from radiation hazards during the detection process. The chamber integrates a binocular camera, a dual-energy X-ray source, and a detector. The binocular camera is used to acquire visible light images and depth information of the sample, while the dual-energy X-ray source and detector are used for… The system acquires transmission images of the material; through the fusion of visual and X-ray data, it can calculate the volume and density of the sample and identify the ratio of coal to gangue, thereby outputting the coal content result in real time; the discharge port at the tail of the belt conveyor 42 faces the vibrating discharge plate 12 below, and the two are connected by a flexible connecting sleeve, which can prevent debris and sewage from splashing out during the material discharge process; the material mass data accumulated by the weighing plate 14 can be combined with the detection results and used to correct and calibrate the detection accuracy; the robot achieves unified coordination through an onboard computer, PLC and safety control module; the onboard computer is responsible for the acquisition and fusion processing of visual and X-ray data; the PLC is responsible for the timing of the actuators such as the vibrating feeder 4, belt conveyor 42, vibrating discharge plate 12, electric push rod 16, etc. The control and safety control module is responsible for radiation interlocking, emergency stop, and critical status monitoring. These three components work together to ensure the robot can stably and safely complete the entire process of sampling, testing, weighing, and unloading under high humidity, strong noise, and complex working conditions. The hollow design of the vibrating feeder 4 reduces the impact of moisture on weighing. The hollow design of the vibrating discharge plate 12 also reduces the impact of moisture on weighing. The testing chamber 3 is a closed structure with flexible lead curtains at the entrance and exit, radiation warning signs on the outer wall, and safety locking achieved through door interlocking and an emergency stop system. The vibrating discharge plate 12 can be selectively installed on a three-point weighing sensor to accumulate and store the sample weight in real time. When the weight reaches a preset threshold, the control system drives the robot to move to the unloading position for unloading.The robot is equipped with a navigation system, including LiDAR, inertial unit and positioning mark recognition module, to achieve autonomous navigation and obstacle avoidance; This invention utilizes a robotic arm 5 to control a conical sleeve 7 to align with the unloading end of a desliming screen, achieving autonomous sampling through visual guidance. This avoids manual entry into high-risk areas. After passing through a vibrating cloth and conveyor belt, the sample is tested in the testing chamber 3, outputting the coal content. This significantly improves the automation and safety of the testing process, enabling unmanned sampling and online monitoring. After testing, the sample enters the vibrating discharge plate 12 and the discharge box 13 for automatic weighing and unloading, establishing a stable closed-loop process for sampling, conveying, testing, weighing, and unloading. This invention adapts to multiple production lines through an autonomous mobile chassis 1, uses the robotic arm 5 for precise sampling guided by vision, and employs dual-energy X-ray and vision fusion for efficient detection. Combined with automatic weighing and unloading, it eliminates the need for process modifications, avoids high-risk manual operations, solves the problems of lag in traditional methods and rigidity of fixed equipment, improves the real-time performance and accuracy of coal content detection, and reduces costs.

[0024] Example 2: The lower end of the positive conical sleeve 7 is fixedly connected to the upper sleeve 71; the outer side of the upper sleeve 71 is fixedly connected to the output end of the robotic arm 5 via a connecting plate 72; the upper end of the inverted conical sleeve 6 is connected to the L-shaped plate 61 via the lower sleeve 62; the flexible material receiving conduit 8 is connected between the upper sleeve 71 and the lower sleeve 62; an upper rotating block 73 is provided on the inner side of the upper sleeve 71; upper rotating strips 74 are fixedly connected to both sides of the upper rotating block 73; the two upper rotating strips 74 are distributed in a figure-eight shape; the upper rotating strips 74 are far away from the upper rotating block. One end of 73 is fixedly connected to the upper rotating rod 75; the upper sleeve 71 is symmetrically provided with upper rotating grooves 76 on its inner side; the upper rotating rod 75 is rotatably connected to the upper rotating groove 76 through an upper torsion spring 77; the inner wall of the lower sleeve 62 is fixedly connected to the first motor 63; the output end of the first motor 63 is fixedly connected to an n-shaped bar 64; the middle section of the n-shaped bar 64 is rotatably connected to the lower rope sleeve 65; the outer wall of the upper rotating block 73 is rotatably connected to the upper rope sleeve 78; the upper rope sleeve 78 and the lower rope sleeve 65 are connected by a pull rope 66.

[0025] The robot, driven by the track wheels 11, moves to the working position at the unloading end of the desliming screen according to the sampling and testing requirements. Then, the robotic arm 5 uses rotation, pitch, or extension to accurately align the conical sleeve 7 with the falling material flow at the unloading end of the desliming screen, thus achieving stable material reception. The receiving conduit 8 bends or tilts according to the orientation and position of the conical sleeve 7. The falling sample is collected through the opening of the conical sleeve 7 and enters the upper sleeve 71. After being guided by the upper sleeve 71, the sample enters the receiving conduit 8. The receiving conduit 8 is curved or tilted to facilitate sample transport. The sample in the receiving conduit 8 enters the inner side of the lower sleeve 62. The material flows along the inverted cone sleeve 6 onto the perforated fabric plate 41 of the vibrating fabric distributor 4. During the material receiving process in the receiving guide 8, the first motor 63 drives the n-shaped bar 64 to rotate. The middle section of the n-shaped bar 64 is connected to the lower rope sleeve 65, so the n-shaped bar 64 drives the lower rope sleeve 65 to rotate around the output end of the first motor 63. The vertical position of the lower rope sleeve 65 changes with the rotation of the n-shaped bar 64, and the horizontal position of the lower rope sleeve 65 also changes with the rotation of the n-shaped bar 64. During the cyclic up-and-down movement of the lower rope sleeve 65, it pulls the pull rope 66 to cyclic up-and-down movement. During the process of the pull rope 66 being pulled down by the lower rope sleeve 65, the pull rope 66 drives the upper rope sleeve 78 to move down. As the upper rope loop 78 moves downward, it causes the upper rotating block 73 to move downward. This downward movement of the upper rotating block 73 causes the upper rotating bar 74 to flip downward. The downward flipping of the upper rotating bar 74 causes the upper rotating rod 75 at its end to rotate. The upper rotating rod 75 overcomes the upper torsion spring 77 and rotates within the upper rotating groove 76. The downward flipping of the upper rotating bar 74 and the upper rotating block 73 also causes the upper rope loop 78 and the pull rope 66 to change their horizontal positions. As the first motor 63 continues to rotate, it causes the n-shaped bar 64 to flip upward. The n-shaped bar 64 causes the lower rope loop 65 to flip upward. As the lower rope loop 65 moves upward, the upper torsion spring 77 causes the upper rotating rod 75 within the upper rotating groove 76 to rotate. 5. When the upper rotating bar 75 rotates, it will drive the upper rotating bar 74 to flip upward and reset. The upper rotating bar 74 will drive the upper rotating block 73 to flip upward and reset. The upper rotating block 73 will drive the upper rope sleeve 78 to flip upward and reset. During the upward movement of the upper rope sleeve 78, it will drive the pull rope 66 to move upward. The pull rope 66 will move horizontally inside the receiving guide tube 8 as the first motor 63 rotates. During the horizontal movement, the pull rope 66 will move the sample inside the receiving guide tube 8, so that the sample stuck inside the receiving guide tube 8 can be loosened, thus achieving the purpose of sample transportation inside the receiving guide tube 8. This allows the sample to be smoothly transported along the inside of the receiving guide tube 8, making sample sampling and testing smoother.

[0026] Example 3: The inverted conical sleeve 6 is composed of an upper fixed sleeve 67 and a lower reversing sleeve 68; the fixed sleeve 67 is fixedly connected to the lower sleeve 62; the annular groove 671 at the lower end of the fixed sleeve 67 is rotatably connected to the annular strip 681 at the upper end of the reversing sleeve 68; the first motor 63 is fixedly connected to the inner side of the reversing sleeve 68; the outer wall of the reversing sleeve 68 is provided with first teeth 682 along the circumference; the first teeth 682 mesh with and drive the gear 683; the gear 683 is fixedly connected to the output end of the second motor 684; the second motor 684 is fixedly connected to the L-shaped plate 61.

[0027] In this embodiment, the upper sleeve 71 is composed of an inner sleeve 711 and an outer sleeve 712; the inner sleeve 711 is rotatably connected to the inner side of the outer sleeve 712; and the upper rotating groove 76 is disposed on the inner side of the inner sleeve 711.

[0028] The first motor 63 is fixedly connected to the inside of the reversing sleeve 68. During the operation of the first motor 63, the first motor 63 drives the n-shaped bar 64 to rotate. During the rotation of the n-shaped bar 64, it drives the lower rope sleeve 65 to move back and forth in the horizontal direction and back and forth in the vertical direction. As the lower rope sleeve 65 moves horizontally, the pull rope 66 moves and loosens the sample inside the receiving guide tube 8. The rotation direction of the n-shaped bar 64 directly affects the horizontal movement direction of the pull rope 66 inside the receiving guide tube 8. In order to expand the range of motion of the pull rope 66 inside the receiving guide tube 8, the second motor 684 also rotates during the rotation of the first motor 63. During the rotation of the second motor 684, it drives the gear 683 to rotate. The gear 683 meshes with the first tooth 682, so the rotation of the gear 683 drives the reversing sleeve 68 with the first tooth 682 to rotate. During the rotation of the reversing sleeve 68, it drives the inner side of the first tooth 682 to rotate. When the first motor 63 rotates, it drives the n-shaped strip 64 to rotate, thereby changing the horizontal direction of the n-shaped strip 64. This expands the direction of movement of the pull rope 66 as it moves with the lower rope sleeve 65, increasing the loosening range of the pull rope 66 inside the receiving guide tube 8, and further achieving the purpose of preventing the receiving guide tube 8 from clogging. When the reversing sleeve 68 rotates, it also disperses and throws the sample out with centrifugal force, reducing the accumulation of the sample on the vibrating cloth feeder 4 and reducing the difficulty of cloth feeding. The first motor 63 rotates along with the reversing sleeve 68. When the first motor 63 rotates, it drives the n-shaped strip 64, the lower rope sleeve 65, and the pull rope 66 to rotate. When the pull rope 66 rotates, it drives the upper rope sleeve 78 and the upper rotating block 73 to rotate. The upper rotating block 73 drives the upper rotating strip 74 and the upper rotating rod 75 to rotate. This causes the upper rotating rod 75 to drive the inner sleeve 711 to rotate inside the outer sleeve 712, avoiding the situation where the pull rope 66 shrinks due to continuous rotation.

[0029] Example 4: The outer wall of the pull rope 66 is provided with a plurality of one-way blocks 9 along the length direction; the one-way block 9 is in the shape of a half bowl; the arc surface of the one-way block 9 is away from the n-shaped strip 64.

[0030] In this embodiment, the one-way block 9 is composed of a central sleeve 91 and a plurality of surrounding arc-shaped pieces 92; the central sleeve 91 is connected to the pull rope 66; the outer wall of the central sleeve 91 is provided with an annular hinge groove 93; a plurality of arc-shaped pieces 92 are hinged circumferentially inside the hinge groove 93; the plurality of arc-shaped pieces 92 unfold as the pull rope 66 moves, and the plurality of arc-shaped pieces 92 retract as the pull rope 66 moves upward.

[0031] As the pull rope 66 moves upward inside the receiving conduit 8, the arc-shaped surface of the one-way block 9 faces away from the n-shaped strip 64, while the sample conveying direction is close to the n-shaped strip 64. Thus, as the pull rope 66 is pulled upward, it drives the one-way block 9 inside the receiving conduit 8. The arc-shaped surface of the upper surface of the one-way block 9 breaks through and passes over the sample. As the pull rope 66 moves downward, it drives the one-way block 9 downward, and the concave surface of the lower surface of the one-way block 9 pushes the sample downward. This allows the sample to be conveyed by the unidirectional push of the one-way block 9, ensuring the sample collection and conveying effect. Furthermore, the one-way block 9, from its center... The central sleeve 91 is composed of multiple surrounding arc-shaped pieces 92. As the pull rope 66 moves the central sleeve 91 upward, the outer sides of the multiple arc-shaped pieces 92 around the central sleeve 91 are squeezed and converge towards the center. The one-way block 9 will pass over the sample. As the pull rope 66 moves downward, it will move the central sleeve 91 downward. During the downward movement of the central sleeve 91, it will move the multiple arc-shaped pieces 92 downward. Under the push, the inner sides of the multiple arc-shaped pieces 92 will unfold. The unfolded arc-shaped pieces 92 cover an increased area, which can push the sample inside the receiving conduit 8 toward the n-shaped strip 64, thereby improving the sample delivery effect.

[0032] Example 5: The central sleeve 91 is composed of two symmetrical half sleeves 911; the two half sleeves 911 are connected by bolts 94.

[0033] When it is necessary to add or reduce the number of one-way blocks 9, or to replace one-way blocks 9, loosen bolt 94 to separate the two half-sleeves 911. If it is necessary to install one-way blocks 9, simply put the two half-sleeves 911 of the center sleeve 91 on the outside of the pull rope 66, tighten bolt 94 to connect the two half-sleeves 911 and form a complete center sleeve 91. The outer wall of the pull rope 66 is tightly fitted with the inner side of the center sleeve 91, and there will be no slippage. In this way, the replacement and position adjustment of one-way blocks 9 can be achieved.

[0034] Example 6: The hinge groove 93 is provided with a plurality of staggered grooves 95 on the side near the n-shaped strip 64; the plurality of staggered grooves 95 correspond to a plurality of arc-shaped pieces 92 at intervals.

[0035] As the unidirectional block 9 moves upward along with the pull rope 66 and moves upward inside the receiving guide tube 8, the sample will squeeze the outer side of the arc-shaped piece 92, causing multiple arc-shaped pieces 92 to begin to close. The arc-shaped pieces 92 will rotate within the hinge groove 93. The side of the hinge groove 93 near the n-shaped strip 64 can restrict the closed arc-shaped pieces 92. Since the hinge groove 93 is provided with staggered grooves 95 at intervals, the staggered grooves 95 can provide space for some of the spaced arc-shaped pieces 92 to close again. In this way, multiple arc-shaped pieces 92 can close in a staggered manner, avoiding the situation where two adjacent arc-shaped pieces 92 cannot close due to sample jamming.

[0036] Example 7: The ends of adjacent arc-shaped pieces 92 are connected by a limiting rope 96. The length of the limiting rope 96 does not affect the separation and unfolding of adjacent arc-shaped pieces 92. When one arc-shaped piece 92 is closed, the other arc-shaped pieces 92 will also close under the pull of the limiting rope 96. When one arc-shaped piece 92 is opened under pressure, the other arc-shaped pieces 92 will also unfold under the pull of the limiting rope 96, so as to achieve the purpose of simultaneous unfolding and folding of multiple arc-shaped pieces 92 and ensure the use effect of the unidirectional block 9.

[0037] In the description of this invention, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the appendix. Figure 1 The orientations or positional relationships shown are for the convenience of describing the present invention and simplifying the description only, and are not intended to 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 limiting the scope of protection of the present invention. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and should not be construed as indicating or implying relative importance.

[0038] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. An autonomous mobile sampling robot for detecting coal content in desliming screens at coal preparation plants, characterized in that: The system includes a chassis and tracked wheels connected to both sides of the chassis for transmission; a support platform is fixedly connected to the upper surface of the chassis; a testing chamber and a vibrating fabric distributor are fixedly connected to the upper surface of the support platform; the vibrating fabric distributor is located in front of the testing chamber; a robotic arm is fixedly connected to the upper surface of the support platform near the vibrating fabric distributor; the inlet of the perforated fabric plate on the vibrating fabric distributor is fixedly connected to an inverted conical sleeve via an L-shaped plate; the outlet of the vibrating fabric distributor is connected to a belt conveyor inside the testing chamber; the output end of the robotic arm is fixedly connected to a positive conical sleeve; a flexible coupling is fixedly connected between the positive conical sleeve and the inverted conical sleeve. The system includes a receiving conduit for the material; the detection chamber is equipped with a binocular camera, a dual-energy X-ray source, and a detector aligned with the upper surface of the belt conveyor, and is equipped with radiation shielding and safety interlocks; a perforated vibrating discharge plate is fixedly connected inside the chassis and below the bearing platform; the material inlet of the vibrating discharge plate is connected to the tail of the belt conveyor via a flexible connecting sleeve; the material outlet of the vibrating discharge plate is connected to the discharge box; a weighing plate is hinged to the lower end of the discharge box; a locking block is fastened to the weighing plate away from the hinged position; the locking block is fixedly connected to the discharge box via an electric push rod.

2. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 1, characterized in that: The lower end of the positive conical sleeve is fixedly connected to the upper sleeve; the outer side of the upper sleeve is fixedly connected to the output end of the robotic arm via a connecting plate; the upper end of the inverted conical sleeve is connected to an L-shaped plate via the lower sleeve; the flexible material receiving conduit is connected between the upper and lower sleeves; an upper rotating block is provided on the inner side of the upper sleeve; upper rotating bars are fixedly connected to both sides of the upper rotating block; the two upper rotating bars are distributed in a figure-eight shape; the end of the upper rotating bar away from the upper rotating block is fixedly connected to an upper rotating rod; upper rotating grooves are symmetrically arranged on the inner side of the upper sleeve; the upper rotating rod is rotatably connected to the upper rotating groove via an upper torsion spring; a first motor is fixedly connected to the inner wall of the lower sleeve; an n-shaped bar is fixedly connected to the output end of the first motor; a lower rope sleeve is rotatably connected to the middle section of the n-shaped bar; an upper rope sleeve is rotatably connected to the outer wall of the upper rotating block; the upper rope sleeve and the lower rope sleeve are connected by a pull rope.

3. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 2, characterized in that: The inverted conical sleeve is composed of an upper fixed sleeve and a lower reversing sleeve; the fixed sleeve is fixedly connected to the lower sleeve; the annular groove at the lower end of the fixed sleeve is rotatably connected to the annular strip at the upper end of the reversing sleeve; the first motor is fixedly connected to the inner side of the reversing sleeve; the outer wall of the reversing sleeve is provided with first teeth along the circumference; the first teeth mesh and drive a gear; the gear is fixedly connected to the output end of the second motor; the second motor is fixedly connected to the L-shaped plate.

4. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 3, characterized in that: The upper sleeve is composed of an inner sleeve and an outer sleeve; the inner sleeve is rotatably connected to the inside of the outer sleeve; the upper rotating groove is located inside the inner sleeve.

5. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 2, characterized in that: The outer wall of the pull rope is provided with multiple one-way blocks along its length; the overall shape of the one-way block is a semi-bowl shape; the arc surface of the one-way block is away from the n-shaped strip.

6. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 5, characterized in that: The unidirectional block is composed of a central sleeve and multiple surrounding arc-shaped pieces; the central sleeve is connected to a pull rope; the outer wall of the central sleeve is provided with an annular hinge groove; multiple arc-shaped pieces are hinged circumferentially in the hinge groove; the multiple arc-shaped pieces unfold as the pull rope moves, and the multiple arc-shaped pieces retract as the pull rope moves upward.

7. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 6, characterized in that: The central sleeve is composed of two symmetrical half-sleeves; the two half-sleeves are connected by bolts.

8. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 6, characterized in that: The hinge groove has multiple staggered slots on the side near the n-shaped strip; the multiple staggered slots correspond to multiple arc-shaped pieces at intervals.

9. The autonomous mobile sampling robot for detecting coal content in desliming screens in coal preparation plants according to claim 6, characterized in that: The ends of adjacent arc-shaped pieces are connected by a limiting rope.

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