A multi-legged robot coal sample transfer system

Abstract

This invention discloses a multi-legged robot coal sample transfer system, comprising a sampling docking module, a sample preparation docking module, a testing docking module, a multi-legged robot, and a control center. The multi-legged robot, coordinated by the control center, transfers coal samples. The sampling docking module handles the packaging and transfer of raw coal sample boxes. The sample preparation docking module primarily handles the conversion of the coal sample into an analytical sample. Through a sample preparation machine, the raw coal sample in the sample box is processed into an analytical sample and placed in a sample bottle. The sample bottle is then placed into the analytical sample box, completing the conversion from raw coal sample to analytical sample. The testing docking module handles the packaging and transfer of the analytical sample box. This coal sample transfer system fully utilizes a multi-legged robot to combine two commonly used transfer systems in coal sample transfer. It solves the problem of low efficiency in manual transfer and effectively avoids the shortcomings of pneumatic transmission and belt conveyor in long-distance transportation, further improving transfer efficiency and reducing transfer costs.

Description

Technical Field

[0001] This invention relates to the field of clamping and conveying machinery technology, and specifically discloses a multi-legged robot coal sample transfer system. Background Technology

[0002] In the field of intelligent fuel engineering, with the continuous improvement of the level of intelligence, the phenomenon of human intervention in the sampling, preparation, and analysis process has been effectively prevented. In the sampling, preparation, and analysis handover process, although the coal sample transfer method has gradually shifted from manual transfer to pneumatic transfer, belt transfer, or transfer vehicle, the transfer equipment is expensive due to the long distance between the sampling, preparation, and analysis locations. Moreover, the engineering construction is complex, the reliability is low, and there are inevitably blind spots in the monitoring along the way, which poses a risk of fraud and low security.

[0003] Currently, in the coal sample transfer process, methods include manual transfer, pneumatic conveying, belt conveyor transfer, or transfer vehicle transfer. In the field of intelligent fuel engineering, raw coal samples are generally packaged in drums, while analytical samples are packaged in bottles; therefore, two different transfer systems are typically designed.

[0004] The disadvantages of the above methods are: 1. Manual transportation consumes a lot of manpower and resources, resulting in significant transportation costs; 2. Pneumatic transmission and belt conveyor require high equipment costs for long-distance transportation, involve a large amount of engineering work and are complex to construct, and have a high failure rate. 3. Due to the size limitations of the transport vehicle, the starting point for coal sample transport is restricted, and a series of equipment connections are required, resulting in high equipment costs; 4. Raw coal samples and analytical coal samples need to be transported separately according to their transport methods.

[0005] Therefore, there is an urgent need for a transfer system that can integrate two different transfer systems and automate the process to reduce costs and improve work efficiency in the coal sample transfer process. Summary of the Invention

[0006] (a) Technical problems to be solved Based on this, the present invention provides a multi-legged robot coal sample transfer system, which combines two commonly used transfer systems in the coal sample transfer process. This not only solves the problem of low efficiency of manual transfer in the coal sample transfer process, but also effectively avoids the shortcomings of pneumatic transmission and belt transfer in long-distance transportation, further improving the efficiency of coal sample transfer and reducing the cost of coal sample transfer.

[0007] (II) Technical Solution To address the aforementioned technical problems, this invention proposes a multi-legged robot coal sample transfer system. This system is used for the automated transfer of coal samples and includes: a sampling docking module, a sample preparation docking module, a testing docking module, a multi-legged robot, and a control center. The sampling docking module, sample preparation docking module, analysis docking module, and multi-legged robot are all connected to the control center via signals. The multi-legged robot realizes the transfer of coal samples through the scheduling of the control center. The sampling docking module is used for the packaging and transfer of raw coal sample boxes. The sample preparation docking module uses a sample preparation machine to prepare the raw coal sample in the raw coal sample box into an analytical coal sample before transferring it to the analytical coal sample box to complete the transformation from raw coal sample to analytical sample. The analysis docking module is used for the packaging and transfer of analytical coal sample boxes.

[0008] Preferably, the sampling docking module includes a sample packaging machine, an out-of-box roller conveyor, an in-box roller conveyor, a box-retrieving robot, a coal sample box, and a temporary storage box rack; The raw coal sample to be tested is packaged into different coal sample boxes by the sample packaging machine. The first side of the sample packaging machine is provided with the inlet roller line, and the second side of the sample packaging machine is provided with the outlet roller line. The box-retrieving robot is located between the outlet roller line and the temporary storage box rack. After the coal sample box enters the sample packaging machine through the inlet roller line and is packaged, it is then transferred to the multi-legged robot or the temporary storage box rack by the outlet roller line and the box-retrieving robot.

[0009] Preferably, the sample preparation docking module includes a sample preparation machine, a bottle loading / unloading assembly, and a container loading / unloading assembly; The sample preparation machine is located between the loading and unloading box assembly and the loading and unloading bottle assembly. The loading and unloading box assembly is connected to one side of the sample preparation machine, and the other side of the sample preparation machine is connected to the loading and unloading bottle assembly.

[0010] Preferably, the bottle loading and unloading assembly includes a bottle loading and unloading bracket, a three-axis linear module, bottle clamping claws, and a cap storage tray; The three-axis linear module is mounted on the bottle loading and unloading bracket, the bottle clamping claw is slidably mounted on the three-axis linear module, the cap tray is fixedly mounted on the bottle loading and unloading bracket and located on the movement trajectory of the bottle clamping claw so that the bottle clamping claw can place the cap of the coal sample box, and a bottle inlet and outlet belt is provided on one side of the sample preparation machine to connect the bottle loading and unloading assembly.

[0011] Preferably, the loading and unloading box assembly includes box clamps, a loading and unloading box bracket, and a sample preparation machine roller conveyor. The loading and unloading box support is equipped with an XYZ linear module with the same structure. The box clamping claw is slidably disposed on the XYZ linear module. The loading and unloading box support is fixedly disposed on one side of the sample preparation machine. One end of the sample preparation machine roller line is connected to the sample preparation machine. The other end of the sample preparation machine roller line extends to the bottom of the XYZ linear module. The multi-legged robot can move to the movement range of the box clamping claw to clamp the coal sample box to the sample preparation machine roller line or the multi-legged robot.

[0012] Preferably, the laboratory docking module includes a laboratory loading and unloading assembly, a laboratory transfer belt, and a pneumatic delivery and receiving station; The testing loading and unloading assembly is connected to the gas delivery and receiving station via the testing transfer belt, and the testing loading and unloading assembly can transfer the sample bottles in the coal sample box to the testing transfer belt.

[0013] Preferably, the laboratory loading and unloading assembly includes laboratory grippers, a laboratory support, and a laboratory axis module; The laboratory axis module includes a horizontal slide rail disposed on the top of the laboratory support and a vertical slide rail disposed on the horizontal slide rail, and the laboratory gripper is slidably disposed on the vertical slide rail.

[0014] Preferably, both the test gripper and the bottle gripper are equipped with proximity switches, and the lid of the coal sample box is unlocked when the test gripper and the bottle gripper approach the coal sample box.

[0015] Preferably, the coal sample box includes a box body, a box cover, a power supply, an electromagnetic lock, and a proximity sensor; The box body and the box cover are detachably connected. The box cover is provided with electromagnetic locks on both sides. The box body is provided with snap-fit ​​holes for snapping the electromagnetic locks in place. The electromagnetic locks are connected to the power supply, and the power supply is connected to the proximity sensor. When the laboratory gripper or bottle gripper approaches the lid, the power supply stops supplying power to the electromagnetic lock to open the electromagnetic lock, allowing the lid to separate from the box body; when the laboratory gripper or bottle gripper moves away from the lid, the power supply supplies power to the electromagnetic lock to lock the electromagnetic lock, locking the lid to the box body.

[0016] (III) Beneficial Effects Compared with existing technologies, the multi-legged robot coal sample transfer system and its testing method of the present invention have the following advantages: This multi-legged robot coal sample transfer system combines two commonly used transfer systems in the coal sample transfer process using a multi-legged robot. It not only solves the problem of low efficiency in manual transfer of coal samples, but also effectively avoids the shortcomings of pneumatic transmission and belt transfer in long-distance transportation, further improving the efficiency of coal sample transfer and reducing the cost of coal sample transfer.

[0017] Furthermore, the coal sample box design allows the box in the coal sample transfer system to open automatically during transfer without manual assistance, thus improving automation, reducing human intervention, and lowering labor costs. During the transfer process by the multi-legged robot, the electromagnetic lock can firmly and stably lock the box, preventing the entry of external dust and other impurities, and ensuring the accuracy of coal sample analysis. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of the multi-legged robot coal sample transfer system of the present invention; Figure 2 This is a schematic diagram of the working process of the multi-legged robot coal sample transfer system of the present invention; Figure 3 This is a schematic diagram of the sampling docking module structure of the multi-legged robot coal sample transfer system of the present invention; Figure 4 This is a schematic diagram of the sample preparation and docking module structure of the multi-legged robot coal sample transfer system of the present invention; Figure 5 This is a schematic diagram of the laboratory docking module of the multi-legged robot coal sample transfer system of the present invention; Figure 6 This is a schematic diagram of the raw coal sample box and the analytical coal sample box of the multi-legged robot coal sample transfer system of the present invention; Figure 7 This is a schematic diagram of the box and lid of the multi-legged robot coal sample transfer system of the present invention.

[0020] Explanation of reference numerals in the attached figures: 1. Sampling docking module; 1-1. Sample packaging machine; 1-2. Outbound roller conveyor; 1-3. Inbound roller conveyor; 1-4. Box retrieval robot; 1-5. Temporary storage box rack; 1-6. Raw coal sample box; 2. Sample preparation docking module; 2-1. Sample preparation machine; 2-2. Loading and unloading box assembly; 2-3. Loading and unloading bottle assembly; 2-4. Bottle inlet and outlet conveyor belt; 2-5. Sample preparation machine roller conveyor; 2-6. XYZ linear module; 2-7. Bottle clamping claw; 2-8. Box clamping claw; 2-9. Cap storage tray; 3. Laboratory docking module; 3-1. Laboratory transfer belt; 3-2. Pneumatic delivery station; 2-2. Laboratory loading and unloading components; 4. Multi-legged robot; 4-1. Raw coal sample box; 4-2. Analytical coal sample box; 4-3. Box lid; 4-4. Proximity sensor; 4-5. Electromagnetic lock; 4-6. Power supply; 5. Analytical coal sample bottle. Detailed Implementation

[0021] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Many specific details are set forth in the following description to provide a thorough understanding of the present invention. However, the present invention can be practiced in many other ways different from those described herein, and those skilled in the art can make similar modifications without departing from the spirit of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0022] The following is in conjunction with the appendix Figures 1-3 The multi-legged robot coal sample transfer system and its testing method of the present invention will be further described.

[0023] Please refer to this carefully. Figures 1-2 This invention discloses a multi-legged robot coal sample transfer system for automated coal sample transfer. The system includes a sampling docking module, a sample preparation docking module, a testing docking module, a multi-legged robot, and a control center. All three modules—sampling docking module, sample preparation docking module, testing docking module, and the multi-legged robot—are connected to the control center via signal transmission. The multi-legged robot achieves coal sample transfer through scheduling by the control center. The sampling docking module is used for the packaging and transfer of raw coal sample boxes. The sample preparation docking module uses a sample preparation machine to prepare the raw coal sample in the raw coal sample box into an analytical coal sample before transferring it to the analytical coal sample box to complete the transformation from raw coal sample to analytical sample. The testing docking module is used for the packaging and transfer of analytical coal sample boxes. The sampling docking module is used for the packaging and transportation of raw coal sample boxes, while the sample preparation docking module mainly completes the conversion of coal samples into analytical coal samples. Through the sample preparation machine, the raw coal sample in the raw coal sample box is prepared into an analytical coal sample, which is then placed in a coal sample bottle. The coal sample bottle is then placed into the analytical coal sample box, completing the conversion of the raw coal sample into an analytical sample. The analysis docking module is used for the packaging and transportation of analytical coal sample boxes.

[0024] In this embodiment, a multi-legged robot is used to combine two commonly used transfer systems in the coal sample transfer process. This not only solves the problem of low efficiency in manual transfer of coal samples, but also effectively avoids the shortcomings of pneumatic transmission and belt transfer in long-distance transportation, further improving the efficiency of coal sample transfer and reducing the cost of coal sample transfer.

[0025] In a preferred embodiment, the multi-legged robot coal sample transfer system is connected to a control center, a sampling docking module, a sample preparation docking module, a testing docking module, and the multi-legged robot. During operation, each module sends signals to the control center. Upon receiving the signals, the control center sends instructions to the multi-legged robot. The multi-legged robot, upon receiving the instructions, completes the transfer of the raw coal sample box and the analytical coal sample box according to the instructions. The sampling docking module and the sample preparation docking module transfer the raw coal sample box via the multi-legged robot. After the sample is prepared by the sample preparation machine, the raw coal sample is made into an analytical coal sample and packaged into analytical coal sample bottles. These bottles are then dispensed into analytical coal sample boxes via a bottle loading and unloading assembly.

[0026] like Figure 3 As shown, the sampling docking module includes a sample packaging machine, an outgoing roller conveyor, an incoming roller conveyor, a retrieval robot, coal sample boxes, and a temporary storage rack. The coal sample to be tested is packaged into different coal sample boxes by the sample packaging machine. An incoming roller conveyor is set on the first side of the sample packaging machine, and an outgoing roller conveyor is set on the second side of the sample packaging machine. The retrieval robot is set between the outgoing roller conveyor and the temporary storage rack. After the coal sample box enters the sample packaging machine through the incoming roller conveyor to package the coal sample, it is then transferred to the multi-legged robot or the temporary storage rack via the outgoing roller conveyor and the retrieval robot.

[0027] In this sampling docking module, the sample packaging machine packages raw coal samples into raw coal sample boxes according to the mine location and batch. The sample boxes are then delivered by an exit roller conveyor and transferred to a multi-legged robot or temporary storage rack by a box-retrieving robot. After sample preparation, the multi-legged robot transports empty boxes to the sampling docking module, where they are then transferred to an inlet roller conveyor or temporary storage rack by a box-retrieving robot. The temporary storage rack can temporarily store raw coal sample boxes and analytical coal sample boxes, and can be expanded according to the amount of coal sample.

[0028] See Figure 4 The sample preparation docking module includes a sample preparation machine, a bottle loading and unloading assembly, and a container loading and unloading assembly. The sample preparation machine is located between the container loading and unloading assembly and the bottle loading and unloading assembly. The container loading and unloading assembly is connected to one side of the sample preparation machine, and the other side of the sample preparation machine is connected to the bottle loading and unloading assembly.

[0029] The bottle loading and unloading assembly includes a bottle loading and unloading bracket, a three-axis linear module, bottle clamping jaws, and a cap storage tray. The three-axis linear module is mounted on the bottle loading and unloading bracket, the bottle clamping jaws are slidably mounted on the three-axis linear module, and the cap storage tray is fixedly mounted on the bottle loading and unloading bracket and located on the movement trajectory of the bottle clamping jaws so that the bottle clamping jaws can place the cap of the coal sample box. A bottle inlet and outlet belt is provided on one side of the sample preparation machine to connect the bottle loading and unloading assembly.

[0030] The loading and unloading box assembly includes a box-clamping jaw, a loading and unloading box support, and a sample preparation machine roller conveyor. The loading and unloading box support is equipped with an XYZ linear module with the same structure. The box-clamping jaw is slidably mounted on the XYZ linear module. The loading and unloading box support is fixedly mounted on one side of the sample preparation machine. One end of the sample preparation machine roller conveyor is connected to the sample preparation machine, and the other end of the sample preparation machine roller conveyor extends to the bottom of the XYZ linear module. The multi-legged robot can move to the range of motion of the box-clamping jaw to clamp the coal sample box to the sample preparation machine roller conveyor or the multi-legged robot.

[0031] In this embodiment, a multi-legged robot transports the raw coal sample box to a loading / unloading assembly. The loading / unloading assembly is equipped with an XYZ linear module, which controls the gripper to pick up the raw coal sample box and transfer it to the sample preparation machine's roller conveyor or the multi-legged robot. The coal sample in the raw coal sample box enters the sample preparation machine via the roller conveyor. After processing, the raw coal sample becomes an analytical coal sample and is sealed in an analytical sample bottle within the sample preparation machine. The bottle is then output from the sample preparation machine to the loading / unloading assembly via a bottle conveyor belt. The loading / unloading assembly picks up the sample bottle containing the analytical coal sample and places it onto the multi-legged robot, which then carries the analytical coal sample box. The loading / unloading assembly is equipped with a camera, which uses visual positioning to determine the position of the analytical sample bottle and the analytical coal sample box. The loading / unloading assembly is also equipped with a three-axis linear module, which controls the movement of the gripper to pick up the sample bottle. The bottle-clamping jaws are equipped with proximity switches. When the jaws approach the coal sample box, the electromagnetic lock on the box lid opens, allowing the jaws to pick up the lid and place it on the lid storage tray. Then, the jaws pick up and place the sample bottle inside the coal sample box. After placing the bottle inside, the jaws pick up the lid and return it to the box. As the jaws move away from the lid, the electromagnetic lock on the lid is re-energized, completing the locking process. In this embodiment, the electromagnetic lock and proximity switch enable the box in the coal sample transfer system to open automatically during transport, eliminating the need for manual assistance. This further improves automation, reduces human intervention, and lowers labor costs. Furthermore, the electromagnetic lock securely and stably locks the box during the multi-legged robot's transport process, preventing the entry of external dust and other impurities, thus ensuring the accuracy of coal sample analysis.

[0032] In the above embodiments, the sample preparation machine is preferably the combined sample preparation machine of CN102323127A, which includes: an incoming material belt conveyor; a primary crushing mechanism connected to the incoming material belt conveyor, which includes an impact plate, a scraper slidably fitted on the impact plate, a connecting rod hinged to the scraper, and a drive pulley, one end of the connecting rod being eccentrically hinged to the drive pulley; a primary reduction mechanism connected to the primary crushing mechanism via a vibrating feeder; a secondary reduction mechanism connected to the primary reduction mechanism; a secondary crushing mechanism connected to the secondary reduction sampling port; and a tertiary reduction mechanism connected to the secondary crushing mechanism. This sample preparation machine can achieve automatic operation, further avoiding the waste of human resources.

[0033] like Figure 5 As shown, the laboratory docking module includes a laboratory loading and unloading assembly, a laboratory transfer belt, and a pneumatic conveyor station. The laboratory loading and unloading assembly is connected to the pneumatic conveyor station via the laboratory transfer belt, and it can transfer sample bottles from the coal sample box to the conveyor belt. The laboratory loading and unloading assembly includes laboratory grippers, a laboratory support, and a laboratory axis module. The laboratory axis module includes a horizontal slide rail on the top of the laboratory support and a vertical slide rail on the horizontal slide rail. The laboratory grippers are slidably mounted on the vertical slide rail. Both the laboratory grippers and the bottle grippers are equipped with proximity switches; when the grippers approach the coal sample box, the box lid unlocks. In the laboratory docking module, the multi-legged robot can directly transfer the analytical coal sample box to the laboratory. When the laboratory is located on a high floor, the sample can also be transferred to the laboratory loading and unloading assembly. The laboratory loading and unloading assembly can grip the analytical sample bottles and transfer them to the sample bottle transfer belt and multi-legged robot. The sample bottles are then transported to the pneumatic delivery station via the transfer belt and sent to the laboratory via the pneumatic delivery pipeline.

[0034] See Figure 6 and Figure 7 The coal sample box includes a box body, a box cover, a power supply, an electromagnetic lock, and a proximity sensor. The box body and the box cover are detachably connected. Electromagnetic locks are installed on both sides of the box cover. The box body has corresponding locking holes for engaging the electromagnetic locks. The electromagnetic locks are connected to the power supply, and the power supply is connected to the proximity sensor. When the test gripper or bottle gripper approaches the box cover, the proximity sensor is connected to the power supply, the electromagnetic lock is de-energized, and the electromagnetic lock is opened, allowing the box cover to separate from the box body. When the test gripper or bottle gripper moves away from the box cover, the power supply supplies power to the electromagnetic lock to lock it, thus locking the box cover and the box body.

[0035] In this embodiment, the coal sample box is divided into a raw coal sample box and an analytical coal sample box. Both the raw coal sample box and the analytical coal sample box include a box body, a box cover, a power supply, an electromagnetic lock, and a proximity sensor. The raw coal sample box has a smooth receiving cavity inside, while the analytical coal sample box has multiple sample bottle receiving holes of the same size as the sample bottles inside. This coal sample box design allows the box body in the coal sample transfer system to open automatically during transfer without manual assistance, thus improving automation, reducing human intervention, and lowering labor costs. Furthermore, during the transfer process by the multi-legged robot, the electromagnetic lock can firmly and stably lock the box body, preventing the entry of external dust and other impurities, and ensuring the accuracy of coal sample analysis.

[0036] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" 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; they can refer to the internal connection of two components; and they can also refer to a "transmission connection," that is, a power connection through various suitable methods such as belt drive, gear drive, or sprocket drive. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

Claims

1. A multi-legged robot coal sample transfer system, wherein the multi-legged robot coal sample transfer system is used for automated transfer of coal samples, characterized in that, The multi-legged robot coal sample transfer system includes: a sampling docking module, a sample preparation docking module, a testing docking module, a multi-legged robot, and a control center; The sampling docking module, sample preparation docking module, analysis docking module, and multi-legged robot are all connected to the control center via signals. The multi-legged robot realizes the transfer of coal samples through the scheduling of the control center. The sampling docking module is used for the packaging and transfer of raw coal sample boxes. The sample preparation docking module uses a sample preparation machine to prepare the raw coal sample in the raw coal sample box into an analytical coal sample before transferring it to the analytical coal sample box to complete the transformation from raw coal sample to analytical sample. The analysis docking module is used for the packaging and transfer of analytical coal sample boxes.

2. The multi-legged robot coal sample transfer system according to claim 1, characterized in that, The sampling docking module includes a sample packaging machine, a box-out roller conveyor, a box-in roller conveyor, a box-retrieving robot, a coal sample box, and a temporary storage box rack; The raw coal sample to be tested is packaged into different coal sample boxes by the sample packaging machine. The first side of the sample packaging machine is provided with the inlet roller line, and the second side of the sample packaging machine is provided with the outlet roller line. The box-retrieving robot is located between the outlet roller line and the temporary storage box rack. After the coal sample box enters the sample packaging machine through the inlet roller line and is packaged, it is then transferred to the multi-legged robot or the temporary storage box rack by the outlet roller line and the box-retrieving robot.

3. The multi-legged robot coal sample transfer system according to claim 2, characterized in that, The sample preparation docking module includes a sample preparation machine, a bottle loading and unloading assembly, and a box loading and unloading assembly; The sample preparation machine is located between the loading and unloading box assembly and the loading and unloading bottle assembly. The loading and unloading box assembly is connected to one side of the sample preparation machine, and the other side of the sample preparation machine is connected to the loading and unloading bottle assembly.

4. The multi-legged robot coal sample transfer system according to claim 3, characterized in that, The bottle loading and unloading assembly includes a bottle loading and unloading bracket, a three-axis linear module, bottle clamping jaws, and a cap storage tray. The three-axis linear module is mounted on the bottle loading and unloading bracket, the bottle clamping claw is slidably mounted on the three-axis linear module, the cap tray is fixedly mounted on the bottle loading and unloading bracket and located on the movement trajectory of the bottle clamping claw so that the bottle clamping claw can place the cap of the coal sample box, and a bottle inlet and outlet belt is provided on one side of the sample preparation machine to connect the bottle loading and unloading assembly.

5. The multi-legged robot coal sample transfer system according to claim 4, characterized in that, The loading and unloading box assembly includes box clamps, a loading and unloading box bracket, and a sample preparation machine roller conveyor. The loading and unloading box support is equipped with an XYZ linear module with the same structure. The box clamping claw is slidably disposed on the XYZ linear module. The loading and unloading box support is fixedly disposed on one side of the sample preparation machine. One end of the sample preparation machine roller line is connected to the sample preparation machine. The other end of the sample preparation machine roller line extends to the bottom of the XYZ linear module. The multi-legged robot can move to the movement range of the box clamping claw to clamp the coal sample box to the sample preparation machine roller line or the multi-legged robot.

6. The multi-legged robot coal sample transfer system according to claim 5, characterized in that, The laboratory docking module includes laboratory loading and unloading components, laboratory transfer belts, and pneumatic delivery and receiving stations. The testing loading and unloading assembly is connected to the gas delivery and receiving station via the testing transfer belt, and the testing loading and unloading assembly can transfer the sample bottles in the coal sample box to the testing transfer belt.

7. The multi-legged robot coal sample transfer system according to claim 6, characterized in that, The laboratory loading and unloading assembly includes laboratory grippers, a laboratory support, and a laboratory axis module. The laboratory axis module includes a horizontal slide rail disposed on the top of the laboratory support and a vertical slide rail disposed on the horizontal slide rail, and the laboratory gripper is slidably disposed on the vertical slide rail.

8. The multi-legged robot coal sample transfer system according to claim 7, characterized in that, Both the test gripper and the bottle gripper are equipped with proximity switches, and the lid of the coal sample box is unlocked when the test gripper and the bottle gripper approach the coal sample box.

9. The multi-legged robot coal sample transfer system according to claim 8, characterized in that, The coal sample box includes a box body, a box cover, a power supply, an electromagnetic lock, and a proximity sensor; The box body and the box cover are detachably connected. The box cover is provided with electromagnetic locks on both sides. The box body is provided with snap-fit ​​holes for snapping the electromagnetic locks in place. The electromagnetic locks are connected to the power supply, and the power supply is connected to the proximity sensor. When the laboratory gripper or bottle gripper approaches the lid, the power supply stops supplying power to the electromagnetic lock to open the electromagnetic lock, allowing the lid to separate from the box body; when the laboratory gripper or bottle gripper moves away from the lid, the power supply supplies power to the electromagnetic lock to lock the electromagnetic lock, locking the lid to the box body.

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