A kind of cabin grain multi-point sampling device and method

Abstract

This invention relates to the field of grain sampling technology and proposes a multi-point sampling device and method for grain in a ship's hold. The device includes a walking mechanism, a pushing mechanism, sampling tubes, a connecting pipe assembly, and a negative pressure sampling assembly. A carrier arm is vertically arranged on the outer side of the walking mechanism. The pushing mechanism is mounted on the carrier arm and has a pushing part that can slide vertically along the carrier arm. The sampling tube includes a first connecting end and a second connecting end, and multiple sampling tubes are connected along a straight line. The first connecting end and the second connecting end of two adjacent sampling tubes are threaded together to form a long connecting pipe. The long connecting pipe is mounted on the pushing mechanism and can be pushed into the ship's hold by the pushing part. This invention can perform targeted negative pressure suction of grain at different depths through the sampling channel, thereby achieving depth-adjustable pushing insertion and negative pressure stratified sampling, significantly improving the depth adaptability, stratification accuracy, and automation level of multi-point grain sampling in ship's hold.

Description

Technical Field

[0001] This invention relates to the field of grain sampling technology, and in particular to a multi-point sampling device and method for grain in ship cabins. Background Technology

[0002] During the process of grain entering, storing, or leaving ship holds, multi-point, stratified sampling is typically required to test quality indicators such as moisture content, impurities, and mold. Traditional manual sampling methods rely on manually inserting a single sampling probe into the grain pile point by point. This method is labor-intensive, inefficient, and difficult to reach deep into the ship hold. Especially for large bulk grain transport ships, manual sampling often only obtains surface or shallow samples, failing to accurately reflect the overall quality of the grain in deeper layers. With the development of automation technology, some mechanical sampling devices have begun to be used for sampling in grain silos or wagons. However, due to the great depth of the ship hold, the narrow grain inlet, and the complex environment, existing sampling devices still have significant shortcomings in terms of automation level, sampling depth, and multi-point sampling capabilities.

[0003] Currently available mechanical sampling devices mainly fall into the following technical categories. First, there are devices using fixed-length sampling tubes for insertion sampling. This type of device, with its fixed tube length, cannot flexibly adapt to the needs of stratified sampling at different depths, often resulting in insufficient sampling depth for deep grain piles in ship holds. Second, there are sampling devices using a flexible suction system. These connect the sampling tube to the sampling box via a flexible hose, and a blower generates negative pressure for sampling. While this allows for flexible insertion into the grain pile, the hose is prone to deformation and blockage under grain pressure, making it difficult to accurately control the sampling position. Furthermore, the hose structure cannot achieve precise differentiation between different depth layers. Third, there are devices using an outer tube and an inner rotating tube for stratified sampling. This system uses a row of vertical sampling ports on the outer tube and an inlet on the inner rotating tube to achieve multi-point sampling in a single dive. However, this method has a fixed overall tube length, making it inconvenient to carry, and the lack of an auxiliary pushing structure after the sampling tube is inserted into the grain pile limits the insertion depth to the device's own structure. Clearly, existing sampling devices have significant shortcomings in scenarios requiring continuous sampling at multiple sampling locations at different depths. Summary of the Invention

[0004] In view of this, the present invention proposes a multi-point sampling device and method for grain in ship holds. The device is moved to the sampling position in the ship hold by a walking mechanism, so that the vertically set carrier arm is aligned with the grain inlet. Using the pushing part in the pushing mechanism that can slide vertically along the carrier arm, multiple sampling tubes are pushed and inserted into the grain pile in sequence, and then connected in a straight line to form a long connecting pipe. Thus, the sampling depth can be flexibly adjusted according to the actual depth of the ship hold. The set negative pressure connector is connected to the long connecting pipe through a rotating head to form a sealed sampling channel. When the long connecting pipe reaches the predetermined depth, the negative pressure sampling component is activated, and the grain at different depth layers can be sampled at fixed points through the sampling channel. This realizes depth-adjustable pushing insertion and negative pressure stratified sampling, which significantly improves the depth adaptability, stratification accuracy and automation level of multi-point sampling of grain in ship holds.

[0005] The technical solution of this invention is implemented as follows: In a first aspect, the present invention provides a multi-point sampling device for shipboard food, comprising a walking mechanism, a pushing mechanism, a sampling tube, a connecting pipe assembly, and a negative pressure sampling assembly, wherein... A vertical support arm is installed on the outer side of the traveling mechanism; The pushing mechanism is mounted on the carrier arm and has a pushing part that can slide vertically along the carrier arm; The sampling tube includes a first connecting end and a second connecting end, and multiple sampling tubes are connected along a straight line. The first connecting end and the second connecting end of two adjacent sampling tubes are threaded together to form a long connecting tube. The long connecting tube is set on the pushing mechanism and can be pushed into the cabin by the pushing part. The connector assembly is mounted on the push section. The connector assembly includes a rotating head and a negative pressure connector. The rotating head is adapted to the first connecting end and can drive the sampling tube to rotate through the first connecting end so that the sampling tube is connected to the long connector. The negative pressure connector is connected to the long connector through the rotating head. The negative pressure sampling component is mounted on the walking mechanism. The negative pressure sampling component is connected to the negative pressure connector and cooperates with the long pipe to form a sampling channel. The sampling channel is used to sample from the cabin through negative pressure.

[0006] In one embodiment, the device further includes a first gripper and a second gripper, both of which are disposed on the carrier arm; the first gripper is used to grip the sampling tube near the connector assembly, so that the rotating head can dock with the first connection end of the sampling tube; the second gripper is used to grip the second sampling tube near the connector assembly to prevent the sampling tube from rotating.

[0007] In one embodiment, the pushing mechanism further includes an auxiliary pressing assembly having multiple pushing wheels, the long tube passing between the multiple pushing wheels, the pushing wheels being used to apply pressure to the outside of the long tube and to push the long tube to move in a straight line by friction.

[0008] In one embodiment, the auxiliary pressing assembly further includes a movable seat, a pressing motor, a transmission component, and an elastic component, wherein, There are two movable seats, both of which are slidably mounted on the carrier arm. The sliding direction of the movable seats is perpendicular to the moving direction of the long tube, and the long tube is located between the two movable seats. There are two pressure conveying motors, each mounted on a separate movable base; The transmission component is mounted on the movable seat, and each movable seat is provided with at least two push wheels. The pressing motor is connected to the push wheels on the corresponding movable seat through the transmission component. An elastic element is positioned between the carrier arm and the movable seat to apply pressure toward the long tube to the push wheel.

[0009] In one embodiment, the first connecting end is provided with at least two rotationally symmetrical connecting grooves. The side of the connecting groove away from the second connecting end is open. The connecting groove is in the shape of a straight line and has a hook structure located on the open side at one end. The rotating head is provided with at least two positioning members. The number of positioning members is the same as that of the connecting groove and can be inserted from the open side of the connecting groove and rotated into the hook structure.

[0010] In one embodiment, a storage mechanism is further included for storing sampling tubes. The storage mechanism includes a movable arm and a third gripper. The movable arm is hinged to the walking mechanism and can rotate to the outside of the carrier arm. There are two third grippers, both of which are disposed on the movable arm.

[0011] In one embodiment, the storage mechanism further includes a side stop, a conveyor chain, and a support member, wherein, There are two side blocks, which are arranged in parallel on the walking mechanism. The two side blocks form a tube storage position on the walking mechanism and limit the sampling tubes on the tube storage position so that the sampling tubes are neatly arranged. There are two conveyor chains, which are positioned between two side stops, and the movement direction of both conveyor chains is towards the movable arm; There are multiple support members, which are equally spaced on two conveyor chains. Each support member is provided with a C-shaped groove for accommodating the sampling tube and moving it. The support members on the two conveyor chains cooperate to store multiple sampling tubes and transport and supply them.

[0012] In one embodiment, it further includes a carriage, a hinged seat, a lateral drive, and a deployment drive, wherein, The carriage is slidably mounted within the traveling mechanism and can retract into or extend out of the traveling mechanism; The hinge seat is located at the end of the carriage and on the outermost end of the traveling mechanism, and the carrier arm is fixed to the hinge seat; The lateral drive component is located within the traveling mechanism, and its output end is connected to the carriage drive to push the carriage to slide in a straight line; The unfolding drive is mounted on the carriage, and its output end is connected to the carrier arm to drive the carrier arm to rotate on the carriage to open and fold.

[0013] In one embodiment, the negative pressure sampling assembly includes a sample dispensing mechanism, a sample storage tank, a separator, a dispensing valve, and a negative pressure fan, wherein, The sampling mechanism is set up within the walking mechanism; There are multiple sample storage tanks, all of which are located on the moving path of the sample dispensing mechanism; The separator is fixed on the sample separation mechanism, and the feed end of the separator is connected to a negative pressure connector; The dispensing valve is installed on the sample dispensing mechanism and is located at the discharge end of the separator; The negative pressure fan is installed inside the traveling mechanism and connected to the exhaust end of the separator.

[0014] Secondly, the present invention provides a method for multi-point sampling of ship's hold food, implemented based on the aforementioned multi-point sampling device for ship's hold food, the method comprising the following steps: The vehicle moves to the sampling position in the cabin via a walking mechanism and aligns the carrying arm with the feed inlet of the cabin. Insert the sampling tube and connect the first connecting end of the sampling tube to the rotating head of the connector assembly; The sampling tube is rotated by a rotating head, so that the first connection end of two adjacent sampling tubes is threadedly connected to the second connection end to form and extend the long connecting tube; The long connector is pushed by the pushing part of the pushing mechanism, so that the long connector moves vertically along the boom and is inserted into the cabin. Repeatedly connect the sampling tube to the long connector until the long connector reaches the required sampling depth in the cabin; The negative pressure sampling assembly is activated, and negative pressure sampling is performed on grain at different depths inside the ship's hold through the sampling channel formed by the negative pressure connector, rotating head and long connecting pipe.

[0015] The multi-point sampling device and method for shipboard food in this invention have the following advantages over the prior art: 1. The equipment is moved to the sampling position in the ship's hold by the walking mechanism, so that the vertically set carrier arm is aligned with the grain inlet. Using the pushing part in the pushing mechanism that can slide vertically along the carrier arm, multiple sampling tubes are pushed and inserted into the grain pile in sequence, and then connected in a straight line to form a long connecting pipe. This allows for flexible adjustment of the sampling depth according to the actual depth of the ship's hold. The set negative pressure connector is connected to the long connecting pipe through the rotating head to form a sealed sampling channel. When the long connecting pipe reaches the predetermined depth, the negative pressure sampling component is activated, and the grain at different depth layers can be sampled at fixed points through the sampling channel. This achieves depth-adjustable pushing and insertion and negative pressure stratified sampling, which significantly improves the depth adaptability, stratification accuracy and automation level of multi-point sampling of grain in the ship's hold. 2. The auxiliary pressing component is designed to hold the long tube in place by multiple pushing wheels. The pushing wheels are driven to rotate by the pressing motor. The friction force assists in pushing the long tube along a straight line and applies uniform pressure to both sides of the long tube. This effectively prevents the long tube from bending, deviating or slipping due to the resistance of the grain pile during insertion. Especially when sampling at great depths, it can significantly reduce the load on the pushing part and ensure that the long tube is inserted into the grain pile smoothly and continuously, thereby greatly improving the passability and working stability of the sampling device in deep grain piles. 3. The negative pressure sampling assembly integrates a movable sample separation mechanism, multiple sample storage tanks, a separator, and a dispensing valve. After the negative pressure fan is started, the grain sample enters the separator through the long pipe, the gas is discharged, and the solid sample falls into the sample storage tank through the dispensing valve. The sample separation mechanism can move within the walking mechanism, so that different sample storage tanks are aligned with the discharge end of the separator in sequence. During the descent of the long pipe, the sample collected at different depths is stored in independent sample storage tanks by switching the dispensing valve, thereby realizing the automatic separation and independent storage of layered samples, avoiding the tediousness of manual sample separation and cross-contamination. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art 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.

[0017] Figure 1 This is a perspective view of the multi-point sampling device for shipboard food in this invention; Figure 2 This is a side view of the multi-point sampling device for shipboard food according to the present invention; Figure 3 This is a schematic diagram of the structure of the carrier arm of the multi-point sampling device for grain in the ship's hold according to the present invention; Figure 4 This is a schematic diagram of the first connection end of the sampling tube of the multi-point sampling device for grain in the ship's hold according to the present invention; Figure 5 This is a perspective view of the auxiliary compression assembly of the multi-point sampling device for shipboard grain in this invention. Figure 6 This is a schematic diagram of the pipe assembly of the multi-point sampling device for ship's hold grain according to the present invention; Figure 7 This is a perspective view of the stacking mechanism of the multi-point sampling device for shipboard grain in this invention; Figure 8 This is a perspective view of the storage mechanism of the multi-point sampling device for shipboard grain according to the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0019] In the description of the embodiments of the present 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of the present invention based on the specific circumstances.

[0020] In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", and "outer" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the embodiments of the present invention 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 the embodiments of the present invention.

[0021] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0022] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0023] The following disclosure provides numerous different embodiments or examples for implementing various structures of the invention. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the invention. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed. Additionally, examples of various specific processes and materials are provided in this invention; however, those skilled in the art will recognize the applicability of other processes and / or the use of other materials.

[0024] like Figure 1-8 As shown, the multi-point sampling device for shipboard food in this invention includes a walking mechanism 1, a pushing mechanism 2, a sampling tube 3, a connecting pipe assembly 4, and a negative pressure sampling assembly 5.

[0025] The traveling mechanism 1 is used to move the entire device on the ship's deck or working platform. It can be equipped with wheels or tracks at its bottom and includes a drive motor and control module to move the device to the vicinity of the ship's feed inlet according to sampling point requirements. A vertical support arm 11 is installed on the outer side of the traveling mechanism 1. This support arm 11 extends vertically, its lower end fixedly connected to the frame of the traveling mechanism 1, and its upper end can be set to an appropriate length according to the height of the ship's deck. The support arm 11 serves as a support and guide structure for the subsequent pushing mechanism and sampling tube, and is typically made of rectangular or circular cross-section metal profiles, possessing sufficient rigidity and straightness. In a specific example, the traveling mechanism 1 includes a chassis equipped with tracks for movement. Four support sections are also installed on the chassis. Upon reaching the sampling location, the support sections open to contact the deck or working platform, forming stable support for the device before sampling operations begin. The support sections can be electric rods. Additionally, a dedicated chamber is provided on the chassis to house other mechanisms and mechanical and electrical components such as electrical control cabinets.

[0026] The pushing mechanism 2 is mounted on the carrier arm 11. Its main function is to provide partial vertical insertion power for the sampling tube 3. The pushing mechanism 2 includes a pushing part 21, which can slide vertically along the axial direction of the carrier arm 11. The specific structure of the pushing part 21 can adopt a linear drive form such as a screw and nut pair, a gear and rack, or a hydraulic cylinder. For example, a screw is installed vertically on the carrier arm 11, and a nut that cooperates with the screw is provided on the pushing part 21. The screw is driven to rotate by a servo motor, thereby driving the pushing part 21 to move up and down; or a cylinder or hydraulic cylinder can be used to directly push the pushing part 21 to slide. The pushing part 21 is provided with a structure to clamp or support the sampling tube 3 so as to maintain the vertical posture of the sampling tube during the pushing process. The stroke of the pushing part 21 should not be less than the length of a single sampling tube 3, and the total stroke can be designed to be sufficient according to the depth of the cabin. In a specific example, the pushing mechanism 2 includes a motor mounted on the carrier arm 11. The pushing part 21 slides along the carrier arm 11 as a track, and the motor is fixed on the pushing part 21. The vertical movement of the entire pushing part 21 is achieved by setting a rack on the carrier arm 11 and setting a gear at the output end of the motor to mesh with the rack.

[0027] The sampling tube 3 consists of multiple identical cylindrical components. Each sampling tube 3 has a first connecting end 31 and a second connecting end 32 at both ends. The inner wall of the first connecting end 31 has an internal thread, and the second connecting end 32 has a matching external thread. This allows two adjacent sampling tubes 3 to be fixedly connected end-to-end through the threaded connection of the first connecting end 31 and the second connecting end 32, thus extending them along a straight line to form a long connecting tube. The middle of the sampling tube 3 is a through hollow channel for the passage of grain samples. In the initial state, multiple sampling tubes 3 can be pre-stored in a dedicated storage mechanism or storage space on the walking mechanism 1. During pushing, the long connecting tube is placed on the pushing mechanism 2. Specifically, the pushing part 21 can connect to the first connecting end 31 of the top sampling tube 3 of the long connecting tube and drive the long connecting tube to move vertically through the first connecting end 31. During operation, a vertical thrust is applied, causing the long connecting tube to move downward along the direction of the carrier arm 11, thereby inserting it into the grain pile in the ship's hold. It should be noted that after sampling is completed, during the tube removal process, the tube is also connected to the pushing mechanism 2 through the first connecting end 31 to realize the vertical upward movement of the long tube, thereby gradually removing the long tube from the cabin and decomposing it into multiple sampling tubes 3.

[0028] The connector assembly 4 is fixedly installed on the pusher 21 and rises and falls together with the pusher 21. The connector assembly 4 includes a rotating head 41 and a negative pressure connector 42. The rotating head 41 is a component that can rotate actively. Its interior is provided with an interface that is compatible with the first connection end 31 of the sampling tube 3. The rotating head 41 is driven by a motor and can rotate forward and backward around the vertical axis. The negative pressure connector 42 is connected to the negative pressure sampling component 5 through a pipeline. The internal channel of the negative pressure connector 42 is connected to the internal channel of the rotating head 41. That is, the negative pressure connector 42 is connected to the inner cavity of the long connector through the rotating head 41.

[0029] In actual operation, when a new sampling tube 3 needs to be connected to the top of the long connecting tube that has been inserted into the grain pile, the first connecting end 31 of the new sampling tube 3 is first connected to the rotating head 41. Then the rotating head 41 rotates actively. Since there is a matching transmission structure between the rotating head 41 and the first connecting end 31, the rotating head 41 will drive the sampling tube 3 to rotate as a whole. At the same time, the long connecting tube that has been inserted into the grain pile remains stationary due to the resistance. Therefore, the thread of the first connecting end 31 of the new sampling tube 3 will engage with the thread of the second connecting end 32 at the top of the long connecting tube, thereby realizing the threaded connection. After the connection is completed, the rotating head 41 stops rotating, and the pushing part 21 can push the extended long connecting tube to continue to be inserted downward.

[0030] It should be noted that a sealing ring is embedded inside the rotating head 41. After the sealing ring is fitted onto the first connecting end 31 of the sampling tube 3, it will undergo elastic deformation, thereby achieving communication with the sampling tube 3.

[0031] In a specific example, rotating the sampling tube 3 forward fixes the connection, while rotating it backward splits the sampling tube from the long tube. When sampling is completed and the tube needs to be moved to the next sampling location, the long tube needs to be split into sampling tubes 3 section by section. Once the tubes are split to an appropriate length, they can be moved.

[0032] The negative pressure sampling component 5 is mounted on the walking mechanism 1. Its specific form may include a negative pressure source, etc. The air inlet of the negative pressure sampling component 5 is connected to the negative pressure connector 42 on the connecting pipe assembly 4 through a pipeline. Since the negative pressure connector 42 is connected to the inner cavity of the long connecting pipe through the rotating head 41, a negative pressure suction force will be formed inside the entire long connecting pipe when the negative pressure sampling component 5 is working. When the lower end of the long connecting pipe, that is, the second connection end 32 of the bottom sampling tube 3, is inserted into a certain depth of the grain in the ship's hold, the negative pressure sampling component 5 is activated. The grain sample is sucked into the long connecting pipe under the action of negative pressure, and is transported upward along the inner cavity of the long connecting pipe. After passing through the rotating head 41 and the negative pressure connector 42, it enters the negative pressure sampling component 5 and is finally collected into the container. By controlling the insertion depth of the long connecting pipe and the start, stop and switch of the negative pressure sampling component 5, sampling can be carried out at different depth points, thereby completing multi-point stratified sampling of the grain in the ship's hold.

[0033] In a specific sampling tube 3 assembly process for sampling at different depths, the first connecting end 31 of the first sampling tube 3 is connected to the rotating head 41, with its second connecting end 32 facing downwards. The pushing mechanism 2 is activated, and the pushing part 21 pushes the first sampling tube 3 downwards along the carrier arm 11, inserting it into the grain pile in the ship's hold to a first predetermined depth. Then, the first connecting end 31 of the second sampling tube 3 is connected to the rotating head 41. The rotating head 41 rotates, causing the first connecting end 31 of the second sampling tube 3 to be threadedly connected to the second connecting end 32 of the first sampling tube 3, forming a longer connecting tube. The pushing part 21 continues to push downwards, causing the long connecting tube to reach a second predetermined depth. The above assembly steps of the sampling tube 3 and the long connecting tube are repeated until the long connecting tube reaches the required total depth. Finally, the negative pressure sampling component 5 is activated, and the grain at each depth layer is sampled sequentially through the sampling channel formed inside the long connecting tube. After sampling is completed, the operation can be reversed to disassemble and recycle the long connecting tube section by section.

[0034] In some embodiments, to further improve the automation level and connection reliability of the connector operation, the device is also provided with a first gripper 6 and a second gripper 7 on the carrier arm 11. The first gripper 6 and the second gripper 7 are both provided on the carrier arm 11. The first gripper 6 is used to hold the sampling tube 3 close to the connector assembly 4 so that the rotating head 41 can dock with the first connection end 31 of the sampling tube 3. The second gripper 7 is used to hold the second sampling tube 3 close to the connector assembly 4 so as to prevent the sampling tube 3 from rotating.

[0035] The first gripper 6 is positioned near the connector assembly 4. Its main function is to clamp and fix the sampling tube 3 to be extended before it docks with the rotating head 41, so that the rotating head 41 can accurately dock with the first connecting end 31 of the sampling tube 3.

[0036] The specific working process is as follows: When a new sampling tube 3 needs to be connected to the long connecting tube, the tube feeding mechanism first transports a sampling tube 3 to the clamping range of the first gripper 6. The first gripper 6 closes, clamping the middle or upper part of the sampling tube 3, keeping it in a vertical position and with its axis coinciding with the axis of the rotating head 41. At this time, the pushing part 21 moves the rotating head 41 downward or the rotating head 41 moves axially itself, so that the rotating head 41 inserts into or covers the first connecting end 31 of the sampling tube 3 to complete the docking. After docking, the first gripper 6 can be released so that the rotating head 41 can drive the sampling tube 3 to rotate. Through the positioning function of the first gripper 6, the fitting accuracy between the rotating head 41 and the first connecting end 31 of the sampling tube 3 is ensured, avoiding the inconvenience and error of manual alignment.

[0037] It should be noted that the first gripper 6 needs to open to provide space for the new sampling tube 3 to be inserted, so its opening range needs to be set to be large to avoid obstructing the entry of the new sampling tube 3.

[0038] The second gripper 7 is located below the first gripper 6, specifically corresponding to the sampling tube 3 closest to the connecting pipe assembly 4. During the connecting process, when the rotating head 41 drives the new sampling tube 3 to rotate so that its first connecting end 31 is threadedly connected to the second connecting end 32 of the long connecting pipe that has been inserted into the grain pile, the long connecting pipe that has been inserted may rotate due to the friction generated by the thread engagement, causing the connection to fail. To solve this problem, the second gripper 7 is used to clamp the second sampling tube 3 from the top down in the long connecting pipe, thereby providing a counter torque to the long connecting pipe and preventing it from rotating with the new sampling tube 3.

[0039] The specific working process is as follows: Before the new sampling tube 3 is connected to the rotating head 41 and begins to rotate, the second gripper 7 first acts to clamp the second sampling tube 3 in the long connecting pipe. Since the long connecting pipe is partially or completely inserted into the grain pile at this time, it has a certain rotational resistance. However, in order to ensure that it does not rotate, the second gripper 7 actively applies clamping force to fix the sampling tube section. Subsequently, the rotating head 41 drives the new sampling tube 3 to rotate. The torque generated when the threads are engaged mainly acts on the first sampling tube 3 at the top of the long connecting pipe. However, since the first sampling tube 3 is connected to the second sampling tube 3 below by threads, and the second sampling tube 3 is fixed by the second gripper 7, the entire long connecting pipe can remain stationary, and the new sampling tube 3 is screwed in smoothly. After the connection is completed and the new sampling tube 3 is pushed down by the pusher 21, the second gripper 7 releases again so that the long connecting pipe can continue to move downward. When a new sampling tube is connected again, the second gripper 7 clamps the updated second sampling tube again and repeats the above anti-rotation operation.

[0040] In addition, to further improve the stability of the long tube under pressure, a fourth gripper is provided when the new sampling tube 3 is inserted. The fourth gripper has two pulleys. The two pulleys contact the bottom of the new sampling tube 3 to achieve stable guidance, while not hindering the downward action of the long tube.

[0041] Specifically, whether it is the first gripper 6, the second gripper 7, or the fourth gripper, they can all be driven by a cylinder to achieve the opening and closing action.

[0042] In some embodiments, to enhance the pushing capability of the pushing mechanism 2 for the long pipe, especially when the insertion depth of the long pipe is large and the resistance of the grain pile increases significantly, and to ensure the smoothness and reliability of the pushing process, this device further includes an auxiliary pressing component 22 in the pushing mechanism 2. This auxiliary pressing component 22 is also mounted on the boom 11, specifically located below the pushing section 21, near the grain inlet of the ship's hold, and is used to apply an auxiliary pushing force to the outside of the long pipe.

[0043] The auxiliary pressing assembly 22 includes multiple pusher wheels 221 arranged in pairs. The long tube passes through the pairs of pusher wheels 221. The pusher wheels 221 are usually made of elastic materials with a certain coefficient of friction, such as polyurethane, rubber or patterned metal wheels. Their rims are in close contact with the outer wall of the long tube. When the pusher wheels 221 rotate, the friction between the rims and the outer wall of the long tube applies an axial thrust to the long tube, thereby assisting the pushing part 21 in pushing the long tube into or out of the grain pile.

[0044] In actual operation, multiple push wheels 221 can be symmetrically distributed on both sides of the long tube to form a clamping conveying structure. For example, two push wheels 221 can be set on each of the left and right sides of the long tube, or push wheels can be set in the front, back, left, and right directions to ensure uniform force on the long tube. The rotation direction of the push wheels 221 can be controlled by a motor. When the long tube needs to be pushed downward, the push wheels 221 rotate downward; when the long tube needs to be pulled upward, the push wheels 221 rotate upward.

[0045] In order to achieve adaptability to sampling tubes of different diameters and constant force clamping of long tubes, the auxiliary pressure feeding assembly 22 has been further optimized in this embodiment. The auxiliary pressure feeding assembly 22 also includes a movable seat 222, a pressure feeding motor 223, a transmission component, and an elastic component 224.

[0046] There are two movable seats 222, both of which are slidably mounted on the carrier arm 11. The sliding direction of the movable seats 222 is perpendicular to the moving direction of the long pipe, and the long pipe is located between the two movable seats 222. There are two pressure feeding motors 223, each mounted on one of the two movable seats 222. A transmission component is mounted on the movable seats 222. Each movable seat 222 is provided with at least two push wheels 221. The pressure feeding motors 223 are connected to the push wheels 221 on the corresponding movable seats 222 via the transmission component. An elastic element 224 is provided between the carrier arm 11 and the movable seats 222 to apply pressure toward the long pipe to the push wheels 221. The elastic element 224 can be a spring, and the transmission component can be a gear set. The gear set causes the push wheels 221 on the same movable seat 222 to rotate in the same direction.

[0047] By setting the auxiliary pressing component 22, this device adds an auxiliary pushing force to the pushing part 21, which significantly reduces the load requirements of the pushing part 21. Especially when sampling at great depths, the continuous pressing action of the pushing wheel 221 can ensure that the long pipe is inserted at a uniform speed, avoiding slippage, bending or pushing failure caused by excessive resistance.

[0048] In some embodiments, in order to achieve rapid and reliable docking between the rotating head 41 and the first connecting end 31 of the sampling tube 3, and to ensure that the rotating head 41 can stably drive the sampling tube 3 to rotate, this application has specially designed the mating structure of the first connecting end 31 and the rotating head 41. Specifically, at least two rotationally symmetrical connecting grooves 311 are provided on the first connecting end 31 of the sampling tube 3, and the same number of positioning members 411 are provided on the rotating head 41. The two are connected by a rotational insertion method.

[0049] The first connecting end 31 is the upper end of the sampling tube 3, and a connecting groove 311 is provided on its end face. The number of connecting grooves 311 is at least two, such as two, three or four. These connecting grooves 311 are symmetrically distributed along the circumference of the first connecting end 31, that is, they are arranged at equal angular intervals. Each connecting groove 311 is in the shape of a straight line, but it is not a simple through groove. The side of the connecting groove 311 away from the second connecting end 32 is open, so that the positioning member 411 can be radially inserted into the groove from the opening side. A hook structure is provided at one end of the connecting groove 311. The hook structure is located near the opening side and forms a recessed locking position in the connecting groove 311. When the positioning member 411 is inserted from the opening side, it can be rotated at a certain angle in a predetermined direction, and the positioning member 411 can slide into the hook structure, which can drive the long tube to move up and down.

[0050] The rotating head 41 is provided with at least two positioning elements 411, the number of which is the same as the connecting groove 311, and their positions correspond one-to-one. The positioning element 411 can be a cylindrical pin, a ball, or a protrusion with a rounded head, and its outer diameter matches the width of the connecting groove 311. The positioning element 411 extends from the end face of the rotating head 41, and the extension length should be sufficient to insert into the opening side of the connecting groove 311. After the positioning element 411 is inserted, it can be moved into the hook structure by rotation, thereby driving the long connecting pipe to move vertically.

[0051] In some embodiments, in order to achieve automatic storage and supply of sampling tubes 3, reduce manual intervention, and further improve the automation of the sampling process, the device also includes a tube storage mechanism 8, which is used to store multiple sampling tubes 3 and can deliver the sampling tubes 3 one by one to a designated location as needed for docking with the tube assembly 4.

[0052] The storage mechanism 8 includes a movable arm 81 and a third gripper 82. The movable arm 81 is hinged to the traveling mechanism 1. Specifically, one end of the movable arm 81 is connected to the frame of the traveling mechanism 1 via a rotating shaft and can be driven by a drive element, such as a cylinder or a motor, to rotate around the hinge point. The rotation range of the movable arm 81 is designed to allow its end to rotate from the inside of the traveling mechanism 1 to the outside of the carrier arm 11, that is, to a position close to the pipe assembly 4. In the non-working state or when the equipment is moving, the movable arm 81 can be folded inside the traveling mechanism 1 to reduce the overall volume. In the working state, the movable arm 81 extends outward to deliver the sampling tube 3 to the vicinity of the rotating head 41.

[0053] There are two third grippers 82, both of which are mounted on the movable arm 81 and arranged along the length of the movable arm 81. Each third gripper 82 can be a pneumatic or electric parallel gripper structure, used to hold different parts of the sampling tube 3 to ensure the stable posture of the sampling tube 3 during the transport process. The opening and closing action of the third grippers 82 is coordinated with the rotation action of the movable arm 81 to realize the transfer of the sampling tube 3 from the storage position to the docking position.

[0054] In order to achieve neat storage and continuous and orderly supply of a large number of sampling tubes 3, this embodiment further optimizes the tube storage mechanism 8 and adds an automatic conveying function. Specifically, the tube storage mechanism 8 also includes a side baffle 83, a conveying chain 84 and a support member 85.

[0055] There are two side blocks 83, which are set in parallel and fixed on the walking mechanism 1, forming a storage space of a certain width between them. The side blocks 83 can be plate-shaped or rod-shaped, and their height is slightly larger than the diameter of the sampling tube 3. They are used to limit the sampling tube 3 stored in the storage space in the horizontal direction, preventing the sampling tube 3 from rolling or scattering, so that multiple sampling tubes 3 can be neatly arranged side by side. If the side block 83 is plate-shaped, its top can have a certain tilt angle, so that the position can be adjusted according to the slope when the sampling tube 3 is put in.

[0056] Two conveyor chains 84 are respectively set between two side stops 83, that is, at the bottom of the storage position. Each conveyor chain 84 is a ring chain driven by a sprocket. The two conveyor chains 84 move in the same direction, both towards the movable arm 81. The movement of the conveyor chains 84 is controlled by a stepper motor or a servo motor, which can achieve precise stepping motion.

[0057] Multiple support members 85 are fixed at equal intervals on two conveyor chains 84. Each support member 85 is provided with a C-shaped groove with the opening facing upward. The curvature of the groove is adapted to the outer diameter of the sampling tube 3 to accommodate and support one sampling tube 3. Since the two conveyor chains 84 move synchronously, the two support members 85 located at the same cross-sectional position jointly support the two ends or near the two ends of a sampling tube 3. Through the equidistant arrangement of multiple support members 85 on the conveyor chains 84, multiple sampling tubes 3 can be stored simultaneously in the tube storage position. Each sampling tube 3 is located in the C-shaped groove of a pair of support members 85.

[0058] By setting up the storage mechanism 8, this device realizes the batch storage and automatic supply of sampling tubes 3 one by one, eliminating the need for frequent manual handling and placement of sampling tubes 3, which significantly improves sampling efficiency. At the same time, the cooperation between the side baffle 83, the conveyor chain 84, and the support component 85 enables the sampling tubes 3 to be neatly arranged and accurately positioned, creating conditions for subsequent automatic docking.

[0059] In some embodiments, in order to facilitate the movement and transportation of the device in the narrow passage of the ship's cabin, and to ensure that the carrier arm 11 can be accurately extended above the grain inlet of the ship's cabin during operation, the device is also provided with a folding mechanism 9 for the carrier arm 11. The folding mechanism 9 specifically includes a slide 91, a hinge seat 92, a lateral drive member 93 and an unfolding drive member 94.

[0060] The slide 91 is slidably disposed inside the traveling mechanism 1. Specifically, the frame of the traveling mechanism 1 is provided with a horizontal slide rail or guide groove. The slide 91 is mounted on the slide rail and can slide linearly in the horizontal direction. The slide 91 has two extreme positions: the retracted position and the extended position. In the retracted position, the slide 91 is completely retracted into the traveling mechanism 1 and does not occupy additional space. In the extended position, a part of the slide 91 extends out from the side of the traveling mechanism 1, pushing the carrier arm 11 outward.

[0061] The lateral drive component 93 is installed within the traveling mechanism 1, and its output end is connected to the carriage 91 for transmission. The lateral drive component 93 can be an electric push rod, a cylinder, a hydraulic cylinder, or a lead screw motor assembly. For example, a servo motor can be used to drive the lead screw to rotate, and the lead screw nut is fixedly connected to the carriage 91, thereby precisely controlling the lateral displacement of the carriage 91. Through the lateral drive component 93, the carrier arm 11 can be moved horizontally to align with the grain inlet of the ship's hold at different positions.

[0062] The hinge seat 92 is located at the end of the carriage 91 and on the outermost end of the traveling mechanism 1. The carrier arm 11 is fixed to the hinge seat 92 by a hinge shaft, so that the carrier arm 11 can rotate around the hinge shaft in the vertical plane. The rotation angle of the carrier arm 11 can be between 0° and 90° from the horizontal folded position to the vertical working position, that is, corresponding to the horizontal state and the vertical state respectively.

[0063] The unfolding drive unit 94 is mounted on the carriage 91, and its output end is connected to the carrier arm 11. The unfolding drive unit 94 can be a cylinder, a hydraulic cylinder, or an electric push rod. For example, a push rod is used, with one end hinged to the carriage 91 and the other end hinged to the middle or lower part of the carrier arm 11. When the push rod extends, it pushes the carrier arm 11 to rotate upward around the hinge seat 92 to a vertical position; when the push rod retracts, the carrier arm 11 is lowered to a horizontal position, thus achieving folding.

[0064] When the device is not in operation or in a moving state, the lateral drive 93 retracts the carriage 91 into the walking mechanism 1, and at the same time, the unfolding drive 94 lowers the carrier arm 11 to a horizontal state, making the overall structure compact and easy to pass through the cabin door or narrow passage. When sampling is required, the device first moves to the vicinity of the cabin's grain inlet, and then the lateral drive 93 pushes the carriage 91 to extend outward, so that the carrier arm 11 moves directly above the grain inlet; then the unfolding drive 94 pushes the carrier arm 11 to rotate upward to a vertical state, and the carrier arm 11 is aligned with the grain inlet. After sampling is completed, the reverse operation can be used to fold the carrier arm 11.

[0065] In some embodiments, to achieve automatic differentiation and independent storage of samples from different depth layers and avoid cross-contamination, this application further optimizes the negative pressure sampling component 5. Specifically, the negative pressure sampling component 5 includes a sample dispensing mechanism 51, a sample storage tank 52, a separator 53, a dispensing valve 54, and a negative pressure fan 55.

[0066] The negative pressure fan 55 is installed inside the walking mechanism 1. Its air inlet is connected to the exhaust end of the separator 53 through a pipeline. When the negative pressure fan 55 is working, it generates a continuous negative pressure suction to provide power for the entire sampling channel.

[0067] The separator 53 is fixed on the sample separation mechanism 51, and its feed end is connected to the negative pressure connector 42 of the connecting pipe assembly 4 through a hose or rigid pipe. The function of the separator 53 is to separate the gas-solid mixture that is drawn in. The grain sample settles to the bottom due to gravity or centrifugal force, while the air is discharged from the exhaust end at the top. The separator 53 can be a cyclone separator or a filter separator, with a cyclone separator being preferred because of its simple structure, no risk of clogging, and high separation efficiency.

[0068] The sample dispensing mechanism 51 is movably disposed within the traveling mechanism 1 and can move horizontally or vertically. For example, the sample dispensing mechanism 51 can be mounted on an electric slide and driven by a stepper motor to make it reciprocate along a straight line.

[0069] There are multiple sample storage tanks 52, such as six, eight, or twelve, all of which are arranged on the moving path of the sample dispensing mechanism 51. Specifically, the sample storage tanks 52 can be arranged in a row and fixed on the frame of the traveling mechanism 1. When the sample dispensing mechanism 51 moves, the discharge end of the separator 53 on it is aligned with different sample storage tanks 52 in sequence. Alternatively, the sample storage tanks 52 can be installed on the sample dispensing mechanism 51 and move with it, while the separator 53 is fixed. In a specific embodiment, the sample dispensing mechanism 51 carries the separator 53 and the dispensing valve 54 and can move horizontally within the traveling mechanism 1. Multiple sample storage tanks 52 are fixed to the bottom or side of the traveling mechanism 1 and are arranged at equal intervals along the moving direction of the sample dispensing mechanism 51.

[0070] The dispensing valve 54 is located on the sample dispensing mechanism 51, below the discharge end of the separator 53. The dispensing valve 54 can be a rotary directional valve or a slide gate valve. Its function is to guide the sample discharged from the separator 53 into the currently aligned sample storage tank 52, or to block the sample outflow, according to control commands. When it is necessary to change the sample storage tank 52, the dispensing valve 54 is temporarily closed and opened again after the sample dispensing mechanism 51 moves above the next sample storage tank 52.

[0071] Once the long connecting pipe reaches the predetermined depth, the negative pressure fan 55 starts. Under negative pressure, the grain sample enters the separator 53 through the long connecting pipe and negative pressure connector 42. Inside the separator 53, the solid sample separates from the air. The sample sinks to the discharge end, while the air is discharged through the exhaust end by the negative pressure fan 55. At this time, the sampling mechanism 51 moves above the first sample storage tank 52, the dispensing valve 54 opens, and the sample falls into the sample storage tank 52, completing the sampling at the first depth. Then, the dispensing valve 54 closes, and the long connecting pipe continues to descend to the second depth, where negative pressure sampling is performed again. Simultaneously, the sampling mechanism 51 moves above the second sample storage tank 52, the dispensing valve 54 opens, and the sample falls into the second sample storage tank 52. This process is repeated to store samples from different depths into different sample storage tanks 52. After one sampling task is completed, each sample storage tank 52 can be removed for subsequent testing.

[0072] In addition, a pressure tank is provided, which is connected between the separator 53 and the negative pressure fan 55. The air inlet of the pressure tank 56 is connected to the exhaust end of the separator 53, and the air outlet of the pressure tank is connected to the air inlet of the negative pressure fan 55. When the negative pressure fan 55 is working, it generates a continuous negative pressure suction. The pressure tank plays a role in stabilizing the negative pressure and buffering airflow fluctuations. At the same time, it can collect trace amounts of fine powder that may be carried in the gas discharged from the separator 53, preventing the fine powder from directly entering the negative pressure fan 55, thereby protecting the fan and extending its service life.

[0073] The method for multi-point sampling of ship hold grain according to the present invention, when using the multi-point sampling device for ship hold grain described in any of the above embodiments, is as follows: First, the entire device is moved to the sampling position in the cabin by the walking mechanism 1, and the carrier arm 11 is adjusted to align with the feed inlet of the cabin.

[0074] Then, take a sampling tube 3 and connect its first connecting end 31 to the rotating head 41 of the connecting tube assembly 4. Start the rotating head 41 to make it rotate the sampling tube 3. At this time, the first connecting end 31 of the sampling tube 3 is threadedly connected to the second connecting end 32 of the adjacent sampling tube 3, thereby forming or extending the long connecting tube.

[0075] Subsequently, the pushing mechanism 2 is activated, and the pushing part 21 pushes the long pipe to move vertically along the carrier arm 11, so that the long pipe is inserted downward into the grain pile in the ship's hold.

[0076] Repeat the above steps of "docking-rotating connection-pushing" to connect multiple sampling tubes 3 to the long connector in sequence until the long connector reaches the required sampling depth in the cabin.

[0077] Finally, the negative pressure sampling component 5 is activated. Negative pressure is sequentially passed through the negative pressure connector 42, the rotating head 41, and the inside of the long connecting pipe to form a sampling channel, allowing for negative pressure sampling of grain at different depths within the ship's hold. Samples can be collected from each predetermined depth, thus achieving multi-point stratified sampling.

[0078] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A multi-point sampling device for grain in a ship's hold, characterized in that, It includes a walking mechanism (1), a pushing mechanism (2), a sampling tube (3), a connecting pipe assembly (4), and a negative pressure sampling assembly (5), wherein, A carrier arm (11) is vertically arranged on the outer side of the walking mechanism (1). The pushing mechanism (2) is mounted on the carrier arm (11) and has a pushing part (21) that can slide vertically along the carrier arm (11). The sampling tube (3) includes a first connecting end (31) and a second connecting end (32), and multiple sampling tubes (3) are connected along a straight line. The first connecting end (31) and the second connecting end (32) of two adjacent sampling tubes (3) are threaded together to form a long connecting tube. The long connecting tube is set on the pushing mechanism (2) and can be pushed into the cabin by the pushing part (21). The connector assembly (4) is set on the push part (21). The connector assembly (4) includes a rotating head (41) and a negative pressure connector (42). The rotating head (41) is adapted to the first connecting end (31) and can drive the sampling tube (3) to rotate through the first connecting end (31) so that the sampling tube (3) is connected to the long connector. The negative pressure connector (42) is connected to the long connector through the rotating head (41). The negative pressure sampling component (5) is mounted on the walking mechanism (1). The negative pressure sampling component (5) is connected to the negative pressure connector (42) and cooperates with the long pipe to form a sampling channel. The sampling channel is used to sample from the cabin through negative pressure.

2. The multi-point sampling device for shipboard food as described in claim 1, characterized in that, It also includes a first gripper (6) and a second gripper (7), both of which are mounted on the carrier arm (11); the first gripper (6) is used to hold the sampling tube (3) near the connector assembly (4) so ​​that the rotating head (41) can dock with the first connection end (31) of the sampling tube (3); the second gripper (7) is used to hold the second sampling tube (3) near the connector assembly (4) to prevent the sampling tube (3) from rotating.

3. The multi-point sampling device for shipboard grain as described in claim 1, characterized in that, The pushing mechanism (2) also includes an auxiliary pressing assembly (22), which has multiple pushing wheels (221). The long tube passes between the multiple pushing wheels (221), and the pushing wheels (221) are used to apply pressure to the outside of the long tube and push the long tube to move in a straight line by friction.

4. The multi-point sampling device for shipboard grain as described in claim 3, characterized in that, The auxiliary pressing assembly (22) also includes a movable seat (222), a pressing motor (223), a transmission component and an elastic component (224), wherein, There are two movable seats (222), both of which are slidably mounted on the carrier arm (11). The sliding direction of the movable seats (222) is perpendicular to the moving direction of the long tube, and the long tube is located between the two movable seats (222). There are two pressure conveying motors (223), which are respectively installed on two movable seats (222); The transmission component is set on the movable seat (222), and each movable seat (222) is provided with at least two push wheels (221). The pressure conveying motor (223) is connected to the push wheel (221) on the corresponding movable seat (222) through the transmission component. An elastic element (224) is disposed between the carrier arm (11) and the movable seat (222) to apply pressure toward the long pipe to the push wheel (221).

5. The multi-point sampling device for shipboard grain as described in claim 1, characterized in that, The first connecting end (31) is provided with at least two rotationally symmetrical connecting grooves (311). The connecting groove (311) is open on the side away from the second connecting end (32). The connecting groove (311) is in the shape of a straight line and has a hook structure on one end located on the open side. The rotating head (41) is provided with at least two positioning members (411). The number of positioning members (411) is the same as that of the connecting groove (311) and can be inserted from the open side of the connecting groove (311) and rotated into the hook structure.

6. The multi-point sampling device for shipboard food as described in claim 1, characterized in that, It also includes a storage mechanism (8) for storing sampling tubes (3). The storage mechanism (8) includes a movable arm (81) and a third gripper (82). The movable arm (81) is hinged to the walking mechanism (1) and can rotate to the outside of the carrier arm (11). There are two third grippers (82), both of which are located on the movable arm (81).

7. The multi-point sampling device for shipboard food as described in claim 6, characterized in that, The storage mechanism (8) also includes a side stop (83), a conveyor chain (84), and a support member (85), wherein, There are two side blocks (83) and they are arranged in parallel on the walking mechanism (1). The two side blocks (83) form a storage position on the walking mechanism (1) and limit the sampling tube (3) on the storage position so that the sampling tube (3) is neatly arranged. There are two conveyor chains (84), which are arranged between two side stops (83), and the movement direction of both conveyor chains (84) is towards the movable arm (81). There are multiple support members (85) and they are evenly spaced on two conveyor chains (84). The support members (85) are provided with C-shaped grooves, which are used to accommodate sampling tubes (3) to drive the sampling tubes (3) to move. The support members (85) on the two conveyor chains (84) cooperate to store multiple sampling tubes (3) and to transport and supply the sampling tubes (3).

8. The multi-point sampling device for shipboard food as described in claim 1, characterized in that, It also includes a carriage (91), a hinge base (92), a lateral drive (93), and a deployment drive (94), wherein, The carriage (91) is slidably disposed within the traveling mechanism (1) and can be retracted into or extended from the traveling mechanism (1). The hinge seat (92) is located at the end of the carriage (91) and on the outer end of the walking mechanism (1), and the carrier arm (11) is fixed on the hinge seat (92); The lateral drive (93) is installed in the walking mechanism (1) and its output end is connected to the carriage (91) for transmission, so as to push the carriage (91) to slide in a straight line; The unfolding drive (94) is mounted on the carriage (91) and its output end is connected to the carrier arm (11) to push the carrier arm (11) to rotate and unfold on the carriage (91).

9. The multi-point sampling device for shipboard food as described in claim 1, characterized in that, The negative pressure sampling assembly (5) includes a sample dispensing mechanism (51), a sample storage tank (52), a separator (53), a dispensing valve (54), and a negative pressure fan (55), wherein, The sample sorting mechanism (51) is set up within the walking mechanism (1); There are multiple sample storage tanks (52), all of which are located on the activity path of the sample dispensing mechanism (51); The separator (53) is fixed on the sample distribution mechanism (51), and the feed end of the separator (53) is connected to the negative pressure connector (42). The dispensing valve (54) is installed on the dispensing mechanism (51) and is located at the discharge end of the separator (53); The negative pressure fan (55) is installed inside the walking mechanism (1) and connected to the exhaust end of the separator (53).

10. A method for multi-point sampling of food in a ship's hold, characterized in that, Based on the multi-point sampling device for ship's hold food according to any one of claims 1-9, the method includes the following steps: The walking mechanism (1) moves to the sampling position in the cabin and aligns the carrying arm (11) with the feed inlet of the cabin. Insert the sampling tube (3) and connect the first connecting end (31) of the sampling tube (3) to the rotating head (41) of the connecting tube assembly (4); The sampling tube (3) is rotated by rotating head (41) so that the first connecting end (31) of two adjacent sampling tubes (3) is threadedly connected to the second connecting end (32) to form and extend the long connecting tube; The long tube is pushed by the pushing part (21) of the pushing mechanism (2), so that the long tube moves vertically along the carrier arm (11) and is inserted into the cabin. Repeatedly connect the sampling tube (3) to the long connector until the long connector reaches the required sampling depth in the cabin; The negative pressure sampling assembly (5) is activated, and negative pressure sampling is performed on the grain at different depths in the cabin through the sampling channel formed by the negative pressure connector (42), the rotating head (41) and the long pipe.

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