Six-axis sampling robot

Abstract

The utility model discloses a six-axis sampling robot which comprises a robot base, an adjusting base is installed at the bottom end of the robot base, a robot waist is movably installed at the top end of the robot base, a robot large arm is movably installed at one end of the robot waist, and a robot small arm is arranged at the top end of the robot large arm. And a movable shaft is movably mounted on one side of the robot forearm. The six-axis sampling robot walks on the guide rail through the adjusting base, after the robot base moves to the position above an automobile, the robot large arm and the robot small arm can move in a matched mode to move the sampling mechanism to the position above the automobile loading position, and then a sampling pipe is inserted into materials for sampling; after sampling, the robot moves to the position close to the conveying machine and then transfers materials in the sampling pipe to the conveying belt, sampling can be completed, an image detection module in the six-axis robot can achieve the random sampling function, and the problem that the sampling efficiency is low is solved.

Description

Technical Field

[0001] The utility model relates to the technical field of sampling, in particular to a six-axis sampling robot. Background Art

[0002] During the coal trading process, coal needs to be transported by cars and trains. During this process, coal samples need to be taken to inspect its quality.

[0003] After searching, it is found that the materials transported by mine cars, trains or cars need to be sampled according to national standards during transportation. During the sampling process, it may be necessary to manually climb onto the car body to collect the materials. The whole process is very time-consuming and labor-intensive, and it is inconvenient to quickly transport the samples to the detection area after sampling, which affects the efficiency of sampling.

[0004] There is an urgent need for a six-axis sampling robot to solve the technical defects raised in the above-mentioned technology. Utility Model Content

[0005] The purpose of the utility model is to provide a six-axis sampling robot to solve the problem of low sampling efficiency mentioned in the above background technology.

[0006] To achieve the above-mentioned objectives, the utility model provides the following technical solutions: a six-axis sampling robot, comprising a robot base, an adjustment base installed at the bottom end of the robot base, a robot waist movably installed at the top of the robot base, a robot upper arm movably installed at one end of the robot waist, a robot forearm arranged at the top of the robot upper arm, a movable shaft movably installed at one side of the robot forearm, a movable turntable arranged at one end of the movable shaft, a mounting assembly fixedly connected to one side of the movable turntable, and a sampling mechanism installed on one side of the mounting assembly.

[0007] Preferably, the sampling mechanism is mounted on one side of the mounting assembly by means of bolts, and a sampling tube is mounted on one side of the sampling mechanism.

[0008] Preferably, an image detection module is installed inside the robot base, and the image detection module is electrically connected to the control device.

[0009] Preferably, one side of the sampling mechanism can be embedded in the interior of the mounting assembly, and a positioning bolt is provided on the sampling mechanism.

[0010] Preferably, a connecting shaft is installed between the robot arm and the robot arm, and a motor is provided at one end of the connecting shaft.

[0011] Preferably, a slide rail groove is provided at the bottom end of the adjustment base, and the adjustment base can be installed on an electric slide rail for use.

[0012] Preferably, the adjustment base is fixedly connected to the robot base via a mounting flange and bolts.

[0013] Preferably, a driving assembly is installed at one end of the robot's waist, and an output end of the driving assembly is fixedly connected to one end of the robot's main arm.

[0014] Compared with the prior art, the utility model has the following beneficial effects: the six-axis sampling robot not only realizes the function of convenient and flexible sampling, realizes the function of convenient replacement of sampling equipment, but also realizes the function of simple structure and low noise;

[0015] By providing a robot base, a robot waist, a robot upper arm and a robot lower arm, the six-axis robot can be installed in a designated sampling area. When sampling, the six-axis robot is also installed with a guide rail and a static conveying machine. When the mine car or car passes through the sampling area, it stops, and then the adjustment base at the bottom of the robot base can walk on the guide rail. After the robot base moves to the top of the car, the robot upper arm and the robot lower arm can cooperate to move the sampling mechanism to the top of the car loading, and then insert the sampling tube into the material for sampling. After sampling, the robot moves to the vicinity of the conveying machine and transfers the material in the sampling tube to the conveyor belt to complete the sampling. The image detection module inside the six-axis robot can realize the function of random sampling. The sampling device is very flexible and improves the efficiency of sampling.

[0016] By providing a sampling tube, a sampling mechanism and a mounting assembly, the sampling tube is installed on the sampling mechanism, and the sampling tube can be inserted into the material to sample the material. The sampling mechanism can be replaced with various sampling methods such as drilling, insertion and grabbing according to needs. When disassembling, the bolts fixing the sampling mechanism are unscrewed, and then the sampling mechanism is pulled out from the mounting assembly. This structure realizes the function of flexibly changing the sampling method and is suitable for sampling a variety of materials;

[0017] By providing an adjustment base and an image detection module, the adjustment base at the bottom of the sampling robot can drive it flexibly, and the image detection module on the sampling robot can perform image detection on the materials moved to the sampling area, and randomly search for sampling points after detection to realize the function of random sampling. The sampling robot adopts a six-axis robot as the base. The sampling equipment has a simple structure and light weight. The sampling process has low noise and realizes dust-free sampling, which is suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a front view structural schematic diagram of the utility model;

[0019] Figure 2 It is a rear view structural schematic diagram of the utility model;

[0020] Figure 3 It is a schematic diagram of the top view structure of the utility model;

[0021] Figure 4 It is a schematic diagram of the front view structure of the sampling tube of the present utility model.

[0022] In the figure: 1. Adjustment base; 2. Robot base; 3. Robot waist; 4. Robot upper arm; 5. Connecting shaft; 6. Robot lower arm; 7. Sampling tube; 8. Image detection module; 9. Driving assembly; 10. Movable shaft; 11. Movable turntable; 12. Sampling mechanism; 13. Installation assembly. DETAILED DESCRIPTION

[0023] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0024] Example 1: Please refer to Figure 1-4 A six-axis sampling robot comprises a robot base 2, an adjusting base 1 is installed at the bottom end of the robot base 2, a robot waist 3 is movably installed at the top of the robot base 2, a robot arm 4 is movably installed at one end of the robot waist 3, a robot forearm 6 is arranged at the top of the robot arm 4, a movable shaft 10 is movably installed at one side of the robot forearm 6, a movable turntable 11 is arranged at one end of the movable shaft 10, a mounting assembly 13 is fixedly connected to one side of the movable turntable 11, a driving assembly 9 is installed at one end of the robot waist 3, an output end of the driving assembly 9 is fixedly connected to one end of the robot arm 4, and a sampling mechanism 12 is installed at one side of the mounting assembly 13;

[0025] The sampling mechanism 12 is installed on one side of the mounting assembly 13 by bolts, a sampling tube 7 is installed on one side of the sampling mechanism 12, an image detection module 8 is installed inside the robot base 2, and the image detection module 8 is electrically connected to the control device;

[0026] Specifically, Figure 1 and Figure 2As shown, during sampling, guide rails and static conveying machines are installed in conjunction with the six-axis robot. When the mine car or car passes through the sampling area, it stops, and then the adjustment base 1 at the bottom of the robot base 2 can walk on the guide rails. After the robot base 2 moves to above the car, the robot arm 4 and the robot arm 6 can cooperate to move the sampling mechanism 12 to above the car loading, and then insert the sampling tube 7 into the material for sampling. After sampling, the robot moves to the vicinity of the conveying machine and transfers the material in the sampling tube 7 to the conveyor belt to complete the sampling. The image detection module 8 inside the six-axis robot can realize the function of random sampling.

[0027] Embodiment 2: One side of the sampling mechanism 12 can be embedded in the interior of the mounting assembly 13, and a positioning bolt is provided on the sampling mechanism 12;

[0028] Specifically, Figure 1 and Figure 3 As shown, the sampling tube 7 can be inserted into the material to sample the material, and the sampling mechanism 12 can be replaced with various sampling methods such as drilling, insertion and grabbing according to needs. When disassembling, the bolts fixing the sampling mechanism 12 are unscrewed, and then the sampling mechanism 12 is pulled out from the inside of the installation component 13.

[0029] Embodiment 3: A connecting shaft 5 is installed between the robot arm 4 and the robot arm 6, one end of the connecting shaft 5 is provided with a motor, the bottom end of the adjusting base 1 is provided with a slide rail groove, the adjusting base 1 can be installed on the electric slide rail for use, and the adjusting base 1 and the robot base 2 are fixedly connected by a mounting flange and bolts;

[0030] Specifically, Figure 1 and Figure 4 As shown, the adjustment base 1 at the bottom of the sampling robot can drive it flexibly, and the image detection module 8 on the sampling robot can perform image detection on the materials moved to the sampling area, and randomly search for sampling points after detection to realize the function of random sampling. The sampling robot adopts a six-axis robot as the base, and the sampling equipment has a simple structure and light weight. The sampling process has low noise and realizes dust-free sampling.

[0031] Working principle: When the utility model is in use, the six-axis sampling robot needs to be installed in the sampling area first. During sampling, the six-axis robot is also installed with a guide rail and a static conveying machine. When the mine car or car passes through the sampling area, it stops, and then the adjustment base 1 at the bottom of the robot base 2 can walk on the guide rail. After the robot base 2 moves to the top of the car, the robot arm 4 and the robot arm 6 can cooperate to move the sampling mechanism 12 to the top of the car loading, and then insert the sampling tube 7 into the material for sampling. After sampling, the robot moves to the vicinity of the conveying machine and then transfers the material inside the sampling tube 7 to the conveyor belt to complete the sampling. The image detection module 8 on the sampling robot can perform image detection on the material moved to the sampling area, and randomly find the sampling point after detection to realize the function of random sampling. The sampling robot adopts a six-axis robot as the base, and the sampling mechanism 12 can be replaced with a variety of sampling methods such as drilling, insertion and grasping according to needs. When disassembling, the bolts fixing the sampling mechanism 12 are unscrewed, and then the sampling mechanism 12 is pulled out from the inside of the mounting assembly 13. The sampling equipment has a simple structure and light weight, low noise during sampling, and dust-free sampling is achieved.

[0032] It is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims be included in the present invention. Any reference numeral in a claim should not be regarded as limiting the claim to which it relates.

Claims

1. A six-axis sampling robot, comprising a robot base (2), characterized in that: An adjustment base (1) is installed at the bottom end of the robot base (2); a robot waist (3) is movably installed at the top end of the robot base (2); a robot upper arm (4) is movably installed at one end of the robot upper arm (3); a robot lower arm (6) is arranged at the top end of the robot upper arm (4); a movable shaft (10) is movably installed at one side of the robot lower arm (6); a movable turntable (11) is arranged at one end of the movable shaft (10); a mounting assembly (13) is fixedly connected to one side of the movable turntable (11); and a sampling mechanism (12) is installed at one side of the mounting assembly (13).

2. A six-axis sampling robot according to claim 1, characterized in that: The sampling mechanism (12) is mounted on one side of the mounting assembly (13) by means of bolts, and a sampling tube (7) is mounted on one side of the sampling mechanism (12).

3. A six-axis sampling robot according to claim 1, characterized in that: An image detection module (8) is installed inside the robot base (2), and the image detection module (8) is electrically connected to the control device.

4. A six-axis sampling robot according to claim 1, characterized in that: One side of the sampling mechanism (12) can be embedded in the interior of the mounting assembly (13), and a positioning bolt is provided on the sampling mechanism (12).

5. A six-axis sampling robot according to claim 1, characterized in that: A connecting shaft (5) is installed between the robot big arm (4) and the robot small arm (6), and a motor is arranged at one end of the connecting shaft (5).

6. A six-axis sampling robot according to claim 1, characterized in that: A slide rail groove is provided at the bottom end of the adjustment base (1), and the adjustment base (1) can be installed on an electric slide rail for use.

7. A six-axis sampling robot according to claim 1, characterized in that: The adjustment base (1) and the robot base (2) are fixedly connected via a mounting flange and bolts.

8. The six-axis sampling robot according to claim 1, characterized in that: A driving component (9) is installed at one end of the robot waist (3), and an output end of the driving component (9) is fixedly connected to one end of the robot arm (4).

Images