Sampling shovel, sample storage device and operation robot

Abstract

The utility model provides a sampling shovel, sample storage device and operation robot, the sampling shovel comprises a shovel head and a connector arranged at the tail end of the shovel head, the connector is used for matching and connecting the tail end of a mechanical arm, the shovel head comprises a cylinder part and an arc-shaped shovel surface part formed by axially extending from one end of the cylinder part, and the arc-shaped shovel surface part is used for matching and connecting with the tail end of the mechanical arm. A hook opening is formed in one end, far away from the cylinder part, of the arc-shaped shovel surface part. The hook mouth is arranged at one end, far away from the cylinder part, of the arc-shaped shovel surface part, so that the sampling shovel not only can be used for sampling, but also can be used for packaging a sample storage bag through the design of the hook mouth, specifically, under the driving of a mechanical arm, the shovel head hooks a hanging ring of the sample storage bag through the hook mouth at the end part of the shovel head to pick up a bag from a box body, and the bag can be conveniently taken out. Therefore, the bridle can automatically close and seal the opening of the bag under the gravity action of the sample, and the automatic operation of the packaging procedure is realized.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a sampling shovel, a sample storage device and an operating robot. Background Art

[0002] In the field of basic raw material production, such as coal plants, steel plants, chemical plants, etc., raw material sampling is a key link to ensure product quality and process control. However, traditional sampling methods usually rely on manual shovels or similar tools, which is not only inefficient and labor-intensive, but also poses safety risks. Especially in harsh working environments, manual sampling is prone to occupational diseases, and human factors may also affect the accuracy and fairness of sampling.

[0003] With the rapid development of automation and robotics, more and more industries are beginning to introduce robots to replace humans in dangerous and tedious tasks. In the field of raw material sampling, the use of robots for scientific material collection and intelligent analysis has become an inevitable trend in the development of the industry. Robot sampling can not only improve work efficiency and safety, but also reduce the impact of human factors on sampling results, ensuring the accuracy and fairness of sampling.

[0004] However, in existing technologies, although robots are able to complete the sampling of raw materials, the packaging process after sampling still relies on manual operation, which not only increases the tediousness and labor costs of the work, but also may lead to human errors or contamination in the packaging process. Utility Model Content

[0005] Based on this, the purpose of the utility model is to provide a sampling shovel, a sample storage device and an operating robot, which are used to solve the technical problems mentioned in the above background technology.

[0006] On the one hand, the utility model proposes a sampling shovel, including a shovel head and a connecting head arranged at the rear end of the shovel head, the connecting head is used to cooperate with the end of the robot arm, the shovel head includes a cylindrical part, and an arc-shaped shovel surface part axially extending from one end of the cylindrical part, and a hook mouth is provided at the end of the arc-shaped shovel surface part away from the cylindrical part.

[0007] Furthermore, in the sampling shovel, the hook mouth is symmetrically arranged on both sides of the arc-shaped shovel surface, and the hook mouth is crescent-shaped.

[0008] Furthermore, in the sampling shovel, a straight groove is provided at the central axis position of the arc-shaped shovel surface portion.

[0009] Furthermore, the sampling shovel, wherein the head end of the arc-shaped shovel surface portion is provided with a circular chamfer.

[0010] On the other hand, the utility model further proposes a sample storage device, including a sample storage bag, wherein the sample storage bag includes a cover bag and a drawstring arranged at the opening of the cover bag, the tail end of the drawstring passes through its own lock and is connected to a hanging ring, when packing, the sampling shovel hooks the hanging ring through the hook mouth at its head end and lifts it up, so that under the action of the gravity of the sample in the cover bag, the drawstring automatically closes and closes the opening of the cover bag.

[0011] Furthermore, the sample storage device, wherein, also includes a sample storage box, the sample storage box includes a box body and a plurality of columns arranged on the box body, the plurality of columns are arranged at intervals on one side of the opening edge of the box body, the bag is put into the sample storage box, and the hanging ring is supported on the columns.

[0012] Furthermore, in the sample storage device, the upper end of each of the columns is provided with two opposing clamping plates, and a clamping slot is formed between the two clamping plates.

[0013] On the other hand, the utility model also proposes a running robot, including a body body and wheel-track structures arranged on both sides of the body body, a support plate is provided on the front end face of the body body, a sample storage box is provided on the support plate, a sample storage bag is provided in the sample storage box, a mechanical arm is provided on the upper end face of the body body, and a sampling shovel is installed at the end of the mechanical arm.

[0014] Furthermore, the operating robot, wherein the mechanical arm includes a platform, a rotating base arranged on the platform, a first lever arm rotatably connected to the rotating base, and a second lever arm rotatably connected to the first lever arm, and the sampling shovel is arranged at the end of the second lever arm.

[0015] Furthermore, the operating robot, wherein a first drive motor is provided at the rotation connection between the second force arm and the sampling shovel, a second drive motor is provided at the rotation connection between the first force arm and the second force arm, a third drive motor is provided at the rotation connection between the first force arm and the rotating base, and a connecting seat is provided on the output shaft of the first drive motor, and the connecting seat is used to cooperate with the connecting head of the sampling shovel to realize the assembly of the sampling shovel on the robotic arm.

[0016] Compared with the prior art, the beneficial effects of the utility model are:

[0017] By arranging a hook opening at the end of the arc-shaped shovel surface portion away from the cylindrical portion, the sampling shovel can not only be used for sampling, but also can be used for packing sample bags through the design of the hook opening. Specifically, driven by the robotic arm, the shovel head hooks the lifting ring of the sample bag through the hook opening at its end to lift the bag out of the box body, so that the strap automatically closes and closes the opening of the bag under the action of the gravity of the sample, thereby realizing the automation of the packaging process. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A three-dimensional diagram of a sampling shovel in the first embodiment of the utility model;

[0019] Figure 2 A three-dimensional diagram of a mechanical arm in the second embodiment of the present utility model;

[0020] Figure 3 A three-dimensional diagram of a sample storage bag in the second embodiment of the utility model;

[0021] Figure 4 A three-dimensional diagram of a sample storage box in the second embodiment of the utility model;

[0022] Figure 5 A three-dimensional diagram of a robot in operation in the third embodiment of the present utility model;

[0023] Figure 6 A three-dimensional diagram of a vehicle body in a third embodiment of the present utility model;

[0024] Description of main component symbols:

[0025] 10. Robotic arm; 11. Platform; 121. Rotating base; 122. First lever arm; 123. Second lever arm; 124. First drive motor; 125. Second drive motor; 126. Third drive motor; 21. Sample box; 211. Box body; 212. Column; 213. Cardboard; 214. Clamp; 22. Sample bag; 221. Bag; 222. Strap; 223. Lifting ring; 31. Vehicle body; 32. Walking track; 33. Climbing track; 34. Support plate; 13. Shovel head; 131. Cylinder; 132. Arc shovel face; 133. Hook mouth; 134. Straight groove; 135. Arc chamfer; 41. Connector; 42. Connecting seat; 411. Connecting arm; 412. Mounting hole; 50. Camera assembly.

[0026] The following specific implementation manner will further illustrate the present utility model in conjunction with the above-mentioned drawings. DETAILED DESCRIPTION

[0027] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. Several embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thorough and comprehensive.

[0028] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0029] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art in the technical field of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0030] First embodiment

[0031] See also Figure 1 The first embodiment of the utility model provides a sampling shovel, including a shovel head 13 and a connecting head 41 arranged at the rear end of the shovel head 13, wherein the connecting head 41 is used to cooperate with the end of the robot arm 10, and the shovel head 13 includes a cylindrical portion 131 and an arc-shaped shovel surface portion 132 axially extending from one end of the cylindrical portion 131, and a hook mouth 133 is provided at one end of the arc-shaped shovel surface portion 132 away from the cylindrical portion 131.

[0032] By providing a hook opening 133 at one end of the arc-shaped shovel surface portion 132 away from the cylindrical portion 131, the sampling shovel can not only be used for sampling, but also can be used to pack the sample bag 22 through the design of the hook opening 133. Specifically, under the drive of the robot arm 10, the shovel head 13 hooks the ring 223 of the sample bag 22 through the hook opening 133 at its end to lift the bag 221 from the box body 211, so that the strap 222 automatically closes the opening of the bag 221 under the action of the gravity of the sample, thereby realizing the automation of the packaging process.

[0033] Specifically, in this embodiment, the sampling shovel can be directly processed from a cylindrical steel pipe and then welded to the connector 41. The structure is simple and easy to manufacture, and no mold is required. The steps for processing the steel pipe into the sampling shovel are as follows: first, a portion of the steel pipe is cut off along the axial direction to form the cylindrical portion 131 and the arc-shaped shovel portion 132, and then the hook mouth 133 and the chamfered corners of the end are processed in sequence on the arc-shaped shovel portion 132, and finally the connector 41 is welded to the tail end of the cylindrical structure. In addition, in order to prevent the material on the shovel surface from sliding into the cylindrical portion 131 when the sampling shovel is sampling, a circular sealing plate can be welded inside the cylindrical portion 131 to block it.

[0034] The hook opening 133 is symmetrically arranged on both sides of the arc-shaped shovel surface 132, and the hook opening 133 is crescent-shaped. The crescent-shaped hook opening 133 design makes it difficult for the hanging ring 223 located in the hook opening 133 to separate from the sampling shovel, ensuring that the robot arm 10 smoothly moves the sample bag 22 to the designated area for storage.

[0035] A straight groove 134 is provided at the central axis of the arc-shaped shovel face portion 132 , and the straight groove 134 is used for positioning the sample in coordination with other structures when hooking.

[0036] Furthermore, the head end of the arc-shaped shovel face portion 132 is provided with a circular chamfer 135, which makes it easier for the sampling shovel to be inserted into the soil for sampling. Of course, in addition to the circular chamfer 135, in other embodiments, an oblique chamfer can also be used, and this embodiment is only an example and not a limitation.

[0037] Preferably, in this embodiment, the central angle of the concave surface formed by the arc-shaped shovel surface portion 132 is 180°.

[0038] In summary, the sampling shovel in the above-mentioned embodiment of the utility model is provided with a hook mouth 133 at one end of the arc-shaped shovel surface portion 132 away from the cylindrical portion 131, so that the sampling shovel can not only be used for sampling, but also can be used to pack the sample bag 22 through the design of the hook mouth 133. Specifically, under the drive of the robot arm 10, the shovel head 13 hooks the ring 223 of the sample bag 22 through the hook mouth 133 at its end to lift the bag 221 from the box body 211, so that the strap 222 automatically closes and closes the opening of the bag 221 under the action of the gravity of the sample, thereby realizing the automation of the packaging process.

[0039] Second embodiment

[0040] See also Figures 1 to 4 The second embodiment of the utility model provides a sample storage device for cooperating with the sampling shovel described in the first embodiment, the sample storage device includes a sample storage bag 22, the sample storage bag 22 includes a cover bag 221 and a drawstring 222 arranged at the opening of the cover bag 221, the tail end of the drawstring 222 passes through its own lock and is connected to a hanging ring 223, when sampling, the robot arm 10 controls the sampling shovel to fill the sample into the cover bag 221; when packing, the robot arm 10 controls the sampling shovel to hook the hanging ring 223 through the hook mouth 133 at its head end and lift it up, so that under the action of the gravity of the sample in the cover bag 221, the drawstring 222 automatically closes and closes the opening of the cover bag 221.

[0041] For further information, see Figure 4In order to enable the robot arm 10 to fill samples into or pack the sample bag 22 more accurately, the present embodiment provides a sample box 21 for supporting the sample bag 22. The sample box 21 includes a box body 211 and a plurality of columns 212 arranged on the box body 211. The plurality of columns 212 are arranged at intervals on one side of the opening edge of the box body 211. The bag 221 is put into the sample box 21, and the ring 223 is supported on the column 212.

[0042] Illustratively, in this embodiment, six columns 212 are provided on the box body 211. For the convenience of distinction, the six columns 212 are named column a, column b, column c, column d, column e and column f from left to right. At most three bags 221 can be set in the box body 211. The rings 223 on the three bags 221 can be set in sequence between column a and column b, between column c and column d, and between column e and column f. When the sampling shovel hooks the ring 223, it is necessary to hook it from the ring 223 between column e and column f from right to left in sequence to avoid the hooking sequence being disordered and bringing out other bags 221.

[0043] Furthermore, in another implementation of the present embodiment, in order to further reduce the difficulty of the sampling shovel hooking the lifting ring 223, the number of bags 221 in the box body 211 can be adjusted to two, wherein the lifting ring 223 on one bag 221 is arranged between the column a and the column c, and the lifting ring 223 on the other bag 221 is arranged between the column d and the column f. Compared with the lifting ring 223 arranged on the two columns 212, the lifting ring 223 in this implementation has a longer width, thereby facilitating the sampling shovel to hook it. Similarly, assuming that the lifting ring 223 is arranged on the column 212 in sequence from left to right, when the sampling shovel hooks the lifting ring 223, it is necessary to hook it from the lifting ring 223 between the column d and the column f from right to left in sequence to avoid the hooking sequence being disordered and bringing out other bags 221.

[0044] Furthermore, taking the above-mentioned method of setting the lifting ring 223 between the pillars a and c as an example, the sampling shovel may conflict with the pillar b due to its own structural limitations during the process of hooking the lifting ring 223. In order to overcome this problem, the present embodiment further proposes the following solution: a straight groove 134 is provided at the central axis position of the arc-shaped shovel face portion 132, and the opening size of the straight groove 134 is adapted to the pillar 212. Figure 1 .

[0045] It can be understood that the straight groove 134 is opened at the central axis position of the arc-shaped shovel surface portion 132 to avoid the column 212, so that the sampling shovel can be kept in a position aligned with the central axis of the column b to hook the ring 223 without interference. Secondly, the column 212 and the straight groove 134 can also be used for positioning to standardize the action of the sampling shovel when hooking the ring 223, ensuring the stable operation of the packaging process.

[0046] In this embodiment, the length of the straight groove 134 is 3 to 5 cm, which provides a certain range of motion for the lifting action of the sampling shovel, ensuring that the sampling shovel will not collide with the column 212 during the lifting process, thereby improving the safety and stability of the operation.

[0047] For further information, see Figure 4 , two opposite clamping plates 213 are provided at the upper end of each column 212, and a clamping opening 214 is formed between the two clamping plates 213. Specifically, the two clamping plates 213 and the column 212 form an F shape. In practical applications, when loading the lifting ring 223, the lifting ring 223 can be clamped into the clamping opening 214, so that the installation position of the lifting ring 223 on the column 212 is maintained at a specific height, thereby facilitating the hook 133 of the sampling shovel to align and hook.

[0048] In the actual working process, the robot arm 10 first drives the sampling shovel to shovel the raw materials into the bag 221 of the box body 211. When the sample volume reaches the required amount, the robot arm 10 drives the sampling shovel to hook the ring 223 hanging on the column 212 through the hook mouth 133 at its head end, and picks up the bag 221 from the box body 211, so that the strap 222 around the opening of the bag 221 is automatically retracted under the action of the sample's gravity, completing the automatic packaging process of the sample.

[0049] Third embodiment

[0050] See also Figure 2 to Figure 6 The third embodiment of the utility model provides a running robot, including a body 31 and wheel-track structures arranged on both sides of the body 31, a support plate 34 is provided on the front end face of the body 31, a sample storage box 21 is provided on the support plate 34, a sample storage bag 22 is arranged in the sample storage box 21, a mechanical arm 10 is provided on the upper end face of the body 31, and a sampling shovel is assembled at the end of the mechanical arm 10.

[0051] It can be understood that by operating the robot to move the sample storage device to the designated area instead of manual sampling and packaging in harsh environments, the labor intensity of the staff is effectively reduced, direct contact with the harsh environment is avoided, and the health and safety of the staff is ensured.

[0052] Furthermore, the robot arm 10 includes a platform 11, a rotating base 121 disposed on the platform 11, a first lever arm 122 rotatably connected to the rotating base 121, and a second lever arm 123 rotatably connected to the first lever arm 122, and the sampling shovel is disposed at the end of the second lever arm 123.

[0053] Furthermore, a first drive motor 124 is provided at the rotation connection between the second force arm 123 and the sampling shovel, a second drive motor 125 is provided at the rotation connection between the first force arm 122 and the second force arm 123, a third drive motor 126 is provided at the rotation connection between the first force arm 122 and the rotating base 121, and a connecting seat 42 is provided on the output shaft of the first drive motor 124, and the connecting seat 42 is used to cooperate with the connecting head 41 of the sampling shovel to realize the assembly of the sampling shovel on the mechanical arm 10. In actual application, the rotating base 121 can rotate relative to the platform 11, the third drive motor 126 is used to drive the first force arm 122 to rotate relative to the rotating base 121, the second drive motor 125 is used to drive the second force arm 123 to rotate relative to the first force arm 122, and the first drive motor 124 is used to drive the sampling shovel to rotate relative to the second force arm 123. In practical applications, the rotating base 121 , the first drive motor 124 , the second drive motor 125 and the third drive motor 126 work together to achieve the automatic sampling and packaging process of the raw materials by the sampling shovel.

[0054] In addition, a camera assembly 50 is disposed on one side of the first drive motor 124 , the second drive motor 125 and the third drive motor 126 to provide support for the precise positioning of the robot arm 10 and ensure the stable operation of the sampling and packaging processes.

[0055] For details, see Figure 1 and Figure 2 The connector 41 includes two connecting arms 411 arranged opposite to each other, and the two connecting arms 411 are respectively provided with mounting holes 412, and the connecting seat 42 is provided with threaded holes aligned with the mounting holes 412. It can be understood that when the mounting holes 412 are aligned with the threaded holes, the connector 41 is assembled on the connecting seat 42 by passing a hand screw through the mounting holes 412 and threadedly matching the threaded holes. When the sampling shovel needs to be removed, it is only necessary to unscrew the hand screw, and the disassembly process is simple and convenient without the need for additional tools.

[0056] During the actual working process, the user first sends the sampling area address to the operating robot, and then the operating robot automatically plans a path according to the sampling area address. After arriving, the robot drives the sampling shovel through the robotic arm 10 to shovel the sample into the bag 221 of the box body 211. When the sample volume in the bag 221 reaches the standard, the robotic arm 10 drives the sampling shovel through the hook mouth 133 to hook the lifting ring 223 to pick up the bag 221 from the box body 211. Under the action of the sample gravity, the drawstring 222 automatically closes the opening of the bag 221 to complete the automated operation of sampling and packaging. Finally, the packaged sample bag 22 is transported back to the warehouse by the transfer robot. The overall sampling process is efficient and intelligent.

[0057] Furthermore, the support plate 34 is rotatably connected to the vehicle body 31, and a driving structure (not shown) for driving the support plate 34 to rotate is provided in the vehicle body 31. In actual application, when the sample storage box 21 is installed on the support plate 34, the driving structure can drive the support plate 34 to tilt upward at a certain angle, thereby effectively preventing the sample storage box 21 from detaching from the support plate 34 during transportation of the robot.

[0058] For further information, see Figure 6 The wheel-track structure includes walking tracks 32 arranged on both sides of the vehicle body 31, and climbing tracks 33 arranged on both sides of the walking tracks 32, wherein the climbing tracks 33 are aligned with both sides of the support plate 34. It can be understood that in this embodiment, the climbing tracks 33 are additionally added on the basis of the walking tracks 32, so that the robot can effectively cope with inclined or steep ground, and the climbing tracks 33 increase the contact area and friction with the ground, and the climbing tracks 33 can ensure that the robot obtains sufficient traction during the climbing process, so as to stably and reliably climb various slopes and terrains.

[0059] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0060] The above-mentioned embodiments only express several implementation methods of the utility model, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the patent of the utility model. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the utility model, and these all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A sampling shovel, comprising a shovel head and a connector provided at the tail end of the shovel head, wherein the connector is used to cooperate with the end of a mechanical arm, and is characterized in that: The shovel head comprises a cylindrical portion and an arc-shaped shovel face portion axially extending from one end of the cylindrical portion, and a hook opening is provided at one end of the arc-shaped shovel face portion away from the cylindrical portion.

2. The sampling shovel according to claim 1, characterized in that: The hook openings are symmetrically arranged on both sides of the arc-shaped shovel face portion, and the hook openings are crescent-shaped.

3. The sampling shovel according to claim 1, characterized in that: A straight groove is provided at the central axis position of the arc-shaped shovel face portion.

4. The sampling shovel according to claim 1, characterized in that: The head end of the arc-shaped shovel face portion is provided with an arc chamfer.

5. A sample storage device, characterized in that: The sample storage bag comprises a cover bag and a drawstring arranged at the opening of the cover bag, the tail end of the drawstring passes through its own lock and is connected to a hanging ring. When packing, the sampling shovel hooks the hanging ring through the hook mouth at its head end and lifts it up, so that under the action of the gravity of the sample in the cover bag, the drawstring automatically closes and closes the opening of the cover bag.

6. The sample storage device according to claim 5, characterized in that: It also includes a sample storage box, which includes a box body and a plurality of columns arranged on the box body, wherein the plurality of columns are spaced apart on one side of the opening edge of the box body, the bag is put inside the sample storage box, and the hanging ring is supported on the columns.

7. The sample storage device according to claim 6, characterized in that: The upper end of each column is provided with two opposite clamping plates, and a clamping opening is formed between the two clamping plates.

8. A running robot, characterized in that: It includes a vehicle body and wheel-track structures arranged on both sides of the vehicle body. The front end face of the vehicle body is provided with a support plate, the support plate is provided with a sample storage box, the sample storage box is provided with a sample storage bag, the upper end face of the vehicle body is provided with a mechanical arm, and the end of the mechanical arm is equipped with a sampling shovel.

9. The operating robot according to claim 8, characterized in that: The mechanical arm comprises a platform, a rotating base arranged on the platform, a first lever arm rotatably connected to the rotating base, and a second lever arm rotatably connected to the first lever arm, and the sampling shovel is arranged at the end of the second lever arm.

10. The operating robot according to claim 9, characterized in that: A first drive motor is provided at the rotation connection between the second force arm and the sampling shovel, a second drive motor is provided at the rotation connection between the first force arm and the second force arm, a third drive motor is provided at the rotation connection between the first force arm and the rotating base, and a connecting seat is provided on the output shaft of the first drive motor, and the connecting seat is used to cooperate with the connecting head of the sampling shovel to realize the assembly of the sampling shovel on the mechanical arm.

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