Automatic sampling detection robot

Abstract

The utility model discloses an automatic sampling detection robot, which relates to the technical field of moisture content detection, and comprises a frame, a detection device and a material taking device, the frame is provided with a controllable driving assembly, and the driving assembly is used for driving the frame to move; the detection device is arranged on the frame and provided with a bearing position, and a moisture sensor is arranged on the surface of the bearing position; the material taking device is arranged on the vehicle frame and used for obtaining materials outside the vehicle frame and transferring the materials to the bearing position. The automatic sampling and detecting robot disclosed by the utility model can be used for repeatedly detecting the water content of gravel aggregate, is high in detection efficiency and can be used for improving the accuracy of concrete proportioning.

Description

Technical Field

[0001] The utility model relates to the technical field of moisture content detection, in particular to an automatic sampling and detecting robot. Background Art

[0002] Concrete is prepared by mixing components such as cement, sand and gravel aggregates, water, and admixtures added as required in a certain proportion. However, the sand and gravel aggregates transported contain moisture, and the moisture in the sand and gravel aggregates affects the proportioning of concrete. Therefore, it is necessary to measure the moisture content of the sand and gravel aggregates to adjust and compensate the water and sand amounts in the concrete formula.

[0003] The concrete mixing plant will carry out batch production of concrete mixing. During the production process, the sand and gravel aggregates entering the plant will be sampled by the quality inspector for moisture content detection. Since manual sampling and detection are time-consuming and laborious, the moisture content detection is generally only carried out when the sand and gravel aggregates are just unloaded, or periodic sampling and detection with a long interval time are carried out. The moisture content of the sand and gravel aggregates changes greatly during storage, which has a great impact on the water distribution ratio of concrete. It is urgent to improve the detection frequency of the moisture content of the sand and gravel aggregates. Summary of the Utility Model

[0004] The utility model aims to solve at least one of the technical problems existing in the prior art. For this purpose, the utility model provides an automatic sampling and detecting robot, which can repeatedly complete the moisture content detection of sand and gravel aggregates, has high detection efficiency, and can improve the accuracy of concrete proportioning.

[0005] The automatic sampling and detecting robot according to an embodiment of the utility model includes: a vehicle frame, the vehicle frame is provided with a controllable driving component, and the driving component is used to drive the displacement of the vehicle frame;

[0006] A detecting device, the detecting device is arranged on the vehicle frame, the detecting device is provided with a carrying position, and a moisture sensor is arranged on the surface of the carrying position;

[0007] A material taking device, the material taking device is arranged on the vehicle frame, and the material taking device is used to obtain the materials outside the vehicle frame and transfer them to the carrying position.

[0008] The automatic sampling and detection robot according to the embodiments of the present utility model has at least the following beneficial effects: The controllable driving component can adjust the moving target of the vehicle frame by remote control to change the sampling point. After the vehicle frame moves to the designated sampling point, the sampling device can obtain samples, such as sand and gravel aggregates. The sampling device places the obtained sand and gravel aggregates at the loading position of the detection device, so that the sand and gravel aggregates come into contact with the moisture sensor, and then the moisture content of the sand and gravel aggregates can be obtained. By repeating the above operation process, multiple detections of the moisture content of the sand and gravel aggregates can be automatically completed. Increasing the detection frequency can obtain the moisture content change curve of the sand and gravel aggregates, and the moisture content data of the sand and gravel aggregates are used to control the concrete mixing ratio, improving the accuracy of the concrete mixing ratio.

[0009] According to some embodiments of the present utility model, the driving component includes a first power mechanism and at least three wheel mechanisms. A plurality of the wheel mechanisms are all arranged at the bottom of the vehicle frame, and the first power mechanism is in transmission connection with the wheel mechanisms.

[0010] According to some embodiments of the present utility model, the vehicle frame is provided with a camera assembly.

[0011] According to some embodiments of the present utility model, the sampling device includes a multi-axis robotic arm assembly and a material shovel. One end of the multi-axis robotic arm assembly is arranged on the vehicle frame, and the other end is provided with the material shovel. The multi-axis robotic arm assembly is used to drive the material shovel to move in space, and the moving range of the material shovel covers the loading position.

[0012] According to some embodiments of the present utility model, the sampling device includes two sets of the multi-axis robotic arm assemblies and two sets of the material shovels. The two sets of the multi-axis robotic arm assemblies are symmetrically arranged with the loading position as the center.

[0013] According to some embodiments of the present utility model, the vehicle frame is provided with a first rotary drive mechanism. The two multi-axis robotic arm assemblies are both arranged on the first rotary drive mechanism. The first rotary drive mechanism is used to drive the multi-axis robotic arm assemblies to rotate in the horizontal plane, and the two multi-axis robotic arm assemblies can respectively drive the two material shovels to move closer to each other to form a bucket.

[0014] According to some embodiments of the present utility model, the detection device includes a hopper. The hopper is suspended outside the vehicle frame. A closable baffle is provided at the outlet of the hopper, and a moisture sensor is provided on the inner wall of the hopper.

[0015] According to some embodiments of the present utility model, the detection device includes a loading plate. The loading plate is arranged on the vehicle frame, and the plate surface of the loading plate is parallel to the horizontal plane. The moisture sensor is arranged on the plate surface of the loading plate.

[0016] According to some embodiments of the present utility model, the detection device further includes a second rotation driving mechanism, the second rotation driving mechanism is arranged on the vehicle frame, the material loading plate is in transmission connection with the second rotation driving mechanism, and the material loading plate is suspended outside the vehicle frame. The second rotation driving mechanism is used to drive the material loading plate to turn over so that the plate surface of the material loading plate is parallel or perpendicular to the horizontal plane.

[0017] According to some embodiments of the present utility model, the vehicle frame is further provided with a material storage frame, and the material storage frame is located within the transfer stroke of the material taking device.

[0018] Additional aspects and advantages of the present utility model will be given in part in the following description, will become apparent in part from the following description, or will be understood through the practice of the present utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The following further describes the present utility model in conjunction with the drawings and embodiments, where:

[0020] Figure 1 is a schematic structural diagram of an automatic sampling and detection robot according to an embodiment of the present utility model;

[0021] Figure 2 is a schematic structural diagram of a material taking device according to an embodiment of the present utility model;

[0022] Figure 3 is a schematic structural diagram of a detection device according to an embodiment of the present utility model.

[0023] Reference numerals in the drawings:

[0024] Vehicle frame 100, camera assembly 110, first rotation driving mechanism 120, material storage frame 130, driving assembly 200, first power mechanism 210, wheel mechanism 220, detection device 300, loading position 301, hopper 310, material loading plate 320, second rotation driving mechanism 330, material taking device 400, multi-axis robotic arm assembly 410, material shovel 420. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0025] The embodiments of the present utility model will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present utility model and should not be construed as a limitation to the present utility model.

[0026] In the description of the present utility model, it should be understood that with respect to the orientation description, such as the upper, lower, etc., the indicated orientation or positional relationship is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present utility model.

[0027] In the description of the present utility model, "a plurality" refers to more than two. If there is a description of the first and the second, it is only for the purpose of distinguishing technical features, and should not be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features or implicitly specifying the sequence relationship of the indicated technical features.

[0028] In the description of the present utility model, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense. Those skilled in the art can reasonably determine the specific meanings of the above terms in the present utility model in combination with the specific content of the technical solution.

[0029] Concrete is prepared by mixing components such as cement, sand and gravel aggregates, water, and admixtures added as required in a certain proportion. The concrete mixing plant carries out batch production of concrete and requires a large amount of sand and gravel aggregates. Whether it is to suppress dust during transportation or there is water added during the crushing process, the transported sand and gravel aggregates contain moisture, and the moisture content of the sand and gravel aggregates is not fixed. The moisture in the sand and gravel aggregates affects the concrete mix ratio. Therefore, it is necessary to measure the moisture content of the sand and gravel aggregates to adjust and compensate the water and sand amounts in the concrete formula.

[0030] In the concrete mixing plant, the sand and gravel aggregates are not used as much as transported, but there is a specific site where the sand and gravel aggregates are stored in a pile. Therefore, after the sand and gravel aggregates are transported to the mixing plant, the moisture content is constantly changing and is affected by the temperature and weather conditions. The change of the moisture content is non-linear. Therefore, it is necessary to periodically detect the sand and gravel aggregates to accurately know the moisture content of the sand and gravel aggregates and improve the accuracy of the concrete mix ratio.

[0031] In most cases, the concrete mixing plant still chooses the method of manual sampling to detect the moisture content of the sand and gravel aggregates. For example, after the sand and gravel aggregates are transported into the site, the quality inspector immediately takes samples for detection. Or samples are taken again after a fixed number of days. Between the two sampling detections, with the passage of time, the accuracy of the concrete mix ratio gradually decreases, and the quality of the mixed concrete fluctuates. Limited by the labor cost and workload, it is impossible to perform high-frequency moisture content detection.

[0032] Refer to Figure 1 As shown, an automatic sampling and detection robot according to an embodiment of the present utility model includes a vehicle frame 100, a detection device 300, and a material taking device 400.

[0033] The frame 100 is provided with a controllable drive assembly 200 for driving the displacement of the frame 100.

[0034] The drive assembly 200 can be a powered crawler wheel, and two sets of crawler wheels are provided, which are symmetrically distributed at the bottom of the frame 100 with respect to the central plane of the frame 100. The power can be provided by an electric motor or a fuel engine.

[0035] The drive assembly 200 may also include a first power mechanism 210 and at least three wheel mechanisms 220. A plurality of wheel mechanisms 220 are all arranged at the bottom of the frame 100, and the first power mechanism 210 is in transmission connection with the wheel mechanisms 220. Three wheel mechanisms 220 can already form a stable support surface. On this basis, the number of wheel mechanisms 220 can be increased, and at the same time, the position distribution of the wheel mechanisms 220 can be optimized. For example, four wheel mechanisms 220 are provided. Defining one end of the frame 100 as the front end, then two wheel mechanisms 220 are symmetrically provided at the front end of the frame 100, and two wheel mechanisms 220 are also symmetrically provided at the rear end. Similarly, the first power mechanism 210 for providing power to the wheel mechanisms 220 can adopt an electric motor. When an electric motor is selected, a storage battery is synchronously installed on the frame 100, and the storage battery is electrically connected to the electric motor.

[0036] Among them, the drive assembly 200 is controllable and can adopt an existing wireless remote control scheme. The control technology is mature and can be integrated with a processing chip to autonomously control the drive to displace the frame 100. The movement of the frame 100 is used to change the sampling point, and multi-point sampling detection is performed on the sand and gravel aggregate pile to improve the detection accuracy of the moisture content.

[0037] The detection device 300 is arranged on the frame 100. The detection device 300 is provided with a bearing position 301, and a moisture sensor is arranged on the surface of the bearing position 301. The bearing position 301 is used to receive the sand and gravel aggregate. The sand and gravel aggregate placed on the bearing position 301 can contact the moisture sensor, and the moisture content in the sand and gravel aggregate can be obtained through the moisture sensor. Among them, the moisture sensor is also a mature technical solution. For example, the moisture sensor described in the publication number CN105651832A can be adopted, or other types of contact moisture sensors. Preferably, the detection device 300 can send the moisture content data of the sand and gravel aggregate to the control center in the form of Bluetooth (BLE) or wireless local area network (WiFi) for adjusting the concrete mix ratio.

[0038] The material taking device 400 is arranged on the frame 100. The material taking device 400 is used to obtain the material outside the frame 100 and transfer it to the bearing position 301.

[0039] After the vehicle frame 100 is driven by the driving assembly 200 to the sampling point, the sample acquisition needs to be completed by the material taking device 400. The material taking device 400 can be a clamping jaw, a grab bucket, or other structures capable of handling bulk solids.

[0040] It can be understood that the vehicle frame 100 is provided with a camera assembly 110. Adding the camera assembly 110 can capture the environmental images around the vehicle frame 100, which can be used to remotely control the movement of the vehicle frame 100. At the same time, the camera assembly 110 can also include a lidar or a laser TOF camera module, which is used to capture the structure diagram of the sand and gravel aggregate pile, and can generate a 3D scan model. Combining the image information obtained by the camera assembly 110, the morphology of the sand and gravel aggregate can be restored for analysis.

[0041] Refer to Figure 2 As shown, it can be understood that in some embodiments, the material taking device 400 includes a multi-axis robotic arm assembly 410 and a material shovel 420. One end of the multi-axis robotic arm assembly 410 is arranged on the vehicle frame 100, and the other end is provided with the material shovel 420. The multi-axis robotic arm assembly 410 is used to drive the material shovel 420 to move in space, and the moving range of the material shovel 420 covers the loading position 301.

[0042] Under the control of the multi-axis robotic arm assembly 410, the material shovel 420 can move flexibly in space. The purpose is to control the material shovel 420 to shovel an appropriate amount of sand and gravel aggregate in the sand and gravel aggregate pile and transfer it to the loading position 301.

[0043] Furthermore, it can be understood that the material taking device 400 includes two groups of multi-axis robotic arm assemblies 410 and two groups of material shovels 420, and the two groups of multi-axis robotic arm assemblies 410 are symmetrically arranged with the loading position 301 as the center.

[0044] The two groups of material shovels 420 are respectively controlled by different multi-axis robotic arm assemblies 410. Therefore, the two groups of material shovels 420 can perform the operation of shoveling sand and gravel aggregate without interfering with each other, improving the sampling efficiency.

[0045] Of course, the two groups of material shovels 420 can also cooperate. When the material shovels 420 cooperate, a first rotation drive mechanism 120 needs to be arranged on the vehicle frame 100.

[0046] Specifically, it can be understood that the vehicle frame 100 is provided with a first rotation drive mechanism 120, and the two multi-axis robotic arm assemblies 410 are both arranged on the first rotation drive mechanism 120. The first rotation drive mechanism 120 is used to drive the multi-axis robotic arm assemblies 410 to rotate in the horizontal plane, and the two multi-axis robotic arm assemblies 410 can respectively drive the two material shovels 420 to move closer to fit together to form a bucket.

[0047] The first rotation driving mechanism 120 is used to drive two sets of multi-axis robotic arm assemblies 410 to rotate simultaneously, that is, the two sets of multi-axis robotic arm assemblies 410 remain relatively stationary to each other, but can rotate on the horizontal plane relative to the vehicle frame 100. The purpose of the first rotation driving mechanism 120 driving the multi-axis robotic arm assembly 410 to rotate is to stagger the positional relationship between the multi-axis robotic arm assembly 410 and the detection device 300. For example, when the multi-axis robotic arm assemblies 410 are all on the same side of the detection device 300, the multi-axis robotic arm assemblies 410 can control the material shovel 420 to move closer, assemble the bucket, and scoop up more sand and gravel aggregates in the bucket at one time. Then, the first rotation driving mechanism 120 controls the bucket to move above the loading position 301 of the detection device 300 and places the sand and gravel aggregates in the loading position 301.

[0048] It can be understood that the first rotation driving mechanism 120 can adopt the method of a motor with a reduction mechanism to achieve rotation driving, so as to drive the multi-axis robotic arm assembly 410 to rotate in the horizontal plane.

[0049] It can be understood that the detection device 300 includes a hopper 310. The hopper 310 is suspended outside the vehicle frame 100. A closable baffle is provided at the outlet of the hopper 310, and a moisture sensor is provided on the inner wall of the hopper 310.

[0050] In one embodiment, the detection device 300 uses the hopper 310 as the container for receiving materials, and the loading position 301 is inside the hopper 310. The moisture sensor is arranged on the inner wall of the hopper 310. When a certain amount of sand and gravel aggregates are loaded in the hopper 310, the sand and gravel aggregates will surely contact the moisture sensor on the inner wall, and the moisture sensor can obtain the moisture content in the sand and gravel aggregates. After the moisture content of the sand and gravel aggregates is detected, the baffle at the outlet of the hopper 310 is opened to discharge the sand and gravel aggregates in the hopper 310, facilitating the next sampling of sand and gravel aggregates.

[0051] Refer to Figure 3 As shown, it can be understood that the detection device 300 includes a loading plate 320. The loading plate 320 is arranged on the vehicle frame 100, and the plate surface of the loading plate 320 is parallel to the horizontal plane. The moisture sensor is arranged on the plate surface of the loading plate 320.

[0052] In another embodiment, the loading plate 320 is directly used as the tool for receiving materials, and the loading position 301 is located on the upper plate surface of the loading plate 320. The moisture sensor is also located on the upper plate surface of the loading plate 320. When the sand and gravel aggregates are stacked on the plate surface of the loading plate 320, they can contact the moisture sensor, and the moisture sensor can obtain the moisture content in the sand and gravel aggregates.

[0053] It can be understood that when the detection device 300 adopts the structure of the loading plate 320, in order to facilitate the removal of the sand and gravel aggregate on the loading plate 320, the detection device 300 further includes a second rotation driving mechanism 330. The second rotation driving mechanism 330 is arranged on the vehicle frame 100. The loading plate 320 is in transmission connection with the second rotation driving mechanism 330, and the loading plate 320 is suspended outside the vehicle frame 100. The second rotation driving mechanism 330 is used to drive the loading plate 320 to turn over so that the plate surface of the loading plate 320 is parallel or perpendicular to the horizontal plane.

[0054] Before detecting the moisture content of the sand and gravel aggregate, the second rotation driving mechanism 330 drives the loading plate 320 to be in a horizontal position, and the sand and gravel aggregate can be stacked on the plate surface of the loading plate 320. After the moisture content of the sand and gravel aggregate is detected, it is necessary to remove the sand and gravel aggregate on the loading plate 320 to facilitate the next sampling. At this time, the second rotation driving mechanism 330 works to drive the loading plate 320 to turn over, rotating from the horizontal position to the position where the plate surface of the loading plate 320 is perpendicular to the horizontal plane, and the sand and gravel aggregate on the loading plate 320 can be dumped to the original position.

[0055] In some embodiments, when the automatic sampling and detection robot is used for the first time to detect the moisture content of the sand and gravel aggregate, it is necessary for the human to synchronously detect the moisture content of the sand and gravel aggregate with the robot. For example, if the moisture content result detected by the human is X and the moisture content result detected by the robot is Y, the deviation value k = X / Y can be calculated, and the k value can be used to correct the moisture content detected by the robot, that is, the actual moisture content is Z = k * Y. It should be understood that the k value can be calibrated regularly, and during calibration, the human detection and the robot detection are also carried out synchronously.

[0056] It can be understood that the vehicle frame 100 is also provided with a storage frame 130, and the storage frame 130 is located within the transfer stroke of the material taking device 400.

[0057] When the detection device 300 obtains that the moisture content of the sand and gravel aggregate exceeds the set threshold or is abnormally high, an additional sampling can be carried out through the material taking device 400, and the sand and gravel aggregate is placed in the storage frame 130. Then, the driving assembly 200 controls the vehicle frame 100 to move to the detection room, and the quality inspector takes out the sand and gravel aggregate from the storage frame 130 for manual detection and verification.

[0058] The above has described the embodiments of the present invention in detail with reference to the drawings, but the present invention is not limited to the above embodiments. Within the knowledge scope of those of ordinary skill in the art to which the present invention pertains, various changes can also be made without departing from the gist of the present invention.

Claims

1. An automatic sampling and detection robot, characterized in that, Comprising: A frame (100), the frame (100) having a controllable drive assembly (200) for driving the displacement of the frame (100); A detection device (300), the detection device (300) being provided on the frame (100), the detection device (300) having a bearing position (301), and a moisture sensor being provided on the surface of the bearing position (301); A material taking device (400), the material taking device (400) being provided on the frame (100), the material taking device (400) being used for acquiring materials outside the frame (100) and transferring them to the bearing position (301).

2. The automatic sampling and detection robot according to claim 1, characterized in that The drive assembly (200) includes a first power mechanism (210) and at least three wheel mechanisms (220), and a plurality of the wheel mechanisms (220) are all provided at the bottom of the frame (100), and the first power mechanism (210) is in transmission connection with the wheel mechanisms (220).

3. The automatic sampling and detection robot according to claim 2, characterized in that, The frame (100) is provided with a camera assembly (110).

4. The automatic sampling and detection robot according to claim 1, characterized in that, The material taking device (400) includes a multi-axis robotic arm assembly (410) and a material shovel (420), one end of the multi-axis robotic arm assembly (410) is provided on the frame (100), and the other end is provided with the material shovel (420), the multi-axis robotic arm assembly (410) is used for driving the material shovel (420) to move in space, and the movement range of the material shovel (420) covers the bearing position (301).

5. The automatic sampling and detection robot according to claim 4, characterized in that, The material taking device (400) includes two groups of the multi-axis robotic arm assemblies (410) and two groups of the material shovels (420), and the two groups of the multi-axis robotic arm assemblies (410) are symmetrically arranged with the bearing position (301) as the center.

6. The automatic sampling and detection robot according to claim 5, wherein, The frame (100) is provided with a first rotation drive mechanism (120), and the two multi-axis robotic arm assemblies (410) are both provided on the first rotation drive mechanism (120), the first rotation drive mechanism (120) is used for driving the multi-axis robotic arm assemblies (410) to rotate in a horizontal plane, and the two multi-axis robotic arm assemblies (410) can respectively drive the two material shovels (420) to move closer to each other to form a bucket by splicing.

7. The automatic sampling and detection robot according to claim 1, characterized in that, The detection device (300) includes a hopper (310), the hopper (310) being suspended outside the frame (100), the outlet of the hopper (310) being provided with a closable baffle, and the inner wall of the hopper (310) being provided with the moisture sensor.

8. The automatic sampling and detection robot according to claim 1, wherein The detection device (300) includes a loading plate (320), the loading plate (320) being provided on the frame (100), and the plate surface of the loading plate (320) being parallel to the horizontal plane, and the moisture sensor being provided on the plate surface of the loading plate (320).

9. The automatic sampling and detection robot according to claim 8, characterized in that, The detection device (300) further includes a second rotary driving mechanism (330). The second rotary driving mechanism (330) is disposed on the vehicle frame (100). The material loading plate (320) is in transmission connection with the second rotary driving mechanism (330), and the material loading plate (320) is suspended outside the vehicle frame (100). The second rotary driving mechanism (330) is configured to drive the material loading plate (320) to flip so that the plate surface of the material loading plate (320) is parallel or perpendicular to the horizontal plane.

10. The automatic sampling and detection robot according to claim 1, characterized in that, The vehicle frame (100) is further provided with a material storage frame (130), and the material storage frame (130) is located within the transfer stroke of the material taking device (400).

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