Sampling rake suitable for automatic sampling system of milk tank truck

Abstract

The utility model discloses a sampling rake suitable for an automatic sampling system of a milk tank truck, which comprises a fishing rod vertically arranged in the axial direction, and a plurality of quantitative sampling cylinders symmetrically arranged relative to the center of the fishing rod are fixedly arranged at the bottom of the fishing rod. A heavy hammer plugging head is arranged at the bottom end of the quantitative sampling barrel, and the heavy hammer plugging head is connected with the quantitative sampling barrel in a matched manner through a big-end-up conical surface matched connection structure; the fishing rod is of a hollow pipe structure, a stirring pipe is arranged in the hollow pipe structure, the bottom end of the stirring pipe extends out of the fishing rod, and the top end of the stirring pipe is connected with a pressure air source through a control valve. The sampling rake suitable for the automatic sampling system of the milk tank truck can improve the accuracy of raw milk detection on the premise of realizing rapid and automatic sampling, can greatly reduce the risk of external pollution caused by long exposure time of raw milk, and is particularly suitable for the automatic sampling system of the milk tank truck.

Description

Technical Field

[0001] The utility model relates to a sampling rake for sampling, in particular to a sampling rake suitable for an automatic sampling system of a milk tanker, and belongs to the technical field of raw milk detection. Background Art

[0002] After milk stations purchase raw milk, it's typically shipped to dairy processing companies via tanker trucks. To ensure the quality of subsequent milk and dairy products, these companies must rigorously inspect the raw milk in the tankers. This inspection typically includes sensory, physical, chemical, and microbiological tests. Samples are typically collected by opening the sealed lid (9) on the top of the tanker truck and then sent to a biochemical laboratory for testing. To ensure accuracy, sealed bottles containing raw milk samples must be delivered to the laboratory quickly to minimize environmental impact.

[0003] like Figure 8As shown, the roof sealing cover 9 on top of the raw milk tanker is typically a double-layered sealing cover structure comprising an inner cover and an outer cover connected in an upper and lower manner. To facilitate quick opening and closing, the double-layered sealing cover structure generally employs an outer cover hingedly mounted on the top of the raw milk tanker via a hinged shaft arranged horizontally in the axial direction. The outer cover is compacted and sealed by a plum blossom locking nut 91 and a hinged locking bolt 92 hingedly mounted on the top of the raw milk tanker, which is reversible and snaps into the outer cover's locking snap in the radial direction. The outer cover is also provided with a pull rod 93 for facilitating the pulling of the outer cover to rotate it open about the hinged shaft. Traditionally, the raw milk sampling and sample delivery process is typically performed manually. Specifically, a sampling operator climbs to the top of the raw milk tanker, manually opens the roof sealing cover 9, and then uses a sampling rake to sample the raw milk into a raw milk sample bottle. The raw milk sample bottle is then handed over to the sample delivery operator for delivery, and the roof sealing cover 9 is then resealed. In the prior art, there is a sampling system for automatically sampling milk tankers, which can automatically sample and fill the milk tanker by controlling a robot to open the roof sealing cover 9 and then grabbing a sampling rake through a mechanical arm. A quantitative sampling cylinder is usually provided on the sampling rake of the automatic sampling system of the milk tanker. Since the shallow raw milk comes into contact with the outside air during sampling, it is more likely to be contaminated by the outside world. Therefore, the detection indicators of the raw milk sample obtained by sampling the shallow raw milk may be different from those of the deep raw milk. Therefore, in order to achieve sampling accuracy, additional stirring rods and salvage rakes are usually required. When sampling, the robotic arm is usually controlled to grab the salvage rake to salvage the raw milk fat on the surface of the raw milk in the tank, and the conformity of the raw milk fat image is verified by image acquisition. Then, the robotic arm is controlled to replace the salvage rake with the stirring rod, and then the stirring rod is controlled to be immersed below the raw milk liquid surface to set the sampling depth for stirring to ensure the uniformity of the raw milk sample. Finally, the robotic arm is controlled to replace the stirring rod with the sampling rake, and then the sampling rake is controlled to be immersed below the raw milk liquid surface to set the sampling depth for sampling. This method of sampling by replacing different tools is not only complex to control, but also has a long sampling cycle, and there is a risk of external contamination of the raw milk due to long exposure time. Summary of the Invention

[0004] In response to the problems existing in the above-mentioned prior art, the utility model provides a sampling rake suitable for the automatic sampling system of a milk tanker, which can improve the accuracy of raw milk detection while achieving rapid automatic sampling, and can greatly reduce the risk of external contamination of raw milk due to long exposure time. It is particularly suitable for the automatic sampling system of a milk tanker.

[0005] In order to achieve the above-mentioned purpose, the sampling rake suitable for the automatic sampling system of the milk tanker comprises a salvage rod arranged vertically in the axial direction, and a plurality of quantitative sampling tubes symmetrically arranged relative to the center of the salvage rod are fixedly provided at the bottom of the salvage rod;

[0006] A heavy hammer sealing head is provided at the bottom of the quantitative sampling barrel, and the heavy hammer sealing head is connected to the quantitative sampling barrel through a cone surface matching connection structure with a larger upper portion and a smaller lower portion;

[0007] The fishing rod is a hollow tube structure with a stirring tube inside. The bottom end of the stirring tube extends to the outside of the fishing rod, and the top end of the stirring tube is connected to the pressure gas source through a control valve.

[0008] As a further improvement scheme of the present invention, a sampling rake quick-change joint is fixedly provided at the top of the salvage rod, and a sampling rake quick-change connection structure that cooperates with the sampling rake quick-change joint is provided on the end arm of the sampling mechanical arm of the automatic sampling system of the milk tanker. The sampling rake quick-change connection structure and the sampling rake quick-change joint are provided with a matching air path docking structure, and the top end of the stirring tube is sealed with the air path joint on the sampling rake quick-change joint.

[0009] As a further improvement of the present invention, a temperature sensor is provided on the salvage rod, the wire of the temperature sensor is arranged in the hollow tube structure of the salvage rod, and the top of the wire of the temperature sensor is electrically connected to the central controller of the automatic sampling system of the milk tanker.

[0010] As a further improvement of the present invention, a sampling rake quick-change joint is fixedly provided at the top of the salvage rod, and a sampling rake quick-change connection structure that cooperates with the sampling rake quick-change joint is provided on the end arm of the sampling mechanical arm of the automatic sampling system of the milk tanker. The sampling rake quick-change connection structure and the sampling rake quick-change joint are provided with a matching contact docking structure, and the top end of the wire of the temperature sensor is electrically connected to the contact on the sampling rake quick-change joint.

[0011] As a further improvement of the present invention, a positioning shaft section is provided on the fishing rod.

[0012] As a further improvement of the present invention, a salvage net is fixedly provided at the bottom end of the salvage rod.

[0013] Compared with the prior art, when the sampling rake suitable for the automatic sampling system of the milk tanker is set on the automatic sampling system of the milk tanker and is used, the sampling robot arm can connect with the sampling rake quick-change joint of the sampling rake through the sampling rake quick-change connection structure to achieve a stable grasp of the sampling rake, and by controlling the coordinate movement of the sampling robot arm, the raw milk fat on the surface of the raw milk in the tank is first salvaged by using the salvage net, and the raw milk fat on the salvage net is imaged by the pattern recognition sensor, and then the collected raw milk surface image and raw milk fat image are compared with the built-in standard raw milk surface image and raw milk fat image for consistency, the temperature sensor on the sampling rake can automatically measure the raw milk temperature during salvage, and upload the measurement result, and verify the compliance by comparing it with the set raw milk detection temperature range, and then Then, by controlling the coordinate movement of the sampling robot arm, the sampling rake is vertically moved down to the set sampling depth where the quantitative sampling cylinder is immersed in the raw milk liquid surface, and at the same time, the pressure nitrogen is controlled to gush out through the bottom of the stirring tube to stir the raw milk. At the same time, the raw milk enters the quantitative sampling cylinder, the heavy hammer sealing head seals the bottom of the quantitative sampling cylinder under the action of its own gravity, realizing automatic sampling. It can complete the surface raw milk fat salvage, automatic measurement of raw milk temperature, automatic stirring and automatic raw milk sampling in one sampling operation without changing tools. It is simple to control and has a short sampling cycle. It can improve the accuracy of raw milk detection under the premise of realizing fast and automatic sampling, and can greatly reduce the risk of external contamination of raw milk due to long exposure time. It is particularly suitable for automatic sampling systems of milk tankers. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 It is a three-dimensional structural diagram when automatic sampling is performed using the automatic sampling system of a milk tanker;

[0015] Figure 2 This is a three-dimensional structural diagram of the gantry robot of the automatic sampling system of the milk tanker;

[0016] Figure 3 This is a three-dimensional structural diagram of the opening and closing mechanical arm of the roof sealing cover of the automatic sampling system of the milk tanker;

[0017] Figure 4 This is a three-dimensional structural diagram of the sampling robot arm of the automatic sampling system of the milk tanker;

[0018] Figure 5 It is a three-dimensional structural schematic diagram of the utility model;

[0019] Figure 6 It is a three-dimensional structural diagram of the filling and cleaning components of the automatic sampling system of the milk tanker;

[0020] Figure 7 This is a three-dimensional structural diagram of the bottle transfer robot arm and capping buffer cabinet of the automatic sampling system of the milk tanker;

[0021] Figure 8It is a schematic diagram of the three-dimensional structure of the roof sealing cover of the milk tanker.

[0022] In the figure: 1, gantry robot, 11, outrigger, 12, horizontal top beam, 13, longitudinal top beam, 131, longitudinal guide structure, 14, movable crossbeam driving component, 15, movable crossbeam, 151, transverse guide structure, 16, movable seat I, 17, movable seat I driving component, 18, movable seat II driving component, 19, movable seat II;

[0023] 2. Roof sealing cover opening and closing robot arm, 21. Mounting seat I, 22. Rotary quick-change chuck, 23. Grasping and stacking robot arm I, 24. Mounting plate, 25. Pattern recognition sensor, 26. Cover opening hook;

[0024] 3. Sampling robot arm, 31. Fixed seat, 32. Fixed guide rail, 33. Drive head, 34. Primary transmission belt, 35. Secondary connecting seat, 36. Secondary guide rail, 37. Secondary transmission belt, 38. Third-level connecting seat, 39. Sampling rake quick-change connection structure;

[0025] 4. Sampling rake, 41. Sampling rake quick-change connector, 42. Salvage rod, 43. Quantitative sampling tube, 44. Heavy hammer plugging head, 45. Temperature sensor, 46. Salvage net;

[0026] 5. Filling and cleaning components, 51. Liquid distribution box, 52. Flushing box, 521. Flushing cover, 522. Hanging rack, 523. Spray rack, 53. Filling box, 531. Filling cover, 532. Filling spray head, 533. Filler, 534. Sample bottle holder, 535. Sample bottle holder drive mechanism;

[0027] 6. Bottle transfer robot; 7. Capping buffer cabinet; 8. Electric control cabinet;

[0028] 9. Roof sealing cover, 91. Plum blossom locking nut, 92. Articulated locking bolt, 93. Pull rod. DETAILED DESCRIPTION

[0029] The following takes the example of setting the sampling rake suitable for the automatic sampling system of a milk tanker on the automatic sampling system of the milk tanker as an example, and further explains it with reference to the drawings (the following description is based on the running direction of the milk tanker as the front-to-back direction, the front-to-back direction corresponds to the longitudinal direction, the left-to-right direction corresponds to the transverse direction, the front-to-back direction is the X-coordinate direction, the left-to-right direction is the Y-coordinate direction, and the vertical up-down direction is the Z-coordinate direction).

[0030] The automatic sampling system of the milk tanker includes a gantry robot 1, a sampling part, a sampling bottle buffer part and a centralized electronic control part.

[0031] like Figure 2As shown, the gantry robot 1 includes at least four centrosymmetrically arranged legs 11 and two transverse top beams 12 and two longitudinal top beams 13 fixedly mounted on the top of the legs 11 and forming a rectangular frame structure. A movable crossbeam 15 is provided between the two longitudinal top beams 13, and the movable crossbeam 15 is arranged parallel to the transverse top beam 12. The movable crossbeam 15 is installed on the longitudinal top beam 13 through a movable crossbeam guide drive mechanism arranged along the front-back direction. The movable crossbeam guide drive mechanism includes a movable crossbeam drive component 14 and a crossbeam drive component 15 provided between the movable crossbeam 15 and the longitudinal top beam 13. The longitudinal guide structure 131 between the longitudinal top beam 13 and the movable crossbeam driving component 14 can be a rotary drive structure such as an electric motor or a hydraulic motor, or a linear reciprocating drive structure such as a hydraulic cylinder or an electric cylinder. The longitudinal guide structure 131 can be a gear rack type guide transmission structure provided in conjunction with the longitudinal guide structure 131, or a guide wheel guide rail type guide transmission structure provided in conjunction with the longitudinal guide structure 131. By controlling the action of the movable crossbeam driving component 14, the movable crossbeam 15 can be controlled to move horizontally on the longitudinal top beam 13 in the front and rear directions. A movable seat Ⅰ 16 and a movable seat Ⅱ 19 are respectively provided, and the movable seat Ⅰ 16 and the movable seat Ⅱ 19 are respectively installed on the movable beam 15 through a transverse guide drive mechanism Ⅰ and a transverse guide drive mechanism Ⅱ arranged along the left and right directions. The transverse guide drive mechanism Ⅰ includes a movable seat Ⅰ drive component 17, and the transverse guide drive mechanism Ⅱ includes a movable seat Ⅱ drive component 18. Like the movable beam drive component 14, the movable seat Ⅰ drive component 17 and the movable seat Ⅱ drive component 18 can be a rotary drive structure such as an electric motor or a hydraulic motor, or a linear reciprocating drive structure such as a hydraulic cylinder or an electric cylinder. The transverse guide drive mechanism Ⅰ and the transverse guide drive mechanism Ⅱ both include a transverse guide structure 151. Like the longitudinal guide structure 131, the transverse guide structure 151 can be a gear rack type guide transmission structure arranged in conjunction with it, or other guide transmission structures such as a guide wheel guide rail type guide transmission structure arranged in conjunction with it. By respectively controlling the actions of the movable seat Ⅰ drive component 17 and the movable seat Ⅱ drive component 18, it is possible to respectively control the movable seat Ⅰ 16 and the movable seat Ⅱ 19 to move horizontally on the movable beam 15 in the left and right directions.

[0032] The sampling part includes a roof sealing cover opening and closing mechanical arm 2, a sampling mechanical arm 3, a sampling rake 4 and a filling and cleaning component 5;

[0033] like Figure 3As shown, the roof sealing cover opening and closing robot arm 2 includes a mounting seat Ⅰ21, a rotating quick-change chuck 22 and a grabbing and stacking robot arm Ⅰ23. The mounting seat Ⅰ21 is fixedly mounted on the movable seat Ⅰ16 or the movable seat Ⅱ19. The rotating quick-change chuck 22 is mounted on the quick-change chuck support frame, and the quick-change chuck support frame is positioned and mounted on the movable crossbeam 15 or the mounting seat Ⅰ21. The rotating quick-change chuck 22 at least includes a C coordinate drive assembly that can rotate around the Z coordinate axis in the vertical up and down direction. The top of the rotating quick-change chuck 22 is provided with a chuck quick-change joint, and the bottom of the rotating quick-change chuck 22 is provided with a plurality of chucks evenly distributed in the circumferential direction. The clamping claws are set, and the clamping claws are installed on the rotating quick-change chuck 22 by a claw telescopic control component that is telescopically arranged along the radial direction of the rotating quick-change chuck 22. The claw telescopic control component can be a telescopic cylinder for linear motion or a driving motor for rotary motion. By controlling the action of the claw telescopic control component, the clamping state of multiple clamping claws being synchronously retracted or the non-clamping state being synchronously extended can be achieved. The grabbing and stacking robot arm Ⅰ23 fixedly mounted on the mounting seat Ⅰ21 includes at least a Z coordinate drive assembly that moves in the vertical up and down direction. The grabbing and stacking robot arm Ⅰ23 can be used as follows Figure 3 The joint robotic arm structure shown may also adopt other robotic arm structures such as a truss robotic arm structure. The end arm of the grabbing and stacking robotic arm I 23 is provided with a chuck quick-change connection structure that cooperates with the chuck quick-change joint at the top of the rotating quick-change chuck 22. The end arm of the grabbing and stacking robotic arm I 23 is also fixed with a pattern recognition sensor 25 and a cover opening hook 26 installed through a mounting plate 24, and the bottom end of the cover opening hook 26 extending vertically downward is provided with a hook-shaped structure. The pattern recognition sensor 25 can be a visual camera or a video probe. A matching contact docking structure is provided between the chuck quick-change joint at the top of the rotating quick-change chuck 22 and the chuck quick-change connection structure on the grabbing and stacking robotic arm I 23. When the chuck quick-change connection structure on the grabbing and stacking robotic arm I 23 is docked with the chuck quick-change joint at the top of the rotating quick-change chuck 22, power can be supplied to the C-coordinate drive assembly and the claw extension and retraction control component of the rotating quick-change chuck 22.

[0034] like Figure 4 As shown, the sampling robot 3 includes a mounting seat II 31 and a grabbing and stacking robot II. The mounting seat II 31 is fixedly mounted on the movable seat II 19 or the movable seat I 16. The grabbing and stacking robot II mounted on the mounting seat II 31 includes at least a Z coordinate drive assembly that moves in the vertical up and down directions. The grabbing and stacking robot II can be used as follows. Figure 4 The conveyor belt lifting structure shown in the figure may also adopt other mechanical arm lifting structures such as telescopic cylinder lifting structure. The end arm of the grabbing and stacking mechanical arm II is provided with a sampling rake quick-change connection structure 39;

[0035] like Figure 5As shown, the sampling rake 4 includes a salvage rod 42 vertically arranged in the axial direction, and a sampling rake quick-change joint 41 is fixedly provided at the top of the salvage rod 42 with the sampling rake quick-change connection structure 39. A positioning shaft section 421 can be provided below the sampling rake quick-change joint 41, and the positioning shaft section 421 is coaxially fixed with the salvage rod 42. The outer diameter of the positioning shaft section 421 can be larger than the outer diameter of the salvage rod 42 or smaller than the outer diameter of the salvage rod 42. In order to facilitate the grabbing and stacking of the robotic arm II to firmly grab the sampling rake 4, the sampling rake quick-change connection structure 39 is fixed. The bottom of the salvage rod 42 is fixed with a plurality of quantitative sampling tubes 43, and the plurality of quantitative sampling tubes 43 are symmetrically arranged relative to the center of the salvage rod 42. The bottom end of the quantitative sampling barrel 43 is provided with a heavy hammer plugging head 44, and the heavy hammer plugging head 44 is connected to the quantitative sampling barrel 43 through a cone-shaped connection structure with a larger upper portion and a smaller lower portion. In order to facilitate real-time testing of the temperature of the raw milk, a temperature sensor 45 can be provided on the salvage rod 42. The salvage rod 42 can be configured as a hollow tube structure that is convenient for arranging wires. The wires of the temperature sensor 45 are connected to the bottom end of the salvage rod 42. The sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are provided with a contact docking structure, and the top of the wire of the temperature sensor 45 is electrically connected to the contact on the sampling rake quick-change joint 41. When the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are docked, the circuit of the temperature sensor 45 is turned on to achieve temperature measurement. In order to achieve sampling accuracy, a stirring tube 422 can be provided inside the hollow tube structure of the salvage rod 42, and the bottom end of the stirring tube 422 extends to the salvage rod 42. Externally, the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are provided with a matching air path docking structure, and the top end of the stirring tube 422 is tightly connected to the air path joint on the sampling rake quick-change joint 41. When the sampling rake quick-change connection structure 39 and the sampling rake quick-change joint 41 are docked, the air path of the stirring tube 422 is opened, thereby allowing pressurized nitrogen to flow through the bottom end of the stirring tube 422 to stir the raw milk. In order to facilitate the salvage of raw milk fat on the surface of the raw milk and foreign matter in the raw milk, a salvage net 46 can also be fixed to the bottom end of the salvage rod 42.

[0036] The filling and cleaning component 5 is arranged on the left or right side of the gantry robot 1. Figure 6As shown, the filling and cleaning assembly 5 includes a liquid distribution box 51, a flushing box 52 and a filling box 53; the liquid distribution box 51 is provided with a liquid distribution pump assembly including a liquid distribution pump and a pump pressure pipeline; the flushing box 52 is a box-shaped structure with an open top, and the flushing box 52 includes a flushing cover 521 and a hanging rack 522 and a flushing spray rack 523 fixedly arranged inside the flushing cover 521. The hanging rack 522 is used to position the sampling rake 4. The hanging rack 522 is provided with a bayonet structure that cooperates with the positioning shaft section 421 of the sampling rake 4. The flushing spray rack 523 includes a plurality of surrounding The spray pipe I on the inner surface of the flushing cover 521 is tightly connected to the pump pressure pipeline of the liquid distribution box 51, and is provided with multiple spray heads I. The bottom of the flushing box 52 is provided with a flushing waste liquid discharge channel I, which can be connected to a waste liquid treatment device. In order to achieve multi-stage flushing, multiple flushing boxes 52 can be provided; the filling box 53 is a semi-enclosed box-type structure with the top and the middle of one side open. The filling box 53 includes a filling cover 531, a filling spray rack 532, a filler 533 and a sample bottle holder 534. The filling spray rack 532 includes a plurality of spray pipes II arranged around the inner surface of the filling cover 531. The spray pipes II are tightly connected to the pump pressure pipeline of the liquid distribution box 51, and a plurality of spray heads II are provided on the spray pipes II. The filler 533 fixedly arranged inside the filling cover 531 includes a plurality of funnel parts corresponding in number and position to the quantitative sampling cylinder 43. The large end of the funnel part corresponds to the bottom end of the quantitative sampling cylinder 43, and a plug opening and closing structure is provided between the large end of the funnel part and the heavy hammer sealing head 44. The plug opening and closing structure can be The rod structure is coaxially arranged at the bottom end of the heavy hammer plugging head 44 and the block structure is positioned on the large end of the funnel component, or the block structure is arranged at the bottom end of the heavy hammer plugging head 44 and the rod structure is positioned on the large end of the funnel component. One side of the filling cover 531 is provided with an opening corresponding to the position of the filler 533 to allow the sample bottle holder 534 to enter and exit. The sample bottle holder 534 is installed on the filling box 53 through the sample bottle holder drive mechanism 535. The sample bottle holder drive mechanism 535 can be as follows: Figure 6 The rotary swing translation control structure shown is controlled by a swing drive motor, or it can be other translation control structures such as a linear reciprocating translation control structure controlled by a linear reciprocating drive structure. By controlling the action of the sample bottle holder drive mechanism 535, the sample bottle holder 534 can be controlled to translate to the inside of the filling box 53 or to the outside of the filling box 53. A sample bottle positioning structure is provided at the position corresponding to the small mouth end of the funnel component on the sample bottle holder 534. The sample bottle positioning structure can be a protruding positioning ring structure, or a concave positioning groove structure, or other structures for positioning the sample bottle. A flushing waste liquid discharge channel II is provided at the bottom of the filling box 53, and the flushing waste liquid discharge channel II can be connected to the waste liquid treatment device.

[0037] The sampling bottle buffer section includes a bottle transfer robot 6 and a capping buffer cabinet 7; the bottle transfer robot 6 is positioned corresponding to the filling box 53 and is used to grab and stack the sample bottles, such as Figure 7 As shown, the bottle transfer robot 6 includes at least an X-coordinate drive assembly for controlling movement in the horizontal front-back direction, a Y-coordinate drive assembly for controlling movement in the horizontal left-right direction, and a Z-coordinate drive assembly for controlling movement in the vertical up-down direction. The bottle transfer robot 6 can be configured as follows: Figure 7 The joint robot arm structure shown in the figure can also adopt other robot arm structures such as the portal truss robot arm structure. The end arm of the bottle transfer robot arm 6 is provided with a grabbing and stacking robot. Figure 7 In the joint robot arm structure shown, the grabbing and stacking robot is installed on the end arm of the bottle transfer robot arm 6 through the A coordinate drive assembly that can rotate around the X coordinate axis and / or the B coordinate drive assembly that can rotate around the Y coordinate axis. The grabbing and stacking robot is provided with a clamping assembly including at least two clamping fingers that can be opened and closed. The clamping fingers are hingedly mounted on the grabbing and stacking robot, and the clamping fingers are transmission-connected to the clamping finger opening and closing control mechanism. The clamping finger opening and closing control mechanism can be a hydraulic control structure controlled by a hydraulic cylinder, a pneumatic control structure controlled by an air cylinder, or an electric control structure controlled by an electric cylinder, or other opening and closing control structures. In order to achieve efficient and stable clamping, the clamping components can be arranged in two groups in parallel. In order to achieve positioning and capturing of image frames and accurate positioning and clamping, a pattern recognition sensor 25 can also be provided on the grabbing and stacking robot. The capping cache cabinet 7 is positioned and arranged corresponding to the bottle transfer robot arm 6, and is used to supply and cache sample bottles, such as Figure 7As shown, the screw capping cache cabinet 7 includes a sample bottle cache part located at the upper layer and a sample bottle screw capping part located at the lower layer, the sample bottle cache part is provided with a plurality of sample bottle positioning structures arranged side by side, the sample bottle positioning structure can be a protruding positioning ring structure, or it can be a concave positioning groove structure or other structures for positioning the sample bottles, and the sample bottles can be positioned and placed through the sample bottle positioning structure, the sample bottle screw capping part includes a plurality of sample bottle opening and closing bottle cap devices arranged side by side, the sample bottle bottle opening and closing bottle cap device includes a horizontally arranged bottle clamping mechanism and a vertically arranged screw capping mechanism, the bottle clamping mechanism corresponds to the bottle clamping position, the bottle clamping mechanism includes a clamping telescopic cylinder arranged in a telescopic direction along the radial direction of the bottle body of the sample bottle, the telescopic end of the clamping telescopic cylinder is provided with a clamping clamp matched with the bottle body size of the sample bottle, the clamping telescopic cylinder can be set as one piece on one side, or can be set as two pieces on both sides, the clamping position of the clamping clamp is the bottle clamping position, and the sample bottle can be positioned and placed through the sample bottle positioning structure The retraction action can realize the clamping clamping head in the closed clamping state or the separated non-clamping state. The capping mechanism includes a capping support frame and a capping robot installed on the capping support frame. The capping robot is arranged corresponding to the clamping center of the clamping clamping head in the closed clamping state, and the capping robot is installed on the capping support frame at least through a Z coordinate driving assembly that can move in the vertical up and down directions and a C coordinate driving assembly that can rotate around the Z coordinate axis. The capping robot is provided with a plurality of clamping claws uniformly distributed in the circumferential direction, and the clamping claws are installed on the capping robot through a claw extension control component that is extended and retracted along the radial direction of the capping robot. The claw extension control component can be a linear motion extension cylinder or a rotational motion drive motor. By controlling the action of the claw extension control component, the clamping state of the plurality of clamping claws being retracted synchronously or the non-clamping state being extended synchronously can be realized. The bottle clamping mechanism and the capping mechanism are existing technologies and will not be described in further detail here.

[0038] The centralized electrical control part includes an electrical control cabinet 8, which includes a central controller and an automatic sampling control circuit. The central controller is electrically connected to the gantry robot 1, the roof sealing cover opening and closing robotic arm 2, the sampling robotic arm 3, the liquid dispensing pump of the filling and cleaning component 5, the sample bottle holder drive mechanism 535 of the filling and cleaning component 5, the bottle moving robotic arm 6 and the sample bottle capping part of the capping cache cabinet 7.

[0039] The central controller of the milk tanker automatic sampling system can be connected to the digital bus of the milk and dairy product processing enterprise to achieve centralized digital management. In the initial state of the milk tanker automatic sampling system, the rotating quick-change chuck 22 is mounted on the quick-change chuck support frame, the sampling rake 4 is mounted on the hanger 522 of the flushing tank 52, the sample bottle holder 534 is located outside the filling tank 53, and the empty sample bottles are placed in the sample bottle buffer on the upper level of the screw capping buffer cabinet 7. The specific workflow of the milk tanker automatic sampling system is as follows:

[0040] After the milk tanker enters the factory, the original milk tanker automatic sampling system can be triggered according to the collection task number in the SAP system, such as Figure 1 As shown, the milk tanker stops at the designated sampling station below the gantry robot 1 according to the specific sampling address;

[0041] After the milk tanker stops at the designated sampling station, the sampling confirmation procedure is carried out. The central processor can automatically take pictures and identify the vehicle license plate through the visual detection probe located in the front or rear of the milk tanker, and compare it with the information in the SAP system to determine the compliance of the transportation time. If an abnormal result occurs, an alarm will be automatically identified. After the alarm state, the inspection personnel can manually choose to stop / continue, or automatically execute stop / continue in different links according to the set program, and the data information is automatically saved and uploaded to the LIMS system; the central controller controls the actions of the movable crossbeam driving component 14 and the movable seat I driving component 17 (or the movable seat II driving component 18) respectively to enable the grabbing and stacking robot arm I 23 to locate the specific coordinate position of the roof sealing cover 9 through the pattern recognition sensor 25, and automatically determine whether the lead seal or lock of the roof sealing cover 9 is normal and the compliance of the vehicle body hygiene. If an abnormal result occurs, an alarm will be automatically identified. After the alarm state, the inspection personnel can choose to stop / continue, or automatically execute stop / continue in different links according to the set program; the data information is automatically saved and uploaded to the LIMS system;

[0042] After the sampling confirmation procedure, the automatic sampling procedure is carried out. The central controller first controls the roof sealing cover opening and closing robot arm 2 to automatically match the Bluetooth lock information and then open the Bluetooth lock of the roof sealing cover 9. Then the central controller controls the grabbing and stacking robot arm Ⅰ23 to dock and grab the rotary quick-change chuck 22 and move the coordinates to the top of the roof sealing cover 9. Then, the clamping claws of the rotary quick-change chuck 22 are controlled to firmly clamp the plum blossom locking nut 91 on the roof sealing cover 9. Then, the C coordinate driving assembly action of the rotary quick-change chuck 22 is controlled to loosen the plum blossom locking nut 91. Then, the hinged locking bolt 92 is pushed by coordinate translation to make it flip along the hinge center to make way for the outer cover locking bayonet of the roof sealing cover 9. Finally, the cover opening hook 26 is used to hook the pull rod 93 of the roof sealing cover 9, and the coordinate movement is used to make the roof sealing cover 9 flip open around its hinge axis, thus completing the opening of the roof sealing cover 9. At the same time, the data information is automatically saved and uploaded to the LIMS system.

[0043] After the central controller acquires an image of the surface of the raw milk in the tank through the pattern recognition sensor 25, the central controller controls the actions of the movable crossbeam driving component 14 and the movable seat II driving component 18 (or the movable seat I driving component 17) respectively to move the grabbing and stacking robot arm II of the sampling robot arm 3 to the position just above the flushing box 52, and docks the sampling rake 4 with the sampling rake quick-change joint 41 of the sampling rake 4 through the sampling rake quick-change connection structure 39 to achieve stable grabbing of the sampling rake 4. Then, the central controller controls the grabbing and stacking robot arm II of the sampling robot arm 3 to move to the position just above the tank mouth of the milk tanker, and controls the vertical up and down coordinate movement of the grabbing and stacking robot arm II to achieve the use of the salvage net 46 to salvage the raw milk fat on the surface of the raw milk in the tank. The pattern recognition sensor 25 collects images of the raw milk fat on the salvage net 46, and then checks the collected raw milk surface image and raw milk fat image with the built-in standard raw milk surface image and raw milk fat image for consistency, and uploads them to the LIMS system. The synchronous images are archived for 48 hours. The temperature sensor 45 on the sampling rake 4 can automatically measure the raw milk temperature during salvage, and upload the result to the LIMS system for comparison with the set raw milk detection temperature range. If there is an abnormality, the process can be terminated and the system will alarm. The data information is automatically saved and uploaded to the LIMS system; at the same time, the sample bottle files pre-entered into the LIMS system (empty sample bottles placed in the sample bottle cache part on the upper layer of the screw cap cache cabinet 7) are automatically identified as empty bottles;

[0044] After all the above steps meet the sampling requirements, on the one hand, the central controller controls the 6-coordinate movement of the bottle moving robot arm to make the grabbing and stacking robot grab the empty sample bottle from the sample bottle buffer part and send the empty sample bottle to the bottle clamping station of the sample bottle capping part. Then the central controller first controls the bottle clamping mechanism of the sample bottle opening and closing device to position the empty sample bottle, and then controls the capping mechanism to make the gripping claw of the capping robot lock the bottle cap of the empty sample bottle and then rotate in the opposite direction and lift it to the set height where the bottle cap is separated from the bottle body, thus completing the empty sample. The central controller first controls the bottle clamping mechanism of the sample bottle opening and closing device to reset, and then controls the coordinate movement of the bottle moving robot arm 6 to make the grabbing and stacking robot arm stack the opened empty sample bottles on the sample bottle holder 534 and wait for the next operation; on the other hand, the central controller controls the coordinate movement of the grabbing and stacking robot arm II to make the sampling rake 4 move vertically downward to the set sampling depth where the quantitative sampling cylinder 43 is immersed below the raw milk liquid surface, and at the same time controls the pressurized nitrogen to gush out through the bottom end of the stirring tube 422 to stir the raw milk, so that the raw milk enters the At the same time as the quantitative sampling cylinder 43 is put into the container, the heavy hammer sealing head 44 seals the bottom end of the quantitative sampling cylinder 43 under the action of its own gravity. Then the central controller first controls the coordinate movement of the grabbing and stacking mechanical arm II to make the sampling rake 4 move vertically upward to leave the tank mouth and then move the coordinate movement to just above the filling box 53. Then the grabbing and stacking mechanical arm II is controlled to move the coordinate movement to make the sampling rake 4 move vertically downward to the set position. After the above processes are completed, the central controller first controls the sample bottle holder driving mechanism 535 to move the sample bottle holder carrying the opened empty sample bottle. The rack 534 moves horizontally to the set position inside the filling box 53. At this time, the opened empty sample bottle is located just below the small end of the funnel component of the filler 533. The central controller then controls the coordinate movement of the grabbing and stacking robot arm II to make the sampling rake 4 continue to move vertically downward to the set position. During the downward movement of the sampling rake 4, the heavy hammer sealing head 44 touches the opening and closing structure of the plug of the filler 533 and becomes relatively stationary. The raw milk sample in the quantitative sampling cylinder 43 flows into the opened empty sample bottle through the funnel component of the filler 533 to complete the filling.

[0045] After the filling process is completed, the central controller controls the sample bottle holder drive mechanism 535 to reset so that the sample bottle holder 534 carrying the sample bottle containing the raw milk sample is moved to the set position outside the filling box 53, and then controls the coordinate movement of the grabbing and stacking robot arm II to make the sampling rake 4 move vertically upward to leave the filling box 53, and then move horizontally to the position just above the flushing box 52, and then move the coordinate to stack the sampling rake 4 on the hanger 522, and then the central controller controls the coordinate movement of the grabbing and stacking robot arm I23 to The roof sealing cover 9 is closed (the closing process of the roof sealing cover 9 is the reverse process of the opening process, which will not be described in detail here); at the same time, the central controller controls the liquid dispensing pump of the liquid dispensing box 51 to start the spray head I in the flushing box 52 and the spray head II in the filling box 53 to spray the flushing liquid (or disinfectant) to flush (or disinfect) the sampling rake 4 in the flushing box 52 and the filler 533 in the filling box 53, and the flushing waste liquid is discharged through the flushing waste liquid discharge channel I and the flushing waste liquid discharge channel II respectively; the roof sealing cover While the sampling rake 4 and the filler 533 are being closed and rinsed (or disinfected), the central controller controls the coordinate movement of the bottle transfer robot 6 so that the grabbing and stacking robot first grabs the sample bottle containing the raw milk sample on the sample bottle holder 534 and then stacks it on the bottle clamping station of the sample bottle capping part. The central controller then controls the bottle clamping mechanism of the sample bottle capping device to position the sample bottle containing the raw milk sample, and then controls the capping mechanism to move the capping robot, which is locking the bottle cap, downward by a set distance and rotate forward, thus completing the capping process of the sample bottle containing the raw milk sample. The central controller then controls the bottle clamping mechanism of the sample bottle capping device to reset, and then controls the coordinate movement of the bottle transfer robot 6 so that the grabbing and stacking robot stacks the closed sample bottle in the set area of ​​the sample bottle buffer part of the capping buffer cabinet 7. The data information is automatically saved and uploaded to the LIMS system, thus completing the entire automatic sampling process. The operator can then deliver the sample bottle containing the raw milk sample to the laboratory.

Claims

1. A sampling rake suitable for an automatic sampling system of a milk tanker, the sampling rake (4) comprising a salvage rod (42) vertically arranged in an axial direction, a plurality of quantitative sampling tubes (43) fixedly provided at the bottom of the salvage rod (42) and symmetrically arranged relative to the center of the salvage rod (42), characterized in that: A weighted hammer plugging head (44) is provided at the bottom end of the quantitative sampling barrel (43), and the weighted hammer plugging head (44) is connected to the quantitative sampling barrel (43) through a conical surface matching connection structure with a larger upper portion and a smaller lower portion; The fishing rod (42) is a hollow tube structure, a stirring tube (422) is provided inside the hollow tube structure, and the bottom end of the stirring tube (422) extends outside the fishing rod (42), and the top end of the stirring tube (422) is connected to the pressure gas source through a control valve.

2. The sampling rake suitable for the automatic sampling system of a milk tanker according to claim 1, characterized in that: A sampling rake quick-change joint (41) is fixedly provided at the top end of the salvage rod (42); a sampling rake quick-change connection structure (39) that cooperates with the sampling rake quick-change joint (41) is provided on the end arm of the sampling mechanical arm (3) of the automatic sampling system of the milk tanker; a gas path docking structure that cooperates with the sampling rake quick-change joint (41) is provided on the sampling rake quick-change connection structure (39) and the sampling rake quick-change joint (41); and the top end of the stirring tube (422) is tightly connected to the gas path joint on the sampling rake quick-change joint (41).

3. The sampling rake suitable for the automatic sampling system of a milk tanker according to claim 1, characterized in that: A temperature sensor (45) is provided on the salvage rod (42), a wire of the temperature sensor (45) is arranged in the hollow tube structure of the salvage rod (42), and the top end of the wire of the temperature sensor (45) is electrically connected to the central controller of the automatic sampling system of the milk tanker.

4. The sampling rake suitable for the automatic sampling system of a milk tanker according to claim 3, characterized in that: A sampling rake quick-change connector (41) is fixedly provided at the top end of the salvage rod (42); a sampling rake quick-change connection structure (39) that cooperates with the sampling rake quick-change connector (41) is provided on the end arm of the sampling mechanical arm (3) of the automatic sampling system of the milk tanker; the sampling rake quick-change connection structure (39) and the sampling rake quick-change connector (41) are provided with a contact docking structure that is arranged in coordination therewith, and the top end of the wire of the temperature sensor (45) is electrically connected to the contact on the sampling rake quick-change connector (41).

5. The sampling rake suitable for the automatic sampling system of a milk tanker according to claim 1, characterized in that: A positioning shaft section (421) is provided on the salvage rod (42).

6. The sampling rake suitable for the automatic sampling system of a milk tanker according to claim 1, characterized in that: A salvage net (46) is fixedly provided at the bottom end of the salvage rod (42).

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