Intelligent coal sampling vehicle

Abstract

The utility model provides an intelligent coal sampling vehicle. The intelligent coal sampling vehicle comprises an upper vehicle assembly, a lower vehicle assembly, a sampling mechanism, a storage mechanism and a control mechanism, the upper vehicle assembly is connected with the lower vehicle assembly through the slewing mechanism to form an integrated vehicle body structure, and the traveling mechanism is arranged on the lower vehicle assembly and used for driving the sampling vehicle to move, so that the sampling vehicle is more stable and flexible; the sampling mechanism is arranged on the loading assembly and is used for collecting a coal sample; the control mechanism comprises a central control module and a scanning unit, the scanning unit performs three-dimensional live-action scanning on a field coal pile, and the central control module automatically generates a sampling scheme and controls the sampling mechanism to sample. The material storage mechanism comprises a first material box and a second material box, a weighing sensor is arranged on the first material box, a coal sample is firstly weighed in the first material box and then transferred to the second material box to be combined and stored, separation of sampling and weighing is achieved, the accuracy and representativeness of subsamples are guaranteed, and the whole sampling process is strictly carried out according to the national standard that sample preparation is carried out after subsample combination.

Description

TECHNICAL FIELD

[0001] The utility model relates to coal sampling technical field especially to an intelligent coal sampling vehicle. BACKGROUND

[0002] Coal quality inspection is a key link of the coal industry chain, and its accuracy and efficiency directly affect coal production, storage and transportation, trade and comprehensive utilization, etc. In particular, in the trade of commercial coal, the quality of coal directly determines the pricing, therefore, the accuracy of coal quality detection is particularly important.

[0003] Coal quality detection mainly includes sampling, sample preparation and chemical testing three links, the purpose of sampling and sample preparation is to obtain a test coal sample that can represent the whole batch of coal, through chemical testing and analysis to determine the main physicochemical properties of coal, further guide production, processing, trade and comprehensive utilization. Among them, the sampling error accounts for as high as 80% in the whole sampling, preparation and chemical process, it can be seen that the quality of coal sampling is important in coal quality analysis and detection, therefore, improving the sampling quality plays a crucial role in improving the accuracy of coal quality analysis results.

[0004] The sampling method of coal mainly includes manual sampling and mechanical sampling. Manual sampling, as the earliest and simplest sampling method, manual sampling is carried out by hand sampling tools in the coal yard or transportation site. Although it is simple to operate and low in cost, it is easily disturbed by human factors, and there is a risk of malpractice, at the same time, the labor intensity of the sampling workers is large, the efficiency is low, and safety accidents are easy to occur.

[0005] Mechanical sampling is to use professional sampling equipment to sample coal piles or coal in transportation, improve sampling efficiency and objectivity of the results. However, the traditional fixed mechanical sampling equipment is limited by the region, and it is difficult to flexibly respond to the sampling needs in different scenes, such as car / train compartments or different forms of coal piles, it is difficult to adapt to the time limit requirements of railway, wharf or freight yard for sampling. In addition, the cost of equipment and infrastructure is high, it is difficult to realize full-face random point distribution, and it is impossible to avoid the influence of external interference on the sampling results.

[0006] Further, in order to realize rapid sampling and preparation on the carriages of cars / trains and bulk platform coal piles, and improve work efficiency, sampling and preparation integrated equipment integrating sampling, crushing, division, and sample collection equipment on a mobile truck has appeared, such as a vehicle-mounted mobile full-automatic coal sampling and preparation machine and a sampling and preparation method thereof disclosed in application No. CN201210522831.6 and a vehicle-mounted mobile full-automatic coal sampling and preparation equipment disclosed in application No. CN201620391723.3, which are both sampling and preparation integrated equipment integrating sampling, crushing, division, and sample collection equipment on a mobile truck. However, the equipment technology is not mature, the sampling and preparation method is adopted, which does not meet the requirement of the national standard that the sample is prepared after the sub-samples are combined, and the equipment reliability is poor, resulting in large sampling and preparation result error and large bias.

[0007] In addition, application No. CN115266193 A discloses a full-intelligent mobile solid mineral sampling vehicle, which automatically collects a stereogram of a mineral coal area, processes and generates a highlighted sampling point stereographic distribution map, regularly and randomly generates a target sampling point, processes a sampling path trajectory through the combination of the target sampling point and the equipment position, and then controls the equipment movement and sampling in real time, thereby realizing automatic identification of the coal area and automatic regular and random stereographic sampling. However, the patent also adopts a mobile truck as a sampling platform, which is large in size and lacks driving flexibility, and has the problems of complex operation and low efficiency.

[0008] Therefore, the utility model is proposed. Utility model content

[0009] The utility model aims at providing an intelligent coal sampling vehicle to solve the technical problem of defects in the design of the sampling vehicle in the prior art, large size of the mobile truck as a platform, poor equipment reliability, and large sampling and preparation result error and large bias.

[0010] To achieve the above object, the utility model provides the following technical scheme.

[0011] The utility model provides a kind of intelligent coal sampling vehicle, including upper car assembly, lower car assembly, sampling mechanism, storage mechanism and control mechanism;The upper car assembly is connected with the lower car assembly by rotating mechanism, and traveling mechanism is provided on the lower car assembly;The sampling mechanism is arranged on the upper car assembly;The storage mechanism is arranged on the lower car assembly, including first material box and second material box, weighing sensor is provided on the first material box, and the discharge port of the first material box is correspondingly arranged with the feed inlet of the second material box;The control mechanism includes central control module and scanning unit, the scanning unit is rotatably arranged on the upper car assembly, and the rotating mechanism, the sampling mechanism, the storage mechanism and the scanning unit are electrically connected with the central control module respectively.

[0012] Preferably, the traveling mechanism includes an engine, a hydraulic pump, a hydraulic motor, a transfer case, a transmission shaft, a front wheel assembly and a rear wheel assembly, the engine is connected with the hydraulic pump, the hydraulic pump is connected with the hydraulic motor, the hydraulic motor is connected with the transmission shaft through the transfer case, and the front axle of the front wheel assembly and the rear axle of the rear wheel assembly are connected with the transmission shaft respectively.

[0013] Preferably, the rotating mechanism includes a rotating motor, a speed reducer and a slewing bearing, the rotating motor and the speed reducer are arranged on the upper car assembly, the slewing bearing is arranged on the lower car assembly, the hydraulic pump is connected with the rotating motor through a control valve, and the rotating motor is connected with the slewing bearing through the speed reducer.

[0014] Preferably, the sampling mechanism includes a lifting arm, a lifting arm cylinder, a movable arm, a telescopic arm, a telescopic cylinder, a swing cylinder, a sliding block, an adjusting cylinder, a sliding frame, a propulsion cylinder, a propulsion belt assembly and a sampling arm, the lifting arm cylinder, the telescopic cylinder, the adjusting cylinder, the swing cylinder and the propulsion cylinder are connected with the hydraulic pump through a control valve respectively.

[0015] The lifting arm cylinder is connected with the lifting arm for driving the lifting arm to swing.

[0016] One end of the lifting arm is connected with the movable arm cylinder, and the other end is connected with the movable arm.

[0017] The movable arm cylinder is connected with the movable arm for driving the movable arm to lift or descend.

[0018] The telescopic arm is connected with the movable arm through the telescopic cylinder, and the telescopic arm is connected with the sliding block through the swing cylinder.

[0019] The slider is connected with the sliding frame through the adjusting oil cylinder; the advancing oil cylinder and the advancing belt assembly are arranged on the sliding frame; the advancing oil cylinder is connected with the sampling arm through the advancing belt assembly, and is used for driving the sampling arm to advance or retreat.

[0020] Preferably, the sampling arm comprises a rotating motor, an opening claw oil cylinder, a drill rod, a push rod and a sampling head, the rotating motor is arranged on the advancing belt assembly and is connected with the drill rod, and is used for driving the drill rod to rotate; the opening claw oil cylinder is arranged in the drill rod and is connected with the sampling head through the push rod, and is used for driving the clamping jaw of the sampling head to open and close; the opening claw oil cylinder is connected with the hydraulic pump through a control valve.

[0021] Preferably, the storage mechanism further comprises a lifting oil cylinder, a connecting rod assembly and a lifting arm, the lifting oil cylinder is arranged on the lower vehicle assembly, is connected with the hydraulic pump through a control valve, and is connected with the lifting arm through the connecting rod assembly, and the first material box and the second material box are arranged on the lifting arm.

[0022] Preferably, the first inlet and the first outlet of the first material box and the second inlet and the second outlet of the second material box are respectively sealed through corresponding material box doors, the material box doors are respectively controlled to open and close through material box oil cylinders, and the material box oil cylinders are connected with the hydraulic pump through a control valve.

[0023] Preferably, a distribution hopper is arranged in the second material box, and uniformly distributed material falling holes are arranged on the distribution hopper.

[0024] Preferably, the scanning unit is connected with the upper vehicle assembly through a universal rotation mechanism.

[0025] The preferred technical scheme of the utility model can at least produce the following technical effects:

[0026] The utility model effectively solves the existing sampling car design defects in the prior art, mostly uses the mobile truck as the platform, the volume is huge, the sampling process national standard requirement, the equipment reliability is poor, leads to the sampling result error, the big technical problem of big bias. The utility model provides an intelligent coal sampling car, including the car assembly, the car assembly, sampling mechanism, storage mechanism and control mechanism, the car assembly is connected with the car assembly through the slewing mechanism, the car assembly is provided with the running mechanism, is used for driving the sampling car movement, the sampling mechanism is arranged on the car assembly, is used for collecting the coal sample, the storage mechanism is arranged on the car assembly, includes the first material box and the second material box, the weighing sensor is set up on the first material box, and the discharge port of first material box and the feed inlet of second material box correspondingly set up, the control mechanism includes central control module and scanning unit, the scanning unit rotatable type is set up on the car assembly, the slewing mechanism, sampling mechanism, storage mechanism and scanning unit are electrically connected with central control module. The utility model through the car assembly, the car assembly, sampling mechanism, storage mechanism and the synergies of control mechanism, form integrated, stable, flexible, efficient sampling car structure, the car assembly is connected with the car assembly through the slewing mechanism, to make the car assembly can be relative to the 360 ° rotating action of the car assembly, the car assembly is provided with the running mechanism, to drive the sampling car movement, compared with the heavy truck in the prior art, more stable and flexible. When the sampling car reaches the scene, the scanning unit carries out three-dimensional real scene scanning to the coal heap, the central control module generates sampling scheme based on three-dimensional scanning data automatically, and controls the sampling mechanism to execute sampling action, and the collected coal sample is sent into the first material box first and is accurately weighed, and then the coal sample after weighing is transferred to the second material box and is stored, realizes the separation of sampling and weighing, guarantees the accuracy and representation of the sample, the whole sampling process is carried out according to the requirement of national standard " sample after merging sample preparation", avoids the error and bias caused by sampling and sampling, improves sampling efficiency and quality. BRIEF DESCRIPTION OF DRAWINGS

[0027] In order to more clearly illustrate the technical scheme in the embodiments of the utility model or prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description, obviously, the drawings in the following description only some embodiments of the utility model, for those skilled in the art, under the premise of not paying creative labor, can also obtain other drawings according to these drawings.

[0028] Figure 1 It is the structure schematic diagram of the intelligent coal sampling car provided by the utility model;

[0029] Figure 2 It is the structure schematic diagram of the car assembly and the car assembly of the intelligent coal sampling car provided by the utility model in the exploded state;

[0030] Figure 3 is a structure schematic view of a running mechanism of a lower vehicle assembly of the intelligent coal sampling vehicle provided by the utility model;

[0031] Figure 4 is a structure schematic view of a sampling mechanism of the intelligent coal sampling vehicle provided by the utility model;

[0032] Figure 5 is a structure schematic view of a pushing oil cylinder and a pushing belt assembly of the sampling mechanism of the intelligent coal sampling vehicle provided by the utility model;

[0033] Figure 6 is a structure schematic view of a storage mechanism of the intelligent coal sampling vehicle provided by the utility model;

[0034] Figure 7 is a structure schematic view of a first material box of the storage mechanism of the intelligent coal sampling vehicle provided by the utility model;

[0035] Figure 8 is a structure schematic view of a second material box of the storage mechanism of the intelligent coal sampling vehicle provided by the utility model;

[0036] Figure 9 is a flow chart of a sampling method of the intelligent coal sampling vehicle provided by the utility model.

[0037] In the figure:

[0038] 1, upper vehicle assembly; 11, cab; 12, slewing motor; 13, speed reducer;

[0039] 2, lower vehicle assembly; 21, first lower vehicle frame; 22, second lower vehicle frame; 23, front axle; 24, front tire; 25, rear axle; 26, rear tire; 27, slewing bearing; 28, control valve; 29, transfer case; 210, hydraulic motor; 211, transmission shaft; 212, engine; 213, hydraulic pump;

[0040] 3, sampling mechanism; 31, lifting arm; 32, lifting arm oil cylinder; 33, movable arm; 34, movable arm oil cylinder; 35, telescopic arm; 36, swing oil cylinder; 37, sliding block; 38, adjusting oil cylinder; 39, sliding frame; 310, pushing oil cylinder; 311, rotary motor; 312, opening claw oil cylinder; 313, drill rod; 314, pushing rod; 315, sampling head; 316, mounting seat; 317, first pushing belt; 318, second pushing belt; 319, transmission wheel;

[0041] 4. Storage mechanism; 41. First material box; 411. First feeding door; 412. First feeding oil cylinder; 413. First discharging oil cylinder; 414. First discharging door; 42. Second material box; 421. Second feeding door; 422. Second feeding oil cylinder; 423. Second discharging door; 424. Second discharging oil cylinder; 43. Weighing sensor; 44. Lifting oil cylinder; 45. Linkage assembly; 46. Lifting arm; 47. Support; 48. Feeding hopper; 481. Material dropping hole; 5. Scanning unit. Detailed implementation manners

[0042] In order to make the objectives, technical solutions and advantages of the present utility model clearer, the technical solutions of the present utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other implementation manners obtained by those of ordinary skill in the art without creative efforts shall fall within the scope protected by the present utility model.

[0043] As Figures 1-8 shown, the present utility model provides an intelligent coal sampling vehicle, which includes an upper vehicle assembly 1, a lower vehicle assembly 2, a sampling mechanism 3, a storage mechanism 4 and a control mechanism. The upper vehicle assembly 1 is connected to the lower vehicle assembly 2 through a slewing mechanism. A traveling mechanism is provided on the lower vehicle assembly 2 for driving the sampling vehicle to move. The sampling mechanism 3 is provided on the upper vehicle assembly 1 for collecting coal samples. The storage mechanism 4 is provided on the lower vehicle assembly 2 and includes a first material box 41 and a second material box 42. A weighing sensor 43 is provided on the first material box 41, and the discharging port of the first material box 41 is correspondingly arranged with the feeding port of the second material box 42. The control mechanism includes a central control module and a scanning unit 5. The scanning unit 5 is rotatably provided on the upper vehicle assembly 1. The slewing mechanism, the sampling mechanism 3, the storage mechanism 4 and the scanning unit 5 are respectively electrically connected to the central control module. The central control module can control the slewing mechanism, the sampling mechanism 3, the storage mechanism 4 and the scanning unit 5 to perform corresponding actions.

[0044] Through the cooperation of the upper boarding assembly 1, the lower boarding assembly 2, the sampling mechanism 3, the storage mechanism 4 and the control mechanism, an integrated, stable, flexible and efficient sampling vehicle structure is formed. The upper boarding assembly 1 is connected with the lower boarding assembly 2 through the rotating mechanism, so that the upper boarding assembly 1 can rotate 360° relative to the lower boarding assembly 2. The lower boarding assembly 2 is provided with a running mechanism to drive the sampling vehicle to move. Compared with the heavy load vehicle in the prior art, the sampling vehicle is more stable and flexible. After the sampling vehicle reaches the scene, the scanning unit 5 performs three-dimensional real scene scanning on the coal pile, and the central control module automatically generates a sampling scheme based on the three-dimensional scanning data, controls the sampling mechanism 3 to perform a sampling action, and sends the collected coal sample to the first hopper 41 for accurate weighing, and then the weighed coal sample is transferred to the second hopper 42 for storage, realizing the separation of sampling and weighing, ensuring the accuracy and representativeness of the sample, and the whole sampling process is strictly carried out according to the national standard "sample preparation after sample combination", avoiding errors and biases caused by sampling and sample preparation, and improving the sampling efficiency and quality.

[0045] Further, the central control module is arranged in the cab 11 of the upper boarding assembly 1, so that one person can complete the whole operation process of driving the vehicle and collecting the sample.

[0046] As an optional embodiment, as shown in Figure 1 、 Figure 2 、 Figure 3 , the running mechanism comprises an engine 212, a hydraulic pump 213, a hydraulic motor 210, a transfer case 29, a transmission shaft 211, a front wheel assembly and a rear wheel assembly. The engine 212 is connected with the hydraulic pump 213, the hydraulic pump 213 is connected with the hydraulic motor 210, the hydraulic motor 210 is connected with the transmission shaft 211 through the transfer case 29, and the front axle 23 of the front wheel assembly and the rear axle 25 of the rear wheel assembly are respectively connected with the transmission shaft 211.

[0047] The engine 212 drives the hydraulic pump 213 to work, high-pressure oil generated by the hydraulic pump 213 enters the hydraulic motor 210, drives the output shaft of the hydraulic motor 210 to generate rotary motion, and after speed reduction of the transfer case 29, power is transmitted to the transmission shaft 211. The transmission shaft 211 transmits power to the front axle 23 and the rear axle 25 respectively, drives the front tire 24 of the front wheel assembly and the rear tire 26 of the rear wheel assembly to rotate, and realizes the running action of the sampling vehicle.

[0048] As an optional embodiment, as shown in Figure 2 、 Figure 3 , the rotating mechanism comprises a rotating motor 12, a speed reducer 13 and a rotating support 27. The rotating motor 12 and the speed reducer 13 are arranged on the upper boarding assembly 1, and the rotating support 27 is arranged on the lower boarding assembly 2. The hydraulic pump 213 is connected with the rotating motor 12 through a control valve 28, and the rotating motor 12 is connected with the rotating support 27 through the speed reducer 13.

[0049] The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 enters the swing motor 12 through the control valve 28. The swing motor 12 rotates and transmits power to the speed reducer 13, and since the pinion of the speed reducer 13 is in close meshing with the gear ring of the swing bearing 27, the gear ring starts to rotate under the drive of the pinion, and in turn drives the upper car assembly 1 to perform a free rotating action in the horizontal plane relative to the lower car assembly 2.

[0050] The flow direction of the high-pressure oil can be changed through the control valve 28, the rotating direction of the swing motor 12 is controlled, and in turn the upper car platform system is driven to rotate left or right relative to the lower car assembly 2.

[0051] Further, the lower car assembly 2 can adopt a split swing structure, including a first lower frame 21 and a first lower frame 21, and the first lower frame 21 is connected with the second lower frame 22 through a swing mechanism, so that the relative rotation between the two can occur. The swing bearing 27 is arranged on the first lower frame 21, that is, the first lower frame 21 is rotationally connected with the upper car assembly 1.

[0052] It should be noted that the traveling mechanism, the swing mechanism and the swing mechanism all adopt the conventional driving structure of the engineering vehicle in the prior art, and will not be described in detail here.

[0053] As an optional embodiment, as shown in Figure 1 、 Figure 4 、 Figure 5 The sampling mechanism 3 includes a boom 31, a boom cylinder 32, an arm 33, a telescopic arm 35, a telescopic cylinder, a swing cylinder 36, a sliding block 37, an adjusting cylinder 38, a sliding frame 39, a propelling cylinder 310, a propelling belt assembly and a sampling arm. The boom cylinder 32, the telescopic cylinder, the adjusting cylinder 38, the swing cylinder 36 and the propelling cylinder 310 are respectively connected with the hydraulic pump 213 through the control valve 28. The boom cylinder 32 is connected with the boom 31, and is used to drive the boom 31 to swing. One end of the boom 31 is connected with the arm cylinder 34, and the other end is connected with the arm 33. The arm cylinder 34 is connected with the arm 33, and is used to drive the arm 33 to lift or lower. The telescopic arm 35 is connected with the arm 33 through the telescopic cylinder, and the telescopic cylinder drives the telescopic arm 35 to telescope, thereby adjusting the extension length of the sampling arm. The telescopic arm 35 is connected with the sliding block 37 through the swing cylinder 36, and is used to adjust the angle of the sampling arm through swing action. The sliding block 37 is connected with the sliding frame 39 through the adjusting cylinder 38, and the adjusting cylinder 38 drives the sliding frame 39 to reciprocate along the sliding block 37. The propelling cylinder 310 and the propelling belt assembly are arranged on the sliding frame 39. The propelling cylinder 310 is connected with the sampling arm through the propelling belt assembly, and is used to drive the sampling arm to advance or retreat relative to the sliding frame 39.

[0054] As an optional embodiment, as shown in Figure 1 ,Figure 4 , Figure 5 As shown in Figure 5 , the sampling arm includes a rotary motor 311, a jaw-opening oil cylinder 312, a drill pipe 313, a push rod 314, and a sampling head 315. The rotary motor 311 is arranged on the propulsion belt assembly and connected to the drill pipe 313 to drive the drill pipe 313 to perform a rotary motion. The jaw-opening oil cylinder 312 is arranged inside the drill pipe 313 and connected to the sampling head 315 through the push rod 314 to drive the jaws of the sampling head 315 to open and close. The jaw-opening oil cylinder 312 is connected to the hydraulic pump 213 through the control valve 28.

[0055] Furthermore, the rotary motor 311 is connected to the propulsion belt assembly through the mounting seat 316. The propulsion belt assembly includes a first propulsion belt 317 and a second propulsion belt 318. One end of the first propulsion belt 317 is connected to the mounting seat 316, and the other end bypasses the transmission wheel 319 and is connected to the sliding frame 39. One end of the second propulsion belt 318 is connected to the movable end of the propulsion oil cylinder 310, and the other end bypasses the transmission wheel 319 and is connected to the mounting seat 316.

[0056] The engine 212 drives the hydraulic pump 213 to work. The high-pressure oil generated by the hydraulic pump 213 enters the propulsion oil cylinder 310 through the control valve 28. The telescopic movement of the propulsion oil cylinder 310 is transmitted to the mounting seat 316 through the second propulsion belt 318, thereby driving the sampling arm to perform a propulsion or retraction movement.

[0057] The rotary motor 311 drives the drill pipe 313 to perform a rotary motion to realize the drilling motion of the sampling head 315. And the drill pipe 313 is connected to the sliding frame 39 through a bearing.

[0058] The jaw-opening oil cylinder 312 drives the jaws of the sampling head 315 to open and close through the push rod 314 to grab or release the coal sample.

[0059] By means of rotary drilling, winter coal pile sampling can be satisfied.

[0060] As an optional implementation manner, as Figure 1 , Figure 6 shown in Figure 6 , the storage mechanism 4 further includes a lifting oil cylinder 44, a connecting rod assembly 45, and a lifting arm 46. The lifting oil cylinder 44 is arranged on the lower vehicle assembly 2, connected to the hydraulic pump 213 through the control valve 28, and connected to the lifting arm 46 through the connecting rod assembly 45. The first storage bin 41 and the second storage bin 42 are arranged on the lifting arm 46.

[0061] Furthermore, the first storage bin 41 is connected to the lifting arm 46 through the bracket 47, and the second storage bin 42 is detachably connected to the lifting arm 46.

[0062] The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 enters the lifting oil cylinder 44 through the control valve 28, the lifting oil cylinder 44 extends, and drives the lifting arm 46 to lift the first material box 41 and the second material box 42 to a preset height through the connecting rod assembly 45.

[0063] As an optional implementation, as shown in Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 The first inlet and the first outlet of the first material box 41 and the second inlet and the second outlet of the second material box 42 are respectively sealed by corresponding material box doors, the material box doors are respectively controlled to open and close by material box oil cylinders, and the material box oil cylinders are connected with the hydraulic pump 213 through the control valve 28.

[0064] Further, the first inlet and the first outlet of the first material box 41 are respectively sealed by the first inlet door 411 and the first outlet door 414, the first inlet door 411 is controlled to open and close by the first inlet oil cylinder 412, and the first outlet door 414 is controlled to open and close by the first outlet oil cylinder 413.

[0065] The second inlet and the second outlet of the second material box 42 are respectively sealed by the second inlet door 421 and the second outlet door 423, the second inlet door 421 is controlled to open and close by the second inlet oil cylinder 422, and the second outlet door 423 is controlled to open and close by the second outlet oil cylinder 424. The second outlet door 423 is designed in a double-leaf type, the second outlet oil cylinder 424 can control the opening degree of the second outlet door 423, so as to adjust the unloading speed.

[0066] The number of the weighing sensors 43 is four, and the weighing sensors 43 are arranged at four corners of the bottom of the first material box 41, so that the weight of the coal sample to be weighed can be obtained.

[0067] The second material box 42 can be docked with the sample preparation work station, and is further provided with a sliding rail for docking with a transfer trolley.

[0068] The sampling and unloading steps of the utility model include:

[0069] Step 1: the engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 is distributed to the arm lifting oil cylinder 32, the telescopic oil cylinder, the adjusting oil cylinder 38, the swing oil cylinder 36 and the propelling oil cylinder 310 through the control valve 28, so as to provide power for the action of the sampling mechanism 3.

[0070] Step 2: the angle of the arm lifting 31 is adjusted through the arm lifting oil cylinder 32, the movable arm 33 is lifted by the movable arm oil cylinder 34, the telescopic arm 35 is controlled to extend by the telescopic oil cylinder, the sliding frame 39 is adjusted to move forward or backward by the adjusting oil cylinder 38, and the sliding frame 39 is adjusted to rotate by the swing oil cylinder 36, so as to adjust the position of the sampling arm.

[0071] Step 3: The rotary mechanism drives the loading platform to rotate a preset angle, and the sampling arm is aligned with the first sampling point of the coal pile.

[0072] Step 4: The angle of the sampling arm is adjusted by the oil cylinder.

[0073] Step 5: The angle of the arm 31 and the angle of the sliding frame 39 are adjusted by the arm lifting oil cylinder 32 and the swing oil cylinder 36, so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and the angle of the sliding frame 39 is finely adjusted by the adjusting oil cylinder 38.

[0074] Step 6: The rotary motor 12 drives the drill rod 313 to rotate, and the sampling arm moves in the direction of drilling under the drive of the advancing oil cylinder 310, and the sampling head 315 rotates and drills into the coal pile. During drilling, the clamping jaws are always kept closed.

[0075] Step 7: When the sampling head 315 drills into the coal pile to a preset depth of the first sampling point, the jaw opening oil cylinder 312 drives the clamping jaws of the sampling head 315 to open, and continues to drill to make the coal enter the sampling head 315.

[0076] Step 8: After completing the sampling of the first sub-sample, the rotary motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening oil cylinder 312 drives the clamping jaws of the sampling head 315 to close, so that the coal sample is firmly grabbed in the sampling head 315.

[0077] Step 9: The rotary motor 12 works simultaneously with the push-pull oil cylinder to make the sampling head 315 move along the rotation axis to separate from the coal pile, and when the sampling depth is deep, the adjusting oil cylinder 38 is needed to assist.

[0078] Step 10: After the sampling head 315 completely separates from the coal pile, the posture of the sampling arm is adjusted to make the sampling head 315 align with the inlet of the first bin 41, the first inlet oil cylinder 412 drives the first inlet door 411 to open, the push-pull oil cylinder drives the drill rod 313 to move downward into the first bin 41, the jaw opening oil cylinder 312 drives the clamping jaws of the sampling head 315 to open, so that the coal sample falls into the first bin 41, the push-pull oil cylinder drives the drill rod 313 to exit the first bin 41, the jaw opening oil cylinder 312 drives the clamping jaws of the sampling head 315 to close, the first inlet oil cylinder 412 drives the first inlet door 411 to close, and the weighing sensor 43 weighs the coal sample.

[0079] The sampling vehicle can also be moved to the second sampling point by the walking mechanism, and steps 2-6 are repeated.

[0080] Step 11: When the sampling head 315 drills into the coal pile to a preset depth of the second sampling point, the jaw opening oil cylinder 312 drives the clamping jaws of the sampling head 315 to open.

[0081] Step 12: Rotate and drill in, the coal of the second sampling point enters the sampling head 315, during the coal mining process, the opening jaw oil cylinder 312 is no longer locked, allowing the push rod 314 to be passively raised by the coal resistance during the drilling process or actively raised by the opening jaw oil cylinder 312 control, so that more coal enters the sampling head 315.

[0082] Step 13: After the sampling is completed, rotate again and retreat to make the sampling head 315 move away from the coal pile along the rotation axis.

[0083] Step 14: Adjust the posture of the sampling arm to make the sampling head 315 align with the inlet of the first bin 41, the first inlet oil cylinder 412 drives the first inlet door 411 to open, the push-pull oil cylinder drives the drill rod 313 to move downward into the first bin 41, the opening jaw oil cylinder 312 drives the clamping jaw of the sampling head 315 to open, allowing the coal sample to fall into the first bin 41, the push-pull oil cylinder drives the drill rod 313 to exit the first bin 41, the opening jaw oil cylinder 312 drives the clamping jaw of the sampling head 315 to close, the first inlet oil cylinder 412 drives the first inlet door 411 to close, and the weighing sensor 43 weighs the coal sample.

[0084] Step 15: The second inlet oil cylinder 422 drives the second inlet door 421 to open, the first outlet oil cylinder 413 drives the first outlet door 414 to open, the weighed coal sample is transferred from the first bin 41 to the second bin 42 for merging and storage, then the first outlet oil cylinder 413 drives the first outlet door 414 to close, and the second inlet oil cylinder 422 drives the second inlet door 421 to close. When it is necessary to unload, the second outlet oil cylinder 424 drives the second outlet door 423 to open and controls the opening degree to adjust the unloading speed.

[0085] As an optional implementation, as shown in Figure 1 、 Figure 6 、 Figure 7 、 Figure 8 The second bin 42 is provided with a distribution hopper 48, and the distribution hopper 48 is provided with uniformly distributed discharge holes 481.

[0086] Further, the distribution hopper 48 adopts a conical structure and is provided with two layers of discharge holes 481. The distribution hopper 48 functions to uniformly distribute the coal when the coal falls, which can effectively prevent accumulation.

[0087] As an optional implementation, as shown in Figure 1 The scanning unit 5 is connected to the upper car assembly 1 through a universal rotating mechanism.

[0088] Further, the scanning unit 5 includes a three-dimensional laser scanning device.

[0089] The function of the universal rotation mechanism is to allow the scanning unit 5 to rotate freely in multiple directions, so as to comprehensively and accurately scan the surface condition of the coal pile.

[0090] As Figure 9 shown, the utility model provides a kind of sampling method of intelligent coal sampling vehicle, comprising the following steps:

[0091] S1: sampling vehicle moves to the predetermined position of sampling site by driving mechanism, carries out all-dimensional three-dimensional real scene scanning to on-site coal pile by scanning unit 5, obtains the three-dimensional form data of coal pile surface, and is entered into the central control module of sampling vehicle as basic data.

[0092] S2: the central control module is based on basic data, and the total volume of coal pile is calculated using AI calculation model, and the total weight of coal pile is calculated according to density, and is compared and verified with the total mass of coal pile provided by owner party, and the three-dimensional shape of coal pile is calculated and analyzed, and the geometric center of coal pile is determined, and the coordinate system is established with the geometric center as origin.

[0093] S3: according to the three-dimensional shape, total weight and sampling point requirement of coal pile, the number of sampling points is designed. The sampling area of equal volume consistent with the number of sampling points is randomly divided by using massive data simulation calculation, and the number of volume elements is obtained.

[0094] S4: three-dimensional topography is formed in each sampling area, and n point clouds are randomly generated to simulate potential sampling positions.

[0095] S5: the three-dimensional topography of each sampling area is analyzed, and the position of point cloud in volume element is indexed. The point cloud with index number not exceeding the set value is screened out, and voxel feature extraction is carried out, and the geometric center of point cloud is determined by using regression prediction, and the position is the sampling point, and its coordinates are marked.

[0096] S6: the position of sampling vehicle, coal pile layout and sampling point distribution are comprehensively considered, and the optimal sampling sequence is simulated and planned by AI calculation model. Then, sampling mechanism 3 executes sampling action according to the established sequence.

[0097] When sampling mechanism 3 samples one sub-sample at a time, the specific sampling steps are as follows: step 1: engine 212 drives hydraulic pump 213 to work, and high-pressure oil generated by hydraulic pump 213 is distributed to boom cylinder 32, telescopic cylinder, adjusting cylinder 38, swing cylinder 36 and propulsion cylinder 310 through control valve 28, to provide power for the action of sampling mechanism 3.

[0098] Step 2: Adjust the angle of the lifting arm 31 by the lifting arm cylinder 32, drive the lifting arm 33 to lift up by the boom cylinder 34, control the extension of the telescopic arm 35 by the telescopic cylinder, adjust the forward or backward movement of the sliding frame 39 by the adjusting cylinder 38, and adjust the rotation of the sliding frame 39 by the swing cylinder 36, so as to adjust the position of the sampling arm.

[0099] Step 3: The slewing mechanism drives the platform to rotate by a preset angle, and the sampling arm is aligned with the first sampling point of the coal pile.

[0100] Step 4: Adjust the angle of the sampling arm by the boom cylinder.

[0101] Step 5: Adjust the angle of the lifting arm 31 and the angle of the sliding frame 39 by the lifting arm cylinder 32 and the swing cylinder 36, so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and the angle of the sliding frame 39 is finely adjusted by the adjusting cylinder 38.

[0102] Step 6: The slewing motor 12 drives the drill rod 313 to rotate, the sampling arm moves towards the drilling direction under the drive of the push cylinder 310, the sampling head 315 rotates and drills into the coal pile. During the drilling process, the clamping jaws are always kept closed.

[0103] Step 7: When the sampling head 315 drills into the coal pile to a preset depth of the first sampling point, the jaw opening cylinder 312 drives the clamping jaws of the sampling head 315 to open, and continues to drill to make the coal enter the sampling head 315.

[0104] Step 8: After completing the sampling of the first sub-sample, the slewing motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening cylinder 312 drives the clamping jaws of the sampling head 315 to close, so that the coal sample is firmly grabbed in the sampling head 315.

[0105] Step 9: The slewing motor 12 works simultaneously with the push-pull cylinder to make the sampling head 315 move along the rotation axis to separate from the coal pile, and when the sampling depth is deep, the adjusting cylinder 38 needs to be adjusted, until the sampling head 315 completely separates from the coal pile.

[0106] When the sampling mechanism 3 collects two sub-samples at a time, the specific sampling steps are as follows: Step 1: The engine 212 drives the hydraulic pump 213 to work, and the high-pressure oil generated by the hydraulic pump 213 is distributed to the lifting arm cylinder 32, the telescopic cylinder, the adjusting cylinder 38, the swing cylinder 36 and the push cylinder 310 through the control valve 28, to provide power for the movement of the sampling mechanism 3.

[0107] Step 2: Adjust the angle of the lifting arm 31 by the lifting arm cylinder 32, drive the lifting arm 33 to lift up by the boom cylinder 34, control the extension of the telescopic arm 35 by the telescopic cylinder, adjust the forward or backward movement of the sliding frame 39 by the adjusting cylinder 38, and adjust the rotation of the sliding frame 39 by the swing cylinder 36, so as to adjust the position of the sampling arm.

[0108] Step 3: The rotary mechanism drives the upper platform to rotate a preset angle, and the sampling arm is aligned with the first sampling point of the coal pile.

[0109] Step 4: The angle of the sampling arm is adjusted by the oil cylinder.

[0110] Step 5: The angle of the arm 31 and the angle of the sliding frame 39 are adjusted by the arm lifting oil cylinder 32 and the swing oil cylinder 36, so that the sampling head 315 is accurately aligned with the surface of the first sampling point of the coal pile, and the angle of the sliding frame 39 is fine-tuned by adjusting the oil cylinder 38.

[0111] Step 6: The rotary motor 12 drives the drill rod 313 to rotate, and the sampling arm moves in the direction of drilling under the drive of the push oil cylinder 310, and the sampling head 315 rotates and drills into the coal pile. During drilling, the clamping jaw is always closed.

[0112] Step 7: When the sampling head 315 drills into the coal pile to a preset depth of the first sampling point, the jaw opening oil cylinder 312 drives the clamping jaw of the sampling head 315 to open, and continues to drill to make the coal enter the sampling head 315.

[0113] Step 8: After completing the sampling of the first sub-sample, the rotary motor 12 stops working, the drill rod 313 stops drilling, and the jaw opening oil cylinder 312 drives the clamping jaw of the sampling head 315 to close, so that the coal sample is firmly grabbed in the sampling head 315.

[0114] Step 9: The rotary motor 12 works simultaneously with the push-pull oil cylinder to move the sampling head 315 away from the coal pile along the rotation axis, and when the sampling depth is deep, the adjusting oil cylinder 38 is needed to assist.

[0115] Step 10: After the sampling head 315 completely leaves the coal pile, the sampling vehicle is moved to the second sampling point by the walking mechanism, and steps 2-6 are repeated.

[0116] Step 11: When the sampling head 315 drills into the coal pile to a preset depth of the second sampling point, the jaw opening oil cylinder 312 drives the clamping jaw of the sampling head 315 to open.

[0117] Step 12: Rotate and drill, and the coal of the second sampling point enters the sampling head 315. During the drilling process, the jaw opening oil cylinder 312 is no longer locked, allowing the push rod 314 to be passively raised by the coal resistance or actively raised by the jaw opening oil cylinder 312, so that more coal enters the sampling head 315.

[0118] Step 13: After the sampling is completed, rotate and retreat again to move the sampling head 315 completely away from the coal pile along the rotation axis.

[0119] S7: The coal sample collected by the sampling mechanism 3 is sent to the first bin 41 for weighing, and the weighed coal sample is transferred to the second bin 42 for storage. The specific unloading steps are as follows:

[0120] Step 1: Adjust the posture of the sampling arm, so that the sampling head 315 is aligned with the inlet of the first bin 41, the first inlet cylinder 412 drives the first inlet door 411 to open, the push-pull cylinder drives the drill pipe 313 to move downward into the first bin 41, the jaw opening cylinder 312 drives the clamping jaw of the sampling head 315 to open, so that the coal sample falls into the first bin 41, the push-pull cylinder drives the drill pipe 313 to exit the first bin 41, the jaw opening cylinder 312 drives the clamping jaw of the sampling head 315 to close, and the first inlet cylinder 412 drives the first inlet door 411 to close. The weighing sensor 43 weighs the coal sample.

[0121] Step 2: The second inlet cylinder 422 drives the second inlet door 421 to open, the first outlet cylinder 413 drives the first outlet door 414 to open, the weighed coal sample is transferred from the first bin 41 to the second bin 42 for storage, then the first outlet cylinder 413 drives the first outlet door 414 to close, and the second inlet cylinder 422 drives the second inlet door 421 to close. When unloading is needed, the second outlet cylinder 424 drives the second outlet door 423 to open and controls the opening degree to adjust the unloading speed.

[0122] It can be understood that the same or similar parts in the above embodiments can be mutually referred to, and the contents not described in detail in some embodiments can be referred to the same or similar contents in other embodiments.

[0123] In the description of the utility model, it needs to be explained that, unless otherwise stated, the meaning of "multiple" is two or more than two. The terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail" and the like indicate the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the utility model and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed and operated in a specific orientation, therefore it cannot be understood as a limitation on the utility model. In addition, the terms "first", "second", "third" and the like are only for the purpose of description, and cannot be understood as indicating or implying relative importance.

[0124] In the description of the utility model, still need explaining, unless have explicit provision and limit, term " install ", " link ", " connect " should do broad sense understanding, for example, can be fixed connection, also can be detachable connection, or integrally connect. Can be mechanical connection, also can be electrical connection. Can be direct connection, also can pass through intermediate medium indirectly connect. For ordinary skilled person in the art, can understand the concrete meaning of above-mentioned term in the utility model according to specific circumstances.

[0125] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example" or "one example" 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 application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0126] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. An intelligent coal sampling vehicle, characterized in that, The application relates to a sampling device for soil and rock, which comprises an upper vehicle assembly, a lower vehicle assembly, a sampling mechanism, a storage mechanism and a control mechanism.

2. The intelligent coal sampling vehicle according to claim 1, characterized in that, The driving mechanism comprises an engine, a hydraulic pump, a hydraulic motor, a transfer case, a transmission shaft, a front wheel assembly and a rear wheel assembly; the engine is connected with the hydraulic pump; the hydraulic pump is connected with the hydraulic motor; the hydraulic motor is connected with the transmission shaft through the transfer case; the front axle of the front wheel assembly and the rear axle of the rear wheel assembly are respectively connected with the transmission shaft.

3. The intelligent coal sampling vehicle according to claim 2, characterized in that, The rotating mechanism comprises a rotating motor, a speed reducer and a rotating support; the rotating motor and the speed reducer are arranged on the upper vehicle assembly; the rotating support is arranged on the lower vehicle assembly; the hydraulic pump is connected with the rotating motor through a control valve; the rotating motor is connected with the rotating support through the speed reducer.

4. The intelligent coal sampling vehicle according to claim 3, characterized in that, The sampling mechanism comprises a lifting arm, a lifting arm oil cylinder, a movable arm, a telescopic arm, a telescopic oil cylinder, a swing oil cylinder, a sliding block, an adjusting oil cylinder, a sliding frame, a pushing oil cylinder, a pushing belt assembly and a sampling arm; the lifting arm oil cylinder, the telescopic oil cylinder, the adjusting oil cylinder, the swing oil cylinder and the pushing oil cylinder are respectively connected with the hydraulic pump through control valves; the lifting arm oil cylinder is connected with the lifting arm; one end of the lifting arm is connected with the movable arm oil cylinder; the movable arm oil cylinder is connected with the movable arm; the telescopic arm is connected with the movable arm through the telescopic oil cylinder; the telescopic arm is connected with the sliding block through the swing oil cylinder; The sliding block is connected with the sliding frame through the adjusting oil cylinder; the pushing oil cylinder and the pushing belt assembly are arranged on the sliding frame; the pushing oil cylinder is connected with the sampling arm through the pushing belt assembly.

5. The intelligent coal sampling vehicle according to claim 4, characterized in that, The sampling arm comprises a rotating motor, an opening claw oil cylinder, a drill rod, a push rod and a sampling head; the rotating motor is arranged on the pushing belt assembly and connected with the drill rod; the opening claw oil cylinder is arranged in the drill rod and connected with the sampling head through the push rod; the opening claw oil cylinder is connected with the hydraulic pump through a control valve.

6. The intelligent coal sampling vehicle according to claim 2, characterized in that, The storage mechanism further comprises a lifting oil cylinder, a connecting rod assembly and a lifting arm; the lifting oil cylinder is arranged on the lower vehicle assembly and connected with the hydraulic pump through a control valve and connected with the lifting arm through the connecting rod assembly; the first material box and the second material box are arranged on the lifting arm.

7. The intelligent coal sampling vehicle according to claim 6, characterized in that, The inlet and outlet of the first material box and the second material box are respectively sealed through corresponding material box doors; the material box doors are controlled to open and close through a material box oil cylinder; the material box oil cylinder is connected with the hydraulic pump through a control valve.

8. The intelligent coal sampling vehicle according to claim 7, characterized in that, The second hopper is internally provided with a distribution hopper, and uniformly distributed material falling holes are formed in the distribution hopper.

9. The intelligent coal sampling vehicle according to claim 1, characterized in that, The scanning unit is connected with the upper vehicle assembly through a universal rotation mechanism.

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