Pipeline adjusting device, robot and sampling system

Abstract

The utility model provides a pipeline adjusting device, a robot and a sampling system, the pipeline adjusting device comprises a first conveying pipe and a second conveying pipe; the first conveying pipe is rotationally connected with the second conveying pipe; one end of the first conveying pipe is connected with the tail end of a robot forearm, and the other end is connected with one end of the second conveying pipe; the first conveying pipe and the second conveying pipe form a channel for the conveying pipeline to penetrate through. By arranging the first conveying pipe and the second conveying pipe which rotate relative to each other, the conveying pipeline can be effectively prevented from being broken due to friction, extrusion and the like along with the movement of the position of the robot.

Description

TECHNICAL FIELD

[0001] The utility model relates to grain quality detection sampling equipment field, concretely relates to a pipeline adjusting device, robot and sampling system. BACKGROUND

[0002] When large grain stations purchase external grain, in order to ensure the purchase quality of grain, before the grain is stored in the warehouse, the grain in the truck compartment needs to be sampled and detected to ensure that the grain transported into the grain station is up to standard. In order to determine the quality of the grain, the detection items include detecting the temperature, humidity, mold and germination of the grain, etc. At this time, a special device is needed to sample and transport to the detection equipment. The existing sampling robot arm is generally set as a hollow structure, which is convenient for the grain conveying pipeline to pass through after sampling, but the end of the arm is not provided with a corresponding protection or restraint structure. After long-term use, the pipeline at the end of the arm is prone to damage due to wear, collision, etc., resulting in leakage, etc. SUMMARY

[0003] Therefore, the purpose of the utility model is to provide a pipeline adjusting device, robot and sampling system, which can protect the conveying pipeline when the robot moves, reduce or avoid wear at the end, and play a protective role.

[0004] In order to achieve the above purpose, the utility model adopts the following technical scheme:

[0005] Firstly, a pipeline adjusting device is provided, which comprises a first conveying pipe and a second conveying pipe; the first conveying pipe and the second conveying pipe are rotationally connected.

[0006] One end of the first conveying pipe is used to connect the end of the robot arm, and the other end is connected with one end of the second conveying pipe.

[0007] The first conveying pipe and the second conveying pipe form a channel for the conveying pipeline to pass through.

[0008] In some embodiments of the present application, the first conveying pipe is arranged in an L shape, and the second conveying pipe is arranged in an L shape.

[0009] In some embodiments of the present application, the first conveying pipe and the second conveying pipe are rotationally connected through a bearing, the inner ring of the bearing is connected with the outer surface of the first conveying pipe, and the outer ring of the bearing is connected with the inner surface of the second conveying pipe.

[0010] In some embodiments of the present application, a retaining ring is further provided, including an inner ring retaining ring and an outer ring retaining ring, the inner ring retaining ring is connected to the outer surface of the first conveying pipe, and the outer ring retaining ring is connected to the inner surface of the second conveying pipe; the inner ring retaining ring is arranged on both sides of the inner ring of the bearing and abuts against the inner ring; the outer ring retaining ring is arranged on both sides of the outer ring of the bearing and abuts against the outer ring.

[0011] In some embodiments of the present application, the second delivery tube end is in the form of a constricted nozzle.

[0012] In some embodiments of the present application, the second delivery tube end is connected with a clamping ring, the clamping ring is provided with a hole for the delivery tube line to pass through, and is connected with the delivery tube line in a sealing fit.

[0013] In a second aspect, a robot is provided, comprising a robot body and the pipeline adjusting device of any one of the above; the pipeline adjusting device is connected to the end of the small arm of the robot body; and a speed reducer at the end of the robot body is connected with a sampling execution mechanism.

[0014] In a third aspect, a grain station sampling system is provided, comprising:

[0015] A track network composed of a plurality of intersecting tracks;

[0016] The robot as described above, wherein the base of the robot is arranged on the tracks of the track network and moves on the track network;

[0017] A control system for controlling the rotation of each axis of the robot and the operation of the sampling execution mechanism, and for controlling the movement of the robot on the track network according to a preset movement path.

[0018] Compared with the prior art, the present application has the following beneficial effects:

[0019] The present application provides that the first delivery tube and the second delivery tube are arranged to rotate relative to each other, and as the robot moves, the delivery tube line can be effectively protected from being broken due to friction, extrusion, etc. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 FIG. 4 is a schematic view of the connection of the pipeline adjusting device with the end of the robot;

[0021] Figure 2 FIG. 5 is another schematic view of the connection of the pipeline adjusting device with the end of the robot;

[0022] Figure 3 FIG. 6 is a schematic view of the pipeline adjusting device;

[0023] Figure 4 FIG. 7 is a cross-sectional view of the pipeline adjusting device.

[0024] In the drawings:

[0025] The first delivery tube 1, the second delivery tube 2, the bearing 3, the inner ring stop ring 4, the outer ring stop ring 5, the robot 6, and the sampling execution mechanism 7. DETAILED DESCRIPTION

[0026] The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present utility model.

[0027] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present utility model are only used to explain the relative positional relationship, movement condition, etc. between components in a certain specific posture (as shown in the drawings), and if the specific posture changes, the directional indications will also change accordingly.

[0028] In the present utility model, unless otherwise explicitly specified and limited, if the terms "connection", "fixation" and the like appear, they should be understood in a broad sense. For example, "fixation" can be fixed connection, or detachable connection, or integral. For those skilled in the art, the specific meanings of the above terms in the present utility model can be understood according to the specific circumstances.

[0029] In addition, if the embodiments of the present utility model involve "first", "second" and the like, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features with "first" and "second" can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that those skilled in the art can realize it. When the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, and is not within the scope of protection required by the present utility model.

[0030] Referring to the drawings, a pipeline adjusting device for connecting the end of a robot arm is provided, comprising a first conveying pipe 1 and a second conveying pipe 2; the first conveying pipe 1 and the second conveying pipe 2 are rotationally connected; one end of the first conveying pipe 1 is used to connect the end of a robot arm 6, and the other end is connected with one end of the second conveying pipe 2; the first conveying pipe 1 and the second conveying pipe 2 form a channel for the conveying pipeline to pass through. The first conveying pipe 1 is fixed, and the second conveying pipe 2 rotates relative to the first conveying pipe 1 as the position of the robot 6 changes. Since the conveying pipeline is sleeved in the first conveying pipe 1 and the second conveying pipe 2, the existing frictional contact mode is changed to a rotating mode, which is beneficial to the protection of the conveying pipeline.

[0031] In a specific embodiment, the first conveying pipe 1 is arranged in an L shape, and the second conveying pipe 2 is arranged in an L shape. Through the arrangement of the L shape, the conveying pipe line is constrained, and the second conveying pipe 2 can better rotate relative to the first conveying pipe 1 after the position of the robot 6 changes.

[0032] In a specific embodiment, the first conveying pipe 1 and the second conveying pipe 2 are connected in rotation through a bearing 3. The inner ring of the bearing 3 is connected to the outer surface of the first conveying pipe 1, and the outer ring of the bearing 3 is connected to the inner surface of the second conveying pipe 2. Through the connection of the bearing 3, rotation is easier and smoother, and the bearing 3 is better consistent after assembly.

[0033] In a specific embodiment, a retaining ring is further arranged, including an inner ring retaining ring 4 and an outer ring retaining ring 5. The inner ring retaining ring 4 is connected to the outer surface of the first conveying pipe 1, and the outer ring retaining ring 5 is connected to the inner surface of the second conveying pipe 2. The inner ring retaining ring 4 is arranged on both sides of the inner ring of the bearing 3 and abuts against the inner ring. The outer ring retaining ring 5 is arranged on both sides of the outer ring of the bearing 3 and abuts against the outer ring. The retaining ring plays a limiting and positioning role. The retaining ring and the bearing 3 can be fixed by suitable glue after assembly.

[0034] In a specific embodiment, the end pipe of the second conveying pipe 2 is in a constricted shape. The constricted shape is conducive to clamping the conveying pipe line, so that the conveying pipe line is closely fitted with the constricted section at the end.

[0035] In a specific embodiment, the end of the second conveying pipe 2 is connected with a clamping ring. The clamping ring is provided with a hole for the conveying pipe line to pass through and is connected in sealing cooperation with the conveying pipe line. The clamping ring can be made of flexible materials such as rubber. As a further improvement, the clamping ring not only plays a sealing role but also has an elastic compression function, reduces the stress of the conveying pipe line during rotation, and further plays a role in protecting the pipe line. At the same time, the clamping ring can be used in combination with the end pipe of the second conveying pipe 2 in a constricted shape. The structure of the clamping ring is not shown in the figure, and the structure can be improved by referring to the existing sealing ring structure and then being arranged.

[0036] A robot 6 is also provided, including a robot body and a pipeline adjusting device according to any one of the above. The pipeline adjusting device is connected to the end of the small arm of the robot body. The end reducer of the robot body is connected to a sampling execution mechanism 7. The conveying pipe line in the small arm can use any suitable pipeline. The pipeline passes through the pipeline adjusting device and is connected in communication with the conveying pipe line of the subsequent process.

[0037] A grain station sampling system is also provided, including:

[0038] A track network is composed of a plurality of intersecting tracks.

[0039] The robot 6 is provided on the track of the track network and moves on the track network;

[0040] A control system is used to control the rotation of each axis of the robot 6 and the operation of the sampling mechanism 7 and to control the movement of the robot 6 on the track network according to a preset movement path.

[0041] The connection of each component or structure of the present application is not completely shown in the drawings and can be connected by the connection mode in the art. The present application is not limited to the use of the prior art if not explicitly stated. For example, the first conveying pipe can be mounted at the end of the small arm by screws. The screws and mounting holes for mounting are not completely shown in the drawings. The person skilled in the art can set them according to the actual situation of the scheme or product. The robot, the sampling conveying device and the sampling system of the grain station can use the schemes applied by the applicant or the existing disclosed technology.

[0042] The above is only the preferred embodiment of the present application. It should be pointed out that the above preferred embodiment should not be regarded as a limitation of the present application. The protection scope of the present application should be limited by the scope defined in the claims. For the person skilled in the art, several improvements and refinements can be made without departing from the spirit and scope of the present application. These improvements and refinements should also be regarded as the protection scope of the present application.

Claims

1. A pipeline regulating device, characterized in that, It includes a first conveying pipe and a second conveying pipe; the first conveying pipe and the second conveying pipe are rotatably connected; One end of the first delivery pipe is used to connect to the end of the robot forearm, and the other end is connected to one end of the second delivery pipe; The first and second delivery pipes form a channel through which the delivery pipeline passes.

2. The pipeline regulating device as described in claim 1, characterized in that, The first conveying pipe is L-shaped, and the second conveying pipe is L-shaped.

3. The pipeline regulating device as described in claim 1, characterized in that, The first conveying pipe and the second conveying pipe are rotatably connected by a bearing, with the inner ring of the bearing connected to the outer surface of the first conveying pipe and the outer ring of the bearing connected to the inner surface of the second conveying pipe.

4. The pipeline regulating device as described in claim 3, characterized in that, It is also provided with retaining rings, including an inner retaining ring and an outer retaining ring. The inner retaining ring is connected to the outer surface of the first conveying pipe, and the outer retaining ring is connected to the inner surface of the second conveying pipe. The inner retaining ring is located on both sides of the inner ring of the bearing and abuts against the inner ring. The outer retaining ring is located on both sides of the outer ring of the bearing and abuts against the outer ring.

5. The pipeline regulating device as described in claim 1, characterized in that, The end of the second delivery pipe is constricted.

6. The pipeline regulating device as described in claim 1, characterized in that, The second delivery pipe is connected to a clamping ring at its end. The clamping ring has a hole for the delivery pipe to pass through and is sealed to the delivery pipe.

7. A robot, characterized in that, It includes a robot body and a pipeline adjustment device as described in any one of claims 1-6; the pipeline adjustment device is connected to the end of the robot body's forearm; the end reducer of the robot body is connected to the sampling actuator.

8. A grain depot sampling system, characterized in that, include: A track network consists of multiple intersecting tracks; The robot as described in claim 7, wherein the robot's base is disposed on the track of the track network and moves on the track network; The control system is used to control the rotation of each axis of the robot and the operation of the sampling actuator, and to control the robot to move on the track network according to a preset motion path.

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