Grain cart sampling robot

Abstract

The utility model discloses a grain car sample -taking robot in the field of grain sample -taking equipment, including guide rail, the bottom bracket of guide rail upper end slidingly arranged, the bottom bracket is provided with first servo motor, and the drive end of first servo motor is provided with drive structure, and drive structure is used for driving the bottom bracket to move on the guide rail, the upper end of bottom bracket is provided with the connecting seat, and the connecting seat upper end rotation is provided with the connecting frame, and the connecting seat is provided with second servo motor, and the third servo motor and fourth servo motor are respectively set up on the connecting frame, and the connecting arm module includes big arm, small arm and connecting rod, and the one end of small arm away from connecting rod is provided with base, and the base is provided with fifth servo motor, and the drive end of fifth servo motor is connected with sample -taking seat, and the sample -taking seat is provided with the vertical downward extension's drill rod, through the adjustment of the different space position of drill rod position to multiple motors, realize the accurate positioning of sampling position in three -dimensional space, realize the whole area coverage of the grain in the car box, and the sampling of grain vehicle is realized automatically in the sampling process.

Description

Technical Field

[0001] This utility model relates to the field of grain sampling equipment, and in particular to a grain truck sampling robot. Background Technology

[0002] In production, bulk grain sampling can be done manually using sampling tubes (commonly known as grain probes). However, the volume of packaged grain and uncovered bulk grain transport vehicles is generally large, making operation difficult, labor-intensive, and inconvenient for deep sampling, thus failing to collect more accurate and representative samples.

[0003] Patent document CN221377198U discloses a portable grain sampler, which is a manual sampler. It requires a person to climb onto a vehicle, hold a grain probe, insert it into the grain cart, and manually rotate the sampling rod to take a sample. After taking a sample at a point, the grain at that point needs to be emptied, the sampling rod needs to be removed, and then the next point needs to be sampled. However, it has problems such as high labor intensity, long sampling time, and difficulty in controlling the sampling accuracy.

[0004] The patent document with patent publication number CN208399208U discloses a portable grain sampler, which belongs to the category of electric vacuum suction samplers. The device needs to be carried on the top of the grain truck, and the sampling rod is held and inserted into the grain truck. The sample is drawn electrically and taken at one point. The device needs to be moved manually to the next point for sampling. It also has the problems of high labor intensity, long time consumption and low sampling accuracy.

[0005] Patent document CN208420449U discloses a multi-point grain pile sampler, a moving gantry mechanism and a top trolley moving mechanism. When only one mechanism is moved, linear sampling can only be achieved, and sampling within a fan-shaped area is not possible. After the vehicle is in place and a sample is taken from one point, the entire gantry needs to be moved to the next point before sampling can be carried out. This results in long processing time and low efficiency. Utility Model Content

[0006] To overcome the shortcomings of the existing technology, the technical problem to be solved by this utility model is to improve the problems of difficult operation of grain vehicles, high labor intensity, and difficulty in accurately controlling the sampling point when deep sampling.

[0007] The technical solution adopted by this utility model to solve its technical problem is: A grain cart sampling robot includes a guide rail, a base slidably mounted on the upper end of the guide rail, a first servo motor mounted on the base, and a drive structure mounted on the drive end of the first servo motor for driving the base to move on the guide rail. A connecting seat is mounted on the upper end of the base, and a connecting frame is rotatably mounted on the upper end of the connecting seat. A second servo motor is mounted on the connecting seat for driving the connecting frame to rotate relative to the connecting seat. A third servo motor and a fourth servo motor are respectively mounted on the connecting frame. The connecting arm module includes a large arm, a small arm, and a connecting rod. The third servo motor is driven by... The first end is connected to the upper arm, and the other end is hinged to the non-end position of the lower arm. The drive end of the fourth servo motor is provided with a crank. The end of the crank away from the fourth servo motor is hinged to a connecting rod. The end of the connecting rod away from the crank is hinged to the end of the lower arm. The end of the lower arm away from the connecting rod is provided with a base. The base is provided with a fifth servo motor. The drive end of the fifth servo motor is connected to a sampling seat. The fifth servo motor drives the sampling seat to swing in the vertical plane. The sampling seat is provided with a vertically downward extending drill rod. The fifth servo motor is used to keep the drill rod in a vertical state at all times.

[0008] Furthermore, the lower end of the base is provided with a slider adapted to the guide rail, the driving structure includes a driving gear connected to the driving end of the first servo motor, and a rack is provided on the guide rail in the same direction as the extension direction of the guide rail, the driving gear and the rack meshing.

[0009] Furthermore, the drive end of the second servo motor is connected to a reducer, and the output end of the reducer is connected to the connecting frame.

[0010] Furthermore, the aforementioned connecting frame is U-shaped, and the aforementioned third servo motor and the aforementioned fourth servo motor are respectively located at the two ends of the open side of the aforementioned connecting frame.

[0011] Furthermore, the drive ends of the aforementioned third servo motor and the aforementioned fourth servo motor are both provided with connecting flanges, and the two connecting flanges are respectively fixedly connected to the aforementioned boom and the aforementioned crank.

[0012] Furthermore, the aforementioned drill rod is equipped with a grain depth detection device.

[0013] Furthermore, the aforementioned sampling seat is slidably provided with a slide block, the aforementioned drill rod is disposed on the aforementioned slide block, a spring is connected to the upper end of the aforementioned slide block, an abutment plate is disposed at the top of the aforementioned sampling seat, and the other end of the aforementioned spring abuts against the aforementioned abutment plate.

[0014] Furthermore, the slide block is provided with multiple clamping blocks, which are spaced apart and clamp the drill rod at different positions.

[0015] Furthermore, the slide is equipped with a proximity sensor, which is used to sense the distance between the slide and the abutment plate.

[0016] Furthermore, a negative pressure port is provided at the end of the aforementioned rod away from the aforementioned sampling seat, and the aforementioned negative pressure port is used to extract grain samples.

[0017] The beneficial effects of this utility model are: The first servo motor drives the base to move automatically on the guide rail, the second servo motor drives the connecting frame to rotate on the plane, and the third and fourth servo motors act on the boom and connecting rod respectively, so that the boom and connecting rod can synchronously adjust the spatial position of the forearm. Through the adjustment of the position of the drill rod at different angles and spatial positions by the above-mentioned multiple motors, the sampling position in three-dimensional space is accurately positioned, achieving full coverage of grain in the truck bed. Moreover, the sampling process is fully automated, which can effectively reduce the workload and improve the work efficiency. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the structure of this utility model. Figure 1 ; Figure 2 This is a utility model Figure 1 Enlarged view of point A in the middle; Figure 3 This is a utility model Figure 1 Enlarged view of point B in the middle; Figure 4 This is a utility model Figure 1 Enlarged view of point C in the middle; Figure 5 This is a schematic diagram of the structure of this utility model. Figure 2 ; Figure 6 This is a utility model Figure 5 Enlarged view of point D; Figure 7 This is a schematic diagram of the working state of this utility model; The diagram is labeled as follows: 1-Guide rail base, 2-Base, 3-Connecting seat, 4-Connecting frame, 5-Large arm, 6-Small arm, 7-Connecting rod, 8-Chisel rod, 9-First servo motor, 10-Slider, 11-Drive gear, 12-Second servo motor, 13-Third servo motor, 14-Fourth servo motor, 15-Reducer, 16-Fifth servo motor, 17-Sampling seat, 18-Slide seat, 19-Clamping block, 20-Connecting flange, 100-Sampling robot, 200-Grain cart. Detailed Implementation

[0019] The present invention will be further described below with reference to the accompanying drawings.

[0020] like Figures 1-7 As shown in the embodiment of this application, a grain cart sampling robot is proposed, including a guide rail. A base 2 is slidably disposed on the upper end of the guide rail. A first servo motor 9 is disposed on the base 2. A driving structure is disposed on the driving end of the first servo motor 9. The driving structure is used to drive the base 2 to move on the guide rail. A connecting seat 3 is disposed on the upper end of the base 2. A connecting frame 4 is rotatably disposed on the upper end of the connecting seat 3. A second servo motor 12 is disposed on the connecting seat 3. The second servo motor 12 is used to drive the connecting frame 4 to rotate relative to the connecting seat 3. A third servo motor 13 and a fourth servo motor 14 are respectively disposed on the connecting frame 4. The connecting arm module includes a large arm 5, a small arm 6, and a connecting rod 7. The third servo motor 13... The drive end of the machine 13 is connected to the large arm 5, and the other end is hinged to the non-end position of the forearm 6. The drive end of the fourth servo motor 14 is provided with a crank. The end of the crank away from the fourth servo motor 14 is hinged to a connecting rod 7. The end of the connecting rod 7 away from the crank is hinged to the end of the forearm 6. The end of the forearm 6 away from the connecting rod 7 is provided with a base. The base is provided with a fifth servo motor 16. The drive end of the fifth servo motor 16 is connected to a sampling seat 17. The fifth servo motor 16 drives the sampling seat 17 to swing in the vertical plane. The sampling seat 17 is provided with a vertically downward extending drill rod 8. The fifth servo motor 16 is used to keep the drill rod 8 in a vertical state at all times.

[0021] First, it should be stated that the base 2 is automatically moved on the guide rail by the first servo motor 9, and the connecting frame 4 is rotated on the plane by the second servo motor 12. The third servo motor 13 and the fourth servo motor 14 act on the boom 5 and the connecting rod 7 respectively, so that the boom 5 and the connecting rod 7 can synchronously adjust the spatial position of the forearm 6. Through the adjustment of the position of the drill rod 8 at different angles and spatial positions by the above-mentioned multiple motors, the sampling position in three-dimensional space is accurately positioned, and the grain inside the truck bed is fully covered. Moreover, the sampling process is fully automatic, which can effectively reduce the workload and improve the work efficiency.

[0022] Specifically, the aforementioned guide rail is set on a support platform 200 meters higher than the grain transport vehicles. The first servo motor 9 and the drive structure work together to drive the robot's overall structure linearly, achieving longitudinal drive. The second servo motor 12 can drive the connecting frame 4 to turn in the plane, ensuring that the position of the chisel 8 can rotate in a fan shape. At the same time, the third servo motor 13 and the fourth servo motor 14 work together to act on the upper arm 5 and the connecting rod 7 respectively, enabling the forearm 6 to drive the chisel 8 to move precisely, achieving precise positioning and adjustment of the chisel 8 in three-dimensional space in the longitudinal, lateral and vertical directions.

[0023] To ensure that the base 2 can move stably on the guide rail, a slider 10 adapted to the guide rail is provided at the lower end of the base 2. The driving structure includes a drive gear 11 connected to the drive end of the first servo motor 9. A rack in the same direction as the extension direction of the guide rail is provided on the guide rail. The drive gear 11 and the rack mesh. Under the control of the external central control device, the first servo motor 9 can accurately realize forward and reverse rotation, so that the entire robot structure can move back and forth on the guide rail. The cooperation between the drive gear 11 and the rack can ensure that the base 2 will not slip after moving to the designated position, thus ensuring the accuracy of positioning.

[0024] During normal operation, the connecting frame 4 rotates at a certain speed and angle. Therefore, the drive end of the second servo motor 12 is connected to a reducer 15, and the output end of the reducer 15 is connected to the connecting frame 4. The reducer 15 controls the connecting frame 4 to rotate precisely by a specified angle, achieving accurate adjustment. Furthermore, the connecting frame 4 is U-shaped, with the third servo motor 13 and the fourth servo motor 14 respectively located at the two ends of the open side of the connecting frame 4. This facilitates the installation and processing of the entire device, and the symmetrical U-shaped design also improves aesthetics.

[0025] To further ensure the stability of the boom 5 and the connecting rod 7, the drive ends of the third servo motor 13 and the fourth servo motor 14 are both equipped with connecting flanges 20. The two connecting flanges 20 are fixedly connected to the boom 5 and the crank respectively. The connecting flanges 20 are connected to each other to ensure the stability of the connection and avoid instability caused by long-term operation.

[0026] In this embodiment, the hinge position of the upper arm 5 and the lower arm 6 is located on the side of the lower arm 6 close to the connecting rod 7 based on the midpoint position. The connecting rod 7, the upper arm 5 and the lower arm 6 form a lever structure. The hinge position of the upper arm 5 and the lower arm 6 is equivalent to the fulcrum position. By setting the fulcrum close to the connecting rod 7, a larger positional movement of the lower arm 6 with the drill rod 8 can be achieved by a small swing drive of the connecting rod 7.

[0027] The aforementioned upper arm 5 and lower arm 6 are hollow, which facilitates the setting of electronic circuits and reduces the overall weight.

[0028] Regarding the connection structure of the drill bit 8, the sampling seat 17 is slidably provided with a slide block 18, the drill bit 8 is disposed on the slide block 18, a spring is connected to the upper end of the slide block 18, and an abutment plate is provided at the top of the sampling seat 17. The other end of the spring abuts against the abutment plate. That is to say, when the lower end of the drill bit 8 contacts the bottom wall of the grain cart 200, the spring is compressed by force, which can prevent the drill bit 8 from being damaged. Moreover, the slide block 18 is provided with multiple clamping blocks 19, which are spaced apart and clamp the drill bit 8 at different positions, ensuring that the drill bit 8 will not arbitrarily move relative to the slide block 18, thus improving accuracy.

[0029] The aforementioned slide block 18 is equipped with a proximity sensor, which is used to sense the distance between the slide block 18 and the abutment plate. In actual use, when the bottom end of the chisel 8 contacts the bottom wall of the grain truck 200 and is displaced by force, the distance between the slide block 18 and the abutment plate changes. After the proximity sensor senses the change in distance, the central control device receives the signal and drives the chisel 8 to move upward through the third servo motor 13 and the fourth servo motor 14 until it returns to the preset height.

[0030] The aforementioned fifth motor enables the drill rod 8 to rotate in the vertical plane. By rotating the drill rod 8, it is ensured that the drill rod 8 remains vertical. The verticality of the drill rod 8 can be determined by instruments such as a level, ensuring that the drill rod 8 is always in a vertical position. This further improves the accuracy of the drill rod 8's movement, positioning, and sampling. A negative pressure port is provided at the end of the drill rod 8 away from the aforementioned sampling seat 17. The negative pressure port is used to extract grain samples. The drill rod 8 achieves grain sample extraction through the action of negative pressure adsorption.

[0031] The aforementioned drill rod 8 is equipped with a grain depth detection device, which can ensure real-time feedback of the depth signal of the drill rod 8 inserted into the grain during the sampling process.

[0032] The specific working process of the grain truck sampling robot in this embodiment is as follows: After the central control system detects that the grain truck 200 has arrived at the designated position, the sampling robot 100 uses the sampling point coordinates (data with XY coordinates generated by manual input or radar scanning, where the X direction is along the length of the truck bed, the Y direction is along the width of the truck bed, and the Z direction is along the height of the truck bed).

[0033] For the X-axis coordinate, the first servo motor 9 drives the base 2 to move on the guide rail, thus realizing the movement of the scissor in the X-axis. For the next X-axis coordinate that is relatively close, the second servo motor 12 is controlled to drive the robot to rotate around the base by a certain angle, thereby realizing the change of the scissor in the X-axis coordinate.

[0034] For the Y coordinate, the forearm 6 is moved by the fourth servo motor 14, and the rotation of the upper arm 5 is driven by the rotation of the third servo motor 13, so as to realize the Y direction movement of the sampling component. At the same time, the robot is rotated around the base by controlling the second servo motor 12, so as to realize the comprehensive adjustment in the Y direction.

[0035] For the Z coordinate, the fourth servo motor 14 drives the movement of the forearm 6, which in turn drives the rotation of the third servo motor 13 to drive the rotation of the upper arm 5, thereby realizing the lifting and lowering of the sampling assembly in the Z direction. The fifth servo motor 16 drives the rotation of the shaving rod, and keeps the shaving rod perpendicular to the ground at all times.

[0036] Upon reaching the designated location, the skewer moves downwards. When the end of the skewer touches the bottom of the vehicle, it continues to move downwards. When the reaction force exceeds the force of the spring, it causes the slide 18 to move closer to the proximity sensor. When the slide 18 moves to the preset range of the proximity sensor, the skewer moves upwards until it returns to the preset height, completing the sampling at the designated location.

[0037] In summary, this embodiment proposes a grain sampling robot with the following advantages: It adopts a five-axis drive design with multiple motors driving simultaneously, allowing for a wider area to be reached in a single movement and higher efficiency; the robotic arm uses a linkage 7 mechanism, providing precise control and rapid response; the sampling component has a grain depth recognition function to ensure real-time monitoring of sampling depth; the upper arm 5 and lower arm 6 feature a hollow design, facilitating the routing of grain pipelines and lines; the motor integration design, by placing the first servo motor 9, the second servo motor 12, the third servo motor 13, and the fourth servo motor 14 in the track movement structure and waist structure, eliminates the need for motors on the upper arm 5, lower arm 6, and linkage 7, resulting in greater overall integration, system stability, and easier maintenance.

Claims

1. A grain truck sampling robot, characterized in that, The system includes a guide rail, with a base (2) slidably mounted on the upper end of the guide rail. The base (2) is equipped with a first servo motor (9), and the driving end of the first servo motor (9) is equipped with a driving structure for driving the base (2) to move on the guide rail. A connecting seat (3) is mounted on the upper end of the base (2), and a connecting frame (4) is rotatably mounted on the upper end of the connecting seat (3). A second servo motor (12) is mounted on the connecting seat (3), and the second servo motor (12) is used to drive the connecting frame (4) to rotate relative to the connecting seat (3). A third servo motor (13) and a fourth servo motor (14) are respectively mounted on the connecting frame (4). The connecting arm module includes a large arm (5), a small arm (6), and a connecting rod (7). The driving end of the third servo motor (13) is connected to the connecting arm. The arm (5) is connected to the upper arm (5) and the other end is hinged to the non-end position of the lower arm (6). The drive end of the fourth servo motor (14) is provided with a crank. The end of the crank away from the fourth servo motor (14) is hinged to a connecting rod (7). The end of the connecting rod (7) away from the crank is hinged to the end of the lower arm (6). The end of the lower arm (6) away from the connecting rod (7) is provided with a base. The base is provided with a fifth servo motor (16). The drive end of the fifth servo motor (16) is connected to a sample holder (17). The fifth servo motor (16) drives the sample holder (17) to swing in the vertical plane. The sample holder (17) is provided with a vertically downward extending drill rod (8). The fifth servo motor (16) is used to keep the drill rod (8) always in a vertical state.

2. The grain truck sampling robot according to claim 1, characterized in that, The lower end of the base (2) is provided with a slider (10) adapted to the guide rail. The driving structure includes a driving gear (11) connected to the driving end of the first servo motor (9). The guide rail is provided with a rack in the same direction as the extension direction of the guide rail. The driving gear (11) and the rack mesh.

3. The grain truck sampling robot according to claim 1, characterized in that, The drive end of the second servo motor (12) is connected to a reducer (15), and the output end of the reducer (15) is connected to the connecting frame (4).

4. The grain truck sampling robot according to claim 1, characterized in that, The connecting frame (4) is U-shaped, and the third servo motor (13) and the fourth servo motor (14) are respectively located at the two ends of the open side of the connecting frame (4).

5. The grain truck sampling robot according to claim 1, characterized in that, The drive ends of the third servo motor (13) and the fourth servo motor (14) are both provided with connecting flanges (20), and the two connecting flanges (20) are fixedly connected to the boom (5) and the crank respectively.

6. The grain truck sampling robot according to claim 1, characterized in that, The drill rod (8) is equipped with a grain depth detection device.

7. The grain truck sampling robot according to claim 1, characterized in that, The sampling seat (17) is slidably provided with a slide (18), the drill rod (8) is provided on the slide (18), the upper end of the slide (18) is connected to a spring, the top end of the sampling seat (17) is provided with an abutment plate, and the other end of the spring abuts against the abutment plate.

8. The grain truck sampling robot according to claim 7, characterized in that, The slide block (18) is provided with a plurality of clamping blocks (19), which are spaced apart and clamped at different positions on the drill rod (8).

9. The grain truck sampling robot according to claim 7, characterized in that, The slide (18) is provided with a proximity sensor, which is used to sense the distance between the slide (18) and the abutment plate.

10. The grain truck sampling robot according to claim 1, characterized in that, The upper arm (5) and the lower arm (6) are hollow.

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