Mobile intelligent robot sampling system

Abstract

This application relates to the field of sample preparation equipment technology, and in particular to a mobile intelligent robot sampling and preparation system. The mobile intelligent robot sampling and preparation system includes: a vehicle-mounted platform, a coal inventory device, a sampling unit, a coal quality analysis unit, and a sample dispensing unit. The sampling unit is mounted on the vehicle-mounted platform and includes a moving component and a sampler connected to the moving component. The sampler includes a drive component, a sleeve, a rotating shaft, a first guide vane, a drill bit, and a second guide vane. The drive component is connected to the sleeve. The first guide vane is spirally mounted on the rotating shaft, which is located inside the sleeve. One end of the rotating shaft is connected to the output end of the drive component. A discharge port is provided at the end of the sleeve adjacent to the drive component. The coal inventory device is mounted on the vehicle-mounted platform. The coal quality analysis unit and the sample dispensing unit are arranged opposite each other at both ends of the vehicle-mounted platform's extension direction. This mobile intelligent robot sampling and preparation system eliminates the need for manual labor, facilitates automated sampling, and improves the stability and safety of sampling.

Description

Technical Field

[0001] This application relates to the field of sample preparation equipment technology, and in particular to a mobile intelligent robot sample preparation system. Background Technology

[0002] Coal collection and distribution stations are critical infrastructure in the coal supply chain, primarily used for centralized storage, sorting, efficient transshipment, and resource integration of coal. Their role spans the entire coal supply chain from production to consumption, playing a vital role in improving transportation efficiency, reducing logistics costs, and ensuring the stability of energy supply. They mainly concentrate coal from scattered mines at these stations, enabling large-scale transportation via trunk lines such as railways, highways, and waterways. These stations connect coal mines (road transport), railway trunk lines (heavy-haul railways), ports (waterways), or end users, achieving "door-to-door" logistics. Furthermore, washing and processing can remove impurities such as gangue and sulfur from raw coal, improving its calorific value. The entire coal collection and delivery process at the coal collection and distribution station includes weighing and unloading coal from trucks, coal quality sampling (testing), coal storage / washing / blending, loading (trucks / trains), coal quality sampling (testing), and delivery. Among these processes, coal sampling is widely carried out using mechanical sampling of stationary coal, or a combination of manual and mechanical sampling, when unloading coal piles, shipping coal to trucks, trains, and transporting coal to the plant. However, manual sampling is limited to surface and shallow layers, is susceptible to external interference, and subjective human error can cause sampling deviations. Furthermore, climbing on vehicles poses a safety hazard to sampling personnel. Summary of the Invention

[0003] This application provides a mobile intelligent robot sampling system that eliminates the need for manual labor, facilitates automated sampling, and improves the stability and safety of sampling.

[0004] The mobile intelligent robot sampling system of this application includes: In-vehicle platform; A sampling unit is disposed on the vehicle-mounted platform. The sampling unit includes a moving component and a sampler. The moving component is disposed on the vehicle-mounted platform and is movable on the vehicle-mounted platform. The sampler is connected to the moving component. The sampler includes a drive unit, a sleeve, a rotating shaft, a first guide vane, a drill bit, and a second guide vane. The drive unit is connected to the sleeve. The first guide vane is helically disposed on the rotating shaft, which is located inside the sleeve. One end of the rotating shaft is connected to the output end of the drive unit. The drill bit is disposed at the end of the rotating shaft away from the drive unit. A second guide vane is helically disposed on the drill bit. The lead of the second guide vane in the axial direction of the rotating shaft is less than the lead of the first guide vane in the axial direction of the rotating shaft. A discharge port is provided at the end of the sleeve adjacent to the drive unit. A coal inventory device, installed on the vehicle-mounted platform, is used for three-dimensional volume measurement and coal quality distribution modeling of coal piles or wagons. The coal quality analysis unit and the sampling unit are arranged opposite each other at both ends of the vehicle-mounted platform in the extension direction. The sampling unit is used to crush and reduce the sampled coal sample to separate the coal sample. The coal quality analysis unit is adapted to analyze the sampled coal sample.

[0005] The mobile intelligent robot sampling system of this application embodiment eliminates the need for manual labor, facilitates automated sampling, and improves the stability and safety of sampling.

[0006] In some embodiments, the sampler further includes a baffle disposed within a sleeve, the drive member passing through the baffle and connected to the rotating shaft, and an anti-stick coating being provided on one end of the baffle facing the rotating shaft.

[0007] In some embodiments, the sampler further includes a plurality of scraping plates, which are arranged at intervals in the circumferential direction of the rotating shaft, and the scraping plates are disposed at one end of the rotating shaft near the discharge port.

[0008] In some embodiments, the mobile intelligent robot sampling system further includes a purging component that outputs air, with the output end of the purging component facing the drill bit.

[0009] In some embodiments, the mobile component includes a robot and a moving part, the moving part being movable on the vehicle platform, and the robot being detachably connected to the sampler.

[0010] In some embodiments, the coal quality analysis unit includes a coal quality analysis device and a sample sealing device, wherein the coal quality analysis device is at least one of an X-ray fluorescence spectrometer or a laser-induced breakdown spectrometer. The sample separation unit includes a crusher, a divider, and a sample container arranged sequentially from top to bottom. The output end of the crusher faces the divider, and the output end of the divider faces the sample container.

[0011] In some embodiments, the moving component further includes a vision sensor and a force feedback module, which are mounted on the robot to assist the robot in adaptively grasping different types of sample containers.

[0012] In some embodiments, the coal-measuring device is a ground-based mobile laser scanner or an infrared sensor.

[0013] In some embodiments, the mobile intelligent robot sampling system further includes a wireless transmission module, which is connected to the coal storage device, the purging component, the moving component, and the sampler, respectively.

[0014] In some embodiments, the purging component is an air compressor. Attached Figure Description

[0015] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 This is a schematic diagram of a mobile intelligent robot sampling system according to an embodiment of this application; Figure 2 This is a top view schematic diagram of a mobile intelligent robot sampling system according to an embodiment of this application; Figure 3 This is a schematic diagram of the sampler according to an embodiment of this application; Figure 4 This is a schematic diagram of the sleeve according to an embodiment of this application.

[0017] The above figures include the following reference numerals: 1. Vehicle-mounted platform; 2. Coal inventory device; 3. Rapid coal quality analysis device; 4. Sample sealing device; 5. Robot; 6. Sampler; 6. Drive unit; 61. Sleeve; 62. Discharge port; 621. Rotary shaft; 63. First guide vane; 64. Drill bit; 65. Second guide vane; 66. 7. Crusher, 8. Divider, 9. Sample container, 10. Moving parts, 11. Air compressor, 12. Control cabinet, 13. Power supply device, 14. Robot clamp for manual loading, 15. Sampler fixture. Detailed Implementation

[0018] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0019] It should be noted that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. The terms "installed," "connected," and "linked" should be interpreted broadly, for example, they can be fixed connections, detachable connections, or integral connections; they can be mechanical connections or electrical connections; they can be direct connections or indirect connections through an intermediate medium; they can be internal connections between two elements. The terms "parallel," "perpendicular," and "equal" include the described situation and situations similar to the described situation, the range of which is within an acceptable deviation range, wherein the acceptable deviation range is determined by those skilled in the art taking into account the measurement under discussion and the error associated with the measurement of a particular quantity (i.e., the limitations of the measurement system). For example, "parallel" includes absolute parallelism and approximate parallelism, where an acceptable deviation range for approximate parallelism can be, for example, within 5°; "perpendicular" includes absolute perpendicularity and approximate perpendicularity, where an acceptable deviation range for approximate perpendicularity can also be, for example, within 5°. "Equal" includes absolute equality and approximate equality, where an acceptable deviation range for approximate equality can be, for example, a difference between the two equal items being less than or equal to 5% of either one. Those skilled in the art will understand the specific meaning of the above terms in this application based on the specific circumstances.

[0020] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The mobile intelligent robot sampling system of this application includes: a vehicle-mounted platform 1, a sampling unit, the sampling unit being disposed on the vehicle-mounted platform 1, the sampling unit including a moving component and a sampler 6, the moving component being disposed on the vehicle-mounted platform 1 and movable on the vehicle-mounted platform 1, and the sampler 6 being detachably connected to the moving component. The sampler 6 includes a drive unit 61, a sleeve 62, a rotating shaft 63, a first guide vane 64, a drill bit 65, and a second guide vane 66. The drive unit 61 is connected to the sleeve 62. The first guide vane 64 is spirally disposed on the rotating shaft 63, which is disposed inside the sleeve 62. One end of the rotating shaft 63 is connected to the output end of the drive unit 61. The drill bit 65 is disposed at the end of the rotating shaft 63 away from the drive unit 61. The second guide vane 66 is spirally disposed on the drill bit 65. The lead of the second guide vane 66 in the axial direction of the rotating shaft 63 is less than the lead of the first guide vane 64 in the rotating shaft 63. A discharge port 621 is provided at the end of the sleeve 62 near the drive unit 61. The vertical lead of the second guide vane 66 is less than that of the first guide vane 64, meaning the theoretical coal lift-up of the drill bit 65 is less than the theoretical coal lift-up of the shaft 63. This prevents the sleeve 62 from becoming clogged during coal sampling, ensuring that the coal sample drilled by the drill bit 65 is smoothly lifted into the sleeve 62. The coal inventory device 2, installed on the vehicle platform 1, is used for three-dimensional volume measurement and coal quality distribution modeling of coal piles or wagons. The coal quality analysis unit and the sampling unit are arranged opposite each other at both ends of the vehicle-mounted platform 1 along its extension direction. The sampling unit is used to crush and reduce the size of the sampled coal, while the coal quality analysis unit is suitable for analyzing the sampled coal. After the sampling unit takes a coal sample, the sampled coal is output to the sampling unit for crushing and reducing, thus completing the sampling and sample preparation. The sampled coal is then moved to the coal quality analysis unit under the operation of the moving component.

[0022] The mobile intelligent robot sampling system of this application embodiment eliminates the need for manual labor, facilitates automated sampling, and improves the stability and safety of sampling.

[0023] Specifically, such as Figures 1 to 4 As shown, the vehicle platform 1 can be an existing car or truck.

[0024] The sampling unit is mounted on the vehicle-mounted platform 1. For example, the vehicle-mounted platform 1 may be equipped with rails for mounting the sampling unit. The moving component is movable relative to the vehicle-mounted platform 1 for movement during sampling, sample transfer, and sealing operations. For example, during sampling, the output end of the drive unit 61 rotates to drive the rotating shaft 63 to rotate, and the rotating shaft 63 drives the drill bit 65, the first impeller and the second impeller to rotate, thereby sampling the coal sample.

[0025] The drill bit 65 is located at the lower end of the rotating shaft 63. The drill bit 65 is provided with a spirally arranged second guide vane 66 in the vertical direction to guide the coal sample upward. The second guide vane 66 on the rotating shaft 63 continues to guide the coal sample guided by the drill bit 65 upward, so as to collect the coal sample into the sleeve 62.

[0026] Furthermore, the sampling system also includes a power supply unit 13 and an air compressor 11. The power supply unit 13 is connected to the coal storage device 2, the sampling unit, the coal quality analysis unit, and the sample distribution unit to provide electrical energy. The air compressor 11 provides power and pneumatic support to the system. The output of the air compressor 11 is connected to the sampling unit, the sample distribution unit, and the coal quality analysis unit to provide pneumatic support. For example, the air compressor 11 provides power to moving components and facilitates the supply of air to purge the drill bit 65.

[0027] The mobile intelligent robot sampling system of this invention completes the automated sampling and preparation of coal samples by setting up a vehicle-mounted platform 1, a sampling unit and a sample distribution unit. By setting up a sampler 6, a second guide vane 66 is spirally arranged on the drill bit 65 of the sampler 6, and a discharge port 621 is set at one end of the sleeve 62 near the drive component 61 to facilitate the export of coal samples, thereby facilitating full-depth sampling, avoiding the influence of the volume or length of the sleeve 62 on the sampling, and avoiding the decrease in sampling accuracy caused by multiple sampling.

[0028] In some embodiments, the sampler 6 further includes a baffle disposed inside the sleeve 62, the drive member 61 passing through the baffle and connected to the rotating shaft 63, and an anti-stick coating being provided on one end of the baffle facing the rotating shaft 63.

[0029] Specifically, such as Figures 1 to 4 As shown, the sampler 6 also includes a baffle, which is set above the sleeve 62 to prevent the coal sample from impacting the drive unit 61 during sampling. The sleeve 62 portion below the baffle is provided with a discharge port 621, which is connected to the inside of the sleeve 62 to facilitate sample unloading.

[0030] The lower end face of the baffle 66 is provided with an anti-stick coating to prevent the coal sample from sticking to the baffle 66 and affecting the output of the coal sample.

[0031] Furthermore, the sampler 6 also includes multiple scraper blades, which are spaced apart circumferentially around the rotating shaft 63. The scraper blades are located at the end of the rotating shaft 63 near the discharge port 621. With the scraper blades mounted on the rotating shaft 63, when the coal sample is guided up from below onto the baffle, the scraper blades can promptly scrape off the coal sample adhering to the bottom of the baffle, reducing coal sample residue inside the equipment and avoiding uneven sampling or blockage caused by adhesion, thereby improving the stability and accuracy of coal sample collection and preparation.

[0032] In some embodiments, the mobile intelligent robot sampling system further includes a purging component that outputs air, with the output end of the purging component facing the drill bit 65.

[0033] The purging component is mounted on the sampler 6 or the moving assembly to purge the drill bit 65, thereby removing the coal sample from the drill bit 65 and preventing cross-contamination of the samples.

[0034] In some embodiments, the mobile component includes a robot 5 and a moving part, the moving part being movable on the vehicle platform 1, and the robot 5 being detachably connected to the sampler 6.

[0035] Specifically, such as Figures 1 to 4 As shown, robot 5 is movably mounted on vehicle platform 1 via a movable component and is equipped with sampler fixture 15 and robot gripper fixture 14 for performing sampling, sample transfer, and sample sealing operations. The movable component can be an existing moving device, such as a linear guide rail.

[0036] Furthermore, robot 5 may include an existing six-axis collaborative robotic arm, with a vision sensor and force feedback module at the end effector for adaptively grasping sample containers 9 of different sizes. Furthermore, Robot 5 also includes the existing intelligent path planning module, which dynamically adjusts the working trajectory of Sampler 6 based on the three-dimensional model of the coal pile to avoid areas such as the car body bracing and coal pile collapse.

[0037] In some embodiments, the coal quality analysis unit includes a coal quality analysis device and a sample sealing device 4. The coal quality analysis device is at least one of an X-ray fluorescence spectrometer or a laser-induced breakdown spectrometer. The sample separation unit includes a crusher 7, a divider 8, and a sample container 9 arranged from top to bottom. The output end of the crusher 7 faces the divider 8, and the output end of the divider 8 faces the sample container 9.

[0038] Specifically, such as Figures 1 to 4 As shown, the sampling unit can seal the coal sample in the sample container 9 to prevent the sample from getting damp, contaminated, or oxidized, ensuring the accuracy of the analysis results. The sample container 9 can be made of polyethylene or glass. The robot 5 and the moving parts cooperate to output the coal sample from the sampler 6 to the crusher 7, or a conveying device is set up. The input end of the conveying device is connected to the discharge port 621, and the output end of the conveying device faces the crusher 7, thereby improving the automation level of sampling. The crusher 7 crushes the coal sample, and then the divider 8 divides it. After sampling is completed, the robot 5 moves the sample container 9 to the sealing device 4 for sealing, thus completing the coal sample collection and preparation process.

[0039] Furthermore, the mobile intelligent robot sampling system also includes a control cabinet with a controller. The controller is connected to the robot 5, sampler 6, crusher 7, divider 8 and sealing device respectively to control the fully automated operation of the robot 5, sampler 6, crusher 7, divider 8 and sealing device 4 through a preset program. Furthermore, the mobile component also includes existing vision sensors and force feedback modules, which are mounted on the robot 5 to cooperate with the robot 5 in adaptively grasping different types of sample bins 9.

[0040] In some embodiments, the coal counting device 2 is a ground-based mobile laser scanner or an infrared sensor.

[0041] Specifically, such as Figures 1 to 4 As shown, the coal inventory device 2 is a ground-based mobile laser scanner that moves along the edge of the coal pile via a sliding rail mechanism to generate three-dimensional point cloud data. The coal inventory device 2 is also an infrared sensor used to scan the volume of the coal pile from the air for three-dimensional volume measurement and coal quality distribution modeling of the coal pile or car.

[0042] Furthermore, the coal sampling device 2 can also be a drone module equipped with lidar or infrared sensors for aerial scanning of the coal pile volume, thereby improving the applicability of the coal sampling device.

[0043] In some embodiments, the mobile intelligent robot sampling system further includes a wireless transmission module, which is connected to the coal storage device 2, the purging component, the moving component, and the sampler 6, respectively. The wireless transmission module can be an IoT communication module, supporting 4G / 5G remote data transmission and real-time uploading of sampling data to a cloud server, such as transmitting monitoring data to a NAS host.

[0044] In some embodiments, the purging component is an existing air compressor 11. A detailed description of one embodiment provided in this application has been given above. Specific examples have been used to illustrate the principles and implementation methods of this application. The description of the embodiments above is only for the purpose of helping to understand the method and core ideas of this application. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

Claims

1. A mobile intelligent robot sampling and preparation system, characterized in that, include: In-vehicle platform; A sampling unit is disposed on the vehicle-mounted platform. The sampling unit includes a moving component and a sampler. The moving component is disposed on the vehicle-mounted platform and is movable on the vehicle-mounted platform. The sampler is connected to the moving component. The sampler includes a drive unit, a sleeve, a rotating shaft, a first guide vane, a drill bit, and a second guide vane. The drive unit is connected to the sleeve. The first guide vane is spirally disposed on the rotating shaft, which is located inside the sleeve. One end of the rotating shaft is connected to the output end of the drive unit. The drill bit is disposed at the end of the rotating shaft away from the drive unit. A second guide vane is spirally disposed on the drill bit. The lead of the second guide vane in the axial direction of the rotating shaft is less than the lead of the first guide vane in the axial direction of the rotating shaft. A discharge port is provided at the end of the sleeve adjacent to the drive unit. A coal inventory device, installed on the vehicle-mounted platform, is used for three-dimensional volume measurement and coal quality distribution modeling of coal piles or wagons. The coal quality analysis unit and the sampling unit are arranged opposite each other at both ends of the vehicle-mounted platform in the extension direction. The sampling unit is used to crush and reduce the sampled coal sample to separate the coal sample. The coal quality analysis unit is adapted to analyze the sampled coal sample.

2. The mobile intelligent robot sampling system according to claim 1, characterized in that, The sampler also includes a baffle plate disposed inside the sleeve. The drive component passes through the baffle plate and is connected to the rotating shaft. An anti-stick coating is provided on one end of the baffle plate facing the rotating shaft.

3. The mobile intelligent robot sampling system according to claim 2, characterized in that, The sampler also includes multiple scraping plates, which are arranged at intervals in the circumferential direction of the rotating shaft, and the scraping plates are located at one end of the rotating shaft near the discharge port.

4. The mobile intelligent robot sampling system according to claim 3, characterized in that, It also includes a purging component that outputs air, with the output end of the purging component facing the drill bit.

5. The mobile intelligent robot sampling system according to claim 3, characterized in that, The mobile component includes a robot and a moving part, the moving part being movable on the vehicle platform, and the robot being detachably connected to the sampler.

6. The mobile intelligent robot sampling system according to claim 5, characterized in that, The coal quality analysis unit includes a coal quality analysis device and a sample sealing device. The coal quality analysis device is at least one of an X-ray fluorescence spectrometer or a laser-induced breakdown spectrometer. The sample separation unit includes a crusher, a divider, and a sample container arranged sequentially from top to bottom. The output end of the crusher faces the divider, and the output end of the divider faces the sample container.

7. The mobile intelligent robot sampling system according to claim 6, characterized in that, The mobile component also includes a vision sensor and a force feedback module, which are mounted on the robot to assist the robot in adaptively grasping different types of sample containers.

8. The mobile intelligent robot sampling system according to claim 1, characterized in that, The coal counting device is a ground-based mobile laser scanner or infrared sensor.

9. The mobile intelligent robot sampling system according to claim 7, characterized in that, It also includes a wireless transmission module, which is connected to the coal storage device, the purging component, the moving component, and the sampler, respectively.

10. The mobile intelligent robot sampling system according to claim 4, characterized in that, The purging component is an air compressor.

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