A detection structure suitable for robot to inspect environment in CA stacking

Abstract

The utility model relates to the technical field of tobacco, chinese medicinal material and grain detection technology, concretely to a detection structure suitable for robot inspection of the environment in CA storage, including lifting arm, six axle adjusting arm, detection arm and detection joint, the lower end fixed mounting of lifting arm has robot body, six axle adjusting arm installs at the upper end of lifting arm, and the front end of six axle adjusting arm is installed detection arm, and detection arm includes detection pipe, visual sensor, detection sensor, air pump, suction pipe, abutting rod, suction hole, electromagnetic ring and sealing washer, and the rear end of six axle adjusting arm is installed monitoring camera, robot body drives detection arm to move, and detection arm and detection joint cooperate and carry out suction detection to the gas in the sealed stack, and monitoring camera cooperates visual sensor to make detection arm and detection joint accurate butt joint, realize automatic inspection to the inside of sealed stack, improve detection convenience and detection efficiency.

Description

Technical Field

[0001] This utility model relates to the field of detection technology for tobacco, Chinese medicinal materials and grains, and specifically to a detection structure suitable for robotic inspection of the environment inside a controlled atmosphere stack. Background Technology

[0002] Tobacco, medicinal herbs, and grains are prone to problems such as insect infestation and spoilage, making proper maintenance during storage particularly important. Controlled atmosphere storage technology is already widely used in the storage of tobacco, medicinal herbs, and grains. This technology involves sealing the stored goods on all six sides with a sealing film and then regulating the gas concentration inside the sealed stack using controlled atmosphere agents or nitrogen generators. During storage, it is necessary to monitor the controlled atmosphere environment inside the stack.

[0003] Existing testing methods mostly involve on-site workers periodically using various handheld testing devices (carbon dioxide, oxygen, temperature and humidity, etc.) to test each stack of sealed stacks and record relevant data. Due to the large quantity of Chinese medicinal materials stored, manual testing is cumbersome and inefficient.

[0004] Therefore, it is necessary to invent a detection structure suitable for robotic inspection of the environment inside a controlled atmosphere stack to solve the above problems. Utility Model Content

[0005] The purpose of this invention is to provide a detection structure suitable for robotic inspection of the environment inside a modified atmosphere stack, in order to solve the problems of cumbersome and inefficient manual inspection in the technology.

[0006] To achieve the above objectives, this utility model provides the following technical solution: a detection structure suitable for robot inspection of the internal environment of a modified atmosphere stack, comprising a lifting arm, a six-axis adjusting arm, a detection arm, and a detection connector. The lower end of the lifting arm is fixedly mounted with a robot body. The six-axis adjusting arm is mounted on the upper end of the lifting arm. The detection arm is mounted on the front end of the six-axis adjusting arm. The detection arm includes a detection tube, a vision sensor, a detection sensor, an air pump, a suction tube, a contact rod, a suction hole, an electromagnetic ring, and a sealing ring. A monitoring camera is installed at the rear end of the six-axis adjusting arm.

[0007] By adopting the above technical solution, the detection connector is fixed on the surface of the sealing film on the outside of the sealed stack. The robot body drives the lifting arm, the six-axis adjusting arm and the detection arm to move. The lifting arm adjusts the height of the detection arm, and the six-axis adjusting arm adjusts the angle of the detection arm. The detection arm and the detection connector work together to extract air from the inside of the sealed stack for detection, thereby realizing automatic inspection of the sealed stack and improving detection efficiency.

[0008] Optionally, the detection tube is fixedly connected to the front end of the six-axis adjusting arm, the vision sensor is fixedly installed on the upper side of the detection tube, the detection sensor is fixedly installed on the side of the detection tube, and the air pump is fixedly installed on the lower side of the detection tube.

[0009] By adopting the above technical solution, the six-axis adjusting arm can be adjusted in six axes, allowing the detection arm to be adjusted at multiple angles, which facilitates quick insertion into the interior of the detection connector. The visual sensor and the monitoring camera work together to monitor and position the detection arm, which facilitates quick adjustment of the detection arm position. The air pump is used to draw the gas inside the sealed stack into the detection cylinder. The detection sensors include a carbon dioxide concentration detector, an oxygen concentration detector, a humidity detector, and a temperature detector.

[0010] Optionally, the suction tube is fixedly connected to the front end of the detection tube, the abutment rod is fixedly connected to the center of the front end of the suction tube, and the front end of the suction tube has multiple sets of suction holes.

[0011] By adopting the above technical solution, the suction pipe and suction hole work together to suction the gas inside the sealed stack.

[0012] Optionally, the electromagnetic ring is sleeved on the surface of the suction tube, the rear end of the electromagnetic ring is fixedly connected to the front end of the detection tube, and the sealing ring is fixedly connected to the front end of the electromagnetic ring.

[0013] By adopting the above technical solution, the electromagnetic ring generates magnetic force after being energized, which is used to connect and fix it with the detection connector.

[0014] Optionally, the detection connector includes a first sealing cover, a connecting cylinder, a sealing ring, a positioning block, an air inlet groove, a slide rod, a sealing plug, a support spring, a metal ring, and a second sealing cover.

[0015] Optionally, the connecting cylinder is fixedly connected to the front side of the first sealing cover, the second sealing cover is threadedly connected to the surface of the connecting cylinder, the sealing ring is fixedly connected to the inner wall of the connecting cylinder, and the metal ring is fixedly connected to the rear surface of the first sealing cover.

[0016] By adopting the above technical solution, the first sealing cover, the connecting cylinder and the second sealing cover cooperate to fix the detection connector on the sealing membrane surface on the outside of the sealing stack, and the metal ring is used to cooperate with the electromagnetic ring to fix the detection tube and the detection connector.

[0017] Optionally, the positioning block is fixedly connected to the front end of the connecting cylinder, the slide rod is fixedly connected to the center of the positioning block, the sealing plug is fixedly connected to the rear end of the slide rod, the support spring is sleeved on the surface of the slide rod, the two ends of the support spring abut against the sealing plug and the positioning block respectively, and multiple sets of air inlet grooves are formed on the surface of the positioning block.

[0018] By adopting the above technical solution, the support spring is used to insert the sealing plug into the inside of the sealing ring to seal the inside of the connecting cylinder.

[0019] The technical effects and advantages provided by this utility model in the above technical solution are as follows: 1. This utility model uses a robot body to drive a lifting arm, a six-axis adjusting arm, and a detection arm to move. It uses a monitoring camera and a vision sensor for positioning and quickly inserts the suction tube in the detection arm into the detection connector. At the same time, the electromagnetic ring and the metal ring are magnetically attracted and fixed, and the detection arm and the detection connector are quickly locked and fixed. At this time, the gas inside the sealed stack can be suctioned and detected, realizing automatic inspection of the inside of the sealed stack, improving the convenience and efficiency of detection. 2. This utility model uses a detection connector and a detection arm. After the detection arm is inserted into the detection connector, the electromagnetic ring and the metal ring are magnetically attracted and fixed, quickly locking the detection arm and the detection connector. At this time, the sealing ring will be in close contact with the ends of the detection arm and the detection connector, effectively improving the sealing effect of the detection connector and the detection arm, achieving complete sealing, ensuring that external gas will not enter the stack during the detection process, thereby improving the detection accuracy. 3. In this utility model, after the electromagnetic ring is de-energized and demagnetized, the detection arm is pulled outward. At this time, the support spring in the detection connector will automatically push the sealing plug to the inside of the sealing ring, thereby sealing the inside of the connecting cylinder and realizing automatic sealing of the detection connector, preventing external gas from entering the sealed stack. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of the overall structure of this utility model; Figure 2 This is a schematic diagram of the six-axis adjusting arm structure of this utility model; Figure 3 This is a schematic diagram of the detection arm structure of this utility model; Figure 4 This utility model Figure 3 A schematic diagram of the structure at point A; Figure 5 This is a schematic diagram of the external structure of the detection connector of this utility model; Figure 6 This is a schematic diagram of the internal structure of the detection connector of this utility model.

[0021] Explanation of reference numerals in the attached figures: 1. Lifting arm; 11. Robot body; 12. Six-axis adjustable arm; 13. Monitoring camera; 2. Detection arm; 21. Detection tube; 22. Vision sensor; 23. Detection sensor; 24. Air pump; 25. Suction tube; 26. Abutment rod; 27. Suction hole; 28. Electromagnetic ring; 29. ​​Sealing ring; 3. Detection connector; 31. First sealing cover; 32. Connecting cylinder; 33. Sealing ring; 34. Positioning block; 35. Air inlet groove; 36. Slide rod; 37. Sealing plug; 38. Support spring; 39. Metal ring; 310. Second sealing cover. Detailed Implementation

[0022] To enable those skilled in the art to better understand the technical solution of this utility model, the present utility model will be further described in detail below with reference to the accompanying drawings.

[0023] This utility model provides, for example Figures 1 to 4 The invention illustrates a detection structure suitable for robotic inspection of the environment inside a modified atmosphere stack, comprising a lifting arm 1, a six-axis adjustable arm 12, a detection arm 2, and a detection connector 3. The lower end of the lifting arm 1 is fixedly mounted with a robot body 11, the six-axis adjustable arm 12 is mounted on the upper end of the lifting arm 1, and the detection arm 2 is mounted on the front end of the six-axis adjustable arm 12. The detection arm 2 includes a detection tube 21, a vision sensor 22, a detection sensor 23, an air pump 24, a suction tube 25, a contact rod 26, a suction hole 27, an electromagnetic ring 28, and a sealing ring 29. A monitoring camera 13 is mounted on the rear end of the six-axis adjustable arm 12.

[0024] The detection connector 3 is installed on the surface of the sealing membrane on the outside of the sealed stack. Multiple sets of detection connectors 3 can be installed at different heights on the surface of the sealing membrane to perform suction detection on the modified atmosphere at different heights, thereby improving the detection accuracy. Meanwhile, the robot body 11, the lifting arm 1, and the six-axis adjusting arm 12 are all existing technologies and will not be described in detail here.

[0025] During use, the robot body 11 moves the lifting arm 1, the six-axis adjusting arm 12 and the detection arm 2. With the visual recognition of the monitoring camera 13, the adjusting arm 2 is moved to the vicinity of the detection connector 3. At this time, with the help of the vision sensor 22, the position of the detection arm 2 is precisely adjusted, and the detection arm 2 is precisely docked with the detection connector 3. After the docking is completed, the modified atmosphere inside the sealed stack is suctioned for detection.

[0026] See Figures 2 to 4The detection tube 21 is fixedly connected to the front end of the six-axis adjusting arm 12. The vision sensor 22 is fixedly installed on the upper side of the detection tube 21. The detection sensor 23 is fixedly installed on the side of the detection tube 21. The air pump 24 is fixedly installed on the lower side of the detection tube 21. The suction tube 25 is fixedly connected to the front end of the detection tube 21. The abutment rod 26 is fixedly connected to the center of the front end of the suction tube 25. The front end of the suction tube 25 has multiple suction holes 27. The electromagnetic ring 28 is sleeved on the surface of the suction tube 25. The rear end of the electromagnetic ring 28 is fixedly connected to the front end of the detection tube 21. The sealing ring 29 is fixedly connected to the front end of the electromagnetic ring 28.

[0027] Specifically, during the detection process, the detection arm 2 uses the air pump 24, the detection tube 21 and the suction tube 25 to draw in the gas inside the sealed stack, so that the gas flows through the detection tube 21. At this time, the detection sensor 23 detects the gas inside the detection tube 21, and the detection range includes carbon dioxide concentration, oxygen concentration, temperature and humidity.

[0028] See Figure 1 , Figure 5 and Figure 6 The test connector 3 includes a first sealing cover 31, a connecting cylinder 32, a sealing ring 33, a positioning block 34, an air inlet groove 35, a sliding rod 36, a sealing plug 37, a support spring 38, a metal ring 39, and a second sealing cover 310. The connecting cylinder 32 is fixedly connected to the front side of the first sealing cover 31, the second sealing cover 310 is threadedly connected to the surface of the connecting cylinder 32, the metal ring 39 is fixedly connected to the rear surface of the first sealing cover 31, the sealing ring 33 is fixedly connected to the inner wall of the connecting cylinder 32, the positioning block 34 is fixedly connected to the front end of the connecting cylinder 32, the sliding rod 36 is fixedly connected to the center of the positioning block 34, the sealing plug 37 is fixedly connected to the rear end of the sliding rod 36, the support spring 38 is sleeved on the surface of the sliding rod 36, and the two ends of the support spring 38 abut against the sealing plug 37 and the positioning block 34 respectively. Multiple sets of air inlet grooves 35 are opened on the surface of the positioning block 34.

[0029] During the installation process, the test connector 3 is installed by making a hole in the surface of the sealing membrane and inserting the second sealing cover 310 into the inside of the sealing membrane. Then, the connecting cylinder 32 is inserted into the hole and threadedly connected to the second sealing cover 310. The first sealing cover 31 and the second sealing cover 310 cooperate to clamp and fix the connection of the hole, thereby fixing the test connector 3 on the surface of the sealing membrane.

[0030] Meanwhile, when not being tested, the support spring 38 pushes the sealing plug 37 outward, causing the sealing plug 37 to engage inside the sealing ring 33, thus sealing the inside of the connecting cylinder 32 and preventing gas from leaking out of the sealed stack.

[0031] During the testing process, the six-axis adjusting arm 12 adjusts the testing arm 2 to the side of the testing connector 3, and inserts the suction tube 25 into the inside of the testing tube 21 from the outside. Then, the electromagnetic ring 28 is activated, and the electromagnetic ring 28 is magnetically fixed to the metal ring 39, thereby fixing the testing tube 21 to the side of the first sealing cover 31.

[0032] As the electromagnetic ring 28 and the metal ring 39 are magnetically fixed together, the detection tube 21 will continue to be pushed inward a certain distance, which will cause the abutment rod 26 to push the sealing plug 37 inward, separating it from the sealing ring 33, thus allowing the gas inside the connecting cylinder 32 to circulate. At this time, the air pump 24 is started. The air pump 24, the detection tube 21 and the suction tube 25 work together to draw the gas inside the sealed stack. The gas inside the sealed stack passes through the air inlet groove 35, the connecting cylinder 32, the suction hole 27, the suction tube 25 and the detection tube 21 in sequence. At this time, the detection sensor 23 detects the carbon dioxide concentration, oxygen concentration, temperature and humidity in the gas.

[0033] Conversely, when the electromagnetic ring 28 is de-energized, the support spring 38 will push the sealing plug 37 outward, causing the sealing plug 37 to re-engage inside the sealing ring 33, thus sealing the inside of the connecting cylinder 32.

[0034] The working principle of this utility model is as follows: The robot body 11 drives the lifting arm 1, the six-axis adjusting arm 12, and the detection arm 2 to move. The detection arm 2 and the detection connector 3 work together to extract and detect the gas inside the sealed stack, improving the convenience and efficiency of the detection. At the same time, the six-axis adjusting arm 12 adjusts the angle of the detection arm 2, and the lifting arm 1 adjusts the height of the detection arm, so that it can work with the detection connector 3 to extract gas at different positions and heights, improving the accuracy of modified atmosphere detection inside the sealed stack.

[0035] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. Those skilled in the art should understand that this utility model is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the utility model. Various changes and modifications can be made to this utility model without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed utility model.

Claims

1. A detection structure suitable for robotic inspection of the internal environment of a modified atmosphere stack, comprising a lifting arm (1), a six-axis adjusting arm (12), a detection arm (2), and a detection connector (3), characterized in that: The lower end of the lifting arm (1) is fixedly installed with the robot body (11), the six-axis adjusting arm (12) is installed on the upper end of the lifting arm (1), the detection arm (2) is installed on the front end of the six-axis adjusting arm (12), the detection arm (2) includes a detection tube (21), a vision sensor (22), a detection sensor (23), an air pump (24), a suction tube (25), a contact rod (26), a suction hole (27), an electromagnetic ring (28) and a sealing ring (29), and a monitoring camera (13) is installed at the rear end of the six-axis adjusting arm (12).

2. The detection structure for robotic inspection of the environment inside a controlled atmosphere stack, as described in claim 1, is characterized in that: The detection tube (21) is fixedly connected to the front end of the six-axis adjusting arm (12), the vision sensor (22) is fixedly installed on the upper side of the detection tube (21), the detection sensor (23) is fixedly installed on the side of the detection tube (21), and the air pump (24) is fixedly installed on the lower side of the detection tube (21).

3. A detection structure suitable for robotic inspection of the environment inside a controlled atmosphere stack, as described in claim 2, characterized in that: The suction tube (25) is fixedly connected to the front end of the detection tube (21), the abutment rod (26) is fixedly connected to the center of the front end of the suction tube (25), and the front end of the suction tube (25) has multiple sets of suction holes (27).

4. A detection structure suitable for robotic inspection of the internal environment of a controlled atmosphere stack, as described in claim 3, is characterized in that: The electromagnetic ring (28) is sleeved on the surface of the suction tube (25), the rear end of the electromagnetic ring (28) is fixedly connected to the front end of the detection tube (21), and the sealing ring (29) is fixedly connected to the front end of the electromagnetic ring (28).

5. A detection structure suitable for robotic inspection of the environment inside a controlled atmosphere stack, as described in claim 1, characterized in that: The detection connector (3) includes a first sealing cover (31), a connecting cylinder (32), a sealing ring (33), a positioning block (34), an air inlet groove (35), a slide rod (36), a sealing plug (37), a support spring (38), a metal ring (39), and a second sealing cover (310).

6. A detection structure suitable for robotic inspection of the internal environment of a controlled atmosphere stack, as described in claim 5, characterized in that: The connecting cylinder (32) is fixedly connected to the front side of the first sealing cover (31), the second sealing cover (310) is threadedly connected to the surface of the connecting cylinder (32), the sealing ring (33) is fixedly connected to the inner wall of the connecting cylinder (32), and the metal ring (39) is fixedly connected to the rear surface of the first sealing cover (31).

7. A detection structure suitable for robotic inspection of the environment inside a controlled atmosphere stack, as described in claim 6, characterized in that: The positioning block (34) is fixedly connected to the front end of the connecting cylinder (32), the slide rod (36) is fixedly connected to the center of the positioning block (34), the sealing plug (37) is fixedly connected to the rear end of the slide rod (36), the support spring (38) is sleeved on the surface of the slide rod (36), and the two ends of the support spring (38) abut against the sealing plug (37) and the positioning block (34) respectively. The surface of the positioning block (34) has multiple sets of air inlet grooves (35).

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