CN107344355A - A kind of water and soil sampling robot - Google Patents
A kind of water and soil sampling robot Download PDFInfo
- Publication number
- CN107344355A CN107344355A CN201710657199.9A CN201710657199A CN107344355A CN 107344355 A CN107344355 A CN 107344355A CN 201710657199 A CN201710657199 A CN 201710657199A CN 107344355 A CN107344355 A CN 107344355A
- Authority
- CN
- China
- Prior art keywords
- sampling
- water
- grab bucket
- bottle
- soil
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/12—Dippers; Dredgers
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N2001/1006—Dispersed solids
- G01N2001/1012—Suspensions
- G01N2001/1025—Liquid suspensions; Slurries; Mud; Sludge
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Biochemistry (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Hydrology & Water Resources (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a kind of water and soil sampling robot, including the push-and-pull motor being arranged on crawl device, sampling apparatus and sampling bottle, the sampling apparatus is made up of sampling grab bucket and mechanical arm, the pushing motor rotating shaft is connected with transmission mechanism, the transmission mechanism other end is connected with mechanical arm, the mechanical arm has rotation and two frees degree of pitching, mechanical arm lower end is connected with sampling grab bucket, executing agency is provided with the sampling grab bucket, sampling grab bucket is made up of the arc scraper bowl of left and right two, it is connected respectively with executing agency above scraper bowl, the push-and-pull motor afterbody is provided with water pump, water pump rear end is provided with sampling bottle, the sampling bottle top is provided with overflow pipe and suction hose, can be simultaneously to pipeline soil and water sampling.
Description
Technical field
The present invention relates to sampling robot field, more particularly to a kind of water and soil sampling robot.
Background technology
The crawl device of liftable camera in the market, the machine all not sampled simultaneously to pipeline soil and water simultaneously
People, I possesses these advantages by the water and soil sampling robot of company's exploitation, and it is carried with common crawl device, can be to pipeline water
Sampled simultaneously with soil.
The content of the invention
The technical problem to be solved of the present invention is to provide a kind of water and soil sampling robot, to solve to lead in the prior art
The drawbacks described above of cause.
In order to realize the purpose of the present invention, a kind of water and soil sampling robot provided by the invention, including it is arranged on crawl device
On push-and-pull motor, sampling apparatus and sampling bottle, the sampling apparatus is made up of sampling grab bucket and mechanical arm, mechanical arm tool
There are rotation and two frees degree of pitching, mechanical arm lower end is connected with sampling grab bucket, is provided with executing agency in the sampling grab bucket, adopts
Sample grab bucket is made up of the arc scraper bowl of left and right two, is connected respectively with executing agency above scraper bowl, the pushing motor rotating shaft connection
There is transmission mechanism, the transmission mechanism other end is connected with mechanical arm, and push-and-pull motor afterbody is provided with water pump, and water pump rear end is provided with sampling
Bottle, the sampling bottle top are provided with overflow pipe and suction hose, and the water suction bottom of the tube is connected with screen pack, and suction hose passes through water pump
Sampling grab bucket outer surface is connected to, and the minimum point of suction hose is highly below sampling grab bucket height, the water pump, push-and-pull motor
It is connected respectively by wireless signal with peripheral control unit with executing agency.
Beneficial effect using above technical scheme is：Robot uses push-and-pull motor, the ball before pushing motor
The convert rotational motion of motor is linear motion by screw mandrel, promotes mechanical arm system horizontal movement so as to realize, mechanical arm has
Rotation and two frees degree of pitching, you can the posture of lower section sampling grab bucket is driven by mechanical arm, so that itself and soil in pipeline
Preferably contacted with soil, in sampling grab bucket the grab bucket folding of executing agency's drivening rod end capture soil, mud pump leads to
The suction hose of connection on the robotic arm is crossed by the sampling bottle of water inspiration afterbody, water suction bottom of the tube is provided with screen pack and can avoid absorbing water
Pipe sucks larger impurity, and it is caused to damage, has expired into the liquid in sampling bottle and can have been overflowed by overflow pipe, now passed through
The screen of crawl device is seen, can stop sampling by peripheral control unit control machine people.
Preferably, the sampling bottle top is provided with bottle cap, and bottle cap is rotatablely connected with sampling bottle bottle.
Beneficial effect using above technical scheme is：After being easy to sampling bottle to transport provided with bottle cap, bottle cap is turned on, i.e.,
It can be taken off the liquid that sampling obtains.
Preferably, the overflow pipe and suction hose are from left to right equipped with clamping body, and clamping body is by connection ring and admittedly
Fixed set composition, the fixed cover are socketed in overflow pipe and water suction tube outer surface, and connection ring one end is fixed with fixed cover by screw
In the outer surface of sampling grab bucket, push-and-pull motor etc..
Beneficial effect using above technical scheme is：Provided with clamping body, suction hose appearance is enclosed on using fixed cover
Face, then the surface of push-and-pull motor etc. is fixed in by connection ring, suction hose and overflow pipe are avoided in the robot course of work
In be damaged, while can also play positioning action.
Preferably, sampling bottle and the water pump bottom is provided with fixed seat, and draw ring is provided with above fixed seat.
Beneficial effect using above technical scheme is：Water pump and sampling bottle can be fixed on crawl device provided with fixed seat
On, the abrasion with bottom surface is avoided, provided with draw ring, is easy to lift whole robot assembly, it is simple and convenient.
Preferably, the scraper bowl is open-close type, has the free degree of folding or closing.
Beneficial effect using above technical scheme is：Scraper bowl is open-close type, is easy to by the scraper bowl of actuating mechanism controls two
Opening and closing, take so as to carrying out shovel to dirty soil in pipeline.
Preferably, the crawl device includes setting the wheel at vehicle body, and leading portion of the vehicle body along direction of advance is provided with camera.
Brief description of the drawings
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the front view of main part of the present invention；
Fig. 3 is the front view of the present invention.
Wherein, 1-mechanical arm, 2-overflow pipe, 3-sampling grab bucket, 4-executing agency, 5-scraper bowl, 6-sampling bottle,
7-water pump, 8-push-and-pull motor, 9-screen pack, 10-bottle cap, 11-fixed seat, 12-suction hose, 13-draw ring, 14-even
Connect ring, 15-fixed cover, 16- connecting seats, 17- wheels, 18- vehicle bodies, 19- camera heads.
Embodiment
The present invention is described in further details with reference to the accompanying drawings and detailed description.
Fig. 1, Fig. 2 and Fig. 3 illustrate the embodiment of the present invention：A kind of water and soil sampling robot, including be arranged on
Push-and-pull motor 8, sampling apparatus and sampling bottle 6 on crawl device, the sampling apparatus are made up of sampling grab bucket 3 and mechanical arm 1, and
There is provided by vehicle body 18 and carry installation site and supply of electric power.The pushing motor rotating shaft is connected with transmission mechanism, and transmission mechanism is another
One end is connected with mechanical arm 1, and the mechanical arm 1 has rotation and two frees degree of pitching, and the lower end of mechanical arm 1 is connected with sampling and grabbed
Bucket 3, the sampling grab bucket 3 is interior to be provided with executing agency 4, and the executing agency 4 is steering wheel, and sampling grab bucket 3 is by the arc shovel of left and right two
The composition of bucket 5, the top of scraper bowl 5 are connected with executing agency 4 respectively, and the afterbody of push-and-pull motor 8 is provided with water pump 7 by connecting seat 16,
The rear end of water pump 7 is provided with sampling bottle 6, and the top of sampling bottle 6 is provided with overflow pipe 2 and suction hose 12, and the bottom of suction hose 12 connects
Screen pack 9 is connected to, suction hose 12 is connected to 3 outer surfaces of sampling grab bucket by water pump 7, and the minimum point height of suction hose 12 is low
In the height of sampling grab bucket 3, the water pump 7, push-and-pull motor 8 and executing agency 4 are connected by wireless signal and peripheral control unit respectively
Connect.
Robot uses push-and-pull motor 8, and transmission mechanism is ball-screw, and the ball screw before pushing motor is by motor
Convert rotational motion is linear motion, promotes the motion of the system level of mechanical arm 1 so as to realize, mechanical arm 1 has rotation and pitching
Two frees degree, you can the posture of lower section sampling grab bucket 3 is driven by mechanical arm 1 so that its with soil in pipeline and soil more
Good contact, in sampling grab bucket 3 the grab bucket folding of the drivening rod end of executing agency 4 capture soil, mud pump passes through connection
By in the sampling bottle 6 of water inspiration afterbody, the bottom of suction hose 12 is provided with screen pack 9 and can avoid inhaling suction hose 12 on mechanical arm 1
Water pipe 12 sucks larger impurity, and it is caused to damage, and sampling bottle 6, which has been expired, to be overflowed by overflow pipe 2, now pass through crawl device
Screen see, can by peripheral control unit control machine people stop sample, the top of sampling bottle 6 is provided with bottle cap 10, bottle cap
10 are rotatablely connected with the bottle of sampling bottle 6, and after being easy to sampling bottle 6 to transport provided with bottle cap 10, bottle cap 10 is turned on, you can take out sampling
Obtained liquid, the overflow pipe 2 and suction hose 12 are from left to right equipped with clamping body, and clamping body is by connection ring 14 and admittedly
Surely the composition of set 15, the fixed cover 15 are socketed in overflow pipe 2 and the outer surface of suction hose 12, and the one end of connection ring 14 is logical with fixed cover 15
The outer surface that screw is fixed on sampling grab bucket 3, push-and-pull motor 8 etc. is crossed, provided with clamping body, suction hose is enclosed on using fixed cover 15
12 outer surfaces, then the surface of the grade of push-and-pull motor 8 is fixed in by connection ring 14, suction hose 12 and overflow pipe 2 are avoided in machine
It is damaged during device people work, while can also plays positioning action, sampling bottle 6 and water pump 7 bottom is provided with fixed seat 11,
The top of fixed seat 11 is provided with draw ring 13, and water pump 7 and sampling bottle 6 can be fixed on crawl device provided with fixed seat 11, avoids and bottom
The abrasion in face, provided with draw ring 13, it is easy to lift whole robot assembly, simple and convenient, the scraper bowl 5 is open-close type, has and opens
The free degree closed or closed, scraper bowl 5 is open-close type, is easy to be controlled the opening and closing of two scraper bowls 5 by executing agency 4, so as to right
Dirty soil carries out shovel and taken in pipeline.
Crawl device includes setting the wheel 17 at vehicle body 18, and leading portion of the vehicle body 18 along direction of advance is provided with camera 19；Car
Wheel 17, vehicle body 18, video camera 19 are monitored and known by video camera 19 for that can pass in and out operation field via wired or wireless control
Other operation field.
As known by the technical knowledge, the present invention can pass through the embodiment party of other essence without departing from its spirit or essential feature
Case is realized, therefore, embodiment disclosed above, for each side, is all merely illustrative, is not only, institute
Have within the scope of the present invention or be included in the invention in the change being equal in the scope of the present invention.
Claims (6)
1. a kind of water and soil sampling robot, including push-and-pull motor, sampling apparatus and the sampling bottle being arranged on crawl device, its feature
It is：The sampling apparatus is made up of sampling grab bucket and mechanical arm, and the mechanical arm has rotation and two frees degree of pitching, machinery
Arm lower end is connected with sampling grab bucket, executing agency is provided with the sampling grab bucket, sampling grab bucket is by the arc scraper bowl group of left and right two
Be connected respectively with executing agency above into, scraper bowl, the pushing motor rotating shaft is connected with transmission mechanism, the transmission mechanism other end and
Mechanical arm connects, and push-and-pull motor afterbody is provided with water pump, and water pump rear end is provided with sampling bottle, the sampling bottle top provided with overflow pipe with
Suction hose, the water suction bottom of the tube are connected with screen pack, and suction hose is connected to sampling grab bucket outer surface, and suction hose by water pump
Minimum point be highly below sampling grab bucket height, the water pump, push-and-pull motor and executing agency respectively by wireless signal with
Peripheral control unit connects.
A kind of 2. water and soil sampling robot according to claim 1, it is characterised in that：The sampling bottle top is provided with bottle
Lid, bottle cap are rotatablely connected with sampling bottle bottle.
A kind of 3. water and soil pollution sampling machine according to claim 1, it is characterised in that：The overflow pipe and suction hose from
Left-to-right to be equipped with clamping body, clamping body is made up of connection ring and fixed cover, and the fixed cover is socketed in overflow pipe and suction
Water pipe outer surface, connection ring one end are fixed by screws in the outer surface of sampling grab bucket, push-and-pull motor etc. with fixed cover.
A kind of 4. water and soil sampling robot according to claim 1, it is characterised in that：Sampling bottle and the water pump bottom is set
There is fixed seat, draw ring is provided with above fixed seat.
A kind of 5. water and soil sampling robot according to claim 1, it is characterised in that：The scraper bowl is open-close type, is had
Folding or the free degree of closing.
A kind of 6. water and soil sampling robot according to claim 1, it is characterised in that：The crawl device includes setting vehicle body
The wheel at place, leading portion of the vehicle body along direction of advance are provided with camera.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657199.9A CN107344355A (en) | 2017-08-03 | 2017-08-03 | A kind of water and soil sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710657199.9A CN107344355A (en) | 2017-08-03 | 2017-08-03 | A kind of water and soil sampling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107344355A true CN107344355A (en) | 2017-11-14 |
Family
ID=60258254
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710657199.9A Pending CN107344355A (en) | 2017-08-03 | 2017-08-03 | A kind of water and soil sampling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107344355A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051238A (en) * | 2017-12-04 | 2018-05-18 | 浙江海洋大学 | Deep water sampling device |
| CN108645646A (en) * | 2018-07-26 | 2018-10-12 | 湖南千智机器人科技发展有限公司 | A kind of caterpillar type robot soil and liquid sampler |
| CN110779763A (en) * | 2019-11-28 | 2020-02-11 | 哈尔滨学院 | Environment detection sampling robot |
| CN110823639A (en) * | 2019-12-13 | 2020-02-21 | 深圳市宇驰检测技术股份有限公司 | Automatic sampling device for bottom mud of river and lake |
| CN111351680A (en) * | 2020-05-04 | 2020-06-30 | 广州大麦生物科技有限公司 | Portable soil and soil solution collection system |
| CN111829955A (en) * | 2020-07-28 | 2020-10-27 | 季华实验室 | A liquid collection and detection device and robot for special robots |
| CN112045657A (en) * | 2020-09-25 | 2020-12-08 | 中国计量大学 | A robot for wetland mud appearance is gathered |
| CN114689381A (en) * | 2022-04-22 | 2022-07-01 | 陕西建工第十二建设集团有限公司 | System and method for simultaneous collection of sewage and sediment samples for drainage inspection wells |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
| CN118927297A (en) * | 2024-10-12 | 2024-11-12 | 浙江瀚陆海底系统工程技术有限公司 | A multifunctional mechanical arm and control method for deep-sea special operation robot |
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| CN101476995A (en) * | 2009-01-16 | 2009-07-08 | 东南大学 | Miniature vehicle-mounted sullage sampling apparatus |
| CN203160297U (en) * | 2013-04-16 | 2013-08-28 | 舟山市宏达交通工程有限责任公司 | Seawall silt removal device |
| CN203546783U (en) * | 2013-10-17 | 2014-04-16 | 丹阳市现代生态水产养殖场 | Fish-pond dredging device |
| CN105464162A (en) * | 2015-12-17 | 2016-04-06 | 于锡汉 | Underwater dredging robot |
| CN105562170A (en) * | 2016-01-05 | 2016-05-11 | 江西理工大学 | Mechanical arm device for replacing lining board of ball mill |
| CN106585748A (en) * | 2016-12-28 | 2017-04-26 | 北京恒通国盛环境管理有限公司 | Caterpillar band pumping type dredging robot |
| CN106638750A (en) * | 2016-11-24 | 2017-05-10 | 张爱均 | Urban main canal box culvert black and odorous riverway ecological management robot |
-
2017
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Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007063935A (en) * | 2005-09-02 | 2007-03-15 | Kojimagumi:Kk | Dredging equipment |
| CN101476995A (en) * | 2009-01-16 | 2009-07-08 | 东南大学 | Miniature vehicle-mounted sullage sampling apparatus |
| CN203160297U (en) * | 2013-04-16 | 2013-08-28 | 舟山市宏达交通工程有限责任公司 | Seawall silt removal device |
| CN203546783U (en) * | 2013-10-17 | 2014-04-16 | 丹阳市现代生态水产养殖场 | Fish-pond dredging device |
| CN105464162A (en) * | 2015-12-17 | 2016-04-06 | 于锡汉 | Underwater dredging robot |
| CN105562170A (en) * | 2016-01-05 | 2016-05-11 | 江西理工大学 | Mechanical arm device for replacing lining board of ball mill |
| CN106638750A (en) * | 2016-11-24 | 2017-05-10 | 张爱均 | Urban main canal box culvert black and odorous riverway ecological management robot |
| CN106585748A (en) * | 2016-12-28 | 2017-04-26 | 北京恒通国盛环境管理有限公司 | Caterpillar band pumping type dredging robot |
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108051238A (en) * | 2017-12-04 | 2018-05-18 | 浙江海洋大学 | Deep water sampling device |
| CN108051238B (en) * | 2017-12-04 | 2020-04-21 | 浙江海洋大学 | Deep water sampler |
| CN108645646A (en) * | 2018-07-26 | 2018-10-12 | 湖南千智机器人科技发展有限公司 | A kind of caterpillar type robot soil and liquid sampler |
| CN110779763A (en) * | 2019-11-28 | 2020-02-11 | 哈尔滨学院 | Environment detection sampling robot |
| CN110779763B (en) * | 2019-11-28 | 2020-06-30 | 哈尔滨学院 | Environment detection sampling robot |
| CN110823639A (en) * | 2019-12-13 | 2020-02-21 | 深圳市宇驰检测技术股份有限公司 | Automatic sampling device for bottom mud of river and lake |
| CN111351680A (en) * | 2020-05-04 | 2020-06-30 | 广州大麦生物科技有限公司 | Portable soil and soil solution collection system |
| CN111829955A (en) * | 2020-07-28 | 2020-10-27 | 季华实验室 | A liquid collection and detection device and robot for special robots |
| CN112045657A (en) * | 2020-09-25 | 2020-12-08 | 中国计量大学 | A robot for wetland mud appearance is gathered |
| CN114689381A (en) * | 2022-04-22 | 2022-07-01 | 陕西建工第十二建设集团有限公司 | System and method for simultaneous collection of sewage and sediment samples for drainage inspection wells |
| CN115452482A (en) * | 2022-10-28 | 2022-12-09 | 国网山西省电力公司超高压变电分公司 | Liquid taking device in narrow electrified space of transformer substation or converter station |
| CN118927297A (en) * | 2024-10-12 | 2024-11-12 | 浙江瀚陆海底系统工程技术有限公司 | A multifunctional mechanical arm and control method for deep-sea special operation robot |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171114 |
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| RJ01 | Rejection of invention patent application after publication |