CN105092304B - the water sampling robot of sewage treatment plant - Google Patents
the water sampling robot of sewage treatment plant Download PDFInfo
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- CN105092304B CN105092304B CN201510550083.6A CN201510550083A CN105092304B CN 105092304 B CN105092304 B CN 105092304B CN 201510550083 A CN201510550083 A CN 201510550083A CN 105092304 B CN105092304 B CN 105092304B
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- temperature
- water
- screen door
- slave arm
- rolling screen
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Abstract
The water sampling robot of sewage treatment plant, the present invention relates to Industrial Robot Technology field, the upper end of body is provided with temperature/humidity regulation room, and the lower end of body is provided with electric control chamber, and the inside bottom side of body is provided with conveyer belt, conveyer belt is provided with several standing grooves, water bucket is provided with standing groove, is provided with fore-set in water bucket, two madial walls of body are provided with track, rolling screen door is connected with track, the bottom of temperature/humidity regulation room is provided with shutter；The front center of described electric control chamber is connected with master arm, and the front end of master arm is connected with slave arm, water bucket is connected with slave arm；Described slave arm is concertina type slave arm；Described master arm, slave arm, rolling screen door, the control system of conveyer belt are arranged in electric control chamber.Automatically water intaking storage can be carried out to influent quality and effluent quality, is easy to staff directly to be chemically examined when going to work, effectively monitored the discharge situation of each industrial factory's waste water, increase water quality.
Description
Technical field
The present invention relates to Industrial Robot Technology field, and in particular to the water sampling robot of sewage treatment plant.
Background technology
Industrial robot is the multi-joint manipulator or multivariant installations towards industrial circle, and it can hold automatically
Row work, it is to lean on self power and control ability to realize a kind of machine of various functions.It can receive mankind commander, also may be used
To be run according to the program of advance layout, modern industrial robot can also be according to the principle guiding principle of artificial intelligence technology formulation
Action.
Industrial robot is made up of three main body, drive system and control system essential parts.Main body is support and execution
There is walking mechanism in mechanism, including arm, wrist and hand, some robots.Most of industrial robots have 3~6 motions
The free degree, wherein wrist generally have 1~3 freedom of motion；Drive system includes power set and transmission mechanism, to make to hold
Row mechanism produces corresponding action；Control system is that instruction letter is sent to drive system and executing agency according to the program of input
Number, and be controlled.
Robot control system is the brain of robot, is the principal element for determining robot function and performance.Industrial machine
The main task of device people's control technology is exactly movement position, posture and track, the behaviour for controlling industrial robot in working space
Time of work order and action etc..With programming is simple, menu operation, friendly human-computer interaction interface, on-line operation carry
The features such as showing and be easy to use.Key technology includes：(1) open modular control system architecture：Using distribution
CPU computer structure, is divided into robot controller (RC), motion controller (MC), at Phototube Coupling I/O control panels, sensor
Manage plate and programming teaching box etc..Robot controller (RC) and programming teaching box are communicated by serial ports/CAN.Machine
The master computer of people's controller (RC) completes motion planning, interpolation and the position servo and master control logic, digital I/ of robot
O, the function such as sensor processing, and program teaching box and complete the display of information and the input of button；(2) control of modularization stratification
Device software systems processed：Software systems are established on based on the real-time multi-task operating system Linux to increase income, using layering and module
Change structure design, to realize the opening of software systems.Whole controller software system is divided into three levels：Hardware driving layer,
Core layer and application layer.Three levels face different functional requirements respectively, the exploitation of corresponding different levels, each layer in system
Secondary inside is made up of several function phases to the module of opposition, and these functional modules cooperate realizes that the level is provided jointly
Function；(3) fault diagnosis of robot and security maintenance technology：By various information, robot fault is diagnosed, and
Accordingly safeguarded, be the key technology for ensureing robot safety；(4) Networked Robot controller technology：Current machine
The application project of people is developed from single machine people work station to robot production line, and the networking technology of robot controller becomes to get over
Come more important.There is the network savvy of serial ports, fieldbus and Ethernet on controller.Available between robot controller and
Robot controller is easy to be monitored robot production line, diagnose and manage with the communication of host computer.
Water sampling is all artificial in existing sewage treatment plant, only can be right in the case where staff goes to work
It is sampled, and when work without staff, can not just detect water quality, therefore has many heavy industry heavily contaminateds
Factory building can steal sewer at midnight, cause deteriorating water quality.
The content of the invention
In view of the defects and deficiencies of the prior art, the present invention intends to provide one kind is simple in construction, reasonable in design, makes
With the water sampling robot of convenient sewage treatment plant, water intaking storage can be carried out to influent quality and effluent quality automatically, just
Directly chemically examined when staff goes to work, effectively monitor the discharge situation of each industrial factory's waste water, increase water quality.
To achieve the above object, the technical solution adopted by the present invention is：It includes body, electric control chamber, temperature/humidity regulation
Room, conveyer belt, track, rolling screen door, water bucket, standing groove, fore-set, water bucket, master arm, slave arm, humidity sensor, temperature
Inductor, rolling screen door installing zone, shutter, thermoregulator, humidistat；The upper end of body is adjusted provided with temperature/humidity
Room, the lower end of body are provided with electric control chamber, and the inside bottom side of body is provided with conveyer belt, and conveyer belt is provided with several standing grooves, place
Water bucket is provided with groove, is provided with fore-set in water bucket, two madial walls of body are provided with track, roller shutter is connected with track
Door, the upper end of rolling screen door are arranged in rolling screen door installing zone, and rolling screen door installing zone is arranged on the bottom that temperature/humidity reconciles room,
Humidity sensor and temperature inductor are respectively equipped with the madial wall of body；The bottom of described temperature/humidity regulation room is provided with
Shutter, and the inside of temperature/humidity regulation room is provided with thermoregulator and humidistat, described thermoregulator and temperature
Spend inductor connection, humidistat is connected with humidity sensor, and thermoregulator and humidistat with electric control chamber
Controller connection；The front center of described electric control chamber is connected with master arm, and the front end of master arm is connected with slave arm, driven
Water bucket is connected with arm；Described slave arm is concertina type slave arm；Described master arm, slave arm, rolling screen door, conveyer belt
Control system be arranged in electric control chamber.
The front of described conveyer belt is provided with seal groove, and seal groove is arranged on the bottom of body.
The bottom of described rolling screen door is provided with sealing strip, is engaged with seal groove, plays sealing function, effectively prevents machine
The loss of internal portion temperature and humidity.
The operation principle of the present invention：By controlling master arm to drive slave arm, then water bucket water intaking undetermined, then rotate master
Swing arm and slave arm, water bucket is placed in water bucket, due to the setting of fore-set in water bucket, fore-set can be by bottom of the barrel of fetching water
Water intaking cover plate jack up, the water in water bucket will flow to water bucket, and at the same time, slave arm rises, and water bucket is from water bucket
Middle removal, temperature/humidity regulation room can control the temperature of internal body at any time according to temperature inductor and humidity sensor
And humidity, ensure that the water sample of access can be in effective temperature scope.
After said structure, the present invention has the beneficial effect that：The water sampling robot of sewage treatment plant of the present invention,
Automatically water intaking storage can be carried out to influent quality and effluent quality, is easy to staff directly to be chemically examined when going to work, effectively monitoring
The discharge situation of each industrial factory's waste water, increases water quality, and has the advantages that simple in construction, setting is reasonable, low manufacture cost.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the required accompanying drawing used in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
Some embodiments of invention, for those of ordinary skill in the art, without having to pay creative labor, may be used also
To obtain other accompanying drawings according to these accompanying drawings.
Fig. 1 is the structural representation of the present invention.
Fig. 2 is the polycrystalline substance schematic diagram of temperature in the present invention/humidity regulation room.
Fig. 3 is the distribution schematic diagram of thermoregulator and humidistat in the present invention.
Description of reference numerals：
1st, body；2nd, electric control chamber；3rd, temperature/humidity regulation room；4th, conveyer belt；5th, track；6th, rolling screen door；7th, water bucket；
8th, standing groove；9th, fore-set；10th, water bucket；11st, master arm；12nd, slave arm；13rd, humidity sensor；14th, temperature inductor；15、
Rolling screen door installing zone；16th, shutter；17th, thermoregulator；18th, humidistat；19th, seal groove；20th, sealing strip.
Embodiment
Below in conjunction with the accompanying drawings, the present invention is further illustrated.
Referring to shown in Fig. 1-Fig. 3, the technical scheme that present embodiment uses is：It includes body 1, electric control chamber 2, temperature
Degree/humidity regulation room 3, conveyer belt 4, track 5, rolling screen door 6, water bucket 7, standing groove 8, fore-set 9, water bucket 10, master arm 11,
Slave arm 12, humidity sensor 13, temperature inductor 14, rolling screen door installing zone 15, shutter 16, thermoregulator 17, humidity
Adjuster 18；The upper end of body 1 is provided with temperature/humidity regulation room 3, and the lower end of body 1 is provided with electric control chamber 2, the inner bottom of body 1
Side is provided with conveyer belt 4, and conveyer belt 4 is provided with several standing grooves 8, and water bucket 7 is provided with standing groove 8, fore-set is provided with water bucket 7
9, two madial walls of body 1 are provided with track 5, are connected with rolling screen door 6 in track 5, the upper end of rolling screen door 6 is arranged on rolling screen door
In installing zone 15, rolling screen door installing zone 15 is arranged on the bottom that temperature/humidity reconciles room 3, is respectively equipped with the madial wall of body 1
Humidity sensor 13 and temperature inductor 14；The bottom of described temperature/humidity regulation room 3 is provided with shutter 16, and temperature/wet
The inside of degree regulation room 3 is provided with thermoregulator 17 and humidistat 18, described thermoregulator 17 and temperature inductor
14 connections, humidistat 18 is connected with humidity sensor 13, and thermoregulator 17 and humidistat 18 with electric control chamber 2
Interior controller connection；The front center of described electric control chamber 2 is connected with master arm 11, and the front end of master arm 11 is connected with driven
Arm 12, water bucket 10 is connected with slave arm 12；Described slave arm 12 is concertina type slave arm；Described master arm 11, from
Swing arm 12, rolling screen door 6, the control system of conveyer belt 4 are arranged in electric control chamber 2.
The front of described conveyer belt 4 is provided with seal groove 19, and seal groove 19 is arranged on the bottom of body 1.
The bottom of described rolling screen door 6 is provided with sealing strip 20, is engaged with seal groove 19, plays sealing function, effectively resistance
The loss of the internal temperature of body 1 and humidity is stopped.
The operation principle of present embodiment：By controlling master arm 11 to drive slave arm 12, then water bucket undetermined
10 water intakings, then master arm 11 and slave arm 12 are rotated, water bucket 10 is placed in water bucket 7, due to fore-set 9 in water bucket 7
Setting, fore-set 9 can jack up the water intaking cover plate of the bottom of water bucket 10, and the water in water bucket 10 will flow to water bucket 7, with this
Meanwhile slave arm 12 rises, water bucket 10 removes from water bucket 7, and temperature/humidity regulation room 2 can be according to temperature inductor
14 and humidity sensor 13 control the temperature and humidity inside body 1 at any time, ensure that the water sample of access can in effective temperature
In the range of.
After said structure, present embodiment has the beneficial effect that：Sewage disposal described in present embodiment
The water sampling robot of factory, water intaking storage can be carried out to influent quality and effluent quality automatically, when being easy to the staff to go to work
Directly chemically examine, effectively monitor the discharge situation of each industrial factory's waste water, increase water quality, and with it is simple in construction, set rationally, make
Low cost and other advantages.
It is described above, it is merely illustrative of the technical solution of the present invention and unrestricted, those of ordinary skill in the art are to this hair
The other modifications or equivalent substitution that bright technical scheme is made, without departing from the spirit and scope of technical solution of the present invention,
It all should cover among scope of the presently claimed invention.
Claims (3)
1. the water sampling robot of sewage treatment plant, it is characterised in that：It include body, electric control chamber, temperature/humidity regulation room,
Conveyer belt, track, rolling screen door, water bucket, standing groove, fore-set, water bucket, master arm, slave arm, humidity sensor, temperature sense
Answer device, rolling screen door installing zone, shutter, thermoregulator, humidistat；The upper end of body is provided with temperature/humidity regulation room,
The lower end of body is provided with electric control chamber, and the inside bottom side of body is provided with conveyer belt, and conveyer belt is provided with several standing grooves, in standing groove
Provided with water bucket, fore-set is provided with water bucket, two madial walls of body are provided with track, rolling screen door is connected with track, volume
The upper end of curtain door is arranged in rolling screen door installing zone, and rolling screen door installing zone is arranged on the bottom that temperature/humidity reconciles room, body
Humidity sensor and temperature inductor are respectively equipped with madial wall；The bottom of described temperature/humidity regulation room is provided with shutter,
And the inside of temperature/humidity regulation room is provided with thermoregulator and humidistat, described thermoregulator and temperature sense
Device connects, and humidistat is connected with humidity sensor, and thermoregulator and humidistat with the control in electric control chamber
Device connects；The front center of described electric control chamber is connected with master arm, and the front end of master arm is connected with slave arm, revolved on slave arm
It is connected to water bucket；Described slave arm is concertina type slave arm；The control of described master arm, slave arm, rolling screen door, conveyer belt
System is arranged in electric control chamber.
2. the water sampling robot of sewage treatment plant according to claim 1, it is characterised in that：Before described conveyer belt
Side is provided with seal groove, and seal groove is arranged on the bottom of body.
3. the water sampling robot of sewage treatment plant according to claim 1, it is characterised in that：The bottom of described rolling screen door
Portion is provided with sealing strip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550083.6A CN105092304B (en) | 2015-09-01 | 2015-09-01 | the water sampling robot of sewage treatment plant |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550083.6A CN105092304B (en) | 2015-09-01 | 2015-09-01 | the water sampling robot of sewage treatment plant |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105092304A CN105092304A (en) | 2015-11-25 |
| CN105092304B true CN105092304B (en) | 2018-01-30 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510550083.6A Expired - Fee Related CN105092304B (en) | 2015-09-01 | 2015-09-01 | the water sampling robot of sewage treatment plant |
Country Status (1)
| Country | Link |
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| CN (1) | CN105092304B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116929853A (en) * | 2023-09-14 | 2023-10-24 | 中璞软件(海南)有限公司 | Automatic fixed-point water taking device for water quality monitoring shore station |
Citations (9)
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|---|---|---|---|---|
| FR2688313A1 (en) * | 1992-03-04 | 1993-09-10 | Marteau D Autry Eric | AUTOMATIC FILTERING AND IDENTIFICATION OF SAMPLES. |
| US5441699A (en) * | 1992-12-28 | 1995-08-15 | Pohang Iron & Steel Co., Ltd. | Apparatus for automatically analyzing liquid test samples |
| CN201242509Y (en) * | 2008-06-26 | 2009-05-20 | 石家庄德润环保科技有限公司 | Automatic sampling device for monitoring water quality |
| CN101434286A (en) * | 2007-11-13 | 2009-05-20 | 沈阳航天新光集团有限公司 | Unmanned controlled waterborne environment-protective inspect sampling boat |
| CN101476995A (en) * | 2009-01-16 | 2009-07-08 | 东南大学 | Miniature vehicle-mounted sullage sampling apparatus |
| CN201548433U (en) * | 2009-11-30 | 2010-08-11 | 金坛市亿通电子有限公司 | Full-automatic water quality sampler |
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN104163082A (en) * | 2014-09-01 | 2014-11-26 | 南京工业职业技术学院 | Intelligent water environment amphibious automatic sampling vehicle |
| CN204944882U (en) * | 2015-09-01 | 2016-01-06 | 江苏新光数控技术有限公司 | The water sampling robot of sewage treatment plant |
-
2015
- 2015-09-01 CN CN201510550083.6A patent/CN105092304B/en not_active Expired - Fee Related
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2688313A1 (en) * | 1992-03-04 | 1993-09-10 | Marteau D Autry Eric | AUTOMATIC FILTERING AND IDENTIFICATION OF SAMPLES. |
| US5441699A (en) * | 1992-12-28 | 1995-08-15 | Pohang Iron & Steel Co., Ltd. | Apparatus for automatically analyzing liquid test samples |
| CN101434286A (en) * | 2007-11-13 | 2009-05-20 | 沈阳航天新光集团有限公司 | Unmanned controlled waterborne environment-protective inspect sampling boat |
| CN201242509Y (en) * | 2008-06-26 | 2009-05-20 | 石家庄德润环保科技有限公司 | Automatic sampling device for monitoring water quality |
| CN101476995A (en) * | 2009-01-16 | 2009-07-08 | 东南大学 | Miniature vehicle-mounted sullage sampling apparatus |
| CN201548433U (en) * | 2009-11-30 | 2010-08-11 | 金坛市亿通电子有限公司 | Full-automatic water quality sampler |
| CN101806811A (en) * | 2010-05-10 | 2010-08-18 | 珠海云洲智能科技有限公司 | Water quality sampling robot for full-automatic surface water |
| CN104163082A (en) * | 2014-09-01 | 2014-11-26 | 南京工业职业技术学院 | Intelligent water environment amphibious automatic sampling vehicle |
| CN204944882U (en) * | 2015-09-01 | 2016-01-06 | 江苏新光数控技术有限公司 | The water sampling robot of sewage treatment plant |
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| Publication number | Publication date |
|---|---|
| CN105092304A (en) | 2015-11-25 |
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