CN106769213A - A kind of bed mud sampling robots - Google Patents
A kind of bed mud sampling robots Download PDFInfo
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- CN106769213A CN106769213A CN201710010026.8A CN201710010026A CN106769213A CN 106769213 A CN106769213 A CN 106769213A CN 201710010026 A CN201710010026 A CN 201710010026A CN 106769213 A CN106769213 A CN 106769213A
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- 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
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- 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
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
- G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
- G01S19/13—Receivers
- G01S19/14—Receivers specially adapted for specific applications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
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- 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
- G01N2001/1031—Sampling from special places
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
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- Engineering & Computer Science (AREA)
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- Hydrology & Water Resources (AREA)
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- Radar, Positioning & Navigation (AREA)
- Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- General Health & Medical Sciences (AREA)
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- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The present invention relates to a kind of bed mud sampling robots,Including shell,Illuminating lamp,Rotating camera,Cell sealing cover,Lithium battery,Control module,Truss module,Sampling detecting module,Drive module,Sample tap,Sample carrying case,Counterweight adjustment module,Traction seat,Bail and pull rope,The shell top is provided with illuminating lamp,The case nose face top is provided with rotating camera,The rotating camera rear end face is provided with cell sealing cover,Structure of the present invention is novel,Design science,It is rational in infrastructure,Present apparatus high degree of automation,Collection automatic moving,Detection,Collection sample,Camera function,Carry out waterproof antirust treatment,Long service life,By pressure sensor,Detector,The accuracy of sampling is ensured,Simultaneously,Sampling is convenient and swift,Human cost is saved,The sampling of distance type bed mud substantially reduces the difficulty of river course inside sampling,Improve the accuracy of security and depth selection.
Description
Technical field
The present invention relates to robot field, and in particular to a kind of bed mud sampling robots.
Background technology
River course tailings and bed mud sampling are always the problem of basin investigation work, be generally all it is artificial row the boat to the korneforos heart or
Lake center is sampled, and sampling has a very big potential safety hazard, and sampling often depth is inaccurate, task difficulty is big, wastes people
Power simultaneously, sampling equipment in the market, often depth is inaccurate for sampling, and automaticity is not high, excessively relies on manpower etc.
Shortcoming, in current real work commonly use grab bucket sampling tool (the inferior bottom sampler of Peter) be can go deep into mud layer collection river, lake,
The underwater sediment(s) of reservoir, the grab bucket-type dredger of bed mud, but in real process, due to river flow, sediment properties, water
The problems such as pressure, causes sample effect not good, and bed mud sampling equipment instantly, mobile unstable and rapid in current when river bed gathers
Easily washed away by current at anxious, during sampling, it is impossible to the position of record collection sample.
The content of the invention
It is an object of the invention to provide a kind of high degree of automation, the bed mud sampling robots being used conveniently and safely.
To achieve the above object, the present invention provides following technical scheme：
A kind of bed mud sampling robots, including shell, illuminating lamp, rotating camera, cell sealing cover, lithium battery, control
Module, truss module, sampling detecting module, drive module, sample tap, sample carrying case, counterweight adjustment module, traction seat, lead
Draw ring and pull rope, the shell top is provided with illuminating lamp, and the case nose face top is provided with rotating camera, described
Rotating camera rear end face is provided with cell sealing cover, and lithium battery is provided with inside the cell sealing cover；
The enclosure left end face is provided with control module, and the control module includes seal box, single-chip microcomputer, first
Servo-driver, the second servo-driver, the 3rd servo-driver, the 4th servo-driver, the 5th servo-driver, the 6th watch
Take driver, the 7th servo-driver, signal projector, signal receiver and GPS locator 612, the single-chip microcomputer respectively with
First servo-driver, the second servo-driver, the 3rd servo-driver, the 4th servo-driver, the 5th servo-driver,
Six servo-drivers, the 7th servo-driver, signal projector, signal receiver and GPS locator are connected by holding wire；
Truss module is installed between the enclosure front end face and rear end face, the truss module include level board,
First gear, the first motor, sliding shoe, the second motor, second gear and vertical plate, before the level board is installed inside the housing
Between end face and rear end face, the level board top is engaged with first gear, and the first gear is arranged on the first motor, institute
The first motor is stated installed in sliding shoe left side, the sliding shoe right side is provided with the second motor, is provided with second motor
Second gear, the second gear is engaged with the tooth on vertical plate；
The truss module lower section is provided with sampling detecting module, and the sampling detecting module includes pressure sensor, consolidates
It is fixed column, installing plate, detection fix bar, detector, drill bit, sampler main body, sampling sliding bar, sliding panel, sliding bar, first-hand
Claw bar, second-hand's claw bar, paw sliding seat, threaded screw rod and the 3rd motor, the vertical plate lower surface are provided with pressure sensing
Device, the pressure sensor lower surface is provided with fixed column, and the fixed column lower surface is provided with installing plate, and the installing plate is right
Side-lower is provided with detection fix bar, and the detection fix bar lower section is provided with detector, and the detector lower section is provided with brill
Head, the installing plate left side is provided with sampler main body, and the sampler main body top is provided with sampling sliding bar, the sampling
Sliding bar upper end connects sliding panel, and the sliding panel is provided with circular hole and coordinates with fixed column gap, and the sliding panel lower end is provided with
On the sliding bar that fixed column is symmetrically installed, be slidably connected first-hand claw bar below the sliding bar, the first-hand claw bar
The other end is slidably connected second-hand's claw bar, and second-hand's claw bar upper end is slidably connected paw sliding seat, the paw sliding seat
Install on a mounting board, the sliding panel left side is provided with screwed hole, and the screwed hole is connected with threaded screw rod, the screw thread silk
Thick stick is connected with the 3rd motor by shaft coupling；
The shell left and right sides is each provided with a drive module, and the drive module includes the 4th motor, the first chain
Wheel, crawler belt, the second sprocket wheel and the 5th motor, the 4th motor be arranged on shell left and right sides front end, the 4th motor with
First sprocket wheel is connected, and first sprocket wheel is engaged with crawler belt one end, and the crawler belt other end is engaged with the 5th motor, and the described 5th
Motor is arranged on shell left and right sides rear end, and the shell lower surface is provided with sample tap, is provided with the enclosure base plate
Sample carrying case, the shell lower surface is provided with counterweight counterweight module, and the cell sealing cover upper right side is provided with traction seat,
The traction seat nesting is provided with bail, and the bail is connected with pull rope.
Used as the further improvement of above-mentioned technology, the lithium battery is by inverter for whole equipment is powered.
Used as the further improvement of above-mentioned technology, the single-chip microcomputer output passes through the first servo-driver, the second servo
Driver, the 3rd servo-driver, the 4th servo-driver, the 5th servo-driver, the 6th servo-driver, the 7th servo are driven
Dynamic device controls the first motor, the second motor, the 3rd motor, two the 4th motors, two the 5th motors respectively.
Used as the further improvement of above-mentioned technology, the single-chip microcomputer passes through Control illuminating lamp.
Used as the further improvement of above-mentioned technology, the rotating camera sends data to single-chip microcomputer, and by single-chip microcomputer
It is stored in holder.
Used as the further improvement of above-mentioned technology, the pressure sensor transmits a signal to single-chip microcomputer with the time all the way,
Single-chip microcomputer and change into accordingly the second servo-driver signal control the second motor.
As the further improvement of above-mentioned technology, first motor, the second motor, the 3rd motor, two the 4th motors,
Two the 5th motor surfaces carry out waterproof antirust treatment.
Used as the further improvement of above-mentioned technology, the counterweight counterweight module includes counterweight ballast box and counterweight, the weight
Can be added in code ballast box or reduce counterweight quantity.
Used as the further improvement of above-mentioned technology, the GPS locator can sweep institute's longitude and latitude and absolute elevation by satellite
And transmit a signal to single-chip microcomputer and be stored in holder.
Compared with prior art, the beneficial effects of the invention are as follows：Structure of the present invention is novel, and design science is rational in infrastructure, this
Plant automation degree is high, collection automatic moving, detection, collection sample, camera function, carries out waterproof antirust treatment, service life
Long, by pressure sensor, detector has ensured the accuracy of sampling, meanwhile, sampling is convenient and swift, has saved human cost,
The sampling of distance type bed mud substantially reduces the difficulty of river course inside sampling, improves the accuracy of security and depth selection, the weight
Can be added in code ballast box or reduce counterweight quantity, it is ensured that walking is firm, and quality is more big more steady, and the GPS locator can pass through
Satellite sweeps institute's longitude and latitude and absolute elevation and transmits a signal to single-chip microcomputer and be stored in holder, accurate to grasp equipment sampling
Position, with the addition of pull rope, prevent robot from being washed away by current in quickwater.
Brief description of the drawings
Fig. 1 is right side structure schematic diagram of the invention.
Fig. 2 is positive structure diagram of the invention.
Fig. 3 is control module structural representation of the invention.
Fig. 4 is truss structure schematic diagram of the invention.
Fig. 5 is sampling detecting module structural representation of the invention.
In figure：1- shells, 2- illuminating lamps, 3- rotating cameras, 4- cell sealings cover, 5- lithium batteries, 6- control modules,
601- seal boxs, 602- single-chip microcomputers, the servo-drivers of 603- first, the servo-drivers of 604- second, the servo-drives of 605- the 3rd
Device, the servo-drivers of 606- the 4th, the servo-drivers of 607- the 5th, the servo-drivers of 608- the 6th, the servo-drives of 609- the 7th
Device, 610- signal projectors, 611- signal receivers, 612-GPS locators, 7- truss modules, 701- level boards, 702- first
Gear, the motors of 703- first, 704- sliding shoes, the motors of 705- second, 706- second gears, 707- vertical plates, 8- sampling detections
Module, 801- pressure sensors, 802- fixed columns, 803- installing plates, 804- detection fix bar, 805- detectors, 806- drill bits,
807- samplers main body, 808- samplings sliding bar, 809- sliding panels, 810- sliding bars, the first-hand claw bars of 811-, 812- second-hand
Claw bar, 813- paws sliding seat, 814- threaded screw rods, the motors of 815- the 3rd, 9- drive modules, the motors of 901- the 4th, 902-
One sprocket wheel, 903- crawler belts, the sprocket wheels of 904- second, the motors of 905- the 5th, 10- sample taps, 11- samples carrying case, 12- counterweight counterweights
Module, 13- traction seats, 14- bails, 15- pull ropes.
Specific embodiment
The technical scheme of this patent is described in more detail with reference to specific embodiment.
Refer to Fig. 1, in the embodiment of the present invention, a kind of bed mud sampling robots, including shell 1, illuminating lamp 2, rotation take the photograph
As first 3, cell sealing cover 4, lithium battery 5, control module 6, truss module 7, sampling detecting module 8, drive module 9, sample tap
10th, install sample carrying case 11, counterweight adjustment module 12, traction seat 13, bail 14 and pull rope 15, the top of the shell 1
There is illuminating lamp 2, the front end face of the shell 1 top is provided with rotating camera 3, and the rear end face of the rotating camera 3 is provided with electricity
Pond seal closure 4, lithium battery 5 is provided with inside the cell sealing cover 4；
The inside left end face of the shell 1 is provided with control module 6, and the control module 6 includes seal box 601, monolithic
Machine 602, the first servo-driver 603, the second servo-driver 604, the 3rd servo-driver 605, the 4th servo-driver
606th, the 5th servo-driver 607, the 6th servo-driver 608, the 7th servo-driver 609, signal projector 610, signal
Receiver 611 and GPS locator 612, the single-chip microcomputer 602 respectively with the first servo-driver 603, the second servo-driver
604th, the 3rd servo-driver 605, the 4th servo-driver 606, the 5th servo-driver 607, the 6th servo-driver 608,
7th servo-driver 609, signal projector 610, signal receiver 611 and GPS locator 612 are connected by holding wire；
Truss module 7 is installed, the truss module 7 includes level between the interior forward end face of the shell 1 and rear end face
Plate 701, first gear 702, the first motor 703, sliding shoe 704, the second motor 705, second gear 706 and vertical plate 707, institute
State level board 701 to be arranged between the interior forward end face of shell 1 and rear end face, the top of the level board 701 is nibbled with first gear 702
Close, the first gear 702 is arranged on the first motor 703, first motor 703 is arranged on the left side of sliding shoe 704, described
The right side of sliding shoe 704 is provided with the second motor 705, and second gear 706, second tooth are provided with second motor 705
Wheel 706 is engaged with the tooth on vertical plate 707；
The lower section of the truss module 7 is provided with sampling detecting module 8, and the sampling detecting module 8 includes pressure sensor
801st, fixed column 802, installing plate 803, detection fix bar 804, detector 805, drill bit 806, sampler main body 807, sampling is slided
Lever 808, sliding panel 809, sliding bar 810, first-hand claw bar 811, second-hand's claw bar 812, paw sliding seat 813, screw thread silk
The motor 815 of thick stick 814 and the 3rd, the lower surface of the vertical plate 707 is provided with pressure sensor 801, under the pressure sensor 801
End face is provided with fixed column 802, and the lower surface of the fixed column 802 is provided with installing plate 803, the lower right-hand side of the installing plate 803
Detection fix bar 804 is installed, the lower section of detection fix bar 804 is provided with detector 805, the lower section of the detector 805 peace
Equipped with drill bit 806, the left side of the installing plate 803 is provided with sampler main body 807, and the top of the sampler main body 807 is provided with
Sampling sliding bar 808, the sampling sliding bar 808 upper end connection sliding panel 809, the sliding panel 809 is provided with circular hole and fixation
The gap of post 802 coordinates, and the lower end of the sliding panel 809 is provided with the sliding bar 810 being symmetrically installed on fixed column 802, the cunning
The lower section of lever 810 is slidably connected first-hand claw bar 811, and the other end of the first-hand claw bar 811 is slidably connected second-hand's claw bar
812, the upper end of second-hand's claw bar 812 is slidably connected paw sliding seat 813, and the paw sliding seat 813 is arranged on installing plate
On 803, the left side of the sliding panel 809 is provided with screwed hole, and the screwed hole is connected with threaded screw rod 814, the threaded screw rod
814 are connected with the 3rd motor 815 by shaft coupling；
The left and right sides of the shell 1 is each provided with a drive module 9, the drive module 9 include the 4th motor 901,
First sprocket wheel 902, crawler belt 903, the second sprocket wheel 904 and the 5th motor 905, the 4th motor 901 are arranged on shell 1 or so two
Side front end, the 4th motor 901 is connected with the first sprocket wheel 902, and first sprocket wheel 902 is engaged with the one end of crawler belt 903, described
The other end of crawler belt 903 is engaged with the 5th motor 905, and the 5th motor 905 is arranged on the left and right sides rear end of shell 1；It is described outer
The lower surface of shell 1 is provided with sample tap 10, and sample carrying case 11, the lower surface of the shell 1 peace are provided with the internal backplane of the shell 1
Equipped with counterweight counterweight module 12, the upper right side of cell sealing cover 4 is provided with traction seat 13, and the nesting of the traction seat 13 is provided with
Bail 14, the bail 14 is connected with pull rope 15.
The lithium battery 5 by inverter for whole equipment is powered, by the first servo driven by the output end of the single-chip microcomputer 602
Dynamic device 603, the second servo-driver 604, the 3rd servo-driver 605, the 4th servo-driver 606, the 5th servo-driver
607th, the 6th servo-driver 608, the 7th servo-driver 609 control the first motor 703, the electricity of the second motor the 705, the 3rd respectively
Machine 815, two the 4th motors, 901, two the 5th motors 905, the single-chip microcomputer 602 is described by Control illuminating lamp 2
Rotating camera 3 sends data to single-chip microcomputer 602, and is stored in holder by single-chip microcomputer 602, the pressure sensor
801 1 tunnels transmit a signal to single-chip microcomputer 602 with the time, and single-chip microcomputer 602 simultaneously changes into the letter of the second servo-driver 604 accordingly
Number control the second motor 705, first motor 703, the second motor 705,815, two the 4th motors 901, two of the 3rd motor
The individual surface of 5th motor 905 carries out waterproof antirust treatment, and the counterweight counterweight module 12 includes counterweight ballast box and counterweight, described
Counterweight quantity can be added or reduced in counterweight ballast box, and the GPS locator 612 can sweep institute's longitude and latitude and height above sea level by satellite
Journey simultaneously transmits a signal to single-chip microcomputer 602 and is stored in holder.
Operation principle of the invention is：First-selection, the lithium battery 5 in bed mud sampling robots is charged, by the device
Be put into river bed, the lithium battery 5 by inverter for whole equipment is powered, single-chip microcomputer 602 control the 4th servo-driver 606,
5th servo-driver 607, the 6th servo-driver 608, the 7th servo-driver 609 control two 901, two, the 4th motors
5th motor 905 is rotated, and is moved in river bed by the first sprocket wheel 902, the sprocket wheel 904 of crawler belt 903 and second, the single-chip microcomputer 602
By Control illuminating lamp 2, the rotating camera 3 sends data to single-chip microcomputer 602, and is stored by single-chip microcomputer 602
In holder, information exchange is carried out with terminal waterborne by signal projector 610 and signal receiver 611, be sampled spy
When surveying operation, level is carried out by the first motor 703, the drive sampling detecting module 8 of first gear 702 on the truss module 7
It is mobile, drive sampling detecting module 8 to be vertically moved by the second motor 705, second gear 706 on the truss module 7,
The lower surface of the vertical plate 707 is provided with pressure sensor 801, and the pressure sensor 801 is in real time by pressure transmission to monolithic
Machine 602, the single-chip microcomputer 602 judges that detector 805 has been stretched into soil accordingly, the signal hair that detector 805 will be collected
Single-chip microcomputer 602 is delivered to, whether the comprehensive descision of single-chip microcomputer 602 carries out sample collection, when being acquired operation, the 3rd motor 815, band
Dynamic threaded screw rod 814, so as to drive sliding panel 809 to be slided in fixed column 802, drives two sliding bars 810 and sampling to slide
Bar 808 is slided, and two sliding bars 810 drive first-hand claw bar 811, second-hand's claw bar 812 to capture certain silt and broken
Stone, sliding plug extracts the fine and smooth pureed tailings or bed mud of quality in sampling sliding bar 808 by extracting sampler main body 807, then,
Sampling detecting module 8 is driven to be moved vertically upward by the second motor 705, second gear 706 on the truss module 7,
Drive sampling detecting module 8 to carry out level by the first motor 703, first gear 702 on the truss module 7 to be moved to the left,
The sample of collection is put into sample carrying case 11, the counterweight counterweight module 12 includes counterweight ballast box and counterweight, described
Counterweight quantity can be added or reduced in counterweight ballast box, it is ensured that walking is firm, and quality is more big more steady, and the GPS locator 612 can
Institute's longitude and latitude and absolute elevation are swept by satellite and is transmitted a signal to single-chip microcomputer 602 and is stored in holder.
Structure of the present invention is novel, and design science is rational in infrastructure, present apparatus high degree of automation, collection automatic moving, detection,
Collection sample, camera function, carry out waterproof antirust treatment, long service life, by pressure sensor 801, detector 805, guarantor
Hinder the accuracy of sampling, meanwhile, sampling is convenient and swift, has saved human cost, and the sampling of distance type bed mud substantially reduces river course
The difficulty of inside sampling, improves the accuracy of security and depth selection, can be added in the counterweight ballast box or reduce counterweight
Quantity, it is ensured that walking is firm, and quality is more big more steady, and the GPS locator 612 can sweep institute's longitude and latitude and absolute elevation by satellite
And transmit a signal to single-chip microcomputer 602 and be stored in holder, it is accurate to grasp equipment sample position, pull rope 15 is with the addition of,
Prevent robot from being washed away by current in quickwater.
Preferred embodiments of the present invention are the foregoing is only, embodiments of the present invention and protection model is not thereby limited
Enclose, to those skilled in the art, should can appreciate that it is all with description of the invention and diagramatic content make etc.
With the scheme obtained by replacing and obviously changing, should be included in protection scope of the present invention.
Claims (9)
1. a kind of bed mud sampling robots, including shell (1), illuminating lamp (2), rotating camera (3), cell sealing cover (4), lithium
Battery (5), control module (6), truss module (7), sampling detecting module (8), drive module (9), sample tap (10), sample dress
Carry case (11), counterweight adjustment module (12), traction seat (13), bail (14) and pull rope (15), it is characterised in that described outer
Shell (1) top is provided with illuminating lamp (2), and shell (1) the front end face top is provided with rotating camera (3), and the rotation is taken the photograph
As head (3) rear end face is provided with cell sealing cover (4), lithium battery (5) is installed inside the cell sealing cover (4)；
Shell (1) the inside left end face is provided with control module (6), the control module (6) including seal box (601),
Single-chip microcomputer (602), the first servo-driver (603), the second servo-driver (604), the 3rd servo-driver (605), the 4th
Servo-driver (606), the 5th servo-driver (607), the 6th servo-driver (608), the 7th servo-driver (609),
Signal projector (610), signal receiver (611) and GPS locator (612), the single-chip microcomputer (602) respectively with the first servo
Driver (603), the second servo-driver (604), the 3rd servo-driver (605), the 4th servo-driver (606), the 5th
Servo-driver (607), the 6th servo-driver (608), the 7th servo-driver (609), signal projector (610), signal
Receiver (611) and GPS locator (612) are connected by holding wire；
Truss module (7) is installed, the truss module (7) is including water between shell (1) the interior forward end face and rear end face
Flat board (701), first gear (702), the first motor (703), sliding shoe (704), the second motor (705), second gear (706)
With vertical plate (707), the level board (701) between shell (1) interior forward end face and rear end face, the level board
(701) top engaged with first gear (702), the first gear (702) on the first motor (703), described first
Installed in sliding shoe (704) left side, the sliding shoe (704) right side is provided with the second motor (705) to motor (703), and described the
Second gear (706) is installed, the second gear (706) is engaged with the tooth on vertical plate (707) on two motors (705)；
Truss module (7) lower section is provided with sampling detecting module (8), and sampling detecting module (8) is including pressure sensing
Device (801), fixed column (802), installing plate (803), detection fix bar (804), detector (805), drill bit (806), sampler
Main body (807), sampling sliding bar (808), sliding panel (809), sliding bar (810), first-hand claw bar (811), second-hand's claw bar
(812) install, paw sliding seat (813), threaded screw rod (814) and the 3rd motor (815), vertical plate (707) lower surface
There is pressure sensor (801), pressure sensor (801) lower surface is provided with fixed column (802), the fixed column (802)
Lower surface is provided with installing plate (803), and installing plate (803) lower right-hand side is provided with detection fix bar (804), the detection
Fix bar (804) lower section is provided with detector (805), and detector (805) lower section is provided with drill bit (806), the installation
Plate (803) left side is provided with sampler main body (807), and sampler main body (807) top is provided with sampling sliding bar
(808), described sampling sliding bar (808) upper end connects sliding panel (809), and the sliding panel (809) is provided with circular hole and fixed column
(802) gap coordinates, and sliding panel (809) lower end is provided with the sliding bar (810) being symmetrically installed on fixed column (802),
Be slidably connected first-hand claw bar (811) below the sliding bar (810), and the other end of the first-hand claw bar (811) is slided and connected
Connect second-hand's claw bar (812), second-hand's claw bar (812) upper end is slidably connected paw sliding seat (813), the paw is slided
On installing plate (803), sliding panel (809) left side is provided with screwed hole, the screwed hole and screw thread silk to seat (813)
Thick stick (814) is connected, and the threaded screw rod (814) is connected with the 3rd motor (815) by shaft coupling；
Shell (1) left and right sides is each provided with a drive module (9), and the drive module (9) includes the 4th motor
(901), the first sprocket wheel (902), crawler belt (903), the second sprocket wheel (904) and the 5th motor (905), the 4th motor (901)
Installed in shell (1) left and right sides front end, the 4th motor (901) is connected with the first sprocket wheel (902), first sprocket wheel
(902) engaged with crawler belt (903) one end, crawler belt (903) other end is engaged with the 5th motor (905), the 5th motor
(905) installed in shell (1) left and right sides rear end, shell (1) lower surface is provided with sample tap (10), the shell (1)
Sample carrying case (11) is installed, shell (1) lower surface is provided with counterweight counterweight module (12), the battery on portion's base plate
Seal closure (4) upper right side is provided with traction seat (13), and traction seat (13) nesting is provided with bail (14), the bail
(14) it is connected with pull rope (15).
2. a kind of bed mud sampling robots according to claim 1, it is characterised in that the lithium battery (5) is by inversion
Device is powered for whole equipment.
3. a kind of bed mud sampling robots according to claim 1, it is characterised in that single-chip microcomputer (602) output end
By the first servo-driver (603), the second servo-driver (604), the 3rd servo-driver (605), the 4th servo-drive
Device (606), the 5th servo-driver (607), the 6th servo-driver (608), the 7th servo-driver (609) control respectively
One motor (703), the second motor (705), the 3rd motor (815), two the 4th motors (901), two the 5th motors (905).
4. a kind of bed mud sampling robots according to claim 1, it is characterised in that the single-chip microcomputer (602) by after
Electrical equipment control illuminating lamp (2).
5. a kind of bed mud sampling robots according to claim 1, it is characterised in that the rotating camera (3) is by number
According to transmitting to single-chip microcomputer (602), and it is stored in holder by single-chip microcomputer (602).
6. a kind of bed mud sampling robots according to claim 1, it is characterised in that the pressure sensor (801)
Road transmits a signal to single-chip microcomputer (602) with the time, and single-chip microcomputer (602) simultaneously changes into the second servo-driver (604) accordingly
Signal controls the second motor (705).
7. a kind of bed mud sampling robots according to claim 1, it is characterised in that first motor (703), second
Motor (705), the 3rd motor (815), two the 4th motors (901), two the 5th motor (905) surfaces are carried out at waterproof antirust
Reason.
8. a kind of bed mud sampling robots according to claim 1, it is characterised in that counterweight counterweight module (12) bag
Counterweight ballast box and counterweight are included, counterweight quantity can be added or reduced in the counterweight ballast box.
9. a kind of bed mud sampling robots according to claim 1, it is characterised in that the GPS locator (612) can lead to
Satellite is crossed to sweep institute's longitude and latitude and absolute elevation and transmit a signal to single-chip microcomputer (602) and be stored in holder.
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