CN107991131A - A kind of rotor robot for water quality sampling - Google Patents
A kind of rotor robot for water quality sampling Download PDFInfo
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- CN107991131A CN107991131A CN201711170593.6A CN201711170593A CN107991131A CN 107991131 A CN107991131 A CN 107991131A CN 201711170593 A CN201711170593 A CN 201711170593A CN 107991131 A CN107991131 A CN 107991131A
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- water
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- water sample
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U50/00—Propulsion; Power supply
- B64U50/10—Propulsion
- B64U50/19—Propulsion using electrically powered motors
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- 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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- Engineering & Computer Science (AREA)
- Aviation & Aerospace Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Hydrology & Water Resources (AREA)
- Mechanical Engineering (AREA)
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- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
A kind of rotor robot for water quality sampling.It is made of rack, driving device, control box and water sampling mechanism, it is characterised in that：Water sampling mechanism includes water sample part flow arrangement, water sample storing mechanism, hose retrieval mechanism and filtration apparatus and the hose of connection；Hose retrieval mechanism is the fold mechanism of wire rope gearing, is bolted in the lower plate of water sample storing mechanism；Filtration apparatus is installed on the end of hose retrieval mechanism, and upper and lower plates are fixed by supporting item with bolt；Sampling bottle is between upper and lower plates；Water sample diversion mechanism is located at the top of upper plate, including three-way magnetic valve, valve seat, catchment part and connecting rod, and three-way magnetic valve, one end of catchment part and connecting rod are bolted on valve seat, and the other end of connecting rod is directly bolted with unmanned aerial vehicle body；The break-make of three-way magnetic valve is used to control water sampling mechanism to carry out water sampling or carry out the flushing in sampling interval；The water-flowing path of mechanism is realized by hose connection.
Description
Technical field
The present invention relates to a kind of rotor robot for water quality sampling.
Background technology
Water quality sampling is an important ring for water quality monitoring, and traditional artificial sample mode requires sample collector to reach
Sampling position, thus when obtaining water sample from far-off regions there are certain difficulty, in water head site sampling operation efficiency with a varied topography
It is low, dangerous even to be sampled greatly, while be also difficult to timely obtain water sample after the natural calamities such as earthquake.
The content of the invention
In order to solve the prior art problem gone out given in background technology, patent of the present invention proposes that one kind is used for water quality sampling
Rotor robot, be a kind of integrated equipment using quadrotor unmanned plane as carrier.The type rotor robot is by using rotor
Unmanned plane limits from landform, flying speed is very fast, samples the advantages that facilitating easy to rapid deployment, hovering, can expand significantly
The scope of water sampling, shortens the time of water sampling, improves the efficiency of water sampling, while also can be in natural calamities such as earthquakes
Later come into operation rapidly, there is provided information accurately and timely.
The technical scheme is that：The rotor robot that this kind is used for water quality sampling includes control box, rack and driving
Device, wherein control box are installed between the fuselage up and down of rack, and driving device is separately mounted on the horn of rack；Control box
Interior that control unit is housed, for combining other sensors and communication module composition flight control system, driving device is controlled at it
Lower work, it is unique in that：
The rotor robot further includes water sampling mechanism, and water sampling mechanism is installed under rack below fuselage, by controlling
Control unit control work in box.
The water sampling mechanism, including water sample part flow arrangement, water sample storing mechanism, hose retrieval mechanism and filtering dress
Put.The water sample diversion mechanism is made of eight three-way magnetic valves, four connecting rods, the part that catchments, valve seat and hose, the part that catchments peace
Mounted in the centre of valve seat, its side is provided with two through holes up and down, forms under the suitable for reading, right side in right side mouth under mouth, left side, on left side
Mouthful, its lower mouth in left side with left side is suitable for reading is linked together by hose, the used hose in hole is connected with overflow valve water inlet on right side,
Right side lower opening is connected by the water outlet of hose and electric submersible pump, and front shares eight through holes, divides two rows to be evenly distributed with, form
Round and lower round.Eight three-way magnetic valves are separately mounted to the both sides of valve seat, per four, side, under unpowered state, and water inlet
Mouth is connected with discharge outlet, and water outlet is closed, and after energization, discharge outlet is closed, and water inlet is connected with water outlet, each three-way magnetic valve
The lower round of water inlet and the part that catchments, discharge outlet be connected with upper round, water outlet and the sampling bottle of the part that catchments by hose, valve
Seat is connected by connecting rod with lower fuselage.Current are reached from electric submersible pump along hose under the right side of the part that catchments of water sample diversion mechanism
Mouthful, and then the water inlet of eight three-way magnetic valves is separately flowed into by eight lower rounds, when all three-way magnetic valves are all in disconnected
During electricity condition, and then after discharge outlet flows into the upper round for the part that catchments, flowed out by overflow valve, this process can be to water sampling machine
Structure is rinsed, and cross contamination is produced to avoid double sampling, after flushing, i.e., is powered to corresponding three-way magnetic valve, this
When, current can flow into the water inlet of three-way magnetic valve along pipeline from the lower round for the part that catchments, and then flow into sampling bottle from water outlet
In, unnecessary current can be flowed out through overflow valve again by discharge outlet to upper round.
Water sample storing mechanism include two square pole fixing pieces, two square poles, upper plate, lower plate, overflow valve, two
Overflow valve fixing piece, two supporting items and some sampling bottles composition, sampling bottle are made of body and bottle stopper, and body is in upper bottom
Between plate and lower plate, bottle stopper passes through the uniformly distributed through hole of upper plate, and support is used to link together upper plate and lower plate,
And be connected with square pole end, square pole is fixed on lower fuselage by square pole fixing piece, and overflow valve is fixed by overflow valve
Part is installed in support.
The hose retrieval mechanism includes two withdrawal bar fixing pieces, some engaging lugs, three long withdrawal bar, two short receipts
Return bar, stepper motor, stepper motor seat, motor head, steel wire rope and axis pin and axis pin ring.Three long withdrawal bar is positioned at two short
Withdraw between bar, be sequentially connected using engaging lug head and the tail, fixed by axis pin and axis pin ring, constitute a foldable mechanism,
Hose is installed on the inside for withdrawing bar, this foldable mechanism head end is fixed under water sample storing mechanism by withdrawing bar fixing piece
Bottom plate is in the following, end is also connected to steel cable while filtration apparatus is connected, and steel wire rope is another, and to terminate at stepper motor defeated
On the motor head of shaft, the winding of steel wire rope or releasing are controlled by controlling stepper motor rotating, and then control foldable
The withdrawal or stretching of mechanism, realize the drawing back function of hose, and stepper motor is installed on the lower plate of water sample storing mechanism.
In addition, the latticed hollow box body that the filtration apparatus used is 1 millimeter for gap, is divided into box lid and box body, box lid
On be provided with aperture so that hose is connected with electric submersible pump, electric submersible pump is installed on hollow tray interior.
The present invention has the advantages that：First, the carrier using quadrotor as whole system is that extremely have
Profit, because rotor wing unmanned aerial vehicle technology relative maturity at present, either still controls in structure.And rotor wing unmanned aerial vehicle
There is the advantages of it is unique, it is limited from landform, flying speed is very fast, convenient easy to rapid deployment, hovering sampling, passes through replacement
Battery can realize continuous work, can greatly promote the efficiency and scope of water sampling, reduce the difficulty of water sampling.Its
Secondary, sampling hose is suspended on the safety and stablization that can influence flight outside, and the design uses hose recycling machine component, will can sample
Withdrawn with hose in flight, released in sampling, improve the security of whole system.Using this kind of robot can to by
Distance, landform limitation water source carry out water quality sampling, or to specific water source carry out high frequency time water quality sampling, by quadrotor without
Man-machine carrier carries the integrated equipment of water sampling mechanism, it is reached by quadrotor unmanned plane specifies region to hover, soft
Electric submersible pump is put down and is immersed into water by pipe retraction mechanism, starts electric submersible pump, and water enters water sample diversion mechanism by hose, passes through
Control the storage location of the control system of switching on or off electricity water sample of three-way magnetic valve or carry out the flushing in sampling interval.The equipment utilization rotor without
Man-machine mobility strong, can hover sampling, can the advantage such as rapid deployment, can be adopted substantially reducing the difficulty of water quality sampling while improving
Sample efficiency.
Brief description of the drawings：
Fig. 1 is the general assembly drawing of the present invention.
Fig. 2 is rack overall construction drawing of the present invention.
Fig. 3 is driving device structure figure of the present invention.
Fig. 4 is water sample acquisition device structure chart of the present invention.
Fig. 5 is the water sample part flow arrangement structure diagram of water sampling mechanism of the present invention.
Fig. 6 is the three-way magnetic valve operation principle schematic diagram of water sample part flow arrangement of the present invention.
Fig. 7 is the sectional view of the part that catchments of water sample part flow arrangement of the present invention.
Fig. 8 is the valve seat construction schematic diagram of water sample part flow arrangement of the present invention.
Fig. 9 is the water sample storing mechanism structure chart of water sampling mechanism of the present invention.
Figure 10 is the square pole anchor structure schematic diagram of water sample storing mechanism of the present invention.
Figure 11 is the square pole structure diagram of water sample storing mechanism of the present invention.
Figure 12 is the upper plate structure schematic diagram of water sample storing mechanism of the present invention.
Figure 13 is the lower plate structure schematic diagram of water sample storing mechanism of the present invention.
Figure 14 is the upper and lower plates connecting-piece structure schematic diagram of water sample storing mechanism of the present invention.
Figure 15 is the sampling bottle structure diagram of water sample storing mechanism of the present invention.
Figure 16 is the front view and left view of the hose retraction mechanism of water sampling mechanism of the present invention.
Figure 17 is that the long of hose retraction mechanism of the present invention withdraws rod structure schematic diagram.
Figure 18 is the short withdrawal rod structure schematic diagram of hose retraction mechanism of the present invention.
Figure 19 is the engaging lug structure diagram of hose retrieval mechanism of the present invention.
Figure 20 is the filtration apparatus schematic diagram of water sampling mechanism of the present invention.
1- control box in figure, 2- racks, 3- driving devices, 4- water samplings mechanism, the upper fuselages of 5-, fuselage under 6-, 7- machines
Arm, 8- undercarriage fixing pieces, 9- undercarriages, 10- upper and lower plates connectors, 11- connecting rods, 12- solar panels, 13- rotors, 14- electricity
Machine, on 15- motor cabinets, 16- motor crosses, 17- supports, under 18- motor cabinets, 19- water sample part flow arrangements, the storage of 20- water samples
Mechanism, 21- hose retrieval mechanisms, 22- filtration apparatuses, 23- hoses, 24- three-way magnetic valves, 25- valve seat connecting rods, 26- catchment
Part, 27- valve seats, 28- water inlets, 29- water outlets, 30- discharge outlet, suitable for reading, the upper rounds of 32- in 31- right sides, the lower mouth in 33- right sides,
Round under 34-, the lower mouth in 35- left sides, suitable for reading, the 37- square pole fixing pieces in 36- left sides, 38- square poles, 39- upper plates, 40- lower plates,
41- overflow valves, 42- overflow valve fixing pieces, 43- upper and lower plates connectors, 44- sampling bottles, 45- bottle stoppers, 46- bodies, 47- withdraw bar
Fixing piece, 48- engaging lugs, 49- long withdrawal bars, the short withdrawal bars of 50-, 51- stepper motors, 52- stepper motor seats, 53- motor heads,
54- steel wire ropes, 55- axis pins, 56- axis pin rings, 57- box lids, 58- electric submersible pumps, 59- box bodies.
Embodiment：
This kind of water quality sampling rotor robot, including control box 1, rack 2, driving device 3 and water sampling mechanism 4, wherein controlling
Box processed is installed on above and below rack between fuselage, and driving device is separately mounted on the horn of rack, and water sampling mechanism is installed on
Under rack below fuselage；Control unit is housed in control box, flight control system is constituted with reference to other sensors and communication module
System, the driving device and water sampling mechanism work at the control.
Wherein described rack is the carrier of whole system, is mainly risen and fallen by upper fuselage 5,6, four, lower fuselage horn 7, four
The connecting rod 11 of undercarriage 9, four of frame fixing piece 8, four and solar panel 12 and some supporting items 10 form.Four horns 7 divide
It is not installed between fuselage 5 and lower fuselage 6, undercarriage 9 is installed on horn 7 by undercarriage fixing piece 8, and solar panel 12 is logical
The top that four connecting rods are installed on upper fuselage 5 is crossed, battery is installed herein.Connection between each parts passes through bolt
Realized with nut, in order to avoid being bolted to upper and lower fuselage generation damage and strengthening intensity, be bolted the machine up and down at place
Supporting item 10 is added between body, bolt is combined fixation with nut through supporting item.
The control box 1 is installed between upper fuselage 5 and lower fuselage 6 by bolt, and control unit, positioning are contained in inside
Device, wireless communication module, electron speed regulator etc., with reference to multiple sensors, constitute the flight control assemblies of whole system, institute
State driving device（3）Working status is controlled by it with water sampling mechanism 4.
The driving device 3 mainly include motor 14, rotor 13, upper frame 15, lower support 18 and motor cross 16 with
And some supporting items 17.Driving device is separately mounted to the end of four horns 7, and upper frame 15 is installed on the upper of 7 end of horn
Surface, lower support 18 are installed on the lower surface of 7 end of horn, and motor 14 is installed on the upper surface of upper frame 15, motor cross
16 are installed on the lower surface of upper frame 15, and rotor 13 is installed on the output shaft of motor 14.
The water sampling mechanism 4, including water sample part flow arrangement 19, water sample storing mechanism 20, hose retrieval mechanism 21, mistake
Filter device 22 forms.
In view of in sampling, last time sampling remaining water sample in pipeline can produce cross contamination to sampling next time, be
Solve the problems, such as this, this kind of robot be additionally arranged a water sample part flow arrangement, controls water sampling mechanism to carry out by it
Flushing of pipeline is sampled.
The water sample diversion mechanism 19 is by eight three-way magnetic valves, 24, four valve seat connecting rods 25, the part 26 that catchments, valve seat 27
Formed with hose, the part 26 that catchments is installed on the centre of valve seat 27, its side is provided with two through holes up and down, it is suitable for reading to form right side
31st, mouth 35, left side suitable for reading 36, the lower mouth 35 in its left side are connected to one with left side suitable for reading 36 by hose under mouth 33, left side under right side
Rise, hole 31 is connected by hose with 41 water inlet of overflow valve on right side, the water outlet that right side lower opening 33 passes through hose and electric submersible pump 57
Mouth connection, front share eight through holes, divide two rows to be evenly distributed with, and form round 32 and lower round 34.Eight threeway electromagnetism
Valve 24 is separately mounted to the both sides of valve seat 27, and per four, side, under unpowered state, water inlet 28 is connected with discharge outlet 30, is gone out
The mouth of a river 29 is closed, and after energization, discharge outlet 30 is closed, and water inlet 28 is connected with water outlet 29, the water inlet of each three-way magnetic valve 24
Mouthfuls 28 with the lower round of the part 26 that catchments, the upper round 32 of discharge outlet 30 and the part 26 that catchments, water outlet 29 with sampling bottle 44 by soft
Pipe connects, and valve seat 27 is connected by valve seat connecting rod 25 with lower fuselage 6.Current reach water sample shunting from electric submersible pump 57 along hose
Mouth 33 under the right side of the part 26 that catchments of device, and then separately flow into by eight lower rounds 34 water inlet of eight three-way magnetic valves 24
Mouthfuls 28, when all three-way magnetic valves 24 are all in off-position, and then flow into from discharge outlet 30 the upper round 32 for the part 26 that catchments
Afterwards, flowed out by overflow valve 41, this process can be rinsed water sampling mechanism 4, produced to avoid double sampling and intersect dirt
Dye, after flushing, i.e., is powered to corresponding three-way magnetic valve 24, at this time, the lower round that current can be along pipeline from the part 26 that catchments
34 flow into the water inlet 28 of three-way magnetic valve 24, and then are flowed into from water outlet 29 44 in sampling bottle, and unnecessary current can pass through row
Flowed out again through overflow valve 41 to upper round 32 at the mouth of a river 30.
Water sample storing mechanism 20 include two square pole fixing pieces, 37, two square poles 38, upper plate 39, lower plate 40,
The upper and lower plates connector 43 of overflow valve fixing piece 42, two of overflow valve 41, two and some sampling bottles 44 form, sampling bottle 44 by
Body 46 and bottle stopper 45 form, and body 46 is between upper plate 39 and lower plate 40, and bottle stopper 45 is evenly distributed with through upper plate 40
Through hole, upper and lower plates connector 43 is used to link together upper plate 39 and lower plate 40, and is connected with 38 end of square pole,
Square pole 38 is fixed on lower fuselage 6 by square pole fixing piece 37, and overflow valve 41 is installed on upper by overflow valve fixing piece 42
On lower plate connector 43.
The hose retrieval mechanism 21 include two withdrawal bar fixing pieces 47, some engaging lugs it is 48, three long withdraw bar 49,
Two short withdrawal bar 50, stepper motor 51, stepper motor seat 52, motor are first 53, steel wire rope 54 and axis pin 55 and axis pin ring 56.
Three long withdrawal bar 49 is sequentially connected using 48 head and the tail of engaging lug between two short withdrawal bar 50, passes through axis pin 55 and pin
Collar 51 is fixed, and constitutes a foldable mechanism, and hose is installed on the inside for withdrawing bar, this foldable mechanism head end passes through receipts
Return bar fixing piece 47 and be fixed on the lower plate 40 of water sample storing mechanism 20 in the following, end is connected to while filtration apparatus 22 are connected
Steel cable 54, on another motor first 53 for terminating at 51 output shaft of stepper motor of steel wire rope, by controlling stepper motor 51
Rotating controls the winding of steel wire rope 54 or releasing, and then controls the withdrawal or stretching of foldable mechanism, realizes hose
Drawing back function, stepper motor 51 are installed on the lower plate 40 of water sample storing mechanism 20.
The filtration apparatus 22 is the latticed hollow box body that gap is 1 millimeter, is divided into box lid 57, box body 59 and electric submersible pump
58, aperture is provided with so that hose is connected with electric submersible pump 58 on box lid 57, and electric submersible pump 58 is installed on inside, while internal is also provided with
Water-sensitive sensor is to ensure that electric submersible pump will not start in the case where not being submerged by water.
The invention will be further described below in conjunction with the accompanying drawings：
As shown in Figure 1, it is seen that control box, rack, driving device and water sampling mechanism, the control box are installed on by bolt
Between upper fuselage and lower fuselage, inside is containing control unit, positioner, wireless communication module, electron speed regulator etc., with reference to it
Its sensor, constitutes the flight control system of whole system, and the driving device and water sampling mechanism are controlled by it work
Make state, which determining the rotor robot system of the design can sample in flight in the case where personnel are remotely controlled, and can also pass through positioning
Device completes autonomous flight sampling.
Wherein described rack be whole system carrier, as shown in Fig. 2, mainly by upper fuselage, lower fuselage, four horns,
Four undercarriage fixing pieces, four undercarriages, four connecting rods and solar panel and some supporting items composition.Each parts it
Between connection realized by bolts and nuts, in order to avoid be bolted to upper and lower fuselage produce damage and strengthen intensity,
Supporting item is added between the fuselage up and down at the place of being bolted, bolt is combined fixation with nut through supporting item.
The water sampling mechanism, as shown in figure 4, the water sample part flow arrangement as shown in figure 5, catchment part as shown in fig. 7,
Three-way magnetic valve is as shown in fig. 6, eight three-way magnetic valves are separately mounted to the both sides of valve seat, per four, side, in unpowered state
Under, water inlet is connected with discharge outlet, and water outlet is closed, and after energization, discharge outlet is closed, and water inlet is connected with water outlet.Each three
Upper round, water outlet and the sampling bottle of the lower round of the water inlet of three-way electromagnetic valve and the part that catchments, discharge outlet and the part that catchments pass through soft
Pipe connects.Valve seat by valve seat connecting rod with lower fuselage as shown in figure 8, be connected.Current are reached from electric submersible pump along hose to catchment
Mouth under the right side of part, and then the water inlet of eight three-way magnetic valves is separately flowed into by eight lower rounds, when all threeway electromagnetism
When valve is all in off-position, and then after discharge outlet flows into the upper round for the part that catchments, flowed out by overflow valve, this process can be right
Water sampling mechanism is rinsed, and cross contamination is produced to avoid double sampling, after flushing, i.e., to corresponding threeway electromagnetism
Valve is powered, and at this time, current can flow into the water inlet of three-way magnetic valve along pipeline from the lower round for the part that catchments, and then from water outlet stream
Enter in sampling bottle, unnecessary current can be flowed out through overflow valve again by discharge outlet to upper round.
Water sample storing mechanism is as shown in figure 9, square pole fixing piece is as shown in Figure 10, and square pole is as shown in figure 11, upper plate
As shown in figure 12, lower plate is as shown in figure 13, and upper and lower plates connector is as shown in figure 14, and sampling bottle is as shown in figure 15.Sampling bottle bottle
It is between upper plate and lower plate, bottle stopper passes through the uniformly distributed through hole of upper plate, and upper and lower plates connector is used for upper plate
Link together with lower plate, and be connected with square pole end, square pole head end is fixed on lower fuselage by square pole fixing piece
On, overflow valve is installed on upper and lower plates connector by overflow valve fixing piece.
The hose retrieval mechanism is as shown in figure 16, including two withdrawal bar fixing pieces, some engaging lugs, three long receipts
Return bar, two short withdrawal bar, stepper motor, stepper motor seat, motor head, steel wire rope and axis pin and axis pin ring.It is wherein long to receive
It is as shown in figure 17 to return bar, short withdrawal bar is as shown in figure 18, and engaging lug is as shown in figure 19.Three long withdrawal bar is located at two short receipts
Return between bar, be sequentially connected using engaging lug head and the tail, fixed by axis pin and axis pin ring, constitute a foldable mechanism, it is soft
Pipe is installed on the inside for withdrawing bar, this foldable mechanism head end is fixed under water sample storing mechanism by withdrawing bar fixing piece
Bottom plate is in the following, end is also connected to steel cable while filtration apparatus is connected, and steel wire rope is another, and to terminate at stepper motor defeated
On the motor head of shaft, the winding of steel wire rope or releasing are controlled by controlling stepper motor rotating, and then control and can roll over
The withdrawal or stretching of folded mechanism, realize the drawing back function of hose, and stepper motor is installed on the lower plate of water sample storing mechanism
On.
It is given below and utilizes present apparatus operation process：
Step 1：Rotor robot reaches sampling position under manual remote control or autonomous flight state, and solenoid valve is in breaking at this time
Electricity condition；
Step 2：Rotor robot hovers in specified altitude assignment, and stepper motor rotates and releases hose recovering mechanism, filtration apparatus leaching
Not in water；
Step 3：After water-sensitive sensor is submerged by water in filtration apparatus, electric submersible pump is actuated for sending water；Current are from hose through catchmenting
Part, a part are directly flowed out by overflow valve, and another part flows into three-way magnetic valve water inlet from the part that catchments, and is flowed back to from discharge outlet
Catchment part, is flowed out by overflow valve, completes the flushing process before sampling, this process is for 5 seconds；
Step 4：After the completion of flushing, to some or some solenoid valves, a part of current are flowed into sampling bottle from solenoid valve, separately
A part is flowed out from overflow valve, completes water sampling process, this process is for 5 seconds；
Step 5：Stepper motor inverts, and by wirerope-winding on motor head, hose retrieval mechanism is withdrawn, rotor robot is
It can fly to and next sampling position or make a return voyage.
Claims (3)
1. a kind of rotor robot for water quality sampling, including control box（1）, rack（2）And driving device（3）, wherein controlling
Box processed is installed on rack（1）Fuselage up and down between, driving device is separately mounted to rack（2）Horn on；Control box（1）It is interior
Equipped with control unit, for combining other sensors and communication module composition flight control system, driving device（3）In its control
Lower work, it is characterised in that：
The rotor robot further includes water sampling mechanism（4）, water sampling mechanism（4）It is installed on rack（2）Under lower fuselage
Side, by control box（1）Interior control unit control work；
The water sampling mechanism（4）, including water sample part flow arrangement（19）, water sample storing mechanism（20）, hose retrieval mechanism
（21）And filtration apparatus（22）；
The water sample part flow arrangement（19）By eight three-way magnetic valves（24）, four valve seat connecting rods（25）, catchment part（26）, valve
Seat（27）Formed with hose；Catchment part（26）Installed in valve seat（27）Centre, its side be provided with up and down two through holes, form
Right side is suitable for reading（31）, mouth under right side（33）, mouth under left side（35）It is suitable for reading with left side（36）；The lower mouth in its left side（35）It is suitable for reading with left side
（36）Linked together by hose, on right side hole（31）Pass through hose and overflow valve（41）Water inlet connects, right side lower opening
（33）Pass through hose and electric submersible pump（57）Water outlet connection, catchment part（26）Front shares eight through holes, divides two rows equal
Cloth, forms round（32）With lower round（34）；Eight three-way magnetic valves（24）It is separately mounted to valve seat（27）Both sides, often
Four, side, under unpowered state, water inlet（28）With discharge outlet（30）Connection, water outlet（29）Close, after energization, discharge outlet
（30）Close, water inlet（28）With water outlet（29）Connection；Each three-way magnetic valve（24）Water inlet（28）With the part that catchments
（26）Lower round, discharge outlet（30）With the part that catchments（26）Upper round（32）, water outlet（29）With sampling bottle（44）By soft
Pipe connects；Valve seat（27）Pass through valve seat connecting rod（25）With lower fuselage（6）It is connected；
Water sample storing mechanism（20）Including two square pole fixing pieces（37）, two square poles（38）, upper plate（39）, lower plate
（40）, overflow valve（41）, two overflow valve fixing pieces（42）, two upper and lower plates connectors（43）And some sampling bottles（44）；
Sampling bottle（44）By body（46）And bottle stopper（45）Composition, body（46）In upper plate（39）And lower plate（40）Between, bottle
Plug（45）Through upper plate（40）Uniformly distributed through hole, upper and lower plates connector（43）For by upper plate（39）With lower plate（40）
Link together, and and square pole（38）End connects, square pole（38）Pass through square pole fixing piece（37）It is fixed on lower fuselage
（6）On, overflow valve（41）Pass through overflow valve fixing piece（42）Installed in upper and lower plates connector（43）On；
The hose retrieval mechanism（21）Including two withdrawal bar fixing pieces（47）, some engaging lugs（48）, three long withdrawal bars
（49）, two short withdrawal bars（50）, stepper motor（51）, stepper motor seat（52）, motor head（53）, steel wire rope（54）And pin
Axis（55）With axis pin ring（56）；Three long withdrawal bar（49）Positioned at two short withdrawal bar（50）Between, utilize engaging lug（48）It is first
Tail is sequentially connected, and passes through axis pin（55）With axis pin ring（51）It is fixed, a foldable mechanism is constituted, hose, which is installed on, withdraws bar
Inside, this foldable mechanism head end is by withdrawing bar fixing piece（47）It is fixed on water sample storing mechanism（20）Lower plate（40）
In the following, end is in connection filtration apparatus（22）While be connected to steel cable（54）, steel wire rope is another to terminate at stepper motor
（51）The motor head of output shaft（53）On, by controlling stepper motor（51）Rotating controls steel wire rope（54）Winding or put
Go out；Stepper motor（51）Installed in water sample storing mechanism（20）Lower plate（40）On.
A kind of 2. rotor robot for water quality sampling according to claim 1, it is characterised in that：The rack（2）
For the carrier of whole system, including upper fuselage（5）, lower fuselage（6）, four horns（7）, four undercarriage fixing pieces（8）, four
Undercarriage（9）, four connecting rods（11）And solar panel（12）And some supporting items（10）；Four horns（7）It is respectively arranged in
Upper fuselage（5）With lower fuselage（6）Between, undercarriage（9）Pass through undercarriage fixing piece（8）Installed in horn（7）On, solar panel
（12）Pass through four connecting rods（11）Installed in upper fuselage（5）Top, battery i.e. install herein；It is being bolted the upper and lower of place
Supporting item is added between fuselage（10）, bolt combined fixation with nut through supporting item.
A kind of 3. rotor robot for water quality sampling according to claim 2, it is characterised in that：The driving device
（3）Mainly include motor（14）, rotor（13）, upper frame（15）, lower support（18）With motor cross（16）It is and several
Support member（17）；Driving device（3）It is separately mounted to four horns（7）End, upper frame（15）It is installed on horn（7）End
Upper surface, lower support（18）It is installed on horn（7）The lower surface of end, motor（14）It is installed on upper frame（15）Upper surface,
Motor cross（16）It is installed on upper frame（15）Lower surface, rotor（13）It is installed on motor（14）Output shaft.
Priority Applications (1)
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| CN201711170593.6A CN107991131A (en) | 2017-11-22 | 2017-11-22 | A kind of rotor robot for water quality sampling |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711170593.6A CN107991131A (en) | 2017-11-22 | 2017-11-22 | A kind of rotor robot for water quality sampling |
Publications (1)
| Publication Number | Publication Date |
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| CN107991131A true CN107991131A (en) | 2018-05-04 |
Family
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| CN201711170593.6A Withdrawn CN107991131A (en) | 2017-11-22 | 2017-11-22 | A kind of rotor robot for water quality sampling |
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Application publication date: 20180504 |