CN108548691B - Soft robot for soil sampling - Google Patents
Soft robot for soil sampling Download PDFInfo
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- CN108548691B CN108548691B CN201810816893.5A CN201810816893A CN108548691B CN 108548691 B CN108548691 B CN 108548691B CN 201810816893 A CN201810816893 A CN 201810816893A CN 108548691 B CN108548691 B CN 108548691B
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- water pump
- soil
- pipe
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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
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a soft robot for soil sampling, which comprises a sampling pipe, wherein the sampling pipe is a flexible part, a base part is arranged in the sampling pipe, and the base part is made of a memory alloy material; the sampling tube comprises a plurality of sampling tubes, a plurality of driving wheels and a plurality of driving wheels, wherein the driving wheels can rotate and are movably connected to the inner wall of the sampling tube at intervals; the power assembly comprises a hot water pump and a cold water pump, and the hot water pump and the cold water pump are communicated with the base piece through a three-way valve; the head end and the tail end of the hemp rope are connected with each other to form an annular structure, and the hemp rope is driven by the driving wheel to rotate; the hot water pump, the cold water pump and the base piece are communicated through the three-way valve, cold and heat exchange can be realized, the temperature of the base piece is further adjusted, the base piece is made of memory alloy and has a shape memory function, and the shape of the base piece is changed along with the change of the water temperature in the process pipe and the water temperature in the return pipe, so that soil collection is more flexible.
Description
Technical Field
The invention relates to a soft robot, in particular to a soft robot for soil sampling.
Background
The soft robot can be driven by air, can bend, twist and grab objects, and can be used for sampling soil in different sampling places, so that the soft robot is flexible and reliable.
The software robot does not pass through the three-way valve with the hot-water pump, cold water pump and base member intercommunication, can not realize the cold and hot exchange, and then can't adjust the temperature of base member, the base member can not warp along with the temperature variation, when meetting near pipeline's soil collection, be difficult to operate, it is equipped with a plurality of drive wheels not have the interval on the sampling pipe inner wall, can not be through the pulling rope made of hemp, take out soil through the barb in the rope made of hemp outside, the sampling is more troublesome, and destroy soil environment on every side easily, the practicality is not strong.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a soft robot for soil sampling.
The invention realizes the purpose through the following technical scheme: a soft body robot for soil sampling, comprising: the sampling tube is a flexible piece, a base piece is arranged in the sampling tube, and the base piece is made of a memory alloy material; the sampling tube comprises a plurality of sampling tubes, a plurality of driving wheels and a plurality of driving wheels, wherein the driving wheels can rotate and are movably connected to the inner wall of the sampling tube at intervals; the power assembly comprises a hot water pump and a cold water pump, and the hot water pump and the cold water pump are communicated with the base piece through a three-way valve; the head end and the tail end of the hemp rope are connected with each other to form an annular structure, and the hemp rope is driven by the driving wheel to rotate.
In a preferred embodiment of the invention, a process pipe and a return pipe are arranged in the base piece, and the process pipe and the return pipe are communicated end to end.
In a preferred embodiment of the present invention, the process tube is provided with a heater.
In a preferred embodiment of the present invention, the base member has a shape memory function, and the shape of the base member changes with the change of the water temperature inside the process pipe and the return pipe.
In a preferred embodiment of the invention, a plurality of barbs are arranged on the outer side of the hemp rope at intervals, and the barbs can take out soil when the hemp rope rotates.
In a preferred embodiment of the invention, a power wheel is arranged at one end of the base part.
In a preferred embodiment of the invention, when water in the hot water pump enters the process pipe, the temperature of the base part is increased and deformed; or when the water in the cold water pump enters the return pipe, the temperature is reduced and the cold water pump deforms.
In a preferred embodiment of the present invention, the present invention further comprises a motor for controlling the driving wheel to rotate.
The invention solves the defects in the background technology, and has the following beneficial effects:
(1) the software robot passes through the three-way valve with hot water pump, cold water pump and substrate intercommunication, can realize cold and hot exchange, and then adjust the temperature of substrate, and the substrate is memory alloy, and the substrate has shape memory function, the shape of substrate is along with the process pipe with the inside temperature change of return stroke pipe changes, makes soil collection more nimble.
(2) Hemp rope is connected on the motor, and the motor is through controlling the power wheel and then can control hemp rope slew velocity in a flexible way, and power component includes hot-water pump and cold water pump, and hot-water pump and cold water pump can control the inside temperature of process pipe and return stroke pipe in a flexible way to adjust the shape base bending angle of base member in a flexible way, improve the flexibility that soil gathered.
(3) Sampling pipe inserts ground, and the interval is equipped with a plurality of drive wheels on the sampling pipe inner wall, through the pulling rope made of hemp, can take over out soil, conveys out sampling pipe through the rope made of hemp and collects, can not destroy soil environment on every side, and the flexibility is higher, convenient to use.
(4) The base member can be nimble to bypass underground piping and insert ground, causes the pipeline to break when preventing that software robot from inserting ground, when near underground piping sampling, can not damage the pipeline, and the security is higher.
(5) Sampling pipe is the flexible member, and sampling pipe can not cause the fracture of sampling pipe because the substrate warp, and the safety in utilization is higher, and hemp rope outside interval is equipped with the barb, and the barb can be taken away the soil on the hemp rope of soil internal rotation, then samples, and soil collection efficiency is higher.
Drawings
FIG. 1 is a partial schematic view of a soft body robot according to a preferred embodiment of the present invention;
reference numerals:
a sampling tube 10;
a power assembly 20; a three-way valve 21; a power wheel 22;
a motor 30; a transmission wheel 31; a twine 32;
a base member 40.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, belong to the present invention.
As shown in FIG. 1, the soft robot for soil sampling comprises a sampling tube 10, a plurality of driving wheels 31, a power assembly 20 and a hemp rope 32.
Specifically, sampling pipe 10 is the flexible piece, and sampling pipe 10 is inside to be provided with base member 40, and base member 40 is the preparation of memory alloy material, and drive wheel 31 can rotate, and drive wheel 31 interval swing joint is on sampling pipe 10 inner wall, and power component 20 includes hot-water pump, cold water pump, and hot-water pump, cold water pump pass through three-way valve 21 intercommunication with base member 40, and rope made of hemp 32 end to end interconnect forms annular structure, and rope made of hemp 32 passes through drive wheel 31 drives and rotates.
In other words, the soft robot communicates the hot water pump and the cold water pump with the base member 40 through the three-way valve 21, the hot water pump and the cold water pump can respectively provide hot water and cold water, so that the base member 40 can realize cold and heat exchange, and further adjust the temperature of the base member 40, the base member 40 is made of memory alloy, the base member 40 has a shape memory function, the shape of the base member 40 changes along with the change of the water temperature inside the process pipe and the return pipe, so that the soil collection is more flexible, the hemp rope 32 is connected to the motor 30, the power wheel 22 is arranged inside the hemp rope 32 at the tail of the sampling pipe 10, the motor 30 can flexibly control the rotation rate of the hemp rope 32 by controlling the power wheel 22, so as to improve the precision of the soil collection, the sampling pipe 10 is inserted into the ground, a plurality of driving wheels 31 are arranged on the inner wall of the sampling pipe 10 at intervals, the soil can, can not destroy soil environment on every side, the flexibility is higher, convenient to use, and base member 40 can be nimble to be walked around underground piping and insert ground, causes the pipeline to break when preventing that software robot from inserting ground, when near underground piping sampling, can not damage the pipeline, and the security is higher.
According to one embodiment of the invention, one end of the sampling tube 10 is of a notch-shaped structure, when the sampling tube 10 is inserted into soil, a part of soil can enter the inside of the sampling tube 10, so that the hemp rope 32 can conveniently collect the soil, a plurality of barbs are arranged at intervals on the outer side of the hemp rope 32, the barbs can take out the soil when the hemp rope 32 rotates, the sampling tube 10 is a flexible part, the sampling tube 10 cannot be broken due to the deformation of the base part 40, the use safety is high, the barbs are arranged at intervals on the outer side of the hemp rope 32, the barbs can take out the soil on the hemp rope 32 rotating in the soil, then the sampling is carried out, and the soil collection efficiency is high.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A soft body robot for soil sampling, characterized by comprising:
the sampling tube is a flexible piece, a base piece is arranged in the sampling tube, and the base piece is made of a memory alloy material;
the sampling tube comprises a plurality of sampling tubes, a plurality of driving wheels and a plurality of driving wheels, wherein the driving wheels can rotate and are movably connected to the inner wall of the sampling tube at intervals;
the power assembly comprises a hot water pump and a cold water pump, and the hot water pump and the cold water pump are communicated with the base piece through a three-way valve;
the head end and the tail end of the hemp rope are connected with each other to form an annular structure, and the hemp rope is driven by the driving wheel to rotate.
2. The soft robot for soil sampling of claim 1, wherein the base member is internally provided with a process pipe and a return pipe, and the process pipe and the return pipe are communicated end to end.
3. The soft robot for soil sampling of claim 2, wherein the process tube has a heater disposed thereon.
4. The soft robot for soil sampling of claim 2, wherein the base member has a shape memory function, and the shape of the base member changes with the temperature of the water inside the process pipe and the return pipe.
5. The soft robot for soil sampling of claim 1, wherein the hemp rope is provided with a plurality of barbs at intervals on the outer side, and the barbs can take out soil when the hemp rope rotates.
6. The soft robot for soil sampling of claim 1, wherein the base member is provided with a powered wheel at one end.
7. The soft robot for soil sampling according to claim 2, wherein the base member is deformed by the temperature increase when water inside the hot water pump enters the process pipe; or when water in the cold water pump enters the return pipe, the temperature of the base part is reduced and the base part is deformed.
8. The soft robot for soil sampling of claim 1, further comprising a motor for controlling the rotation of the drive wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810816893.5A CN108548691B (en) | 2018-07-24 | 2018-07-24 | Soft robot for soil sampling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810816893.5A CN108548691B (en) | 2018-07-24 | 2018-07-24 | Soft robot for soil sampling |
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| Publication Number | Publication Date |
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| CN108548691A CN108548691A (en) | 2018-09-18 |
| CN108548691B true CN108548691B (en) | 2020-06-23 |
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| CN201810816893.5A Active CN108548691B (en) | 2018-07-24 | 2018-07-24 | Soft robot for soil sampling |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111649978B (en) * | 2020-06-05 | 2022-04-29 | 吉林大学 | Soil sampler based on shape memory alloy drive |
| CN112747958B (en) * | 2020-12-31 | 2021-11-09 | 武汉大学 | Bionic obstacle-avoiding large-depth interstellar sampler and sampling method |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0617567B2 (en) * | 1988-06-04 | 1994-03-09 | 運輸省港湾技術研究所長 | Device for preventing falling of collected samples in soil sampling |
| CN102680275A (en) * | 2012-05-25 | 2012-09-19 | 北京卫星制造厂 | Device for sampling shallow soil of extraterrestrial star |
| CN106808998A (en) * | 2017-04-14 | 2017-06-09 | 云南电网有限责任公司电力科学研究院 | A kind of robot driving device |
| CN106885711A (en) * | 2017-04-14 | 2017-06-23 | 严凤河 | A kind of portable soil sampling apparatus |
| CN106956761A (en) * | 2017-04-10 | 2017-07-18 | 东北大学 | A kind of memory alloy driver of the cold and hot working medium of use gas barrier |
| CN107347466A (en) * | 2017-07-19 | 2017-11-17 | 深圳市晓控通信科技有限公司 | A kind of horticultural machine people with branches and leaves recovery and soil sample function |
-
2018
- 2018-07-24 CN CN201810816893.5A patent/CN108548691B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0617567B2 (en) * | 1988-06-04 | 1994-03-09 | 運輸省港湾技術研究所長 | Device for preventing falling of collected samples in soil sampling |
| CN102680275A (en) * | 2012-05-25 | 2012-09-19 | 北京卫星制造厂 | Device for sampling shallow soil of extraterrestrial star |
| CN106956761A (en) * | 2017-04-10 | 2017-07-18 | 东北大学 | A kind of memory alloy driver of the cold and hot working medium of use gas barrier |
| CN106808998A (en) * | 2017-04-14 | 2017-06-09 | 云南电网有限责任公司电力科学研究院 | A kind of robot driving device |
| CN106885711A (en) * | 2017-04-14 | 2017-06-23 | 严凤河 | A kind of portable soil sampling apparatus |
| CN107347466A (en) * | 2017-07-19 | 2017-11-17 | 深圳市晓控通信科技有限公司 | A kind of horticultural machine people with branches and leaves recovery and soil sample function |
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| CN108548691A (en) | 2018-09-18 |
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Effective date of registration: 20200602 Address after: Room B1101, 46-54 Dongfang Road, Ouhai Economic Development, Wenzhou City, Zhejiang Province, 325000 Applicant after: WENZHOU CHUANGMOU 3D DESIGN Co.,Ltd. Address before: 528500 4C3, 362, 108 East Gaoming Avenue, Foshan City, Gaoming District, Guangdong Applicant before: FOSHAN GAOMING XILUO TECHNOLOGY Co.,Ltd. |
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