CN110779763A - Environment detection sampling robot - Google Patents

Abstract

The invention relates to a sampling robot, more specifically an environmental detection sampling robot, comprising a device bracket, a power mechanism, a motion mechanism, a distance mechanism, a sliding bracket, a push slider, a push bottom plate, a transmission mechanism I, a sampling mechanism, a transmission mechanism Mechanism II and the storage mechanism, the motion mechanism drives the device to move, and the distance mechanism starts at the same time. When the device moves to the designated position, the distance mechanism contacts the push slider, and pushes the push block to move upward, and pushes the slider to push and push The bottom plate moves upward, and pushes the bottom plate to complete the power switching of the power mechanism. The power mechanism successively drives the transmission mechanism I and the transmission mechanism II to move. The transmission mechanism I drives the sampling mechanism to reciprocate up and down once to sample the soil, and the transmission mechanism II drives the storage mechanism. The reciprocating motion collects the sampled soil at one time, and adjusts the positions of multiple push sliders on the sliding bracket, which can efficiently collect soil at the designated position.

Description

An Environment Detection Sampling Robot

technical field

The present invention relates to a sampling robot, more specifically to an environment detection sampling robot.

Background technique

For example, publication number CN206378316U is a soil sampling robot, which relates to a soil detection device, in particular to a soil sampling robot. It includes an installation platform, a walking and height adjustment device, a sampling storage device, a sampling device, and a sampling device angle adjustment device. The installation platform is a flat plate structure, the walking and height adjustment devices are arranged below the installation platform, and the sampling storage device is arranged on the installation platform. The sampling device is arranged on the right side of the installation platform, and the angle adjustment device of the sampling device is arranged above the middle of the installation platform; the disadvantage of the utility model is that it cannot efficiently collect soil at the designated position.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide an environmental detection and sampling robot, which can efficiently collect soil at a designated position.

The object of the present invention is achieved through the following technical solutions:

An environmental detection and sampling robot includes a device bracket, a power mechanism, a motion mechanism, a distance mechanism, a sliding bracket, a push slider, a push bottom plate, a transmission mechanism I, a sampling mechanism, a transmission mechanism II and a storage mechanism, and the device bracket is provided. A power mechanism is fixedly connected, a motion mechanism is connected to the device bracket, and the motion mechanism and the power mechanism are connected by transmission. The distance mechanism is fixedly connected to the device bracket, and the sliding bracket is fixedly connected to the device bracket. The slider, the sliding bracket is vertically slidably connected with a push bottom plate, and a compression spring I is fixedly connected between the push bottom plate and the sliding bracket. The distance-fixing mechanism pushes a plurality of push sliders to slide up and down in turn, the transmission mechanism I is rotatably connected to the device bracket, the power mechanism and the transmission mechanism I are intermittently driven, the sampling mechanism is slidably connected to the device bracket, and the sampling mechanism and the device bracket are fixedly connected There is a compression spring II, the upper end of the sampling mechanism is in contact with the transmission mechanism I, the transmission mechanism II is rotatably connected to the device bracket, the power mechanism and the transmission mechanism II are intermittently driven, the storage mechanism is slidably connected to the device bracket, between the sampling mechanism and the device bracket. A compression spring III is fixedly connected, and the receiving mechanism is in contact with the transmission mechanism II.

As a further optimization of the technical solution, the present invention provides an environmental detection and sampling robot. The device bracket includes a bottom plate, a mounting plate, a supporting plate I, a supporting plate II and a triangular plate. The front end of the bottom plate is fixedly connected with two mounting plates, two mounting plates. A support plate I is fixedly connected between the middle parts of the mounting plates, a support plate II is fixedly connected to the rear end of the lower side of the bottom plate, and a triangular plate is fixedly connected to the rear end of the bottom plate.

As a further optimization of this technical solution, the present invention is an environmental detection and sampling robot. The power mechanism includes a power motor, a toothless gear, a power gear, a connecting key and a sliding friction wheel. The power motor is fixedly connected to the triangle plate, and the power motor is A tooth-missing gear and a power gear are rotatably connected to the output shaft. A connection key is fixedly connected to the output shaft of the power motor. A sliding friction wheel is slidably connected to the connection key. The sliding friction wheel is located between the tooth-missing gear and the power gear. The gears are provided with teeth one third of the circumference.

As a further optimization of this technical solution, the present invention is an environmental detection and sampling robot. The motion mechanism includes a crawler mechanism and a drive worm, a crawler mechanism is provided on the bottom plate, the crawler mechanism and the drive worm are drively connected, and the drive worm is rotatably connected to the bottom plate. , the driving worm and the power gear meshing transmission.

As a further optimization of this technical solution, the present invention is an environmental detection and sampling robot. The distance-fixing mechanism includes a distance-fixing slide rail, a distance-fixing motor, a distance-fixing slider, a threaded rod and a circular block. The distance slide rail, one end of the distance slide rail is fixedly connected with a fixed distance motor, the output shaft of the fixed distance motor is connected with a distance slide block through a thread, and the distance slide block is slidably connected to the fixed distance slide rail, and the distance slide block is connected to the fixed distance slide rail. A threaded rod is fixedly connected on the threaded rod, and a plurality of circular blocks are connected with a thread on the threaded rod.

As a further optimization of this technical solution, the present invention is an environmental detection sampling robot. The sliding bracket includes a supporting plate III, a connecting plate, a sliding plate I and a sliding plate II, and two supporting plates III are fixedly connected to the bottom plate, two A connecting plate is fixedly connected between the upper ends of the support plates III, a sliding plate I is fixedly connected between the middle parts of the two support plates III, and a sliding plate II is fixedly connected to the lower end of the sliding plate I;

The push slider includes a push slider body, a locking screw and a sliding push rod. The push slider body is threadedly connected with a locking screw, and the sliding push rod is slidably connected to the push slider body and the locking screw. A compression spring IV is fixedly connected between the rod and the pushing slider body, a plurality of pushing slider bodies are slidably connected to the sliding plate II, and a plurality of locking screws are all slidably connected to the sliding plate I, and the distance sliders are pushed in sequence. A sliding push rod slides in the pushing slider body;

The push bottom plate includes a push bottom plate body and a fork, the push bottom plate body is slidably connected to the connecting plate, a compression spring I is fixedly connected between the push bottom plate body and the connecting plate, the rear end of the push bottom plate body is fixedly connected with a fork, and the dial The fork is rotatably connected to the sliding friction wheel, and the upper ends of the plurality of sliding push rods are all in contact with the push bottom plate body.

As a further optimization of this technical solution, the present invention is an environmental detection sampling robot. The transmission mechanism I includes a transmission shaft I, a transmission gear I, a transmission shaft II, a transmission shaft III and a sector cam I, and the transmission shaft I is rotatably connected to the triangle plate. On the transmission shaft I is fixedly connected with a transmission gear I, the transmission shaft II is rotatably connected to the connecting plate, the transmission shaft II and the transmission shaft I are connected in a transmission, the transmission shaft III is rotatably connected between the two mounting plates, and the transmission shaft III and The transmission shaft II is meshed for transmission, the transmission shaft III is fixedly connected with a sector cam I, and the transmission gear I and the tooth-missing gear are intermittently driven. than one.

As a further optimization of this technical solution, the present invention provides an environmental detection and sampling robot. The sampling mechanism includes a sampling bottom plate I, a sliding column I, a sampling bottom plate II, a sampling motor, a storage cylinder and a sampling screw, and the lower end of the sampling bottom plate I is fixedly connected. There are two sliding columns I, the lower ends of the two sliding columns I are fixedly connected to the sampling base plate II, the sampling motor is fixedly connected to the lower end of the sampling base plate II, the sampling screw is fixedly connected to the output shaft of the sampling motor, and the sampling motor is fixed A storage cylinder is connected, the sampling screw is located in the storage cylinder, the two sliding columns I are slidably connected to the support plate I, a compression spring II is fixedly connected between the support plate I and the sampling bottom plate I, and the sampling bottom plate I is in contact with the sector cam I .

As a further optimization of the technical solution, the present invention is an environmental detection sampling robot. The transmission mechanism II includes a transmission shaft IV, a transmission gear II, a transmission shaft V and a sector cam II. The transmission shaft IV is rotatably connected to the triangle plate, and the transmission shaft The IV is fixedly connected with the transmission gear II, the transmission gear II and the tooth-missing gear for intermittent transmission. The diameter of the index circle of the transmission gear II is one-third of the tooth-missing gear. The transmission shaft V is rotatably connected to the bottom plate, and the transmission shaft V The fixed connection is a sector cam II, the transmission shaft V and the transmission shaft IV are connected in a transmission, the drive worm, the transmission gear I and the transmission gear II are evenly distributed on the outer side of the toothless gear in the circumferential direction, and the transmission ratio of the transmission mechanism II is one.

As a further optimization of the technical solution, the present invention provides an environment detection and sampling robot. The storage mechanism includes a storage bottom plate, a sliding column II, and a storage box. Two sliding columns II are fixedly connected to the storage bottom plate, and the two sliding columns II are both The storage box is fixedly connected, the two sliding columns II are both slidably connected to the support plate II, a compression spring III is fixedly connected between the support plate II and the storage bottom plate, and the storage bottom plate is in contact with the sector cam II.

The beneficial effects of an environment detection and sampling robot of the present invention are:

The present invention is an environment detection and sampling robot, which can drive a motion mechanism to move through a power mechanism, the motion mechanism drives a device to move, and at the same time, the distance-fixing mechanism is activated. Push the slider to move upward, push the slider to push the bottom plate to move upward, and push the bottom plate to complete the power switching of the power mechanism. The power mechanism successively drives the transmission mechanism I and the transmission mechanism II to move, and the transmission mechanism I drives the sampling mechanism to reciprocate up and down. The soil will be sampled at one time, and the transmission mechanism II will drive the storage mechanism to reciprocate to collect the sampled soil at one time, and adjust the positions of multiple push sliders on the sliding bracket, which can efficiently collect soil at the designated position.

Description of drawings

The present invention will be described in further detail below with reference to the accompanying drawings and specific implementation methods.

In the description of the present invention, it should be noted that the terms "center", "portrait", "horizontal", "top", "bottom", "front", "rear", "left", "right", " The orientation or positional relationship indicated by "top", "bottom", "inside", "outside" and "vertical" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, and It is not indicated or implied that the indicated device or element must have a particular orientation, be constructed and operate in a particular orientation, and therefore should not be construed as limiting the invention.

In the description of the present invention, it should be noted that the terms "installed", "connected" and "connected" should be understood in a broad sense unless otherwise expressly specified and limited, for example, it may be a fixed connection or a detachable connection , or the integral connection can be a direct connection, an indirect connection through an intermediate medium, or an internal communication between two components. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood in specific situations.

In addition, in the description of the present invention, unless otherwise specified, "plurality", "multiple groups" and "plurality" mean two or more.

Fig. 1 is the overall structure schematic diagram 1 of the environment detection and sampling robot of the present invention;

FIG. 2 is a schematic diagram 2 of the overall structure of the environment detection and sampling robot of the present invention;

3 is a schematic diagram of the local structure of the environment detection and sampling robot of the present invention;

4 is a schematic diagram of the structure of the device support of the present invention one;

FIG. 5 is a second schematic view of the device support structure of the present invention;

6 is a schematic structural diagram of a power mechanism of the present invention;

7 is a schematic structural view of a cross-sectional view of a power mechanism of the present invention;

Fig. 8 is the movement mechanism structure schematic diagram of the present invention;

Fig. 9 is the structure schematic diagram of the distance mechanism of the present invention;

10 is a schematic structural diagram of a sliding bracket of the present invention;

Figure 11 is a schematic structural diagram of the push slider of the present invention;

Figure 12 is a schematic diagram of the structure of the push bottom plate of the present invention;

13 is a schematic structural diagram of the transmission mechanism I of the present invention;

14 is a schematic structural diagram of the sampling mechanism of the present invention;

15 is a schematic structural diagram of the transmission mechanism II of the present invention;

FIG. 16 is a schematic structural diagram of the storage mechanism of the present invention.

In the figure: device bracket 1; bottom plate 1-1; mounting plate 1-2; support plate I1-3; support plate II1-4; triangle plate 1-5; power mechanism 2; power motor 2-1; toothless gear 2- 2; power gear 2-3; connecting key 2-4; sliding friction wheel 2-5; motion mechanism 3; crawler mechanism 3-1; driving worm 3-2; distance mechanism 4; distance sliding rail 4-1; Fixed-pitch motor 4-2; fixed-pitch slider 4-3; threaded rod 4-4; circular block 4-5; sliding bracket 5; support plate III5-1; connecting plate 5-2; sliding plate I5-3; Sliding plate II 5-4; push the slider 6; push the slider body 6-1; locking screw 6-2; sliding push rod 6-3; push the bottom plate 7; push the bottom plate body 7-1; Transmission mechanism I8; transmission shaft I8-1; transmission gear I8-2; transmission shaft II8-3; transmission shaft III8-4; sector cam I8-5; sampling mechanism 9; sampling bottom plate I9-1; sliding column I9-2; Sampling base plate II9-3; sampling motor 9-4; storage cylinder 9-5; sampling screw 9-6; transmission mechanism II10; transmission shaft IV10-1; transmission gear II10-2; transmission shaft V10-3; sector cam II10- 4; storage mechanism 11; storage bottom plate 11-1; sliding column II 11-2; storage box 11-3.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

Specific implementation one:

The present embodiment will be described below with reference to FIGS. 1-16, an environmental detection sampling robot, including a device bracket 1, a power mechanism 2, a motion mechanism 3, a distance mechanism 4, a sliding bracket 5, a push slider 6, a push bottom plate 7, a transmission Mechanism I8, sampling mechanism 9, transmission mechanism II10 and storage mechanism 11, the device bracket 1 is fixedly connected with a power mechanism 2, the device bracket 1 is connected with a motion mechanism 3, and the motion mechanism 3 and the power mechanism 2 are connected by transmission, and the distance is fixed. The mechanism 4 is fixedly connected to the device bracket 1, the sliding bracket 5 is fixedly connected to the device bracket 1, the sliding bracket 5 is slidably connected with a plurality of pushing sliders 6, and the sliding bracket 5 is vertically slidably connected with a pushing bottom plate 7, which pushes the bottom plate. 7 and the sliding bracket 5 are fixedly connected with a compression spring I, the upper ends of the plurality of push sliders 6 are in contact with the push bottom plate 7, the push bottom plate 7 is rotatably connected to the power mechanism 2, and the distance mechanism 4 pushes the plurality of push sliders in turn. The block 6 slides up and down, the transmission mechanism I8 is rotatably connected to the device bracket 1, the power mechanism 2 and the transmission mechanism I8 are intermittently driven, the sampling mechanism 9 is slidably connected to the device bracket 1, and a compression is fixed between the sampling mechanism 9 and the device bracket 1. Spring II, the upper end of the sampling mechanism 9 is in contact with the transmission mechanism I8, the transmission mechanism II10 is rotatably connected to the device bracket 1, the power mechanism 2 and the transmission mechanism II10 are intermittently driven, the storage mechanism 11 is slidably connected to the device bracket 1, and the sampling mechanism 9 and A compression spring III is fixedly connected between the device brackets 1, and the storage mechanism 11 is in contact with the transmission mechanism II10; the motion mechanism 3 can be driven by the power mechanism 2 to move, and the motion mechanism 3 drives the device to move, and the distance mechanism 4 is activated at the same time. When moving to the designated position, the distance mechanism 4 is in contact with the push slider 6, and pushes the push slider 6 to move upward, pushes the slider 6 to push the base plate 7 to move upward, and pushes the base plate 7 to complete the power switching of the power mechanism 2, The power mechanism 5 drives the transmission mechanism I8 and the transmission mechanism II10 to move successively. The transmission mechanism I8 drives the sampling mechanism 9 to reciprocate up and down once to sample the soil, and the transmission mechanism II10 drives the storage mechanism 11 to reciprocate once to collect the sampled soil. The position of pushing the slider 6 on the sliding bracket 5 can efficiently carry out soil collection at the designated position.

Specific implementation two:

The present embodiment will be described below with reference to Figs. 1-16. This embodiment will further describe the first embodiment. The device bracket 1 includes a bottom plate 1-1, a mounting plate 1-2, a supporting plate I1-3, a supporting plate II1-4 and a triangular plate 1-5, the front end of the bottom plate 1-1 is fixedly connected with two mounting plates 1-2, the middle part of the two mounting plates 1-2 is fixedly connected with a supporting plate I1-3, and the rear end of the lower side of the bottom plate 1-1 is fixedly connected A support plate II1-4 is fixedly connected, and a triangular plate 1-5 is fixedly connected to the rear end of the bottom plate 1-1.

Specific implementation three:

This embodiment will be described below with reference to FIGS. 1-16 . This embodiment will further describe Embodiment 2. The power mechanism 2 includes a power motor 2-1, a toothless gear 2-2, a power gear 2-3, and a connection key 2. -4 and the sliding friction wheel 2-5, the power motor 2-1 is fixedly connected to the triangular plate 1-5, the output shaft of the power motor 2-1 is rotatably connected with a toothless gear 2-2 and a power gear 2-3, the power A connection key 2-4 is fixedly connected to the output shaft of the motor 2-1, a sliding friction wheel 2-5 is slidably connected to the connection key 2-4, and the sliding friction wheel 2-5 is located on the missing tooth gear 2-2 and the power gear 2 Between -3, the toothless gear 2-2 is provided with teeth of one third of the circumference.

Specific implementation four:

The present embodiment will be described below with reference to FIGS. 1-16 , and the third embodiment will be further described in this embodiment. The motion mechanism 3 includes a crawler belt mechanism 3-1 and a drive worm 3-2, and the bottom plate 1-1 is provided with a crawler belt mechanism 3. -1, the crawler mechanism 3-1 and the driving worm 3-2 are connected in a driving manner, the driving worm 3-2 is rotatably connected to the base plate 1-1, and the driving worm 3-2 is meshed with the power gear 2-3 for transmission.

Specific implementation five:

The present embodiment will be described below with reference to FIGS. 1-16 . This embodiment will further describe the fourth embodiment. The distance-fixing mechanism 4 includes a distance-fixing slide rail 4-1, a distance-fixing motor 4-2, and a distance-fixing slider 4- 3. The threaded rod 4-4 and the circular block 4-5, the base plate 1-1 is fixedly connected with a fixed distance slide rail 4-1, and one end of the fixed distance slide rail 4-1 is fixedly connected with a fixed distance motor 4-2, The output shaft of the fixed-distance motor 4-2 is connected with a fixed-distance sliding block 4-3 through a thread, the fixed-distance sliding block 4-3 is slidably connected to the fixed-distance sliding rail 4-1, and the fixed-distance sliding block 4-3 is fixed on A threaded rod 4-4 is connected, and a plurality of circular blocks 4-5 are connected to the threaded rod 4-4 through threads.

Specific implementation six:

The present embodiment will be described below with reference to FIGS. 1-16 , and the fifth embodiment will be further described in this embodiment. The sliding bracket 5 includes a supporting plate III5-1, a connecting plate 5-2, a sliding plate I5-3 and a sliding plate II5- 4. Two supporting plates III5-1 are fixedly connected to the bottom plate 1-1, a connecting plate 5-2 is fixedly connected between the upper ends of the two supporting plates III5-1, and the middle parts of the two supporting plates III5-1 are fixedly connected. The sliding plate I5-3 is connected, and the lower end of the sliding plate I5-3 is fixedly connected with the sliding plate II5-4;

The push slider 6 includes a push slider body 6-1, a locking screw 6-2 and a sliding push rod 6-3. The push slider body 6-1 is threadedly connected with a locking screw 6-2. The rod 6-3 is slidably connected to the push block body 6-1 and the locking screw 6-2, and a compression spring IV is fixedly connected between the sliding push rod 6-3 and the push block body 6-1, and the sliding plate II 5- 4 are slidably connected with a plurality of pushing slider bodies 6-1, a plurality of locking screws 6-2 are slidably connected to the sliding plate I5-3, and the distance slider 4-3 pushes a plurality of sliding push rods 6- 3. Slide in the push slider body 6-1;

The push bottom plate 7 includes a push bottom plate body 7-1 and a fork 7-2, the push bottom plate body 7-1 is slidably connected to the connecting plate 5-2, and the push bottom plate body 7-1 and the connecting plate 5-2 are fixed between the push plate body 7-1 and the connecting plate 5-2. A compression spring I is connected, and the rear end of the push bottom body 7-1 is fixedly connected with a fork 7-2. The fork 7-2 is rotatably connected to the sliding friction wheel 2-5. The upper ends of the plurality of sliding push rods 6-3 Both are in contact with the push bottom plate body 7-1.

Specific implementation seven:

The present embodiment will be described below with reference to Figs. 1-16. This embodiment will further describe the sixth embodiment. The transmission mechanism I8 includes a transmission shaft I8-1, a transmission gear I8-2, a transmission shaft II8-3, and a transmission shaft III8- 4 and sector cam I8-5, the transmission shaft I8-1 is rotatably connected to the triangle plate 1-5, the transmission shaft I8-1 is fixedly connected with the transmission gear I8-2, and the transmission shaft II8-3 is rotatably connected to the connecting plate 5-2 On, the transmission shaft II8-3 is connected with the transmission shaft I8-1, the transmission shaft III8-4 is rotatably connected between the two mounting plates 1-2, the transmission shaft III8-4 is meshed with the transmission shaft II8-3, and the transmission shaft III8-4 is fixedly connected with sector cam I8-5, transmission gear I8-2 and toothless gear 2-2 are intermittently driven, and the dividing circle diameter of transmission gear I8-2 is one third of the toothless gear 2-2 , the transmission ratio of the transmission mechanism I8 is one.

Eighth specific implementation:

The present embodiment will be described below with reference to FIGS. 1-16 , and the seventh embodiment will be further described in this embodiment. The sampling mechanism 9 includes a sampling bottom plate I9-1, a sliding column I9-2, a sampling bottom plate II9-3, and a sampling motor 9- 4. The storage cylinder 9-5 and the sampling screw 9-6, the lower end of the sampling base plate I9-1 is fixedly connected with two sliding columns I9-2, and the lower ends of the two sliding columns I9-2 are fixedly connected to the sampling base plate II9-3 Above, the lower end of the sampling base plate II 9-3 is fixedly connected with a sampling motor 9-4, the output shaft of the sampling motor 9-4 is fixedly connected with a sampling screw 9-6, and the sampling motor 9-4 is fixedly connected with a storage cylinder 9-5. , the sampling screw 9-6 is located in the storage cylinder 9-5, the two sliding columns I9-2 are slidably connected to the support plate I1-3, and a compression spring is fixedly connected between the support plate I1-3 and the sampling bottom plate I9-1 II, the sampling bottom plate I9-1 is in contact with the sector cam I8-5.

Specific implementation nine:

The present embodiment will be described below with reference to Figs. 1-16. This embodiment will further describe the eighth embodiment. The transmission mechanism II10 includes a transmission shaft IV10-1, a transmission gear II10-2, a transmission shaft V10-3 and a sector cam II10- 4. The transmission shaft IV10-1 is rotatably connected to the triangular plate 1-5, and the transmission shaft IV10-1 is fixedly connected with the transmission gear II10-2, the transmission gear II10-2 and the toothless gear 2-2. The intermittent transmission, the transmission gear II10- The diameter of the index circle of 2 is one-third of the toothless gear 2-2, the transmission shaft Ⅴ10-3 is rotatably connected to the base plate 1-1, and the transmission shaft Ⅴ10-3 is fixedly connected with a sector cam Ⅱ10-4, the transmission shaft Ⅴ10-3 is connected with transmission shaft Ⅳ10-1, the drive worm 3-2, transmission gear Ⅰ8-2 and transmission gear Ⅱ10-2 are evenly distributed on the outer side of the missing tooth gear 2-2 respectively, the transmission ratio of the transmission mechanism Ⅱ10 for one.

Specific implementation ten:

The present embodiment will be described below with reference to FIGS. 1-16 . This embodiment will further describe the ninth embodiment. The storage mechanism 11 includes a storage bottom plate 11-1, a sliding column II 11-2 and a storage box 11-3. The storage bottom plate 11- 1 is fixedly connected with two sliding columns II11-2, both sliding columns II11-2 are fixedly connected to the storage box 11-3, and both sliding columns II11-2 are slidably connected to the supporting plate II1-4, supporting A compression spring III is fixedly connected between the plate II1-4 and the storage bottom plate 11-1, and the storage bottom plate 11-1 is in contact with the sector cam II10-4.

An environment detection sampling robot of the present invention works as follows:

When in use, start the power motor 2-1 and the distance motor 4-2, the output shaft of the power motor 2-1 starts to rotate, and the output shaft of the power motor 2-1 drives the connection key 2-4 to connect the output shaft of the power motor 2-1. The axis is rotated as the center, the connecting key 2-4 drives the sliding friction wheel 2-5 to rotate with the axis of the output shaft of the power motor 2-1 as the center, and the sliding friction wheel 2-5 is driven by the shifting fork 7-2. The gear 2-3 is frictionally driven, the sliding friction wheel 2-5 drives the power gear 2-3 to rotate, the power gear 2-3 drives the drive worm 3-2 to rotate, and the drive worm 3-2 drives the crawler mechanism 3-1 to move, The crawler mechanism 3-1 drives the device to move, the output shaft of the fixed distance motor 4-2 starts to rotate, and the output shaft of the fixed distance motor 4-2 drives the fixed distance slider 4-3 on the fixed distance slide rail 4-1 through the thread Sliding, the distance slider 4-3 and the device move at the same time, when the device moves to a certain distance, the distance slider 4-3 also moves to the specified distance, the distance slider 4-3 and the sliding push rod 6-3 The lower end of the sliding push rod 6-3 is pushed up by the distance slider 4-3 to slide upward, the sliding push rod 6-3 pushes the bottom plate body 7-1 to slide upward, and pushes the bottom plate body 7-1 to squeeze the compression spring Ⅰ drives the shifting fork 7-2 to slide upward, the shifting fork 7-2 drives the sliding friction wheel 2-5 to slide upward, the sliding friction wheel 2-5 and the toothless gear 2-2 enter the friction transmission, and drive the worm 3-2, The transmission gear I8-2 and the transmission gear II10-2 are evenly distributed on the outside of the missing tooth gear 2-2 in the circumferential direction. The transmission ratio of the transmission mechanism II10 is one, and the index circle diameter of the transmission gear I8-2 is the tooth missing gear 2. One third of -2, the transmission ratio of the transmission mechanism I8 is one, the toothless gear 2-2 is provided with one-third of the circumference of the teeth, the diameter of the index circle of the transmission gear II10-2 is the missing tooth gear 2- 1/3 of 2, when the missing tooth gear 2-2 rotates one circle, it drives the transmission gear I8-2 and the transmission gear II10-2 to rotate one circle, and the missing tooth gear 2-2 drives the transmission gear I8- 2 When rotating, the missing tooth gear 2-2 will not drive the transmission gear II10-2 to rotate, and the missing tooth gear 2-2 will not drive the transmission gear I8 when the missing tooth gear 2-2 drives the transmission gear II10-2 to rotate. -2 to rotate, and ensure that each time the distance slider 4-3 pushes the sliding push rod 6-3 to move upward, the sliding push rod 6-3 squeezes and pushes the bottom plate body 7-1 to move upward just for the toothless gear. 2-2 Rotate one circle, you can adjust the number of circular blocks 4-5 on the threaded rod 4-4, the level of the upper end of the circular block 4-5 and the level of the upper end of the distance slider 4-3 The height is the same, adjusting the number of circular blocks 4-5 can adjust the upward movement time of the sliding push rod 6-3; when the transmission gear I8-2 rotates one circle, the transmission gear I8-2 drives the transmission shaft I8-1 to rotate one circle , the transmission shaft I8-1 drives the transmission shaft II8-3 to rotate one circle, the transmission shaft II8-3 drives the transmission shaft III8-4 to rotate one circle, and the transmission shaft III 8-4 Drive the sector cam I8-5 to rotate one circle, the sector cam I8-5 pushes the sampling mechanism 9 to reciprocate up and down for one cycle, start the sampling motor 9-4 in advance, and start the sampling motor 9-4 to drive the sampling screw 9-6 to rotate , when the sampling screw 9-6 is in contact with the ground, the sampling screw 9-6 lifts the soil into the storage cylinder 9-5. It should be noted that the spiral direction of the sampling screw 9-6 needs to be consistent with the output shaft of the sampling motor 9-4. When the transmission gear II10-2 rotates one circle, the transmission gear II10-2 drives the transmission shaft IV10-1 to rotate one circle, the transmission shaft IV10-1 drives the transmission shaft V10-3 to rotate one circle, and the transmission shaft V10 -3 Drive the sector cam II 10-4 to rotate once, and push the storage box 11-3 to slide back and forth at the lower end of the storage cylinder 9-5 once, and the sector cam II 10-4 can ensure that the storage box 11-3 moves to the front limit Stop time at the position, and the sampling motor 9-4 is a servo motor. When the storage box 11-3 moves to the front limit position, the sampling motor 9-4 is reversed, so that the sampling screw 9-6 rotates in the reverse direction to drop the soil. In the storage box 11-3; the different positions of the push sliders 6 on the sliding bracket 5 can be adjusted to meet different usage requirements, for example, the device needs to collect soil at the positions of 10 meters, 20 meters and 30 meters When the ratio of the moving speed of the device and the sliding speed of the distance slider 4-3 is 100 to 1, the distances of 0.1 meters, 0.2 meters and 0.3 meters in front of the distance slider 4-3 are respectively set to push the slider 6 , it should be noted that when the sliding push rod 6-3 moves upward, the power gear 2-3 and the sliding friction wheel 2-5 exit the friction transmission, and the device does not move, so the distance here is to push the slider 6 The relative distance between the push block 6 and the push block 6; turn the locking screw 6-2, so that the locking screw 6-2 fixes the position of the push block body 6-1 through the thread.

Of course, the above description does not limit the present invention, and the present invention is not limited to the above examples. Changes, modifications, additions or substitutions made by those of ordinary skill in the art within the essential scope of the present invention also belong to the present invention. protected range.

Claims (10)

1. The utility model provides an environmental detection sampling robot, includes device support (1), power unit (2), motion (3), distance mechanism (4), sliding support (5), promotes slider (6), promotes bottom plate (7), drive mechanism I (8), sampling mechanism (9), drive mechanism II (10) and receiving mechanism (11), its characterized in that: the device is characterized in that a power mechanism (2) is fixedly connected to a device support (1), a motion mechanism (3) is connected to the device support (1), the motion mechanism (3) is in transmission connection with the power mechanism (2), a distance mechanism (4) is fixedly connected to the device support (1), a sliding support (5) is fixedly connected to the device support (1), a plurality of pushing sliders (6) are connected to the sliding support (5) in a sliding manner, a pushing bottom plate (7) is vertically connected to the sliding support (5) in a sliding manner, a compression spring I is fixedly connected between the pushing bottom plate (7) and the sliding support (5), the upper ends of the pushing sliders (6) are in contact with the pushing bottom plate (7), the pushing bottom plate (7) is rotatably connected to the power mechanism (2), the distance mechanism (4) sequentially pushes the pushing sliders (6) to slide up and down, a transmission mechanism I (8) is rotatably connected to the device support (1), power unit (2) and I (8) intermittent type transmission of drive mechanism, sampling mechanism (9) sliding connection is on device support (1), fixedly connected with compression spring II between sampling mechanism (9) and device support (1), the upper end and the I (8) contact of drive mechanism of sampling mechanism (9), drive mechanism II (10) rotate to be connected on device support (1), power unit (2) and II (10) intermittent type transmission of drive mechanism, receiving mechanism (11) sliding connection is on device support (1), fixedly connected with compression spring III between sampling mechanism (9) and device support (1), receiving mechanism (11) and II (10) contacts of drive mechanism.

2. The environment detection and sampling robot of claim 1, wherein: the device support (1) comprises a bottom plate (1-1), mounting plates (1-2), a supporting plate I (1-3), a supporting plate II (1-4) and a triangular plate (1-5), wherein the two mounting plates (1-2) are fixedly connected to the front end of the bottom plate (1-1), the supporting plate I (1-3) is fixedly connected between the middle parts of the two mounting plates (1-2), the supporting plate II (1-4) is fixedly connected to the rear end of the lower side of the bottom plate (1-1), and the triangular plate (1-5) is fixedly connected to the rear end of the bottom plate (1-1).

3. The environment detection and sampling robot of claim 2, wherein: the power mechanism (2) comprises a power motor (2-1), a tooth-missing gear (2-2), a power gear (2-3), a connecting key (2-4) and a sliding friction wheel (2-5), the power motor (2-1) is fixedly connected to the triangular plate (1-5), an output shaft of the power motor (2-1) is connected with a tooth-missing gear (2-2) and a power gear (2-3) in a rotating mode, an output shaft of the power motor (2-1) is fixedly connected with a connecting key (2-4), the connecting key (2-4) is connected with a sliding friction wheel (2-5) in a sliding mode, the sliding friction wheel (2-5) is located between the tooth-missing gear (2-2) and the power gear (2-3), and one-third circumferential teeth are arranged on the tooth-missing gear (2-2).

4. The environment detection and sampling robot of claim 3, wherein: the moving mechanism (3) comprises a crawler mechanism (3-1) and a driving worm (3-2), the crawler mechanism (3-1) is arranged on the bottom plate (1-1), the crawler mechanism (3-1) is in transmission connection with the driving worm (3-2), the driving worm (3-2) is in rotation connection with the bottom plate (1-1), and the driving worm (3-2) is in meshing transmission with the power gear (2-3).

5. The environment detection and sampling robot of claim 4, wherein: the distance mechanism (4) comprises a distance sliding rail (4-1), a distance motor (4-2), a distance sliding block (4-3), a threaded rod (4-4) and round blocks (4-5), the bottom plate (1-1) is fixedly connected with the distance sliding rail (4-1), the distance motor (4-2) is fixedly connected with one end of the distance sliding rail (4-1), the output shaft of the distance motor (4-2) is connected with the distance sliding block (4-3) through threads, the distance sliding block (4-3) is connected onto the distance sliding rail (4-1) in a sliding mode, the threaded rod (4-4) is fixedly connected onto the distance sliding block (4-3), and the round blocks (4-5) are connected onto the threaded rod (4-4) through threads.

6. The environment detection and sampling robot of claim 5, wherein: the sliding support (5) comprises a supporting plate III (5-1), a connecting plate (5-2), a sliding plate I (5-3) and a sliding plate II (5-4), wherein the bottom plate (1-1) is fixedly connected with the two supporting plates III (5-1), the connecting plate (5-2) is fixedly connected between the upper ends of the two supporting plates III (5-1), the sliding plate I (5-3) is fixedly connected between the middle parts of the two supporting plates III (5-1), and the sliding plate II (5-4) is fixedly connected with the lower end of the sliding plate I (5-3);

the pushing slide block (6) comprises a pushing slide block body (6-1), the sliding block pushing device comprises locking screws (6-2) and sliding push rods (6-3), wherein the pushing sliding block body (6-1) is connected with the locking screws (6-2) through threads, the sliding push rod (6-3) is connected to the pushing sliding block body (6-1) and the locking screws (6-2) in a sliding mode, a compression spring IV is fixedly connected between the sliding push rod (6-3) and the pushing sliding block body (6-1), a plurality of pushing sliding block bodies (6-1) are connected to the sliding plate II (5-4) in a sliding mode, the locking screws (6-2) are connected to the sliding plate I (5-3) in a sliding mode, and the distance positioning sliding blocks (4-3) sequentially push the sliding push rods (6-3) to slide in the pushing sliding block body (6-1);

the pushing bottom plate (7) comprises a pushing bottom plate body (7-1) and a shifting fork (7-2), the pushing bottom plate body (7-1) is connected to a connecting plate (5-2) in a sliding mode, a compression spring I is fixedly connected between the pushing bottom plate body (7-1) and the connecting plate (5-2), the shifting fork (7-2) is fixedly connected to the rear end of the pushing bottom plate body (7-1), the shifting fork (7-2) is connected to a sliding friction wheel (2-5) in a rotating mode, and the upper ends of a plurality of sliding push rods (6-3) are all in contact with the pushing bottom plate body (7-1).

7. The environment detection and sampling robot of claim 6, wherein: the transmission mechanism I (8) comprises a transmission shaft I (8-1), a transmission gear I (8-2), a transmission shaft II (8-3), a transmission shaft III (8-4) and a fan-shaped cam I (8-5), the transmission shaft I (8-1) is rotatably connected to a triangular plate (1-5), the transmission gear I (8-2) is fixedly connected to the transmission shaft I (8-1), the transmission shaft II (8-3) is rotatably connected to a connecting plate (5-2), the transmission shaft II (8-3) is in transmission connection with the transmission shaft I (8-1), the transmission shaft III (8-4) is rotatably connected between the two mounting plates (1-2), the transmission shaft III (8-4) is in meshing transmission with the transmission shaft II (8-3), the fan-shaped cam I (8-5) is fixedly connected to the transmission shaft III (8-4), the transmission gear I (8-2) and the gear with the missing teeth (2-2) are in intermittent transmission, the reference circle diameter of the transmission gear I (8-2) is one third of that of the gear with the missing teeth (2-2), and the transmission ratio of the transmission mechanism I (8) is one.

8. The environment detection and sampling robot of claim 7, wherein: the sampling mechanism (9) comprises a sampling bottom plate I (9-1), sliding columns I (9-2), a sampling bottom plate II (9-3), a sampling motor (9-4), a storage barrel (9-5) and a sampling screw (9-6), wherein the lower end of the sampling bottom plate I (9-1) is fixedly connected with two sliding columns I (9-2), the lower ends of the two sliding columns I (9-2) are fixedly connected to the sampling bottom plate II (9-3), the lower end of the sampling bottom plate II (9-3) is fixedly connected with the sampling motor (9-4), the output shaft of the sampling motor (9-4) is fixedly connected with the sampling screw (9-6), the storage barrel (9-5) is fixedly connected to the sampling motor (9-4), and the sampling screw (9-6) is positioned in the storage barrel (9-5), two sliding columns I (9-2) are connected to the supporting plate I (1-3) in a sliding mode, a compression spring II is fixedly connected between the supporting plate I (1-3) and the sampling bottom plate I (9-1), and the sampling bottom plate I (9-1) is in contact with the sector cam I (8-5).

9. The environment detection and sampling robot of claim 8, wherein: the transmission mechanism II (10) comprises a transmission shaft IV (10-1), a transmission gear II (10-2), a transmission shaft V (10-3) and a sector cam II (10-4), the transmission shaft IV (10-1) is rotatably connected to a triangular plate (1-5), the transmission shaft IV (10-1) is fixedly connected with the transmission gear II (10-2), the transmission gear II (10-2) and a tooth-lacking gear (2-2) are in intermittent transmission, the reference circle diameter of the transmission gear II (10-2) is one third of that of the tooth-lacking gear (2-2), the transmission shaft V (10-3) is rotatably connected to a bottom plate (1-1), the transmission shaft V (10-3) is fixedly connected with the sector cam II (10-4), and the transmission shaft V (10-3) is in transmission connection with the transmission shaft IV (10-1), the driving worm (3-2), the transmission gear I (8-2) and the transmission gear II (10-2) are respectively and uniformly distributed on the outer side of the gear (2-2) with missing teeth in the circumferential direction, and the transmission ratio of the transmission mechanism II (10) is one.

10. The environment detection and sampling robot of claim 9, wherein: the storage mechanism (11) comprises a storage bottom plate (11-1), two sliding columns II (11-2) and a storage box (11-3), wherein the two sliding columns II (11-2) are fixedly connected to the storage bottom plate (11-1), the two sliding columns II (11-2) are fixedly connected to the storage box (11-3), the two sliding columns II (11-2) are connected to the support plate II (1-4) in a sliding mode, a compression spring III is fixedly connected between the support plate II (1-4) and the storage bottom plate (11-1), and the storage bottom plate (11-1) is in contact with the sector cam II (10-4).

Images