CN110779763A - Environment detection sampling robot - Google Patents
Environment detection sampling robot Download PDFInfo
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- CN110779763A CN110779763A CN201911190397.4A CN201911190397A CN110779763A CN 110779763 A CN110779763 A CN 110779763A CN 201911190397 A CN201911190397 A CN 201911190397A CN 110779763 A CN110779763 A CN 110779763A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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Abstract
The invention relates to a sampling robot, in particular to an environmental detection sampling robot, which comprises a device bracket, a power mechanism, a motion mechanism, a distance-setting mechanism, a sliding bracket, a pushing slide block, a pushing bottom plate, a transmission mechanism I, a sampling mechanism, a transmission mechanism II and a containing mechanism, wherein the motion mechanism drives the device to move, the distance-setting mechanism is started, when the device moves to a specified position, the distance-setting mechanism is contacted with the pushing slide block and pushes the pushing slide block to move upwards, the pushing slide block pushes the pushing bottom plate to move upwards, the pushing bottom plate finishes the power switching of the power mechanism, the power mechanism drives the transmission mechanism I and the transmission mechanism II to move successively, the transmission mechanism I drives the sampling mechanism to reciprocate up and down once to sample soil, the transmission mechanism II drives the containing mechanism to reciprocate once to collect the sampled soil, the positions of the plurality of pushing sliding blocks on the sliding support are adjusted, and soil collection can be efficiently carried out at the designated positions.
Description
Technical Field
The invention relates to a sampling robot, in particular to an environment detection sampling robot.
Background
For example, publication number CN206378316U relates to a soil detection device, and more particularly to a soil sampling robot. The device comprises an installation platform, a walking and height adjusting device, a sampling storage device, a sampling device and a sampling device angle adjusting device, wherein the installation platform is of a flat plate structure; the utility model discloses a shortcoming is that can not the efficient carry out soil collection at the assigned position.
Disclosure of Invention
The invention aims to provide an environment detection sampling robot which can efficiently collect soil at a specified position.
The purpose of the invention is realized by the following technical scheme:
an environment detection sampling robot comprises a device support, a power mechanism, a motion mechanism, a distance mechanism, a sliding support, pushing sliders, a pushing bottom plate, a transmission mechanism I, a sampling mechanism, a transmission mechanism II and a storage mechanism, wherein the device support is fixedly connected with the power mechanism, the motion mechanism is connected with the device support and is in transmission connection with the power mechanism, the distance mechanism is fixedly connected with the device support, the sliding support is connected with a plurality of pushing sliders in a sliding manner, the sliding support is vertically connected with the pushing bottom plate in a sliding manner, a compression spring I is fixedly connected between the pushing bottom plate and the sliding support, the upper ends of the pushing sliders are in contact with the pushing bottom plate, the pushing bottom plate is rotatably connected with the power mechanism, the distance mechanism sequentially pushes the pushing sliders to slide up and down, the transmission mechanism I is rotatably, power unit and I intermittent type transmission of drive mechanism, sampling mechanism sliding connection is on the device support, fixedly connected with compression spring II between sampling mechanism and the device support, sampling mechanism's upper end and the I contact of drive mechanism, drive mechanism II rotates and connects on the device support, power unit and II intermittent type transmissions of drive mechanism, receiving mechanism sliding connection is on the device support, fixedly connected with compression spring III between sampling mechanism and the device support, receiving mechanism and II contacts of drive mechanism.
As the technical scheme is further optimized, the environment detection sampling robot comprises a device support, a mounting plate, a support plate I, a support plate II and a triangular plate, wherein the two mounting plates are fixedly connected to the front end of the bottom plate, the support plate I is fixedly connected between the middle parts of the two mounting plates, the support plate II is fixedly connected to the rear end of the lower side of the bottom plate, and the triangular plate is fixedly connected to the rear end of the bottom plate.
As a further optimization of the technical scheme, the environment detection sampling robot comprises a power mechanism, a tooth-lacking gear, a power gear, a connecting key and a sliding friction wheel, wherein the power mechanism is fixedly connected to a triangular plate, the tooth-lacking gear and the power gear are rotatably connected to an output shaft of the power mechanism, the connecting key is fixedly connected to the output shaft of the power mechanism, the sliding friction wheel is slidably connected to the connecting key, the sliding friction wheel is located between the tooth-lacking gear and the power gear, and one third of circumferential teeth are arranged on the tooth-lacking gear.
As a further optimization of the technical scheme, the environment detection sampling robot comprises a moving mechanism and a driving worm, wherein the moving mechanism comprises a crawler mechanism and the driving worm, the crawler mechanism is arranged on a bottom plate and is in transmission connection with the driving worm, the driving worm is in transmission connection with the bottom plate in a rotating mode, and the driving worm is in meshing transmission with a power gear.
As a further optimization of the technical scheme, the environment detection sampling robot comprises a distance fixing mechanism and a distance fixing mechanism, wherein the distance fixing mechanism comprises a distance fixing slide rail, a distance fixing motor, a distance fixing slide block, a threaded rod and a round block, the distance fixing slide rail is fixedly connected to a bottom plate, the distance fixing motor is fixedly connected to one end of the distance fixing slide rail, the distance fixing slide block is connected to an output shaft of the distance fixing motor through threads, the distance fixing slide block is connected to the distance fixing slide rail in a sliding mode, the threaded rod is fixedly connected to the distance fixing slide block, and the round block.
As further optimization of the technical scheme, the environment detection sampling robot comprises a sliding support, a sliding plate I and a sliding plate II, wherein the sliding support comprises a supporting plate III, a connecting plate, the sliding plate I and the sliding plate II;
the pushing sliding block comprises a pushing sliding block body, locking screws and a sliding push rod, the locking screws are connected to the pushing sliding block body through threads, the sliding push rod is connected to the pushing sliding block body and the locking screws in a sliding mode, a compression spring IV is fixedly connected between the sliding push rod and the pushing sliding block body, a plurality of pushing sliding block bodies are connected to the sliding plate II in a sliding mode, the locking screws are connected to the sliding plate I in a sliding mode, and the sliding push rods are sequentially pushed by the distance-fixed sliding block to slide in the pushing sliding block bodies;
the pushing bottom plate comprises a pushing bottom plate body and a shifting fork, the pushing bottom plate body is connected to the connecting plate in a sliding mode, a compression spring I is fixedly connected between the pushing bottom plate body and the connecting plate, the shifting fork is fixedly connected to the rear end of the pushing bottom plate body, the shifting fork is connected to the sliding friction wheel in a rotating mode, and the upper ends of the sliding push rods are all in contact with the pushing bottom plate body.
As further optimization of the technical scheme, the environment detection sampling robot comprises a transmission mechanism I, a transmission gear I, a transmission shaft II, a transmission shaft III and a sector cam I, wherein the transmission shaft I is rotatably connected to a triangular plate, the transmission gear I is fixedly connected to the transmission shaft I, the transmission shaft II is rotatably connected to a connecting plate and is in transmission connection with the transmission shaft I, the transmission shaft III is rotatably connected between two mounting plates and is in meshing transmission with the transmission shaft II, the sector cam I is fixedly connected to the transmission shaft III, the transmission gear I and a tooth-lacking gear are in intermittent transmission, the reference circle diameter of the transmission gear I is one third of that of the tooth-lacking gear, and the transmission ratio of the transmission mechanism I is one.
As the technical scheme is further optimized, the environment detection sampling robot comprises a sampling bottom plate I, sliding columns I, a sampling bottom plate II, a sampling motor, a storage cylinder and a sampling spiral, wherein the two sliding columns I are fixedly connected to the lower end of the sampling bottom plate I, the lower ends of the two sliding columns I are fixedly connected to the sampling bottom plate II, the sampling motor is fixedly connected to the lower end of the sampling bottom plate II, the sampling spiral is fixedly connected to an output shaft of the sampling motor, the storage cylinder is fixedly connected to the sampling motor, the sampling spiral is located in the storage cylinder, the two sliding columns I are both slidably connected to a supporting plate I, a compression spring II is fixedly connected between the supporting plate I and the sampling bottom plate I, and the sampling bottom plate I is in contact with a sector cam I.
As further optimization of the technical scheme, the environment detection sampling robot comprises a transmission mechanism II, a transmission gear II, a transmission shaft V and a sector cam II, wherein the transmission shaft IV is rotatably connected to a triangular plate, the transmission gear II is fixedly connected to the transmission shaft IV, the transmission gear II and a tooth-missing gear are in intermittent transmission, the reference circle diameter of the transmission gear II is one third of that of the tooth-missing gear, the transmission shaft V is rotatably connected to a bottom plate, the sector cam II is fixedly connected to the transmission shaft V, the transmission shaft V is in transmission connection with the transmission shaft IV, a driving worm, the transmission gear I and the transmission gear II are respectively and uniformly distributed on the outer side of the tooth-missing gear in the circumferential direction, and the transmission ratio of the transmission mechanism II is one.
As further optimization of the technical scheme, the environment detection sampling robot comprises an accommodating mechanism, wherein the accommodating mechanism comprises an accommodating bottom plate, two sliding columns II and an accommodating box, the two sliding columns II are fixedly connected to the accommodating bottom plate, the two sliding columns II are both fixedly connected to the accommodating box, the two sliding columns II are both slidably connected to a supporting plate II, a compression spring III is fixedly connected between the supporting plate II and the accommodating bottom plate, and the accommodating bottom plate is in contact with a sector cam II.
The environment detection sampling robot has the beneficial effects that:
the invention relates to an environment detection sampling robot, which can drive a motion mechanism to move through a power mechanism, the motion mechanism drives a device to move, and meanwhile, a distance mechanism is started, when the device moves to a specified position, the distance mechanism is contacted with a pushing slide block and pushes the pushing slide block to move upwards, the pushing slide block pushes a pushing bottom plate to move upwards, the pushing bottom plate completes the power switching of the power mechanism, the power mechanism sequentially drives a transmission mechanism I and a transmission mechanism II to move, the transmission mechanism I drives a sampling mechanism to reciprocate up and down once to sample soil, the transmission mechanism II drives a containing mechanism to reciprocate once to collect the sampled soil, the positions of a plurality of pushing slide blocks on a sliding support are adjusted, and the soil collection can be efficiently carried out at the specified position.
Drawings
The invention is described in further detail below with reference to the accompanying drawings and specific embodiments.
In the description of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "top", "bottom", "inner", "outer" and "upright", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected, directly or indirectly connected through an intermediate medium, and may be a communication between two members. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In addition, in the description of the present invention, the meaning of "a plurality", and "a plurality" is two or more unless otherwise specified.
FIG. 1 is a schematic diagram of the overall structure of an environment detecting and sampling robot according to the present invention;
FIG. 2 is a schematic view of the overall structure of the environment detecting and sampling robot of the present invention;
FIG. 3 is a schematic view of a partial structure of the environment detecting and sampling robot of the present invention;
FIG. 4 is a first schematic view of the device of the present invention;
FIG. 5 is a second schematic view of the device of the present invention;
FIG. 6 is a schematic diagram of a power mechanism according to the present invention;
FIG. 7 is a schematic cross-sectional view of a power mechanism according to the present invention;
FIG. 8 is a schematic view of the motion mechanism of the present invention;
figure 9 is a schematic view of the spacing mechanism of the present invention;
FIG. 10 is a schematic view of the sliding support structure of the present invention;
FIG. 11 is a schematic view of the push slide construction of the present invention;
FIG. 12 is a schematic view of the push plate construction of the present invention;
FIG. 13 is a schematic structural diagram of a transmission mechanism I of the present invention;
FIG. 14 is a schematic view of the sampling mechanism of the present invention;
FIG. 15 is a schematic structural view of a transmission mechanism II of the present invention;
fig. 16 is a schematic structural view of the storage mechanism of the present invention.
In the figure: a device holder 1; a bottom plate 1-1; mounting plates 1-2; 1-3 of a support plate; support plates II 1-4; 1-5 of a set square; a power mechanism 2; 2-1 of a power motor; 2-2 of a gear with missing teeth; 2-3 of a power gear; 2-4 of a connecting bond; 2-5 of a sliding friction wheel; a movement mechanism 3; a crawler mechanism 3-1; a driving worm 3-2; a distance mechanism 4; a fixed-distance sliding rail 4-1; a fixed-distance motor 4-2; 4-3 of a distance sliding block; 4-4 parts of a threaded rod; 4-5 of round blocks; a sliding bracket 5; a support plate III-1; a connecting plate 5-2; 5-3 sliding plates; sliding plates II 5-4; pushing the slide block 6; pushing the sliding block body 6-1; locking screws 6-2; a sliding push rod 6-3; pushing the bottom plate 7; pushing the bottom plate body 7-1; a shifting fork 7-2; a transmission mechanism I8; a transmission shaft I8-1; a transmission gear I8-2; a transmission shaft II 8-3; 8-4 of a transmission shaft; 8-5 of a sector cam; a sampling mechanism 9; sampling a bottom plate I9-1; a sliding column I9-2; sampling the bottom plate II 9-3; 9-4 of a sampling motor; 9-5 of a storage cylinder; sampling spirals 9-6; a transmission mechanism II 10; a transmission shaft IV 10-1; a transmission gear II 10-2; a transmission shaft V10-3; 10-4 of a sector cam II; a storage mechanism 11; a storage base plate 11-1; a sliding column II 11-2; a storage box 11-3.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The first embodiment is as follows:
the embodiment is described below with reference to fig. 1 to 16, and an environmental monitoring sampling robot includes a device support 1, a power mechanism 2, a moving mechanism 3, a distance mechanism 4, a sliding support 5, a pushing slider 6, a pushing bottom plate 7, a transmission mechanism i 8, a sampling mechanism 9, a transmission mechanism ii 10 and a receiving mechanism 11, wherein the device support 1 is fixedly connected with the power mechanism 2, the device support 1 is connected with the moving mechanism 3, the moving mechanism 3 is in transmission connection with the power mechanism 2, the distance mechanism 4 is fixedly connected to the device support 1, the sliding support 5 is slidably connected with a plurality of pushing sliders 6, the sliding support 5 is vertically and slidably connected with the pushing bottom plate 7, a compression spring i is fixedly connected between the pushing bottom plate 7 and the sliding support 5, and the upper ends of the plurality of pushing sliders 6 are all in contact with the pushing bottom, the device comprises a pushing bottom plate 7, a distance mechanism 4, a plurality of pushing sliding blocks 6, a transmission mechanism I8, a power mechanism 2, a transmission mechanism I8, a sampling mechanism 9, a compression spring II, a transmission mechanism I8, a transmission mechanism II 10, a power mechanism 2, a transmission mechanism II 10, a storage mechanism 11, a compression spring III and a transmission mechanism II 10, wherein the pushing bottom plate 7 is connected to the power mechanism 2 in a rotating mode, the distance mechanism 4 sequentially pushes the pushing sliding blocks 6 to slide up and down, the transmission mechanism I8 is connected to a device support 1 in a rotating mode, the sampling mechanism 9 is connected to the device support 1 in a sliding mode, the upper end of the sampling mechanism 9 is in contact with the transmission mechanism I8, the transmission mechanism II 10 is connected to the device support; can drive motion mechanism 3 through power unit 2 and move, motion mechanism 3 drives the device and moves, distance mechanism 4 starts simultaneously, when the device moves the assigned position, distance mechanism 4 and promotion slider 6 contact, and promote slider 6 and upwards move, promote slider 6 and promote bottom plate 7 and upwards move, promote bottom plate 7 and accomplish power switching of power unit 2, power unit 5 drives drive mechanism I8 and drive mechanism II 10 successively and moves, drive mechanism I8 drives sampling mechanism 9 up-and-down reciprocating motion once will sample soil, drive mechanism II 10 drives the soil collection that storage mechanism 11 reciprocating motion once will sample, adjust the position of a plurality of promotion sliders 6 on sliding support 5, can the efficient carry out soil collection at the assigned position.
The second embodiment is as follows:
the following describes the present embodiment with reference to fig. 1 to 16, and the present embodiment further describes the first embodiment, the device support 1 includes a bottom plate 1-1, mounting plates 1-2, support plates i 1-3, support plates ii 1-4, and triangular plates 1-5, the front end of the bottom plate 1-1 is fixedly connected with the two mounting plates 1-2, the middle parts of the two mounting plates 1-2 are fixedly connected with the support plates i 1-3, the rear end of the lower side of the bottom plate 1-1 is fixedly connected with the support plates ii 1-4, and the rear end of the bottom plate 1-1 is fixedly connected with the triangular plates 1-5.
The third concrete implementation mode:
this embodiment will be described with reference to fig. 1 to 16, and a second embodiment will be further described with reference to this embodiment, 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 a triangular plate 1-5, an output shaft of the power motor 2-1 is rotatably connected with the tooth-missing gear 2-2 and the power gear 2-3, the output shaft of the power motor 2-1 is fixedly connected with the connecting key 2-4, the connecting key 2-4 is slidably connected with the sliding friction wheel 2-5, the sliding friction wheel 2-5 is located between the tooth-missing gear 2-2 and the power gear 2-3, and one-third of circumferential teeth are arranged on the tooth-missing gear 2-2.
The fourth concrete implementation mode:
the third embodiment is further described with reference to fig. 1 to 16, the moving mechanism 3 includes a track mechanism 3-1 and a driving worm 3-2, the track mechanism 3-1 is disposed on the bottom plate 1-1, the track mechanism 3-1 is in transmission connection with the driving worm 3-2, the driving worm 3-2 is in rotational connection with the bottom plate 1-1, and the driving worm 3-2 is in meshing transmission with the power gear 2-3.
The fifth concrete implementation mode:
the fourth embodiment is further described with reference to fig. 1-16, in which the distance-fixing mechanism 4 includes a distance-fixing slide rail 4-1, a distance-fixing motor 4-2, a distance-fixing slide block 4-3, a threaded rod 4-4 and a circular block 4-5, the bottom plate 1-1 is fixedly connected with the distance-fixing slide rail 4-1, one end of the distance-fixing slide rail 4-1 is fixedly connected with the distance-fixing motor 4-2, an output shaft of the distance-fixing motor 4-2 is connected with the distance-fixing slide block 4-3 through a thread, the distance-fixing slide block 4-3 is slidably connected with the distance-fixing slide rail 4-1, the threaded rod 4-3 is fixedly connected with the threaded rod 4-4, and the threaded rod 4-4 is connected with a plurality of circular blocks.
The sixth specific implementation mode:
the embodiment is described below with reference to fig. 1 to 16, and the fifth embodiment is further described, wherein the sliding bracket 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, two supporting plates iii 5-1 are fixedly connected to the bottom plate 1-1, 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 to the lower end of the sliding plate i 5-3;
the pushing sliding block 6 comprises a pushing sliding block body 6-1, locking screws 6-2 and sliding push rods 6-3, the pushing sliding block body 6-1 is connected with the locking screws 6-2 through threads, the sliding push rods 6-3 are 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 rods 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 I5-3 in a sliding mode, and the distance-fixed sliding block 4-3 sequentially pushes the sliding push rods 6-3 to slide in the pushing sliding block bodies 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 the 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 the sliding friction wheel 2-5 in a rotating mode, and the upper ends of the sliding push rods 6-3 are all in contact with the pushing bottom plate body 7-1.
The seventh embodiment:
the embodiment is described below with reference to fig. 1-16, and the sixth embodiment is further described, 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 sector 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 and the transmission shaft ii 8-3 are in meshing transmission, the transmission shaft iii 8-4 is fixedly connected with the sector cam i 8-5, the transmission gear I8-2 and the gear with missing teeth 2-2 are in intermittent transmission, the reference circle diameter of the transmission gear I8-2 is one third of that of the gear with missing teeth 2-2, and the transmission ratio of the transmission mechanism I8 is one.
The specific implementation mode is eight:
the embodiment is described below with reference to fig. 1 to 16, and the seventh embodiment is further described in the present embodiment, where the sampling mechanism 9 includes a sampling base plate i 9-1, sliding columns i 9-2, a sampling base plate ii 9-3, a sampling motor 9-4, a storage cylinder 9-5 and a sampling screw 9-6, the lower end of the sampling base 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 both fixedly connected to the sampling base plate ii 9-3, the lower end of the sampling base plate ii 9-3 is fixedly connected with the sampling motor 9-4, an output shaft of the sampling motor 9-4 is fixedly connected with the sampling screw 9-6, the sampling motor 9-4 is fixedly connected with the storage cylinder 9-5, and the sampling screw 9-6 is located in the storage cylinder 9-5, two sliding columns I9-2 are connected to the supporting plate I1-3 in a sliding mode, a compression spring II is fixedly connected between the supporting plate I1-3 and the sampling bottom plate I9-1, and the sampling bottom plate I9-1 is in contact with the fan-shaped cam I8-5.
The specific implementation method nine:
the embodiment is described below with reference to fig. 1-16, and the eighth embodiment is further described, 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 gear ii 10-2 is fixedly connected to the transmission shaft iv 10-1, the transmission gear ii 10-2 and a tooth-lacking gear 2-2 perform intermittent transmission, the reference circle diameter of the transmission gear ii 10-2 is one third of the tooth-lacking gear 2-2, the transmission shaft v 10-3 is rotatably connected to a bottom plate 1-1, the sector cam ii 10-4 is fixedly connected to the transmission shaft v 10-3, 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 I8-2 and the transmission gear II 10-2 are respectively and uniformly distributed on the outer side of the gear with missing teeth 2-2 in the circumferential direction, and the transmission ratio of the transmission mechanism II 10 is one.
The detailed implementation mode is ten:
the embodiment is described below with reference to fig. 1 to 16, and the ninth embodiment is further described in the present embodiment, where the storage mechanism 11 includes a storage base plate 11-1, two sliding columns ii 11-2 and a storage box 11-3, the storage base plate 11-1 is fixedly connected with the two sliding columns ii 11-2, the two sliding columns ii 11-2 are fixedly connected with the storage box 11-3, the two sliding columns ii 11-2 are slidably connected with a support plate ii 1-4, a compression spring iii is fixedly connected between the support plate ii 1-4 and the storage base plate 11-1, and the storage base plate 11-1 is in contact with a sector cam ii 10-4.
The invention relates to an environment detection sampling robot, which has the working principle that:
when the device is used, the power motor 2-1 and the distance motor 4-2 are started, the output shaft of the power motor 2-1 starts to rotate, the output shaft of the power motor 2-1 drives the connecting key 2-4 to rotate by taking the axis of the output shaft of the power motor 2-1 as the center, the connecting key 2-4 drives the sliding friction wheel 2-5 to rotate by taking the axis of the output shaft of the power motor 2-1 as the center, the sliding friction wheel 2-5 is in friction transmission with the power gear 2-3 under the pushing of the shifting fork 7-2, the sliding friction wheel 2-5 drives the power gear 2-3 to rotate, the power gear 2-3 drives the driving worm 3-2 to rotate, the driving worm 3-2 drives the track mechanism 3-1 to move, and the track mechanism 3-1 drives the device to move, the output shaft of the distance motor 4-2 starts to rotate, the output shaft of the distance motor 4-2 drives the distance sliding block 4-3 to slide on the distance sliding rail 4-1 through threads, the distance sliding block 4-3 and the device move simultaneously, when the device moves to a certain distance, the distance sliding block 4-3 also moves to a specified distance, the distance sliding block 4-3 is contacted with the lower end of the sliding push rod 6-3, the sliding push rod 6-3 is pushed by the distance sliding block 4-3 to slide upwards, the sliding push rod 6-3 pushes the bottom plate body 7-1 to slide upwards, the bottom plate body 7-1 is pushed to extrude the compression spring I to drive the shifting fork 7-2 to slide upwards, the shifting fork 7-2 drives the sliding friction wheel 2-5 to slide upwards, and the sliding friction wheel 2-5 and the gear with missing teeth 2-2 enter into friction transmission, the driving worm 3-2, the transmission gear I8-2 and the transmission gear II 10-2 are respectively and evenly distributed on the outer side of the gear with missing teeth 2-2 in the circumferential direction, the transmission ratio of the transmission mechanism II 10 is one, the reference circle diameter of the transmission gear I8-2 is one third of that of the gear with missing teeth 2-2, the transmission ratio of the transmission mechanism I8 is one, teeth with one third of circumference are arranged on the gear with missing teeth 2-2, the reference circle diameter of the transmission gear II 10-2 is one third of that of the gear with missing teeth 2-2, when the gear with missing teeth 2-2 rotates for one circle, the transmission gear I8-2 and the transmission gear II 10-2 are respectively driven to rotate for one circle, and when the gear with missing teeth 2-2 drives the transmission gear I8-2 to rotate, the gear with missing teeth 2-2 does not drive the transmission gear II 10-2, when the gear lacking gear 2-2 drives the transmission gear II 10-2 to rotate, the gear lacking gear 2-2 cannot drive the transmission gear I8-2 to rotate, and the sliding push rod 6-3 pushes the bottom plate body 7-1 to move upwards each time the distance fixing slide block 4-3 pushes the sliding push rod 6-3 to move upwards, the time for pushing the bottom plate body 7-1 to move upwards is just equal to one circle of rotation of the gear lacking gear 2-2, the adjustment can be carried out by adjusting the number of circular blocks 4-5 on the threaded rod 4-4, the horizontal height of the upper end of the circular block 4-5 is the same as that of the upper end of the distance fixing slide block 4-3, and the time for moving the sliding push rod 6-3 upwards can be adjusted by adjusting the; when the transmission gear I8-2 rotates for one circle, the transmission gear I8-2 drives the transmission shaft I8-1 to rotate for one circle, the transmission shaft I8-1 drives the transmission shaft II 8-3 to rotate for one circle, the transmission shaft II 8-3 drives the transmission shaft III 8-4 to rotate for one circle, the transmission shaft III 8-4 drives the sector cam I8-5 to rotate for one circle, the sector cam I8-5 pushes the sampling mechanism 9 to reciprocate up and down for one period, the sampling motor 9-4 is started in advance, the sampling motor 9-4 is started 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 soil into the storage barrel 9-5, and the screw direction of the sampling screw 9-6 needs to be matched with the rotation direction of the output shaft of the sampling motor 9-4; when the transmission gear II 10-2 rotates for one circle, the transmission gear II 10-2 drives the transmission shaft IV 10-1 to rotate for one circle, the transmission shaft IV 10-1 drives the transmission shaft V10-3 to rotate for one circle, the transmission shaft V10-3 drives the fan-shaped cam II 10-4 to rotate for one circle, the fan-shaped cam II 10-4 can ensure the stop time when the storage box 11-3 moves to the front limit position and the sampling motor 9-4 is a servo motor, and when the storage box 11-3 moves to the front limit position, the sampling motor 9-4 is reversely rotated, so that the sampling screw 9-6 reversely rotates to drop soil in the storage box 11-3; different use requirements can be met by adjusting different positions of the plurality of pushing sliding blocks 6 on the sliding support 5, if the device needs to collect soil at the positions of 10 meters, 20 meters and 30 meters, the moving speed of the device and the sliding speed ratio of the distance sliding block 4-3 are 100 to 1, the pushing sliding blocks 6 are respectively arranged at the distances of 0.1 meter, 0.2 meter and 0.3 meter on the front side of the distance sliding block 4-3, and it needs to be noted that when the sliding push rod 6-3 moves upwards, the power gear 2-3 and the sliding friction wheel 2-5 are withdrawn from friction transmission, the device does not move, and therefore the distance is the relative distance between the pushing sliding block 6 and the pushing sliding block 6; the locking screw 6-2 is rotated, so that the locking screw 6-2 pushes the position of the sliding block body 6-1 through thread fixing.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
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).
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