CN111618821A - Environment detection sampling robot - Google Patents
Environment detection sampling robot Download PDFInfo
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- CN111618821A CN111618821A CN202010389281.XA CN202010389281A CN111618821A CN 111618821 A CN111618821 A CN 111618821A CN 202010389281 A CN202010389281 A CN 202010389281A CN 111618821 A CN111618821 A CN 111618821A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
Abstract
The invention is suitable for the technical field of robots, and provides an environment detection sampling robot which comprises a frame, a driving unit, a driving wheel, a first horizontal rotating unit, a first support, a sample grabbing unit, a second horizontal rotating unit, a vertical rotating unit, an environment parameter acquisition unit, an image acquisition unit, a sample storage unit, a control unit and a remote control unit; the driving unit, the first horizontal rotating unit, the sample grabbing unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter acquisition unit, the image acquisition unit and the sample storage unit are all connected with the control unit, and the control unit is in wireless communication with the remote control unit. The problem of among the prior art special environment sample inefficiency, cause the potential safety hazard to the experimenter is solved.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an environment detection sampling robot.
Background
Environmental detection analysis need take a sample, then takes the laboratory back and carries out the experiment, but to some special environment, for example contain noxious material, radiation ray in the environment, the laboratory staff need wear specific protective apparatus and get into and take a sample in the environment, this kind of sample inefficiency to can cause the potential safety hazard to the laboratory staff.
Disclosure of Invention
In view of this, the embodiment of the invention provides an environment detection sampling robot to solve the problems of low sampling efficiency and potential safety hazards to experimenters in a special environment in the prior art.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows: an environment detection sampling robot comprises a frame, a driving unit, a driving wheel, a first horizontal rotating unit, a first support, a sample grabbing unit, a second horizontal rotating unit, a vertical rotating unit, an environment parameter acquisition unit, an image acquisition unit, a sample storage unit, a control unit and a remote control unit;
the driving wheel and the driving unit are arranged at the bottom of the frame, the output end of the driving unit is connected with the driving wheel, the sample storage unit and the first horizontal rotating unit are arranged at the top of the frame, the first support is arranged on the first horizontal rotating unit, the sample grabbing unit is arranged at the side part of the first support, the second horizontal rotating unit is arranged at the top of the first support, the vertical rotating unit is arranged on the second horizontal rotating unit, and the environmental parameter acquisition unit and the image acquisition unit are arranged on the vertical rotating unit;
the driving unit, the first horizontal rotating unit, the sample grabbing unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter collecting unit, the image collecting unit and the sample storing unit are all connected with the control unit, and the control unit is in wireless communication with the remote control unit.
Further, the storage unit is including installing storage box on the frame, place and be in store inside tray of box and a plurality of storage bottle, be equipped with the fixed slot of a plurality of and storage bottle adaptation on the tray, every storage bottle is placed in the fixed slot that corresponds, be equipped with on the lid of storage box a plurality of with the draw-in groove that the fixed slot corresponds, the draw-in groove is used for the top of joint storage bottle, the lateral part of storage box is equipped with the control the mechanism that opens and shuts that the lid opened and shut, the mechanism that opens and shuts is connected the control unit.
Further, the mechanism that opens and shuts includes first motor, rotates wheel, first branch and second branch, the axle of first motor with rotate wheel fixed connection, the one end fixed mounting of first branch is in rotate taking turns to, the other end of first branch with the one end of second branch is rotated and is connected, the other end of second branch with the lid is articulated, first motor is connected the control unit.
Further, the sample grabbing unit comprises a second motor, a third supporting rod, a fourth supporting rod and a grabbing mechanism, the second motor is installed on the side portion of the first support, the shaft of the second motor is connected with one end of the third supporting rod, the third motor is fixed to the other end of the third supporting rod, the shaft of the third motor is connected with one end of the fourth supporting rod, the grabbing mechanism is installed at the other end of the fourth supporting rod, and the second motor, the third motor and the grabbing mechanism are all connected with the control unit.
Further, tongs mechanism includes casing, fourth motor, drive assembly and a plurality of subassembly that opens and shuts, drive assembly installs the inside of casing, the hub connection of fourth motor drive assembly, drive assembly includes the extension board that can be reciprocating motion, and every subassembly that opens and shuts includes the knee and grabs the piece, the department of buckling of knee with fifth branch on the casing rotates to be connected, the one end of knee with the extension board is articulated, the other end of knee with grab piece fixed connection, the fourth motor is connected the control unit.
Further, the transmission assembly is still including installing first gear, second gear, bevel gear and lead screw in the casing, the axle of fourth motor with the center fixed connection of first gear, first gear with the bevel gear meshing, the bevel gear with the second gear meshing, the center of second gear with the one end fixed connection of lead screw, the extension board be equipped with the screw hole of lead screw adaptation, the other end of lead screw passes screw hole on the extension board, be equipped with the fastener on the casing, be equipped with on the extension board with the recess of fastener adaptation, the extension board with the casing joint, the extension board can be followed fastener length direction is reciprocating motion.
Further, the second horizontal rotation unit comprises a fifth motor, a second support and a base, the base is installed at the top of the first support, the fifth motor is fixedly installed on the base, a shaft of the fifth motor is fixedly connected with one side of the second support, the other side of the second support is used for installing the vertical rotation unit, and the fifth motor is connected with the control unit.
Further, the perpendicular rotation unit includes sixth motor, third support and fourth support, third support fixed mounting the opposite side of second support, the sixth motor is equipped with two axles that can synchronous rotation, the both ends of third support be equipped with the recess of the axle adaptation of sixth motor, two axles of sixth motor respectively with the groove connection at third support both ends, the both ends of fourth support with the shell fixed connection of sixth motor, the fourth support can with the sixth motor rotates simultaneously, environmental parameter acquisition unit and image acquisition unit install on the fourth support, the sixth motor is connected the control unit.
Further, the environmental parameter acquisition unit comprises a temperature and humidity sensor, a carbon dioxide sensor, a carbon monoxide sensor and a dust sensor, and the temperature and humidity sensor, the carbon dioxide sensor, the carbon monoxide sensor and the dust sensor are all connected with the control unit.
Further, the control unit comprises a first processor and a first wireless signal transceiver, the remote control unit comprises a second processor, a second wireless signal transceiver, a display and an input device, the first processor is respectively connected with the first wireless signal transceiver, the driving unit, the first horizontal rotating unit, the sample grabbing unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter collecting unit, the image collecting unit and the sample storing unit, and the second processor is respectively connected with the second wireless signal transceiver, the display and the input device.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in: the invention designs an environment detection sampling robot, when the environment detection sampling robot works, a remote control unit inputs an instruction to a control unit, the control unit controls a driving unit to enable a driving wheel to rotate according to the instruction, and the motion of the environment detection sampling robot is realized; when samples in the environment need to be sampled, an experimenter inputs instructions through the remote control unit to control the sample grabbing unit to grab target samples, and then the samples are placed into the sample storage unit to finish sampling work. The environment detection sampling robot can realize the image acquisition of environment and the collection of environmental parameter to can sample work, be convenient for take over the laboratory and study, no longer need the experimenter to get into work and also can accomplish the research to special environment in the special environment, guaranteed experimenter's safety.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic structural diagram of an environment inspecting and sampling robot according to an embodiment of the present invention;
FIG. 2 is a schematic block diagram of an environment inspecting and sampling robot provided in an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a memory cell according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of an opening and closing mechanism provided in an embodiment of the present invention;
FIG. 5 is a schematic structural view of a closed state of the gripper mechanism according to an embodiment of the present invention;
FIG. 6 is a schematic structural view of the gripper mechanism provided by the embodiment of the present invention in an open state;
FIG. 7 is a schematic structural diagram of a switch assembly according to an embodiment of the present invention;
FIG. 8 is a schematic structural diagram of a transmission assembly provided by an embodiment of the present invention;
fig. 9 is a schematic block diagram of an environment inspecting and sampling robot according to another embodiment of the present invention.
In the figure: 1. a frame; 2. a drive wheel; 3. a sample storage unit; 301. a storage box; 302. a tray; 303. storing the bottles; 304. fixing grooves; 305. a card slot; 306. a box cover; 307. a first support bar; 308. a second support bar; 309. a rotating wheel; 4. a seventh motor; 5. a fifth support; 6. a first bracket; 7. a second motor; 8. a third support bar; 9. a third motor; 10. a fourth strut; 11. a gripper mechanism; 1101. a fourth motor; 1102. a housing; 1103. a first connecting rod; 1104. a second connecting rod; 1105. a fifth strut; 1106. grabbing the sheet; 1107. a support plate; 1108. a screw rod; 1109. a fastener; 1110. a first gear; 1111. a second gear; 1112. a bevel gear; 12. a base; 13. a fifth motor; 14. a second bracket; 15. a third support; 16. a sixth motor; 17. a fourth bracket; 18. an image acquisition unit; 19. environmental parameter acquisition unit.
Detailed Description
In the following description, for purposes of explanation and not limitation, specific details are set forth, such as particular system structures, techniques, etc. in order to provide a thorough understanding of the embodiments of the invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced in other embodiments that depart from these specific details. In other instances, detailed descriptions of well-known systems, devices, circuits, and methods are omitted so as not to obscure the description of the present invention with unnecessary detail.
In order to explain the technical means of the present invention, the following description will be given by way of specific examples.
As shown in fig. 1 and 2, the environment detecting and sampling robot includes a frame 1, a driving unit, a driving wheel 2, a first horizontal rotating unit, a first bracket 6, a sample grabbing unit, a second horizontal rotating unit, a vertical rotating unit, an environment parameter collecting unit 19, an image collecting unit 18, a sample storing unit 3, a control unit and a remote control unit; the driving wheel 2 and the driving unit are arranged at the bottom of the frame 1, the output end of the driving unit is connected with the driving wheel 2, the sample storage unit 3 and the first horizontal rotating unit are arranged at the top of the frame 1, the first bracket 6 is arranged on the first horizontal rotating unit, the sample grabbing unit is arranged at the side part of the first bracket 6, the second horizontal rotating unit is arranged at the top of the first bracket 6, the vertical rotating unit is arranged on the second horizontal rotating unit, and the environmental parameter acquisition unit 19 and the image acquisition unit 18 are arranged on the vertical rotating unit; the driving unit, the first horizontal rotating unit, the sample grabbing unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter acquisition unit 19, the image acquisition unit 18 and the sample storage unit 3 are all connected with the control unit, and the control unit is in wireless communication with the remote control unit.
When the environment detection sampling robot works, an instruction is input to the control unit through the remote control unit, the control unit controls the driving unit to enable the driving wheel 2 to rotate according to the instruction, the motion of the environment detection sampling robot is achieved, the image acquisition unit 18 can acquire image information of the environment, the environment parameter acquisition unit 19 can acquire environment parameter information and transmit the acquired image information and the acquired environment parameter information to the control unit, the control unit transmits the received image information and the received environment parameter information to the remote control unit, an experimenter can observe the image information and the environment parameter information through the remote control unit, and can know images of the environment where the environment detection sampling robot is located and various parameters of the environment; when samples in the environment need to be sampled, an experimenter inputs instructions through the remote control unit to control the sample grabbing unit to grab target samples, and then the samples are placed into the sample storage unit 3 to finish sampling work. The environment detection sampling robot can realize the image acquisition of environment and the collection of environmental parameter to can sample work, be convenient for take over the laboratory and study, no longer need the experimenter to get into work and also can accomplish the research to special environment in the special environment, guaranteed experimenter's safety.
In an embodiment of the present invention, the first horizontal rotation unit includes a seventh motor 4 and a fifth bracket 5, the seventh motor 4 is installed on the frame 1, a shaft of the seventh motor 4 is fixedly connected to one side of the fifth bracket 5, the bottom of the first bracket 6 is installed on the other side of the fifth bracket 5, the seventh motor 4 is connected to the control unit, the control unit controls the seventh motor 4 to rotate, and the seventh motor 4 drives the fifth bracket 5 to rotate, so as to drive the first bracket 6 to rotate horizontally.
As shown in fig. 3, the storage unit includes a storage box 301 installed on the vehicle frame 1, a tray 302 and a plurality of storage bottles 303 placed inside the storage box 301, a plurality of fixing slots 304 adapted to the storage bottles 303 are formed in the tray 302, each storage bottle 303 is placed in the corresponding fixing slot 304, a plurality of card slots 305 corresponding to the fixing slots 304 are formed in a box cover 306 of the storage box 301, the card slots 305 are used for clamping the top ends of the storage bottles 303, an opening and closing mechanism for controlling the opening and closing of the box cover 306 is arranged at the side of the storage box 301, and the opening and closing mechanism is connected with the control unit.
When the robot samples, the control unit controls the sample grabbing unit to grab the sample and controls the opening and closing mechanism to act to open the box cover 306, the sample grabbing unit puts the sample in the storage bottle 303, and after the sample grabbing unit is put in the storage bottle 303, the control unit controls the opening and closing mechanism to act to close the box cover 306. The fixed slot 304 on the tray 302 can be fixed to the bottom of storage bottle 303, and draw-in groove 305 on the lid 306 seals the top of storage bottle 303, makes storage bottle 303 fix the inside at storage box 301, and in the robot motion process, storage bottle 303 and storage box 301 can not take place relative displacement, makes storage bottle 303 form sealedly simultaneously, guarantees that the sample in the storage bottle 303 can not drop or run off.
As shown in fig. 4, the opening and closing mechanism includes a first motor, a rotating wheel 309, a first strut 307 and a second strut 308, a shaft of the first motor is fixedly connected with the rotating wheel 309, one end of the first strut 307 is fixedly installed on the rotating wheel 309, the other end of the first strut 307 is rotatably connected with one end of the second strut 308, the other end of the second strut 308 is hinged with the box cover 306, and the first motor is connected with the control unit.
The control unit can control the first motor to rotate, the shaft of the first motor drives the rotating wheel 309 to rotate, the rotating wheel 309 drives the first support rod 307 to act, and the first support rod 307 and the second support rod 308 are in rotating connection, and the second support rod 308 and the box cover 306 are hinged, so that the box cover 306 can be controlled to be opened or closed under the action of the first support rod 307 and the second support rod 308.
In one embodiment of the present invention, the side of the storage box 301 is provided with a closed cavity, the cavity is provided with an opening, the first motor and the rotating wheel 309 are both installed in the cavity, and the first support bar 307 and the second support bar 308 are both located at the opening of the cavity.
When the box cover 306 of the storage box 301 is in a closed state, the first support rod 307, the second support rod 308, the first motor and the rotating wheel 309 are all located inside the cavity, when the first motor rotates to drive the rotating wheel 309 to rotate, the first support rod 307 and the second support rod 308 move out of the cavity, and under the combined action of the first support rod 307 and the second support rod, the box cover 306 is opened. The design of cavity can play the guard action for first motor, runner 309, improves the holistic stability of device.
In one embodiment of the invention, the height of the retaining groove 304 is less than the height of the storage bottle 303. The height of the fixing groove 304 is smaller than that of the storage bottle 303, so that the fixing groove 304 can limit the storage bottle 303, and the storage bottle 303 can be conveniently placed in the fixing groove 304 or taken out of the fixing groove 304. For example, the height of the fixing groove 304 is one third of the height of the storage bottle 303.
In one embodiment of the present invention, the interior of the storage case 301 is made of stainless steel to reduce the contamination of the sample caused by the device itself, and the exterior of the storage case 301 is made of carbon steel to prevent the sample from being contaminated.
In one embodiment of the present invention, the sample gripping unit comprises a second motor 7, a third motor 9, a third supporting rod 8, a fourth supporting rod 10 and a gripping mechanism 11, the second motor 7 is installed at the side of the first bracket 6, the shaft of the second motor 7 is connected with one end of the third supporting rod 8, the third motor 9 is fixed at the other end of the third supporting rod 8, the shaft of the third motor 9 is connected with one end of the fourth supporting rod 10, the gripping mechanism 11 is installed at the other end of the fourth supporting rod 10, and the second motor 7, the third motor 9 and the gripping mechanism 11 are all connected with the control unit.
The control unit can control the second motor 7, the third motor 9 and the gripper mechanism 11, the second motor 7 rotates to drive the third supporting rod 8 to rotate, the third motor 9 rotates to drive the fourth supporting rod 10 to rotate, the gripper mechanism 11 rotates on a vertical surface, the control unit controls the first horizontal rotating unit to rotate on a horizontal plane, and further the gripper mechanism 11 rotates on the horizontal plane, so that the three-dimensional space of the gripper mechanism 11 acts, the gripper mechanism 11 can be controlled to reach the position of a sample to be grabbed, and when the gripper mechanism reaches the position of the sample to be grabbed, the control unit controls the gripper mechanism 11 to act to grab the sample.
As shown in fig. 5 to 7, the gripper mechanism 11 includes a housing 1102, a fourth motor 1101, a transmission assembly and a plurality of opening and closing assemblies, the transmission assembly is installed inside the housing 1102, the shaft of the fourth motor 1101 is connected with the transmission assembly, the transmission assembly includes a support plate 1107 capable of reciprocating, each opening and closing assembly includes a curved bar and a gripping sheet 1106, a bending portion of the curved bar is rotatably connected with a fifth support bar 1105 on the housing 1102, one end of the curved bar is hinged with the support plate 1107, the other end of the curved bar is fixedly connected with the gripping sheet 1106, and the fourth motor 1101 is connected with a control unit.
During sampling, the control unit controls the fourth motor 1101 to rotate, the support plate 1107 moves downwards through the transmission assembly, one end of the bent rod is hinged to the support plate 1107, the other end of the bent rod is fixedly connected with the grabbing piece 1106, the support plate 1107 moves downwards to drive the grabbing pieces 1106 to open, the control unit controls the opening grabbing piece 1106 to move to a sample to be taken, the control unit controls the fourth motor 1101 to rotate reversely, the support plate 1107 moves upwards through the transmission assembly to drive the grabbing pieces 1106 to close, the sample to be taken is surrounded in the grabbing pieces 1106, and then the control unit controls the grabbing mechanism 11 to place the sample into the sample storage unit 3 to complete sampling.
As shown in fig. 8, the transmission assembly further includes a first gear 1110, a second gear 1111, a bevel gear 1112 and a lead screw 1108 which are installed in the housing 1102, a shaft of the fourth motor 1101 is fixedly connected with a center of the first gear 1110, the first gear 1110 is engaged with the bevel gear 1112, the bevel gear 1112 is engaged with the second gear 1111, a center of the second gear 1111 is fixedly connected with one end of the lead screw 1108, the support plate 1107 is provided with a threaded hole matched with the lead screw 1108, the other end of the lead screw 1108 passes through the threaded hole in the support plate 1107, the housing 1102 is provided with a clamping piece 1109, the support plate 1107 is provided with a groove matched with the clamping piece 1109, the support plate 1107 is clamped with the housing 1102, and the support plate 1107 can reciprocate along the length.
The control unit controls the forward rotation and the reverse rotation of the fourth motor 1101, the shaft of the fourth motor 1101 drives the first gear 1110 to rotate, the bevel gear 1112 drives the second gear 1111 to rotate, the second gear 1111 drives the screw rod 1108 to rotate, the support plate 1107 and the shell 1102 are connected in a clamping mode, the support plate 1107 and the shell 1102 cannot rotate relatively, and the screw rod 1108 penetrates through a threaded hole, so that the screw rod 1108 drives the support plate 1107 to move along the length direction of a clamping piece 1109 on the shell 1102, the support plate 1107 is hinged to the bent rod, and the bent rod is rotatably connected with the fifth supporting rod 1105, so that the support plate 1107 can drive the plurality of grabbing pieces 1106 to open or close, and the grabbing pieces 1106 can finish sampling movement.
In one embodiment of the present invention, the bending rod includes a first connecting rod 1103 and a second connecting rod 1104, one end of the first connecting rod 1103 is connected to one end of the second connecting rod 1104 at an angle, the joint of the first connecting rod 1103 and the second connecting rod 1104 is rotatably connected to the fifth supporting rod 1105, the other end of the first connecting rod 1103 is hinged to the supporting plate 1107, and the other end of the second connecting rod 1104 is fixedly connected to the grasping piece 1106.
After the first connecting rod 1103 and the second connecting rod 1104 are fixedly connected, the fifth supporting rod 1105 is rotatably connected, the opening angle of the grabbing piece 1106 can be changed by adjusting the connecting angle and the length of the first connecting rod 1103 and the second connecting rod 1104, and samples of different types can be sampled.
In one embodiment of the invention, the grip tab 1106 is concave in shape. The design is concave, so that the internal space of the grabbing piece 1106 in a folded state can be increased, and a large-size sample can be grabbed. Be equipped with the strengthening rib on grabbing piece 1106, set up the strengthening rib and can strengthen the intensity of grabbing piece 1106, improve the holistic stability of device.
In one embodiment of the present invention, the second horizontal rotation unit includes a fifth motor 13, a second bracket 14 and a base 12, the base 12 is installed on the top of the first bracket 6, the fifth motor 13 is fixedly installed on the base 12, a shaft of the fifth motor 13 is fixedly connected with one side of the second bracket 14, the other side of the second bracket 14 is used for installing the vertical rotation unit, and the fifth motor 13 is connected with the control unit; the vertical rotating unit comprises a sixth motor 16, a third support 15 and a fourth support 17, the third support 15 is fixedly installed on the other side of the second support 14, the sixth motor 16 is provided with two shafts capable of rotating synchronously, two ends of the third support 15 are provided with grooves matched with the shafts of the sixth motor 16, the two shafts of the sixth motor 16 are respectively connected with the grooves at two ends of the third support 15, two ends of the fourth support 17 are fixedly connected with a shell of the sixth motor 16, the fourth support 17 can rotate with the sixth motor 16 simultaneously, an environmental parameter acquisition unit 19 and an image acquisition unit 18 are installed on the fourth support 17, and the sixth motor 16 is connected with the control unit.
The control unit controls the fifth motor 13 to rotate, the fifth motor 13 drives the second bracket 14 to rotate, and the second bracket 14 drives the vertical rotating unit to rotate in the horizontal direction; the control unit controls the sixth motor 16 to rotate, and because two shafts of the sixth motor 16 are fixedly connected with the third support 15, the shafts of the sixth motor 16 and the third support 15 do not rotate relatively, so that the body of the sixth motor 16 rotates, and the fourth support 17 is driven to rotate together with the sixth motor 16, thereby realizing that the image acquisition unit 18 and the environmental parameter acquisition unit 19 which are installed on the fourth support 17 rotate in a three-dimensional space.
The environment parameter collecting unit 19 can collect the environment parameter information, and then transmit the collected environment parameter information to the control unit, the control unit transmits the received environment parameter information to the remote control unit, and the experimenter can monitor various parameters of the environment through the remote control unit. Image acquisition unit 18 can gather the image information of environment, the control unit can control the rotation of fifth motor 13 and sixth motor 16, fifth motor 13 rotates and to make 18 horizontal rotations of image acquisition unit, the rotation of sixth motor 16 can make image acquisition unit 18 take place the rotation of vertical direction, thereby realize that image acquisition unit 18's three-dimensional space rotates, the realization is to the collection of the different angles of environment, can increase image acquisition's scope, the experimenter of being convenient for can all-roundly monitor the environment.
In one embodiment of the present invention, the cross-section of the ends of the two motor shafts of the sixth motor 16 is a regular polygon, and the grooves at the two ends of the third bracket 15 are matched with the ends of the two motor shafts of the sixth motor 16. The design is equivalent to the clamping connection of the shaft of the sixth motor 16 and the third bracket 15, so that the sixth motor 16 and the fourth bracket 17 can be ensured to rotate synchronously, and the effect of changing the vertical angle of the image acquisition unit 18 is achieved.
In one embodiment of the present invention, the image capturing unit 18 comprises a plurality of cameras mounted on the vertical rotation unit, and the plurality of cameras are connected to the control unit.
The plurality of cameras can acquire image information of surrounding environment, and the effect of enlarging the acquisition range is achieved. For example, two, three or four cameras may be provided, which collect image information and transmit the collected image information to the control unit.
In an embodiment of the present invention, the environmental parameter collecting unit 19 includes a temperature and humidity sensor, a carbon dioxide sensor, a carbon monoxide sensor and a dust sensor, and the temperature and humidity sensor, the carbon dioxide sensor, the carbon monoxide sensor and the dust sensor are all connected to the control unit.
Different sensors can acquire different environmental parameters, and the number or the type of specific sensors can be changed according to actual needs, so that the environmental parameters of the environment where the robot is located can be monitored.
As shown in fig. 9, the control unit includes a first processor and a first wireless signal transceiver, the remote control unit includes a second processor, a second wireless signal transceiver, a display and an input device, the first processor is respectively connected to the first wireless signal transceiver, the driving unit, the first horizontal rotating unit, the sample grasping unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter collecting unit 19, the image collecting unit 18 and the sample storing unit 3, and the second processor is respectively connected to the second wireless signal transceiver, the display and the input device.
The image information collected by the image collecting unit 18 and the environmental parameter information collected by the environmental parameter collecting unit 19 are transmitted to the first processor, the first processor sends the image information and the environmental parameter information through the first wireless signal transceiver, the second processor receives the image information and the environmental parameter information through the second wireless signal transceiver, and an experimenter can monitor the environment through the display. The experimenter carries out the input of control command through the inputter, and the second treater receives control command and sends out control command through second wireless signal transceiver, and first treater receives control command through first wireless signal transceiver to carry out environmental parameter's monitoring or sample according to control command. And the remote control of the robot is realized.
In one embodiment of the invention, the driving unit comprises an eighth motor and a ninth motor, a shaft of the eighth motor and a shaft of the ninth motor are respectively connected with one driving wheel 2, the eighth motor and the ninth motor are both connected with the control unit, the control unit controls the rotation of the eighth motor and the ninth motor to enable the robot to move forwards or backwards, and when the robot is controlled to turn, the control unit controls the rotation speeds of the eighth motor and the ninth motor to be different, so that the robot can turn.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.
Claims (10)
1. An environment detection sampling robot is characterized by comprising a frame, a driving unit, a driving wheel, a first horizontal rotating unit, a first support, a sample grabbing unit, a second horizontal rotating unit, a vertical rotating unit, an environment parameter acquisition unit, an image acquisition unit, a sample storage unit, a control unit and a remote control unit;
the driving wheel and the driving unit are arranged at the bottom of the frame, the output end of the driving unit is connected with the driving wheel, the sample storage unit and the first horizontal rotating unit are arranged at the top of the frame, the first support is arranged on the first horizontal rotating unit, the sample grabbing unit is arranged at the side part of the first support, the second horizontal rotating unit is arranged at the top of the first support, the vertical rotating unit is arranged on the second horizontal rotating unit, and the environmental parameter acquisition unit and the image acquisition unit are arranged on the vertical rotating unit;
the driving unit, the first horizontal rotating unit, the sample grabbing unit, the second horizontal rotating unit, the vertical rotating unit, the environmental parameter collecting unit, the image collecting unit and the sample storing unit are all connected with the control unit, and the control unit is in wireless communication with the remote control unit.
2. The environment detection and sampling robot according to claim 1, wherein the storage unit includes a storage box mounted on the frame, a tray placed inside the storage box, and a plurality of storage bottles, the tray is provided with a plurality of fixing grooves adapted to the storage bottles, each storage bottle is placed in the corresponding fixing groove, a plurality of clamping grooves corresponding to the fixing grooves are provided on a box cover of the storage box, the clamping grooves are used for clamping the top ends of the storage bottles, an opening and closing mechanism for controlling the opening and closing of the box cover is provided on a side portion of the storage box, and the opening and closing mechanism is connected with the control unit.
3. The environment detection and sampling robot according to claim 2, wherein the opening and closing mechanism comprises a first motor, a rotating wheel, a first support rod and a second support rod, a shaft of the first motor is fixedly connected with the rotating wheel, one end of the first support rod is fixedly installed on the rotating wheel, the other end of the first support rod is rotatably connected with one end of the second support rod, the other end of the second support rod is hinged with the box cover, and the first motor is connected with the control unit.
4. The environment detecting and sampling robot according to claim 1, wherein the sample grasping unit comprises a second motor, a third support rod, a fourth support rod and a grasping mechanism, the second motor is mounted on a side portion of the first support, a shaft of the second motor is connected with one end of the third support rod, the third motor is fixed to the other end of the third support rod, a shaft of the third motor is connected with one end of the fourth support rod, the grasping mechanism is mounted on the other end of the fourth support rod, and the second motor, the third motor and the grasping mechanism are all connected with the control unit.
5. The environment detection and sampling robot according to claim 4, wherein the gripper mechanism includes a housing, a fourth motor, a transmission assembly, and a plurality of opening and closing assemblies, the transmission assembly is installed inside the housing, a shaft of the fourth motor is connected to the transmission assembly, the transmission assembly includes a support plate capable of reciprocating, each opening and closing assembly includes a bent rod and a gripping piece, a bent portion of the bent rod is rotatably connected to a fifth support rod on the housing, one end of the bent rod is hinged to the support plate, the other end of the bent rod is fixedly connected to the gripping piece, and the fourth motor is connected to the control unit.
6. The environment detection and sampling robot of claim 5, wherein the transmission assembly further comprises a first gear, a second gear, a bevel gear and a lead screw installed in the housing, a shaft of the fourth motor is fixedly connected with the center of the first gear, the first gear is engaged with the bevel gear, the bevel gear is engaged with the second gear, the center of the second gear is fixedly connected with one end of the lead screw, the support plate is provided with a threaded hole matched with the lead screw, the other end of the lead screw penetrates through the threaded hole in the support plate, the housing is provided with a clamping piece, the support plate is provided with a groove matched with the clamping piece, the support plate is clamped with the housing, and the support plate can reciprocate in the length direction of the clamping piece.
7. The environment detecting and sampling robot according to claim 1, wherein the second horizontal rotation unit includes a fifth motor, a second bracket and a base, the base is installed on the top of the first bracket, the fifth motor is fixedly installed on the base, a shaft of the fifth motor is fixedly connected with one side of the second bracket, the other side of the second bracket is used for installing the vertical rotation unit, and the fifth motor is connected with the control unit.
8. The environment detecting and sampling robot according to claim 7, wherein the vertical rotation unit includes a sixth motor, a third bracket and a fourth bracket, the third bracket is fixedly installed at the other side of the second bracket, the sixth motor is provided with two shafts capable of rotating synchronously, two ends of the third bracket are provided with grooves adapted to the shafts of the sixth motor, the two shafts of the sixth motor are respectively connected with the grooves at two ends of the third bracket, two ends of the fourth bracket are fixedly connected with a shell of the sixth motor, the fourth bracket can rotate simultaneously with the sixth motor, the environment parameter collecting unit and the image collecting unit are installed on the fourth bracket, and the sixth motor is connected with the control unit.
9. The environment detection and sampling robot according to any one of claims 1 to 8, wherein the environment parameter collection unit comprises a temperature and humidity sensor, a carbon dioxide sensor, a carbon monoxide sensor and a dust sensor, and the temperature and humidity sensor, the carbon dioxide sensor, the carbon monoxide sensor and the dust sensor are all connected to the control unit.
10. The environment detecting and sampling robot according to claim 1, wherein the control unit comprises a first processor and a first wireless signal transceiver, the remote control unit comprises a second processor, a second wireless signal transceiver, a display and an input device, the first processor is respectively connected to the first wireless signal transceiver, the driving unit, the first horizontal rotating unit, the sample grasping unit, the second horizontal rotating unit, the vertical rotating unit, the environment parameter collecting unit, the image collecting unit and the sample storing unit, and the second processor is respectively connected to the second wireless signal transceiver, the display and the input device.
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| CN202010389281.XA CN111618821A (en) | 2020-05-10 | 2020-05-10 | Environment detection sampling robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010389281.XA CN111618821A (en) | 2020-05-10 | 2020-05-10 | Environment detection sampling robot |
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Application publication date: 20200904 |