CN111872949B - Sample collection mechanism for environment-friendly robot - Google Patents
Sample collection mechanism for environment-friendly robot Download PDFInfo
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- CN111872949B CN111872949B CN202010668294.0A CN202010668294A CN111872949B CN 111872949 B CN111872949 B CN 111872949B CN 202010668294 A CN202010668294 A CN 202010668294A CN 111872949 B CN111872949 B CN 111872949B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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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
- G01N1/28—Preparing specimens for investigation including physical details of (bio-)chemical methods covered elsewhere, e.g. G01N33/50, C12Q
- G01N1/34—Purifying; Cleaning
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
- G01N2001/1418—Depression, aspiration
- G01N2001/1427—Positive displacement, piston, peristaltic
Abstract
The invention relates to the field of sample collection mechanisms, in particular to a sample collection mechanism for an environment-friendly robot, which comprises a rotating structure, an angle adjusting structure, a telescopic structure, a driving structure, a storage structure and a sealing structure, wherein the rotating structure is arranged on the upper portion of the sample collection mechanism; the tip of extending structure is fixed in the angle modulation structure, and the extending structure passes through to rotate between angle modulation structure and the revolution mechanic and is connected, the tip of extending structure is equipped with and is used for carrying out the storage structure of sampling to sewage, the tip of storage structure is equipped with and is used for sealed seal structure, and can dismantle between seal structure and the storage structure and be connected, and then be convenient for rotate through angle modulation structure drive extending structure, it drives the storage structure and removes in the water to make the extending structure rotate, the storage structure is different with seal structure's resistance in the water at the removal in-process, it is not sealed to make seal structure to the storage structure, and then be convenient for quick automatic toward the water sample of the inside collection certain degree of depth interval of storage structure, the efficiency and the quality of the collection of sample have been improved.
Description
Technical Field
The invention relates to the field of sample collection mechanisms, in particular to a sample collection mechanism for an environment-friendly robot.
Background
The robot is an intelligent machine capable of working semi-autonomously or fully autonomously, has basic characteristics of perception, decision, execution and the like, can assist or even replace human beings to finish dangerous, heavy and complex work, improves the working efficiency and quality, serves human life, and expands or extends the activity and capability range of the human beings, for example: when the water bodies with different depths are sampled, the robot can be immersed into the water bodies for sampling.
However, if traditional environmental protection robot directly submerges into the water, when sampling the water of the different degree of depth, require strictly signal and remote control, and require strictly to the sealing performance of the robot of the inside of submerging the water, the operation flexibility is relatively poor, the position of robot is not convenient for quick location at rivers flow in-process, and causes the robot to lose easily, the collection efficiency of sewage is lower.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a sample collecting mechanism for an environment-friendly robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: a sample collecting mechanism for an environment-friendly robot comprises a rotating structure, an angle adjusting structure, a telescopic structure, a driving structure, a storage structure and a sealing structure; the angle adjusting structure used for adjusting the angle of the telescopic structure is arranged on the rotating structure connected to the ship body, the end part of the telescopic structure is fixed on the angle adjusting structure, and the telescopic structure is rotatably connected with the rotating structure through the angle adjusting structure; the driving structure is arranged inside the rotating structure and connected to the telescopic structure; the tip of extending structure is equipped with and is used for sampling sewage the storage structure, the tip of storage structure is equipped with and is used for sealedly seal structure, just seal structure with can dismantle the connection between the storage structure.
Specifically, revolution mechanic includes base, guiding axle, handle and containing box, the inside of containing box is equipped with drive structure, the cross-section is the U-shaped structure the handle is fixed in the lateral wall of containing box, the guiding axle with rotate between the containing box and be connected, the guiding axle with the handle is located the adjacent lateral wall of containing box, the cross-section is the U-shaped structure the base is fixed in the guiding axle deviates from the one end of containing box.
Specifically, the drive structure includes stay cord, second leading wheel, motor and rolling wheel, the motor is located the inside of containing box, be equipped with on the motor the rolling wheel, and the cross-section be "worker" font structure the last winding of rolling wheel has the stay cord, the stay cord twine in on the containing box the second leading wheel, just the second leading wheel with rotate between the containing box and be connected.
Specifically, the telescopic structure comprises a plurality of connecting rods, rotating shafts, torsion springs, first guide wheels and guide grooves, the end part of one connecting rod facing the containing box is connected with the angle adjusting structure, the rotating shafts penetrate through two adjacent connecting rods, the two adjacent connecting rods are rotatably connected through the rotating shafts, the torsion springs penetrate through the rotating shafts, opposite ends of the two adjacent connecting rods are respectively connected with two ends of the torsion springs, the connecting rods are in a zigzag wavy structure, the guide grooves are arranged on one group of the connecting rods which are parallel to each other, the first guide wheels are arranged inside the guide grooves, the first guide wheels are rotatably connected with the connecting rods, and the end parts of the pull ropes penetrate through the guide grooves and are wound on the first guide wheels, one end of the pull rope deviating from the winding wheel is fixed on one connecting rod deviating from the most end part of the containing box.
Specifically, the angle adjustment structure includes drive shaft, transfer line, push rod and electric hydraulic cylinder, the drive shaft with rotate between the containing box and be connected, the orientation one of containing box the connecting rod is fixed in the drive shaft, be equipped with in the drive shaft the transfer line, the one end of push rod with rotate between the transfer line and be connected, the other end of push rod with rotate between the electric hydraulic cylinder and be connected, electric hydraulic cylinder is fixed in the containing box.
Specifically, the storage structure includes a storage cylinder, an end cover, a drive rod, a connecting rope, a first reset spring and a piston, the one end of connecting the rope is fixed in and deviates from one of the most tip of containing box the tip of connecting rod, the connecting rope is fixed in the end cover, the end cover with be used for saving the sample threaded connection between the storage cylinder, the drive rod with sliding connection between the end cover, the tip of drive rod is equipped with the piston, the piston with sliding connection between the storage cylinder, the drive rod run through in a first reset spring, a first reset spring's both ends are fixed in respectively the piston with the end cover.
Specifically, the sealing structure comprises a filter screen, a transmission sleeve, a flow guide pipe, a transmission plug, a sealing ring, a guide frame, a second reset spring, a flow guide groove and a liquid discharge groove, wherein the guide frame is arranged in the storage cylinder, the end part of the storage cylinder is T-shaped, the transmission plug is in sliding connection with the guide frame, the two ends of the second reset spring are respectively abutted against the transmission plug and the guide frame, the minimum diameter of the transmission plug is smaller than the diameter of the flow guide groove on the storage cylinder, the transmission plug penetrates through the flow guide groove, the sealing ring with the cross section of which is parallelogram is arranged on the transmission plug, the sealing ring is abutted against the storage cylinder, the transmission sleeve with a hemispherical accommodating cavity is fixed at the end part of the transmission plug, the transmission sleeve is provided with the filter screen with an edge which is in a circular truncated cone shape, and the filter screen is in sliding connection with the storage cylinder, the bottom end of the transmission sleeve is provided with the guide pipe, and the guide pipe is communicated with the liquid discharge groove in the transmission plug.
The invention has the beneficial effects that:
(1) the invention relates to a sample collecting mechanism for an environment-friendly robot, wherein a driving structure is arranged in a rotating structure and is connected with a telescopic structure; the tip of extending structure is equipped with the storage structure that is used for sampling sewage, and then is convenient for pass through drive structure drive extending structure, makes extending structure adjust the position of storage structure apart from revolution mechanic, is convenient for adjust the degree of depth that storage structure submerges in the water, is convenient for adjust extending structure's angle through revolution mechanic simultaneously to make storage structure's collection scope bigger, and then improved the quality and the efficiency of sampling greatly, promptly: firstly, the base is fixed on the ship body through bolts, so that the ship body does not obstruct the normal operation of the connecting rods (the base is in a U-shaped structure, and further the containing box on the guide shaft extends towards the direction away from the base, so that the ship body does not influence the normal operation of the connecting rods), when the storage barrel needs to be immersed into a water body, the motor rotates, the length of a pull rope wound by a winding wheel on the motor is reduced, a torsion spring between two adjacent connecting rods is reset, opposite ends of two adjacent connecting rods rotate through a rotating shaft, an included angle between two adjacent connecting rods is increased, the connecting rods drive the pull rope to drive the first guide wheel and the second guide wheel to rotate, and further rolling friction force is generated between the pull rope and the first guide wheel and the second guide wheel, thereby avoiding friction damage of the pull rope, and simultaneously effectively preventing the pull rope from knotting, and further changing the position of the storage barrel from the containing box through the change of the angle between the connecting rods, the sampling of water bodies with different depths is facilitated, the sampling quality is greatly improved, the dependence on electrical elements is reduced, and after the sampling of the storage cylinder is finished, the motor rotates reversely, so that the winding wheel on the motor winds up the pull rope and the pull rope; the pulling connecting rod makes the looks remote site of two adjacent connecting rods rotate through the pivot, and torque spring compression between two adjacent connecting rods makes the contained angle between two adjacent connecting rods reduce gradually, makes the storage cylinder expose the liquid level, still can hold the handle simultaneously, and the handle drives containing box and guide shaft rotation, and then makes the sampling range of storage cylinder bigger.
(2) The invention relates to a sample collecting mechanism for an environment-friendly robot, which is used for being connected with a rotating structure of a ship body and provided with an angle adjusting structure for adjusting the angle of a telescopic structure, wherein the end part of the telescopic structure is fixed on the angle adjusting structure, and the telescopic structure is rotatably connected with the rotating structure through the angle adjusting structure, so that the angle of the telescopic structure can be conveniently adjusted through the angle adjusting structure, the extension range of the end part of the telescopic structure is larger, the sampling range is larger, and the efficiency and the quality of water body sampling are greatly improved, namely: when the scope of the adoption of the tip of a storage section of thick bamboo needs to be adjusted, length change through electric hydraulic cylinder, electric hydraulic cylinder drive push rod, electric hydraulic cylinder is when drive push rod, rotate between electric hydraulic cylinder and the push rod, rotate between push rod and the transfer line simultaneously, push rod drive transfer line drives the drive shaft and rotates, and then drive the angle change between connecting rod and the containing box through the drive shaft, and then the scope of the collection of the storage section of thick bamboo of the tip that makes the connecting rod is bigger, the efficiency and the quality of water sampling have been improved greatly.
(3) The invention relates to a sample collecting mechanism for an environment-friendly robot, which is used for arranging an angle adjusting structure for adjusting the angle of a telescopic structure on a rotary structure connected with a ship body, the end part of the telescopic structure is fixed on the angle adjusting structure, the telescopic structure is rotatably connected with the rotary structure through the angle adjusting structure, the end part of the telescopic structure is provided with a storage structure for sampling sewage, the end part of the storage structure is provided with a sealing structure for sealing, the sealing structure is detachably connected with the storage structure, the telescopic structure is further conveniently driven to rotate through the angle adjusting structure, the telescopic structure is driven to rotate to drive the storage structure to move in a water body, the storage structure has different resistance in the water body during moving process with the sealing structure, the sealing structure is not sealed with the storage structure, and the water body sample in a certain depth interval can be conveniently and automatically collected from the interior of the storage structure, and then improved the efficiency and the quality of the collection of sample greatly, promptly: firstly, pressing a driving rod, wherein the driving rod drives a first return spring to extend, when the driving rod drives a piston to slide with a storage cylinder, the pressure inside the storage cylinder is increased, so that gas passes through a diversion trench to drive a sealing ring, the sealing ring is not sealed with the storage cylinder, the sealing ring drives a transmission plug, the transmission plug drives a second return spring to compress, so that the gas inside the storage cylinder is discharged from the diversion trench, when the driving rod is loosened, the first return spring compresses, the first return spring drives the piston to slide with the storage cylinder, so that the space inside the storage cylinder is enlarged, the second return spring extends to drive the transmission plug to slide with a guide frame, so that the transmission plug drives the sealing ring to abut against the storage cylinder to seal the diversion trench, the sealing performance between the sealing ring and the storage cylinder is better under the action of atmospheric pressure, then when the connecting rod drives the storage cylinder to sink into water, the sealing performance between the sealing ring and the storage cylinder is further better under the action of water pressure, when a water body sample is collected, the length of the electric hydraulic cylinder is changed when the storage cylinder is immersed into an appointed depth interval (the storage cylinder is immersed into the appointed interval, so that the storage cylinder is under the acceleration action or in a certain collection interval, and the sample is derived from a fixed depth interval), the electric hydraulic cylinder drives the push rod to rotate when driving the push rod, meanwhile, the push rod and the transmission rod rotate, the push rod drives the transmission rod to drive the driving shaft to rotate, further, the angle between the connecting rod and the containing box is changed through the driving shaft, further, the connecting rope at the end part of the connecting rod drives the storage cylinder on the end cover to accelerate rapidly, the transmission sleeve is of a hemispherical structure, further, the transmission sleeve drives the transmission plug to slide between the guide frame and the second return spring to compress, so that the sealing ring is not sealed on the guide groove, sewage is filtered by a filter screen and enters the storage cylinder through a diversion trench, meanwhile, a first reset spring drives a piston to slide, so that the sewage is automatically pressed into the storage cylinder under the action of pressure, the edge of the filter screen is in a round table shape, the filtering area is increased, large-particle waste scraps are effectively prevented from entering the diversion trench to cause blockage, when the speed difference between a transmission sleeve and the storage cylinder is reduced, a second reset spring extends to drive the transmission plug to slide with a guide frame, so that the transmission plug drives a sealing ring to abut against the storage cylinder to seal the diversion trench, after the storage cylinder is lifted out of the water surface, a diversion pipe corresponds to a sample storage bottle, the diversion pipe and the transmission sleeve form a funnel structure, a driving rod is pressed to drive the first reset spring to extend, when the driving rod drives the piston to slide with the storage cylinder, the pressure of water flow in the storage cylinder is increased, so that a sewage sample drives the sealing ring through the diversion trench, make sealing washer and storage cylinder not sealed, the sealing washer drives transmission stopper, makes transmission stopper drive the compression of second reset spring, makes the sewage sample of the inside of storage cylinder discharge from the guiding gutter, then discharges to the sample storage bottle from the flowing back groove in, and then makes the storage of sample convenient and fast more.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic overall structure diagram of a sample collecting mechanism for an environmental protection robot according to the present invention;
FIG. 2 is a schematic structural view of the telescoping structure shown in FIG. 1;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a schematic view of a connection structure between the rotating structure and the driving structure shown in FIG. 1;
FIG. 5 is a schematic view of a connection structure between the rotation structure and the angle adjustment structure shown in FIG. 4;
FIG. 6 is a schematic view of the connection of the storage structure shown in FIG. 1 to the sealing structure;
fig. 7 is an enlarged view of the portion B shown in fig. 6.
In the figure: 1. the rotary structure, 11, a base, 12, a guide shaft, 13, a handle, 14, a storage box, 2, an angle adjusting structure, 21, a driving shaft, 22, a transmission rod, 23, a push rod, 24, an electric hydraulic cylinder, 3, a telescopic structure, 31, a connecting rod, 32, a rotating shaft, 33, a torsion spring, 34, a first guide wheel, 35, a guide groove, 4, a driving structure, 41, a pull rope, 42, a second guide wheel, 43, a motor, 44, a winding wheel, 5, a storage structure, 51, a storage cylinder, 52, an end cover, 53, a driving rod, 54, a connecting rope, 55, a first return spring, 56, a piston, 6, a sealing structure, 61, a filter screen, 62, a transmission sleeve, 63, a guide pipe, 64, a transmission plug, 65, a sealing ring, 66, a guide frame, 67, a second return spring, 68, a guide groove, 69 and a liquid discharge groove.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-7, the sample collecting mechanism for an environmental protection robot according to the present invention includes a rotating structure 1, an angle adjusting structure 2, a telescopic structure 3, a driving structure 4, a storage structure 5, and a sealing structure 6; the angle adjusting structure 2 used for adjusting the angle of the telescopic structure 3 is arranged on the rotating structure 1 used for being connected to the ship body, the end part of the telescopic structure 3 is fixed on the angle adjusting structure 2, and the telescopic structure 3 is rotatably connected with the rotating structure 1 through the angle adjusting structure 2; the driving structure 4 is arranged inside the rotating structure 1, and the driving structure 4 is connected to the telescopic structure 3; the tip of extending structure 3 is equipped with and is used for sampling sewage storage structure 5, storage structure 5's tip is equipped with and is used for sealedly seal structure 6, just seal structure 6 with can dismantle the connection between the storage structure 5.
Specifically, revolution mechanic 1 includes base 11, guiding axle 12, handle 13 and containing box 14, the inside of containing box 14 is equipped with drive structure 4, and the cross-section is the U-shaped structure handle 13 is fixed in containing box 14's lateral wall, guiding axle 12 with rotate between the containing box 14 and be connected, guiding axle 12 with handle 13 locates containing box 14's adjacent lateral wall, the cross-section is the U-shaped structure base 11 is fixed in guiding axle 12 deviates from containing box 14's one end.
Specifically, the driving structure 4 includes a pulling rope 41, a second guide wheel 42, a motor 43 and a winding wheel 44, the motor 43 is disposed inside the storage box 14, the winding wheel 44 is disposed on the motor 43, the pulling rope 41 is wound on the winding wheel 44 with an i-shaped cross section, the pulling rope 41 is wound on the second guide wheel 42 on the storage box 14, and the second guide wheel 42 is rotatably connected with the storage box 14.
Specifically, the telescopic structure 3 includes a plurality of connecting rods 31, a rotating shaft 32, a torsion spring 33, a first guide wheel 34 and a guide groove 35, an end of one connecting rod 31 facing the accommodating box 14 is connected to the angle adjusting structure 2, the rotating shaft 32 penetrates through between two adjacent connecting rods 31, the two adjacent connecting rods 31 are rotatably connected through the rotating shaft 32, the torsion spring 33 penetrates through the rotating shaft 32, opposite ends of the two adjacent connecting rods 31 are respectively connected to two ends of the torsion spring 33, the connecting rods 31 are in a zigzag wave-shaped structure, the guide groove 35 is arranged on one group of the parallel connecting rods 31, the first guide wheel 34 is arranged inside the guide groove 35, and the first guide wheel 34 is rotatably connected with the connecting rods 31, an end of the pulling rope 41 penetrates through the guide groove 35 and is wound around the first guide wheel 34, and one end of the pulling rope 41, which is far away from the winding wheel 44, is fixed to one of the connecting rods 31, which is far away from the outermost end of the storage box 14; the driving structure 4 is arranged inside the rotating structure 1, and the driving structure 4 is connected to the telescopic structure 3; the tip of extending structure 3 is equipped with and is used for sampling sewage storage structure 5, and then be convenient for pass through drive structure 4 drive extending structure 3 makes extending structure 3 adjusts storage structure 5 distance revolution mechanic 1's position is convenient for adjust the degree of depth that storage structure 5 submerged in the water is convenient for pass through simultaneously revolution mechanic 1 adjusts extending structure 3's angle, thereby makes storage structure 5's collection scope is bigger, and then has improved the quality and the efficiency of sampling greatly, promptly: firstly, the base 11 is fixed on the ship body through bolts, so that the ship body does not obstruct the normal operation of the connecting rod 31 (the base 11 is of a U-shaped structure, and further the containing box 14 on the guide shaft 12 extends away from the base 11, so that the ship body does not affect the normal operation of the connecting rod 31), when the storage barrel 51 needs to be submerged into a water body, the motor 43 rotates, the length of the pull rope 41 wound by the winding wheel 44 on the motor 43 is reduced, the torsion spring 33 between two adjacent connecting rods 31 is reset, opposite ends of two adjacent connecting rods 31 rotate through the rotating shaft 32, the included angle between two adjacent connecting rods 31 is increased, and the connecting rods 31 drive the pull rope 41 to drive the first guide wheel 34 and the second guide wheel 42 to rotate, therefore, rolling friction force is generated between the pull rope 41 and the first guide wheel 34 and the second guide wheel 42, so that the pull rope 41 is prevented from being damaged by friction, meanwhile, the pull rope 41 is effectively prevented from being knotted, the position of the storage cylinder 51 away from the containing box 14 is changed through the change of the angle between the connecting rods 31, further, the sampling of water bodies at different depths is facilitated, the sampling quality is greatly improved, meanwhile, the dependence on electric elements is reduced, after the sampling of the storage cylinder 51 is finished, the motor 43 rotates reversely, the winding wheel 44 on the motor 43 winds the pull rope 41, and the pull rope 41 is wound; the connecting rods 31 are pulled to enable opposite ends of two adjacent connecting rods 31 to rotate through the rotating shaft 32, the torsion springs 33 between the two adjacent connecting rods 31 are compressed, an included angle between the two adjacent connecting rods 31 is gradually reduced, the storage cylinder 51 is exposed out of the liquid level, meanwhile, the handle 13 can be held by hand, the handle 13 drives the storage box 14 and the guide shaft 12 to rotate, and further the sampling range of the storage cylinder 51 is larger.
Specifically, the angle adjusting structure 2 includes a driving shaft 21, a transmission rod 22, a push rod 23 and an electric hydraulic cylinder 24, the driving shaft 21 is rotatably connected with the storage box 14, one of the connecting rods 31 facing the storage box 14 is fixed to the driving shaft 21, the transmission rod 22 is arranged on the driving shaft 21, one end of the push rod 23 is rotatably connected with the transmission rod 22, the other end of the push rod 23 is rotatably connected with the electric hydraulic cylinder 24, and the electric hydraulic cylinder 24 is fixed to the storage box 14; be used for connecting in the hull be equipped with on the revolution mechanic 1 and be used for adjusting extending structure 3's angle regulation structure 2, extending structure 3's end fixing in angle regulation structure 2, just extending structure 3 passes through angle regulation structure 2 with rotate between the revolution mechanic 1 and be connected, and then be convenient for pass through angle regulation structure 2 is adjusted extending structure 3's angle makes the extending range of extending structure 3's tip is bigger, and then makes the scope of sampling bigger, has improved the efficiency and the quality of water sampling greatly, promptly: when the scope of the adoption of the tip of storage cylinder 51 needs to be adjusted, through the length change of electric hydraulic cylinder 24, electric hydraulic cylinder 24 drives push rod 23, electric hydraulic cylinder 24 is in the drive during push rod 23, electric hydraulic cylinder 24 with rotate between push rod 23, simultaneously push rod 23 with rotate between the transfer line 22, push rod 23 drive transfer line 22 drives drive shaft 21 rotates, and then through drive shaft 21 drives connecting rod 31 with the angle change between the containing box 12, and then make the tip of connecting rod 31 the scope of the collection of storage cylinder 51 is bigger, has improved the efficiency and the quality of water sampling greatly.
Specifically, the storage structure 5 includes a storage cylinder 51, an end cap 52, a driving rod 53, a connecting rope 54, a first return spring 55 and a piston 56, one end of the connecting rope 54 is fixed to an end of the connecting rod 31 that is away from the end of the storage box 14, the connecting rope 54 is fixed to the end cap 52, the end cap 52 is in threaded connection with the storage cylinder 51 for storing samples, the driving rod 53 is in sliding connection with the end cap 52, the end of the driving rod 53 is provided with the piston 56, the piston 56 is in sliding connection with the storage cylinder 51, the driving rod 53 penetrates through the first return spring 55, and two ends of the first return spring 55 are fixed to the piston 56 and the end cap 52 respectively.
Specifically, the sealing structure 6 includes a filter screen 61, a transmission sleeve 62, a flow guide pipe 63, a transmission plug 64, a sealing ring 65, a guide frame 66, a second return spring 67, a flow guide groove 68 and a liquid discharge groove 69, the guide frame 66 is arranged inside the storage cylinder 51, the end part of the storage cylinder is T-shaped, the transmission plug 64 is slidably connected with the guide frame 66, two ends of the second return spring 67 respectively abut against the transmission plug 64 and the guide frame 66, the minimum diameter of the transmission plug 64 is smaller than the diameter of the flow guide groove 68 on the storage cylinder 51, the transmission plug 64 penetrates through the flow guide groove 68, the sealing ring 65 with a parallelogram-shaped cross section is arranged on the transmission plug 64, the sealing ring 65 abuts against the storage cylinder 51, the transmission sleeve 62 with a hemispherical accommodation cavity of a hemispherical structure is fixed at the end part of the transmission plug 64, the transmission sleeve 62 is provided with the filter screen 61 with a truncated cone-shaped edge, the filter screen 61 is connected with the storage cylinder 51 in a sliding manner, the bottom end of the transmission sleeve 62 is provided with the guide pipe 63, and the guide pipe 63 is communicated with the liquid discharge groove 69 on the transmission plug 64; the angle adjusting structure 2 used for adjusting the angle of the telescopic structure 3 is arranged on the rotating structure 1 connected with the ship body, the end part of the telescopic structure 3 is fixed on the angle adjusting structure 2, the telescopic structure 3 is rotatably connected with the rotating structure 1 through the angle adjusting structure 2, the end part of the telescopic structure 3 is provided with the storage structure 5 used for sampling sewage, the end part of the storage structure 5 is provided with the sealing structure 6 used for sealing, the sealing structure 6 is detachably connected with the storage structure 5, so that the telescopic structure 3 is driven to rotate through the angle adjusting structure 2, the telescopic structure 3 is driven to move to drive the storage structure 5 to move in the water body, and the storage structure 5 is different from the resistance of the sealing structure 6 in the water body in the moving process, make seal structure 6 is right storage structure 5 is not sealed, and then be convenient for quick automation toward the water sample in certain degree of depth interval is gathered to storage structure 5's inside, and then has improved the efficiency and the quality of the collection of sample greatly, promptly: firstly, the driving rod 53 is pressed, the driving rod 53 drives the first return spring 55 to extend, when the driving rod 53 drives the piston 56 to slide with the storage cylinder 51, the pressure inside the storage cylinder 51 increases, so that the gas drives the sealing ring 65 through the diversion groove 68, the sealing ring 65 is not sealed with the storage cylinder 51, the sealing ring 65 drives the transmission plug 64, the transmission plug 64 drives the second return spring 67 to compress, so that the gas inside the storage cylinder 51 is discharged from the diversion groove 68, when the driving rod 53 is released, the first return spring 55 compresses, the first return spring 55 drives the piston 56 to slide with the storage cylinder 51, so that the space inside the storage cylinder 51 is enlarged, the second return spring 67 extends to drive the transmission plug 64 to slide with the guide frame 66, the transmission plug 64 drives the sealing ring 65 to abut against the storage cylinder 51 to seal the diversion trench 68, the sealing performance between the sealing ring 65 and the storage cylinder 51 is better under the action of atmospheric pressure, then when the connecting rod 31 drives the storage cylinder 51 to submerge, the sealing performance between the sealing ring 65 and the storage cylinder 51 is further better under the action of water pressure, when a water body sample is collected, the storage cylinder 51 submerges into a specified depth interval (the storage cylinder 51 submerges into the specified interval, so that the storage cylinder 51 is still in a certain collection interval under the acceleration action, so that the sample still comes from a fixed depth interval), the length of the electric hydraulic cylinder 24 is changed, the electric hydraulic cylinder 24 drives the push rod 23, and when the electric hydraulic cylinder 24 drives the push rod 23, the electric hydraulic cylinder 24 and the push rod 23 rotate, meanwhile, the push rod 23 and the transmission rod 22 rotate, the push rod 23 drives the transmission rod 22 to drive the driving shaft 21 to rotate, the driving shaft 21 drives the connecting rod 31 and the containing box 12 to change the angle, the connecting rope 54 at the end of the connecting rod 31 drives the storage cylinder 51 on the end cover 52 to accelerate rapidly, the transmission sleeve 62 is of a hemispherical structure, and further has a resistance angle with the water body, under the condition of acceleration, the transmission sleeve 62 drives the transmission plug 64 and the guide frame 66 to slide, the second return spring 67 is compressed, the sealing ring 65 is not sealed with the diversion groove 68, sewage is filtered by the filter screen 61, enters the storage cylinder 51 through the diversion groove 68, and the first return spring 55 drives the piston 56 to slide, make sewage impress under the pressure automatically storage cylinder 51, the edge of filter screen 61 is the round platform shape, has increased filter area, effectively prevents that large granule sweeps from getting into diversion trench 68 causes the jam, works as transmission cover 62 with when the speed difference between the storage cylinder 51 reduces, second reset spring 67 extension drive transmission stopper 64 with slide between the guide frame 66, make transmission stopper 64 drive sealing washer 65 contradicts storage cylinder 51 is right diversion trench 68 seals, when storage cylinder 51 offers the surface of water after, will honeycomb duct 63 corresponds the sample storage bottle, honeycomb duct 63 with transmission cover 62 constitutes the funnel structure, presses actuating lever 53, actuating lever 53 drives first reset spring 55 extension, works as actuating lever 53 drives piston 56 with when sliding between the storage cylinder 51, the water flow pressure inside the storage cylinder 51 is increased, so that the sewage sample passes through the diversion trench 68 to drive the sealing ring 65, the sealing ring 65 is not sealed with the storage cylinder 51, the sealing ring 65 drives the transmission plug 64, the transmission plug 64 drives the second return spring 67 to compress, the sewage sample inside the storage cylinder 51 is discharged from the diversion trench 68, and then is discharged into a sample storage bottle from the liquid discharge trench 69, and the storage of the sample is more convenient and rapid.
When the ship is used, the base 11 is firstly fixed on the ship body through bolts, so that the ship body does not obstruct the normal operation of the connecting rods 31 (the base 11 is of a U-shaped structure, and further the containing box 14 on the guide shaft 12 extends towards the direction departing from the base 11, so that the normal operation of the connecting rods 31 is not influenced by the ship body), when the storage barrel 51 needs to be submerged in a water body, the motor 43 rotates, the length of the pull rope 41 wound by the winding wheel 44 on the motor 43 is reduced, the torsion spring 33 between two adjacent connecting rods 31 is reset, opposite ends of two adjacent connecting rods 31 rotate through the rotating shaft 32, the included angle between two adjacent connecting rods 31 is increased, the connecting rods 31 drive the pull rope 41 to drive the first guide wheel 34 and the second guide wheel 42 to rotate, further rolling friction force is generated between the pull rope 41 and the first guide wheel 34 and the second guide wheel 42, and further friction damage of the pull rope 41 is avoided, meanwhile, the knotting of the pull rope 41 is effectively prevented, the position of the storage cylinder 51 away from the containing box 14 is changed by changing the angle between the connecting rods 31, so that water bodies at different depths can be sampled conveniently, the sampling quality is greatly improved, the dependence on electrical elements is reduced, and after the sampling of the storage cylinder 51 is finished, the motor 43 rotates reversely, so that the winding wheel 44 on the motor 43 winds the pull rope 41 and the pull rope 41; the connecting rods 31 are pulled to enable the opposite ends of the two adjacent connecting rods 31 to rotate through the rotating shaft 32, the torsion spring 33 between the two adjacent connecting rods 31 is compressed, the included angle between the two adjacent connecting rods 31 is gradually reduced, the storage cylinder 51 is exposed out of the liquid level, meanwhile, the handle 13 can be held by a hand, the handle 13 drives the storage box 14 and the guide shaft 12 to rotate, and further the sampling range of the storage cylinder 51 is larger; when the adopted range of the end part of the storage cylinder 51 needs to be adjusted, the length of the electric hydraulic cylinder 24 is changed, the electric hydraulic cylinder 24 drives the push rod 23, when the electric hydraulic cylinder 24 drives the push rod 23, the electric hydraulic cylinder 24 rotates with the push rod 23, meanwhile, the push rod 23 rotates with the transmission rod 22, the push rod 23 drives the transmission rod 22 to drive the driving shaft 21 to rotate, further, the driving shaft 21 drives the connecting rod 31 to change the angle with the storage box 12, further, the acquisition range of the storage cylinder 51 at the end part of the connecting rod 31 is larger, and the efficiency and the quality of water body sampling are greatly improved; firstly, the driving rod 53 is pressed, the driving rod 53 drives the first return spring 55 to extend, when the driving rod 53 drives the piston 56 to slide with the storage cylinder 51, the pressure inside the storage cylinder 51 is increased, so that the gas drives the sealing ring 65 through the diversion groove 68, the sealing ring 65 is not sealed with the storage cylinder 51, the sealing ring 65 drives the transmission plug 64, the transmission plug 64 drives the second return spring 67 to compress, so that the gas inside the storage cylinder 51 is discharged from the diversion groove 68, when the driving rod 53 is released, the first return spring 55 compresses, the first return spring 55 drives the piston 56 to slide with the storage cylinder 51, so that the space inside the storage cylinder 51 is enlarged, the second return spring 67 extends to drive the transmission plug 64 to slide with the guide frame 66, the transmission plug 64 drives the sealing ring 65 to abut against the storage cylinder 51 to seal the diversion groove 68, and the sealing performance between the sealing ring 65 and the storage cylinder 51 is better under the action of atmospheric pressure, then when the connecting rod 31 drives the storage cylinder 51 to be submerged, the sealing performance between the sealing ring 65 and the storage cylinder 51 is further better under the action of water pressure, when a water body sample is collected, the storage cylinder 51 is submerged into a specified depth interval (the storage cylinder 51 is submerged into the specified interval, the storage cylinder 51 is still in a certain collection interval under the action of acceleration, and the sample is still from a fixed depth interval), the length of the electric hydraulic cylinder 24 is changed, the electric hydraulic cylinder 24 drives the push rod 23, when the electric hydraulic cylinder 24 drives the push rod 23, the electric hydraulic cylinder 24 rotates between the push rod 23 and the push rod 24, meanwhile, the push rod 23 rotates between the push rod 23 and the transmission rod 22, the push rod 23 drives the transmission rod 22 to drive the driving shaft 21 to rotate, further, the angle between the connecting rod 31 and the storage box 12 is changed through the driving shaft 21, and further, the connecting rope 54 at the end of the connecting rod 31 drives the storage cylinder 51 on the end cover 52 to be rapidly accelerated, the transmission sleeve 62 is of a hemispherical structure, so that the resistance angle with the water body is realized, under the condition of acceleration, the transmission sleeve 62 drives the transmission plug 64 to slide between the guide frame 66, the second return spring 67 is compressed, the sealing ring 65 is unsealed on the diversion trench 68, sewage is filtered by the filter screen 61 and enters the storage cylinder 51 through the diversion trench 68, meanwhile, the first return spring 55 drives the piston 56 to slide, the sewage is automatically pressed into the storage cylinder 51 under the action of pressure, the edge of the filter screen 61 is in a circular truncated cone shape, the filtering area is increased, large-particle waste scraps are effectively prevented from entering the diversion trench 68 to cause blockage, when the speed difference between the transmission sleeve 62 and the storage cylinder 51 is reduced, the second return spring 67 extends to drive the transmission plug 64 to slide between the guide frame 66, the transmission plug 64 drives the sealing ring 65 to abut against the storage cylinder 51 to seal the diversion trench 68, and after the storage cylinder 51 is lifted out of the water surface, the guide pipe 63 corresponds to a sample storage bottle, the guide pipe 63 and the transmission sleeve 62 form a funnel structure, the driving rod 53 is pressed, the driving rod 53 drives the first return spring 55 to extend, when the driving rod 53 drives the piston 56 and the storage cylinder 51 to slide, the water flow pressure inside the storage cylinder 51 is increased, so that the sewage sample passes through the diversion trench 68 to drive the sealing ring 65, the sealing ring 65 and the storage cylinder 51 are not sealed, the sealing ring 65 drives the transmission plug 64, the transmission plug 64 drives the second return spring 67 to compress, the sewage sample inside the storage cylinder 51 is discharged from the diversion trench 68, and then the sewage sample is discharged into the sample storage bottle from the liquid discharge trench 69, and the storage of the sample is more convenient and faster.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (5)
1. The utility model provides a sample acquisition mechanism for environmental protection robot which characterized in that: the device comprises a rotating structure (1), an angle adjusting structure (2), a telescopic structure (3), a driving structure (4), a storage structure (5) and a sealing structure (6); the angle adjusting structure (2) used for adjusting the angle of the telescopic structure (3) is arranged on the rotating structure (1) used for being connected to the ship body, the end part of the telescopic structure (3) is fixed on the angle adjusting structure (2), and the telescopic structure (3) is rotatably connected with the rotating structure (1) through the angle adjusting structure (2); the driving structure (4) is arranged in the rotating structure (1), and the driving structure (4) is connected to the telescopic structure (3); the end part of the telescopic structure (3) is provided with the storage structure (5) for sampling sewage, the end part of the storage structure (5) is provided with the sealing structure (6) for sealing, and the sealing structure (6) is detachably connected with the storage structure (5);
the storage structure (5) comprises a storage barrel (51), an end cover (52), a driving rod (53), a connecting rope (54), a first return spring (55) and a piston (56), one end of the connecting rope (54) is fixed to the telescopic structure (3), the connecting rope (54) is fixed to the end cover (52), the end cover (52) is in threaded connection with the storage barrel (51) used for storing samples, the driving rod (53) is in sliding connection with the end cover (52), the piston (56) is arranged at the end of the driving rod (53), the piston (56) is in sliding connection with the storage barrel (51), the driving rod (53) penetrates through the first return spring (55), and two ends of the first return spring (55) are respectively fixed to the piston (56) and the end cover (52);
the sealing structure (6) comprises a filter screen (61), a transmission sleeve (62), a guide pipe (63), a transmission plug (64), a sealing ring (65), a guide frame (66), a second reset spring (67), a guide groove (68) and a liquid discharge groove (69), the inside of the storage cylinder (51) is provided with the guide frame (66), the end part is T-shaped, the transmission plug (64) is in sliding connection with the guide frame (66), the two ends of the second reset spring (67) are respectively abutted against the transmission plug (64) and the guide frame (66), the minimum diameter of the transmission plug (64) is smaller than the diameter of the guide groove (68) on the storage cylinder (51), the transmission plug (64) runs through the guide groove (68), the sealing ring (65) with the cross section of which is parallelogram is arranged on the transmission plug (64), and the sealing ring (65) is abutted against the storage cylinder (51), the hemispherical structure has a hemispherical accommodating cavity, the transmission sleeve (62) is fixed at the end part of the transmission plug (64), the transmission sleeve (62) is provided with a filter screen (61) with a truncated cone-shaped edge, the filter screen (61) is in sliding connection with the storage cylinder (51), the bottom end of the transmission sleeve (62) is provided with the guide pipe (63), and the guide pipe (63) is communicated with the liquid drainage groove (69) on the transmission plug (64).
2. The environmental protection sample collection mechanism for robots of claim 1, characterized in that: revolution mechanic (1) includes base (11), guiding axle (12), handle (13) and containing box (14), the inside of containing box (14) is equipped with drive structure (4), the cross-section is the U-shaped structure handle (13) are fixed in the lateral wall of containing box (14), guiding axle (12) with rotate between containing box (14) and be connected, guiding axle (12) with handle (13) are located the adjacent lateral wall of containing box (14), the cross-section is the U-shaped structure base (11) are fixed in guiding axle (12) deviate from the one end of containing box (14).
3. The environmental protection sample collection mechanism for robots of claim 2, characterized in that: drive structure (4) include stay cord (41), second leading wheel (42), motor (43) and rolling wheel (44), motor (43) are located the inside of containing box (14), be equipped with on motor (43) rolling wheel (44), and the cross-section is "worker" font structure it has twined on rolling wheel (44) stay cord (41), stay cord (41) twine in on containing box (14) second leading wheel (42), just second leading wheel (42) with rotate between containing box (14) and be connected.
4. The environmental protection sample collection mechanism for robot of claim 3, characterized in that: the telescopic structure (3) comprises a plurality of connecting rods (31), a rotating shaft (32), a torsion spring (33), a first guide wheel (34) and a guide groove (35), the end part of one connecting rod (31) facing the containing box (14) is connected to the angle adjusting structure (2), the rotating shaft (32) penetrates through two adjacent connecting rods (31), two adjacent connecting rods (31) are rotatably connected through the rotating shaft (32), the torsion spring (33) penetrates through the rotating shaft (32), opposite ends of two adjacent connecting rods (31) are respectively connected to two ends of the torsion spring (33), the connecting rods (31) are in a zigzag wave-shaped structure, the guide groove (35) is arranged on one group of parallel connecting rods (31), and the first guide wheel (34) is arranged inside the guide groove (35), the first guide wheel (34) is rotatably connected with the connecting rod (31), the end of the pull rope (41) penetrates through the guide groove (35) and is wound on the first guide wheel (34), and one end, deviating from the winding wheel (44), of the pull rope (41) is fixed to one connecting rod (31) deviating from the end of the containing box (14).
5. The environmental protection sample collection mechanism for robot of claim 4, wherein: angle modulation structure (2) include drive shaft (21), transfer line (22), push rod (23) and electric hydraulic cylinder (24), drive shaft (21) with rotate between containing box (14) and be connected, the orientation one of containing box (14) connecting rod (31) are fixed in drive shaft (21), be equipped with on drive shaft (21) transfer line (22), the one end of push rod (23) with rotate between transfer line (22) and be connected, the other end of push rod (23) with rotate between electric hydraulic cylinder (24) and be connected, electric hydraulic cylinder (24) are fixed in containing box (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010668294.0A CN111872949B (en) | 2020-07-13 | 2020-07-13 | Sample collection mechanism for environment-friendly robot |
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| CN202010668294.0A CN111872949B (en) | 2020-07-13 | 2020-07-13 | Sample collection mechanism for environment-friendly robot |
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| CN111872949B true CN111872949B (en) | 2021-09-28 |
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| GB2365122B (en) * | 2000-05-31 | 2004-05-05 | Abb Instrumentation Ltd | Analysis device |
| CN204269640U (en) * | 2014-12-09 | 2015-04-15 | 浙江省海洋水产研究所 | A kind of seawater detects and collecting device |
| CN105115784B (en) * | 2015-07-27 | 2017-12-29 | 江苏省电力公司扬州供电公司 | A kind of water sample acquisition device and its application method |
| CN105784420B (en) * | 2016-04-13 | 2018-05-25 | 浙江大学 | Shallow-water deposit object and water sample acquisition device and its method |
| CN105842011B (en) * | 2016-05-04 | 2018-08-10 | 山东鲁抗中和环保科技有限公司 | A kind of liquid layered sampler and the method to liquid progress Stratified Sampling |
| CN208653861U (en) * | 2018-09-09 | 2019-03-26 | 黄纲 | It is a kind of only to swing device for seawater sampling operation |
| CN209559571U (en) * | 2019-03-14 | 2019-10-29 | 周文国 | A kind of water project management water sampler |
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