CN117030361A - Pipeline water sample collection robot and collection method - Google Patents
Pipeline water sample collection robot and collection method Download PDFInfo
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- CN117030361A CN117030361A CN202311245055.4A CN202311245055A CN117030361A CN 117030361 A CN117030361 A CN 117030361A CN 202311245055 A CN202311245055 A CN 202311245055A CN 117030361 A CN117030361 A CN 117030361A
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- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 title claims abstract description 118
- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005070 sampling Methods 0.000 claims abstract description 46
- 238000000926 separation method Methods 0.000 claims description 34
- 238000007599 discharging Methods 0.000 claims description 30
- 238000012546 transfer Methods 0.000 claims description 19
- 238000005086 pumping Methods 0.000 claims description 18
- 238000000605 extraction Methods 0.000 claims description 14
- 239000007788 liquid Substances 0.000 claims description 11
- 238000012545 processing Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 230000001737 promoting effect Effects 0.000 claims description 4
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000002910 solid waste Substances 0.000 claims 11
- 238000013519 translation Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 230000000903 blocking effect Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 239000012528 membrane Substances 0.000 description 3
- 238000003809 water extraction Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005192 partition Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 230000007797 corrosion Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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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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- 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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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L2101/00—Uses or applications of pigs or moles
- F16L2101/30—Inspecting, measuring or testing
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- General Physics & Mathematics (AREA)
- General Health & Medical Sciences (AREA)
- Biochemistry (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Analytical Chemistry (AREA)
- Robotics (AREA)
- Health & Medical Sciences (AREA)
- Physics & Mathematics (AREA)
- Hydrology & Water Resources (AREA)
- Manipulator (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The application relates to a pipeline water sample collection robot and a collection method, which belong to the technical field of pipeline collection and comprise the following steps: the casing, install camera mechanism and running gear on the casing, install the control box in the casing, install the support frame in the casing, install storage mechanism on the support frame, be provided with the sampling mechanism that is used for gathering the water sample on the storage mechanism, sampling mechanism includes: the novel water sampling device comprises a storage mechanism, wherein a plurality of first hemispheres and a plurality of second hemispheres are arranged in the storage mechanism, a combined mechanism used for forming an air cavity by matching the first hemispheres with the second hemispheres is arranged on the storage mechanism, a rubber diaphragm and a sealed collecting pipe are arranged on the first hemispheres, a water storage bag is arranged on the sealed collecting pipe and in the air cavity, sampling accuracy is improved, meanwhile, the internal environment of a pipeline is recorded, time for waiting for taking a water sample is saved, the load of a robot is reduced, and working efficiency is improved.
Description
Technical Field
The application belongs to the technical field of pipeline collection, and particularly relates to a pipeline water sample collection robot and a collection method.
Background
In the background of the rapid development of modern cities, various pipeline environments are spread over all corners of the cities, pipeline problems are continuously caused under fast-paced urban life, including problems such as blockage, rust, corrosion, leakage, aging and the like, most substances in the pipeline are dangerous or harmful to human beings, and therefore, the detection of the pipeline is extremely unfavorable by adopting a traditional manual mode.
When the water quality inside urban underground pipelines is required to be detected, as most pipelines are underground and have long paths, the phenomena of large workload and low efficiency exist by adopting a random sampling and excavating method; and many pipelines lose structural drawings due to overlong construction time and the like, so that the internal structure of the pipeline is difficult to clearly know.
Disclosure of Invention
The application aims to solve the technical problems, and further provides a pipeline water sample collection robot and a collection method.
The specific technical scheme of the application is as follows: a pipeline water sample collection robot comprising: the casing, install camera mechanism and running gear on the casing, install the control box in the casing, install the support frame in the casing, install storage mechanism on the support frame, be provided with the sampling mechanism that is used for gathering the water sample on the storage mechanism, sampling mechanism includes: the storage mechanism is internally provided with a plurality of first hemispheres and a plurality of second hemispheres, the storage mechanism is internally provided with a combined mechanism for matching the first hemispheres with the second hemispheres to form an air cavity, the first hemispheres are provided with rubber diaphragms and sealed collecting pipes, the sealed collecting pipes are provided with water storage bags, the water storage bags are arranged in the air cavity, the shell is provided with an air extraction component matched with the air cavity, the shell is provided with a water pumping pipe matched with the water storage bags, the combined mechanism is provided with a transfer mechanism, the shell is internally provided with an output mechanism, the transfer mechanism is used for moving the matched first hemispheres and second hemispheres into the output mechanism, and the output mechanism is used for discharging the matched first hemispheres and second hemispheres out of the shell.
Further, the storage mechanism includes: the first storage assembly and the second storage assembly are arranged on the support frame, the first storage assembly used for storing and pushing the plurality of first hemispheres is arranged on the support frame, and the second storage assembly used for storing and pushing the plurality of second hemispheres is arranged on the support frame.
Further, the pumping assembly includes: the air pump is installed in the casing, install the exhaust tube on the air pump input, the exhaust tube input is installed on second storage subassembly, and the exhaust tube input sets up to the pointed cone that is used for penetrating rubber diaphragm, and the exhaust tube output sets up to the pointed cone that is used for inserting sealed collection pipe, and sliding connection has a fender liquid ring on the exhaust tube output, links to each other through first thrust spring between fender liquid ring and the second storage subassembly.
Further, the combination mechanism includes: the sliding frame is connected with the sliding frame in a sliding manner, a C-shaped sliding frame is installed at one end of the sliding frame, a separation frame used for separating the first hemispheres and the remaining first hemispheres is connected with the C-shaped sliding frame in a sliding manner through a second thrust spring, a push plate used for pushing the first hemispheres is installed on the C-shaped sliding frame, a power mechanism used for driving the separation frame is installed on the supporting frame, and a driving mechanism used for driving the second hemispheres to move is installed on the C-shaped sliding frame.
Further, the transfer mechanism includes: the splitter plate, the splitter plate that is used for separating first second hemisphere and remaining second hemisphere is installed to the carriage other end, and the circular arc swash plate that is used for pushing out second storage module with second hemisphere after the cooperation and first hemisphere is installed to the carriage other end, installs first direction slide on the second storage module, installs the second direction slide on the output mechanism, and first direction slide and second direction slide are used for leading first hemisphere and second hemisphere after the cooperation.
Further, the output mechanism includes: the output box and the water-proof discharging mechanism are installed in the shell, the water-proof discharging mechanism for discharging the matched second hemisphere and first hemisphere out of the output box is connected in a sliding mode in the output box, and the inclined driving frame for driving the water-proof discharging mechanism is installed on the C-shaped sliding frame.
Further, the control box includes: the data processing module is electrically connected with the camera shooting mechanism, the travelling mechanism and the power mechanism, and the positioning module and the wireless communication module are electrically connected with the data processing module.
Further, the pipeline water sample collection method of the pipeline water sample collection robot comprises the following specific steps:
s1, a pipeline water sample collection robot enters a pipeline by using a travelling mechanism, draws a pipeline map by real-time positioning and obtains picture information in the pipeline by using a camera mechanism;
s2, a sampling mechanism collects water samples in the pipeline;
s3, discharging the sampling mechanism after the collection from the interior of the pipeline water sample collection robot by the output mechanism, and obtaining the sampling mechanism which floats down from the pipeline by a detector in the pipeline to detect the water sample in the pipeline;
s4, the pipeline water sample collection robot moves to the next sampling position and collects water samples in the pipeline again through the sampling mechanism.
Further, the concrete method for water sample collection in the pipeline by the sampler in the step S2 is that firstly, the power mechanism drives the C-shaped sliding frame to move through the separation frame, after the C-shaped sliding frame contacts with the second storage component, the separation frame drives the first hemispheres to move along the C-shaped sliding frame through the push plate and enter the second storage component, meanwhile, the C-shaped sliding frame drives the plurality of second hemispheres to be far away from the water suction pipe and the air suction pipe through the driving mechanism, then the power mechanism drives the separation frame to move reversely, the driving mechanism is driven to reset through the C-shaped sliding frame, the second storage component drives the first hemispheres to be matched with the first hemispheres through pushing the plurality of second hemispheres, meanwhile, the air suction pipe is communicated with the air cavity, the air suction pipe is communicated with the water storage bag, the air pump is started to pump air in the air cavity through the air suction pipe, and the water storage bag is expanded under the action of air pressure to absorb water.
Further, the specific method that the output mechanism discharges the collected sampling mechanism from the pipeline water sample collecting robot in the step S3 is that the power mechanism drives the separation frame to move reversely, the separation frame drives the transfer mechanism to move towards the second storage component through the C-shaped sliding frame and the sliding frame, the transfer mechanism separates the remaining second hemisphere from the first second hemisphere, then pushes the matched first hemisphere and second hemisphere to separate from the exhaust pipe and the pumping pipe, meanwhile, the C-shaped sliding frame drives the water-proof discharging mechanism to move upwards through the oblique driving frame, then the transfer mechanism pushes the matched first hemisphere and second hemisphere into the output mechanism from the second storage component, and when the power mechanism drives the separation frame to move towards the second storage component, the matched first hemisphere and second hemisphere are discharged out of the shell through the water-proof discharging mechanism.
The beneficial effects are that: according to the application, the camera shooting mechanism and the travelling mechanism are arranged on the shell, the control box is arranged in the shell, the support frame is arranged in the shell, the storage mechanism is arranged on the support frame, the sampling mechanism for collecting water samples is arranged on the storage mechanism, and the sampling mechanism comprises: the storage mechanism is internally provided with a plurality of first hemispheres and a plurality of second hemispheres, the storage mechanism is internally provided with a combined mechanism for matching the first hemispheres with the second hemispheres to form an air cavity, the first hemispheres are provided with rubber diaphragms and sealed collecting pipes, the sealed collecting pipes are provided with water storage bags, the water storage bags are arranged in the air cavity, the shell is provided with an air extraction component matched with the air cavity, the shell is provided with a water pumping pipe matched with the water storage bags, the combined mechanism is provided with a transfer mechanism, the shell is internally provided with an output mechanism, the transfer mechanism is used for moving the matched first hemispheres and second hemispheres into the output mechanism, the output mechanism is used for discharging the matched first hemispheres and second hemispheres out of the shell, pollution to subsequent water quality samples is avoided, sampling accuracy is improved, and meanwhile, the internal environment of the pipeline is recorded, the time for waiting for taking water samples is saved, the load of the robot is reduced, and the working efficiency is improved.
Drawings
FIG. 1 is a schematic structural view of a pipeline water sample collection robot of the present application;
FIG. 2 is a partial cross-sectional view of the pipe water sampling robot of the present application;
FIG. 3 is a schematic diagram of a sampling mechanism according to the present application;
FIG. 4 is a schematic view of the mounting locations of the combining mechanism and sampling mechanism of the present application;
FIG. 5 is a schematic diagram showing the combination of the combination mechanism and the sampling mechanism according to the present application;
FIG. 6 is a second schematic diagram of the combination mechanism and sampling mechanism of the present application;
FIG. 7 is a schematic diagram of a first memory component according to the present application;
FIG. 8 is a schematic diagram of a second storage assembly according to the present application;
FIG. 9 is a schematic view of the mounting locations of the first storage assembly and the second storage assembly of the present application;
FIG. 10 is a schematic diagram of the combination mechanism and output mechanism of the present application;
FIG. 11 is a schematic view of a combination mechanism according to the present application;
FIG. 12 is a schematic view of the mounting position of the driving mechanism of the present application;
FIG. 13 is a schematic view of a driving mechanism according to the present application;
FIG. 14 is a partial cross-sectional view of a slider of the present application;
FIG. 15 is a schematic view of the mounting position of the output mechanism of the present application;
FIG. 16 is a schematic view of the output mechanism of the present application;
the device comprises a shell 1, an image pickup mechanism 2, a traveling mechanism 3, a control box 4, a support frame 5, a storage mechanism 6, a first storage component 61, a first storage barrel 611, a first pushing plate 612, a second storage component 62, a second storage barrel 621, a second pushing plate 622, a limit plate 623, a sampling mechanism 7, a first hemisphere 71, a second hemisphere 72, an air cavity 73, a rubber diaphragm 74, a sealed collection tube 75, a water storage bag 76, an air extraction component 77, an air pump 771, an air extraction tube 772, a water extraction tube 78, a liquid blocking ring 79, a combination mechanism 8, a sliding frame 81, a C-shaped carriage 82, a separation frame 83, a push plate 84, a power mechanism 85, a driving mechanism 86, a translation driving frame 861, a sliding block 862, a driving block 863, a round bar 864, a transfer mechanism 9, a separation plate 91, a circular arc inclined plate 92, a first guide slide 93, a second guide slide 94, an output mechanism 10, an output box 101, a water blocking discharge mechanism 102, a receiving plate 1021, a connecting rod 1022, a squeeze plate 3, a limit ring 1024, an L-shaped frame 1025, a triangle block 1026, an oblique driving frame 103.
Detailed Description
The following description of the embodiments of the present application will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present application, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
In the description of the present application, it should be understood that the terms "upper," "middle," "outer," "inner," and the like indicate an orientation or a positional relationship, and are merely for convenience of describing the present application and simplifying the description, but do not indicate or imply that the components or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present application.
Example 1: a pipeline water sample collection robot is described in connection with fig. 1 to 6 and 13, comprising: the casing 1, install camera mechanism 2 and running gear 3 on the casing 1, install control box 4 in the casing 1, install support frame 5 in the casing 1, install storage mechanism 6 on the support frame 5, be provided with the sampling mechanism 7 that is used for gathering the water sample on the storage mechanism 6, sampling mechanism 7 includes: the storage mechanism 6 is internally provided with a plurality of first hemispheres 71 and a plurality of second hemispheres 72, the storage mechanism 6 is provided with a combined mechanism 8 for matching the first hemispheres 71 with the second hemispheres 72 to form an air cavity 73, the first hemispheres 71 are provided with rubber diaphragms 74 and sealed collecting pipes 75, the sealed collecting pipes 75 are provided with water storage bags 76, the water storage bags 76 are arranged in the air cavity 73, the shell 1 is provided with an air pumping assembly 77 matched with the air cavity 73, the shell 1 is provided with a water pumping pipe 78 matched with the water storage bags 76, the combined mechanism 8 is provided with a transfer mechanism 9, the shell 1 is internally provided with an output mechanism 10, the transfer mechanism 9 is used for moving the matched first hemispheres 71 and second hemispheres 72 into the output mechanism 10, and the output mechanism 10 is used for discharging the matched first hemispheres 71 and second hemispheres 72 out of the shell 1.
The pipeline water sample collection robot can move in a pipeline by utilizing the travelling mechanism 3, the camera mechanism 2 checks and scans the inside of the pipeline, after the pipeline water sample collection robot moves to a position where a water sample is required to be collected, the first hemisphere 71 and the second hemisphere 72 are matched through the combined mechanism 8 to form the air cavity 73, then the air in the air cavity 73 is pumped out by utilizing the pumping assembly 77, the water storage bag 76 begins to expand under the action of atmospheric pressure, the expanded water storage bag 76 collects the water sample into the water storage bag 76 through the pumping pipe 78, the transfer mechanism 9 and the output mechanism 10 discharge the sampling mechanism 7 after the water sample is collected into the pipeline, the water sample collected by the detection personnel can be detected at the pipeline opening by utilizing the water flow conveying sampling mechanism 7 in the pipeline, and the detection personnel can detect the water sample at the pipeline opening when the pipeline water sample collection robot performs water sample collection in the pipeline.
According to the application, the camera shooting mechanism 2 and the travelling mechanism 3 are arranged on the shell 1, the control box 4 is arranged in the shell 1, the support frame 5 is arranged in the shell 1, the storage mechanism 6 is arranged on the support frame 5, the storage mechanism 6 is provided with the sampling mechanism 7 for collecting water samples, and the sampling mechanism 7 comprises: the storage mechanism 6 is internally provided with a plurality of first hemispheres 71 and a plurality of second hemispheres 72, the storage mechanism 6 is provided with a combined mechanism 8 for matching the first hemispheres 71 with the second hemispheres 72 to form an air cavity 73, the first hemispheres 71 are provided with rubber diaphragms 74 and sealed collecting pipes 75, the sealed collecting pipes 75 are provided with water storage bags 76, the water storage bags 76 are arranged in the air cavity 73, the shell 1 is provided with an air pumping assembly 77 matched with the air cavity 73, the shell 1 is provided with a water pumping pipe 78 matched with the water storage bags 76, the combined mechanism 8 is provided with a transfer mechanism 9, the shell 1 is internally provided with an output mechanism 10, the transfer mechanism 9 is used for moving the matched first hemispheres 71 and second hemispheres 72 into the output mechanism 10, the output mechanism 10 is used for discharging the matched first hemispheres 71 and second hemispheres 72 out of the shell 1, so that pollution to subsequent water quality samples is avoided, sampling accuracy is improved, and meanwhile, the internal environment of a pipeline is recorded, the time for waiting for water samples is saved, the load of a robot is reduced, and the work efficiency is improved.
Example 2: the storage mechanism 6 includes, on the basis of embodiment 1, as described with reference to fig. 7 to 9: a first storage assembly 61 and a second storage assembly 62, the first storage assembly 61 for storing and pushing a plurality of first hemispheres 71 is mounted on the support frame 5, the second storage assembly 62 for storing and pushing a plurality of second hemispheres 72 is mounted on the support frame 5, and the first storage assembly 61 comprises: the first storage barrel 611, the first storage barrel 611 is slidably connected with a first pushing plate 612 for pushing a plurality of first half balls 71, the first pushing plate 612 is connected with the first storage barrel 611 through a third thrust spring, so that the first storage barrel 611 is detachably mounted on the support frame 5, when the first half balls 71 are not in the first storage barrel 611, the first storage barrel 611 can be conveniently added, and the second storage assembly 62 comprises: the second storage bucket 621, sliding connection has the second pushing plate 622 that is used for promoting a plurality of second hemispheres 72 in the second storage bucket 621, links to each other through fourth thrust spring between second pushing plate 622 and the second storage bucket 621, and limiting plate 623 is installed to second storage bucket 621 one end, and second storage bucket 621 demountable installation is on support frame 5, conveniently adds second hemispheres 72 to the second storage bucket 621 in.
The present application is provided by mounting a first storage assembly 61 for storing and pushing a plurality of first hemispheres 71 on a support frame 5, and mounting a second storage assembly 62 for storing and pushing a plurality of second hemispheres 72 on the support frame 5, wherein the first storage assembly 61 comprises: the first storage barrel 611, a first pushing plate 612 for pushing the plurality of first half balls 71 is slidably connected in the first storage barrel 611, the first pushing plate 612 is connected with the first storage barrel 611 through a third thrust spring, and the second storage assembly 62 includes: the second storage bucket 621, sliding connection has the second pushing plate 622 that is used for promoting a plurality of second hemispheres 72 in the second storage bucket 621, links to each other through fourth thrust spring between second pushing plate 622 and the second storage bucket 621, makes inside more first hemispheres 71 and the second hemispheres 72 of can storing of pipeline water sample collection robot, and then increases the point position of pipeline water sample collection robot collection water sample, increases collection efficiency.
Example 3: as described with reference to fig. 6, 9 and 13 on the basis of embodiment 2, the pumping assembly 77 includes: the air pump 771, install air pump 771 in the casing 1, install exhaust tube 772 on the air pump 771 input, the delivery port on the exhaust tube 772 output is blocked up under the effect of first thrust spring, prevent the intraductal water flow of pipeline from entering into casing 1, when the intraductal rubber membrane of sealed collection is set up to be used for inserting sealed collection pipe 75's pointed cone, be provided with the rubber membrane in the sealed collection pipe 75, sliding connection has the fender liquid ring 79 on the extraput of exhaust tube 78, link to each other through first thrust spring between fender liquid ring 79 and the limiting plate 623 of second storage subassembly 62, the exhaust tube 78 input is located casing 1 always, the fender liquid ring 79 is blocked up under the effect of first thrust spring, prevent the intraductal water flow of pipeline from entering into casing 1, when the intraductal rubber membrane of sealed collection is penetrated by the pointed cone that the extraput of exhaust tube 78 output, sealed collection pipe 75 promotes fender liquid ring 79 to limiting plate 623, the delivery port enters into sealed collection pipe 75, later start 771 and make the downpipe 7773 with the water sample in the air pump 76 and the inflation balloon 76 through the exhaust tube 772 and make the water storage balloon 76 closely match together in the air pump 72, make the inflation balloon 76 and the inflation balloon.
According to the application, the air pump 771 is arranged in the shell 1, the air extraction tube 772 is arranged at the input end of the air pump 771, the input end of the air extraction tube 772 is arranged on the limiting plate 623 of the second storage component 62, the input end of the air extraction tube 772 is in a pointed cone shape for penetrating the rubber diaphragm 74, the output end of the air extraction tube 78 is in a pointed cone shape for being inserted into the sealed collecting tube 75, a rubber film is arranged in the sealed collecting tube 75, the output end of the air extraction tube 78 is connected with the liquid blocking ring 79 in a sliding manner, the liquid blocking ring 79 is connected with the limiting plate 623 of the second storage component 62 through the first thrust spring, and then the first hemisphere 71 and the second hemisphere 72 are matched together by utilizing atmospheric pressure to collect a water sample, so that the working process is simplified, and the collection efficiency is increased.
Example 4: the combination mechanism 8 described above with reference to fig. 9 to 11 includes, on the basis of embodiment 3: the carriage 81, sliding connection has carriage 81 on the support frame 5, C shape balladeur train 82 is installed to carriage 81 one end, sliding connection has the separation frame 83 that is used for separating first hemisphere 71 and surplus first hemisphere 71 on the C shape balladeur train 82, link to each other through third thrust spring between separation frame 83 and the C shape balladeur train 82, install the push pedal 84 that is used for promoting first hemisphere 71 on the C shape balladeur train 82, install the power unit 85 that is used for driving separation frame 83 on the support frame 5, install the actuating mechanism 86 that is used for driving the removal of a plurality of second hemispheres 72 on the C shape balladeur train 82, actuating mechanism 86 includes: the translation driving frame 861 is installed on the C-shaped carriage 82, the symmetrical sliding connection on the inner wall of the second storage barrel 621 has a slide block 862, the vertical sliding connection in the slide block 862 has a driving block 863, the driving block 863 is connected with the slide block 862 through a fifth thrust spring, the slide block 862 is installed with a round rod 864, the round rod 864 is slidingly connected in the translation driving frame 861, the outer surfaces of the first hemisphere 71 and the second hemisphere 72 are both provided with protruding blocks for preventing rotation in the installation process, and the protruding blocks are slidingly connected in the first storage assembly 61, the second storage assembly 62 and the C-shaped carriage 82, so that the first hemisphere 71 and the second hemisphere 72 after being matched can be quickly connected with the air extraction tube 772 and the water extraction tube 78.
According to the application, the carriage 81 is slidably connected to the support frame 5, one end of the carriage 81 is provided with the C-shaped carriage 82, the C-shaped carriage 82 is slidably connected with the separation frame 83 for separating the first hemisphere 71 and the rest first hemispheres 71, the separation frame 83 is connected with the C-shaped carriage 82 through the third thrust spring, the C-shaped carriage 82 is provided with the push plate 84 for pushing the first hemisphere 71, the support frame 5 is provided with the power mechanism 85 for driving the separation frame 83, the C-shaped carriage 82 is provided with the driving mechanism 86 for driving the second hemispheres 72 to move, and the driving mechanism 86 comprises: the translation driving frame 861 is installed on the C-shaped sliding frame 82, the symmetrical sliding connection has the slider 862 on the second storage bucket 621 inner wall, vertical sliding connection has the driving piece 863 in the slider 862, link to each other through fifth thrust spring between driving piece 863 and the slider 862, install round bar 864 on the slider 862, round bar 864 sliding connection is in translation driving frame 861, first hemisphere 71 and second hemisphere 72 surface all are provided with the protruding piece that is used for preventing taking place pivoted in the installation, make the first hemisphere 71 of separation and second hemisphere 72 can cooperate in the inside automation of robot, and then reduced the time that the cooperation process spent, still practiced thrift the inside space of robot, increased the number of times that the water sample was gathered, improved collection efficiency.
Example 5: the transfer mechanism 9 according to embodiment 4 will be described with reference to fig. 11 to 15, including: the splitter plate 91, the splitter plate 91 that is used for separating first second hemisphere 72 and remaining second hemisphere 72 is installed to the carriage 81 other end, and the circular arc swash plate 92 that is used for pushing out second storage module 62 with first hemisphere 72 after the cooperation is installed to the carriage 81 other end, installs first guide slide 93 on the second storage module 62, installs second guide slide 94 on the output mechanism 10, and first guide slide 93 and second guide slide 94 are used for guiding first hemisphere 71 and second hemisphere 72 after the cooperation.
According to the application, the partition plate 91 for separating the first second hemisphere 72 from the rest second hemispheres 72 is arranged at the other end of the sliding frame 81, the circular arc inclined plate 92 for pushing the matched second hemispheres 72 and first hemispheres 71 out of the second storage component 62 is arranged at the other end of the sliding frame 81, the first guide slideway 93 is arranged on the second storage component 62, the second guide slideway 94 is arranged on the output mechanism 10, the first guide slideway 93 and the second guide slideway 94 are used for guiding the matched first hemispheres 71 and second hemispheres 72, and the matched first hemispheres 71 and second hemispheres 72 are removed from the second storage bucket 621 by using the power mechanism 85, so that the cost is saved, and the transmission efficiency is improved.
Example 6: as described with reference to fig. 10, 11, 15 and 16 on the basis of embodiment 4, the output mechanism 10 includes: output box 101 and water proof discharging mechanism 102, install output box 101 in the casing 1, the sliding connection has the water proof discharging mechanism 102 that is used for discharging the second hemisphere 72 after the cooperation and first hemisphere 71 output box 101 in output box 101, install on the C shape balladeur train 82 and be used for driving the slant drive frame 103 of water proof discharging mechanism 102, water proof discharging mechanism 102 includes: the receiving board 1021, sliding connection has receiving board 1021, symmetrical connecting rod 1022 installed on receiving board 1021, connecting rod 1022 sliding connection is in slant driving frame 103, connecting rod 1022 sliding connection has squeeze board 1023, link to each other through sixth thrust spring between squeeze board 1023 and the receiving board 1021, install the spacing ring 1024 that is used for restricting squeeze board 1023 removal on the connecting rod 1022, install L-shaped frame 1025 on the output box 101, sliding connection has triangle 1026 on the L-shaped frame 1025, link to each other through seventh thrust spring between triangle 1026 and the L-shaped frame 1025.
The present application is characterized in that an output box 101 is mounted in a housing 1, a water-proof discharging mechanism 102 for discharging the matched second hemisphere 72 and first hemisphere 71 out of the output box 101 is slidably connected in the output box 101, an inclined driving frame 103 for driving the water-proof discharging mechanism 102 is mounted on a c-shaped carriage 82, and the water-proof discharging mechanism 102 comprises: the receiving board 1021 is slidably connected to the receiving board 1021 in the output box 101, the receiving board 1021 is symmetrically provided with a connecting rod 1022, the connecting rod 1022 is slidably connected in the oblique driving frame 103, the connecting rod 1022 is slidably connected with a pressing board 1023, the pressing board 1023 is connected with the receiving board 1021 through a sixth thrust spring, the connecting rod 1022 is provided with a limiting ring 1024 for limiting the movement of the pressing board 1023, the output box 101 is provided with an L-shaped frame 1025, the L-shaped frame 1025 is slidably connected with a triangle block 1026, the triangle block 1026 is connected with the L-shaped frame 1025 through a seventh thrust spring, and therefore, both the process of collecting water quality samples by the pipeline water sample collecting robot and the process of discharging the matched first hemisphere 71 and second hemisphere 72 are powered by single power, the power structure is simplified, and the transmission efficiency is improved.
Example 7: described with reference to fig. 2 on the basis of embodiment 6, the control box 4 includes: the data processing module is electrically connected with the camera shooting mechanism 2, the travelling mechanism 3 and the power mechanism 85, and the positioning module and the wireless communication module are electrically connected with the data processing module.
The application is electrically connected with the camera mechanism 2, the travelling mechanism 3 and the power mechanism 85 through the data processing module, and the positioning module and the wireless communication module are electrically connected with the data processing module, so that the pipeline water sample collection robot can draw the pipeline internal route and detect the pipeline internal environment simultaneously in the pipeline water quality sampling process, the staff can further know the pipeline internal condition, and the collection work and the mapping work are more convenient.
Example 8: a method for collecting a pipeline of a pipeline water sample collection robot according to embodiment 7, comprising the following specific steps:
s1, a pipeline water sample collection robot enters a pipeline by using a travelling mechanism 3, draws a pipeline map by real-time positioning and obtains picture information in the pipeline by using a camera mechanism 2;
s2, a sampling mechanism 7 collects water samples in the pipeline;
s3, discharging the sampling mechanism 7 after the collection from the interior of the pipeline water sample collection robot by the output mechanism 10, and obtaining the sampling mechanism 7 drifting down from the pipeline by a detector in the pipeline to detect the water sample in the pipeline;
s4, the pipeline water sample collection robot moves to the next sampling position and collects water samples in the pipeline again through the sampling mechanism 7.
In the specific method for collecting the water sample in the pipeline by the sampling mechanism 7 in the step S2, the power mechanism 85 drives the separation frame 83 and the C-shaped sliding frame 82 to move towards the first storage barrel 611, the separation frame 83 separates the first hemispheres 71 from the rest of the first hemispheres 71, the rest of the first hemispheres 71 are pushed into the first storage barrel 611, the separation frame 83 pushes the first hemispheres 71 towards the second storage barrel 621 through the push plate 84, meanwhile, the C-shaped sliding frame 82 drives the round rod 864 to drive the sliding block 862 to slide on the second storage barrel 621 through the translation driving frame 861, the sliding block 862 pushes the plurality of second hemispheres 72 towards the second pushing plate 622 through the driving block 863, the push plate 84 pushes the first hemispheres 71 to push the second storage barrel 621 after the C-shaped sliding frame 82 contacts with the second storage barrel 621, then the power mechanism 85 reversely drives the separation frame 83 to move, the translation driving frame 861 drives the sliding block 862 to reset through the round rod 864, meanwhile, the fourth thrust spring pushes the plurality of second hemispheres 72 to push the first hemispheres 72 towards the second hemispheres 72 through the second pushing plate 622, the air suction pipe 862 72 is pushed by the first hemispheres 72 to be close to the first hemispheres 71, and the air suction pipe 72 is pushed by the air pump inlet valve 72, and the air inlet valve 76 is pushed by the air inlet valve 72 is simultaneously, and the air inlet valve 76 is pushed into the air inlet valve 76 is in contact with the air inlet valve 76.
The specific method for discharging the collected sampling mechanism 7 from the interior of the pipeline water sample collecting robot by the output mechanism 10 in the step S3 is that the power mechanism 85 drives the separation frame 83 to move reversely, the separation frame 83 drives the separation plate 91 to move towards the second storage barrel 621 through the C-shaped sliding frame 82 and the sliding frame 81, the separation plate 91 separates the remaining second hemisphere 72 from the first second hemisphere 72, then the circular arc inclined plate 92 pushes the matched first hemisphere 71 and second hemisphere 72 to move towards the second pushing plate 622, meanwhile the first hemisphere 71 is separated from the air extraction pipe 772 and the water extraction pipe 78, the C-shaped sliding frame 82 drives the connecting rod 1022 to move upwards through the inclined driving frame 103, the connecting rod 1022 drives the receiving plate 1021 and the extruding plate 1023 to move upwards, then the circular arc inclined plate 92 pushes the combined first hemisphere 71 and second hemisphere 72 out of the second storage barrel 621, the first hemisphere 71 and the second hemisphere 72 enter between the receiving plate 1021 and the pressing plate 1023 along the first guide slide 93 and the second guide slide 94, when the power mechanism 85 drives the partition frame 83 and the C-shaped carriage 82 to move toward the first storage tub 611 again, the diagonal driving frame 103 moves the pressing plate 1023 downward through the link 1022 and the stop ring 1024, when the receiving plate 1021 contacts with the triangle 1026, the link 1022 continuing to move downward drives the receiving plate 1021 to move the triangle 1026 out of the output box 101 against the elastic force of the seventh thrust spring, after that, when the receiving plate 1021 passes the triangle 1026, the seventh thrust spring resets the triangle 1026, when the pressing plate 1023 contacts with the triangle 1026, the pressing plate 1023 presses the triangle 1026 out of the output box 101 through the stop ring 1024, after the receiving plate 1021 moves out of the output box 101, water enters between the pressing plate 1023 and the receiving plate 1021, after the pressing plate 1023 moves to the bottom of the output box 101, the combined first hemisphere 71 and second hemisphere 72 are pressed out of the output box 101 by the pressing plate 1023, the blocking of the output box 101 is omitted, the combined first hemisphere 71 and second hemisphere 72 are discharged along the water flow, then when the C-shaped sliding frame 82 drives the inclined driving frame 103 to move towards the second storage barrel 621, the inclined driving frame 103 drives the receiving plate 1021 to move upwards through the connecting rod 1022, the upper end of the pressing plate 1023 is contacted with the triangle 1026, the triangle 1026 can block the pressing plate 1023 to move upwards, the pressing plate 1023 slides on the connecting rod 1022 while the receiving plate 1021 presses the sixth thrust spring to approach the pressing plate 1023, water between the receiving plate 1021 and the pressing plate 1023 is extruded by the receiving plate 1021, after the sixth thrust spring is compressed to the limit, only a small gap exists between the receiving plate 1021 and the pressing plate 1023, and then the pressing plate 1023 is driven by the receiving plate 1021 to overcome the elasticity of the seventh thrust spring to press the triangle 1026 to be out of the output box 101, the pressing plate 1023 is reset by the sixth thrust spring after the triangle 1026, and the pressing plate 1023 is restored to the second hemisphere 72 and the pressing plate 1023 can be combined.
In the description of the present specification, the descriptions of the terms "one embodiment," "example," "specific example," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The preferred embodiments of the application disclosed above are intended only to assist in the explanation of the application. The preferred embodiments are not exhaustive or to limit the application to the precise form disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the application and the practical application, to thereby enable others skilled in the art to best understand and utilize the application. The application is limited only by the claims and the full scope and equivalents thereof.
Claims (10)
1. A pipeline water sample collection robot comprising: casing (1), install camera mechanism (2) and running gear (3) on casing (1), install control box (4) in casing (1), install support frame (5) in casing (1), install storage mechanism (6) on support frame (5), be provided with on storage mechanism (6) and be used for gathering sampling mechanism (7) of water sample, its characterized in that, sampling mechanism (7) include: the novel semi-solid waste storage device comprises a first semi-solid waste storage mechanism (71) and a second semi-solid waste storage mechanism (72), wherein a plurality of first semi-solid waste storage mechanism (71) and a plurality of second semi-solid waste storage mechanism (72) are arranged in the storage mechanism (6), a combined mechanism (8) for forming an air cavity (73) through cooperation of the first semi-solid waste storage mechanism (71) and the second semi-solid waste storage mechanism (72) is arranged on the storage mechanism (6), a rubber diaphragm (74) and a sealed collecting tube (75) are arranged on the first semi-solid waste storage mechanism (71), a water storage bag (76) is arranged on the sealed collecting tube (75), the water storage bag (76) is arranged in the air cavity (73), an air suction assembly (77) for being matched with the air cavity (73) is arranged on the shell (1), a water suction pipe (78) for being matched with the water storage bag (76) is arranged on the shell (1), an output mechanism (10) is arranged in the shell (1), the output mechanism (9) is arranged on the shell (8), the output mechanism (9) is used for moving the matched first semi-solid waste storage mechanism (71) and the second semi-solid waste storage mechanism (72) into the output mechanism (10), and the output mechanism (10) is used for discharging the matched first semi-solid waste storage mechanism (71).
2. A pipeline water sample collection robot according to claim 1, characterized in that the storage mechanism (6) comprises: the first storage component (61) and the second storage component (62), install on support frame (5) and be used for storing and promote first storage component (61) of a plurality of first hemispheres (71), install on support frame (5) and be used for storing and promote second storage component (62) of a plurality of second hemispheres (72).
3. A pipeline water sample collection robot according to claim 2, wherein the extraction assembly (77) comprises: air pump (771), install air pump (771) in casing (1), install exhaust tube (772) on air pump (771) input, install on second storage component (62) exhaust tube (772) input, exhaust tube (772) input sets up to the pointed cone that is used for penetrating rubber diaphragm (74), and riser (78) output sets up to the pointed cone that is used for inserting sealed collection pipe (75), and sliding connection has on riser (78) output and keeps off liquid ring (79), keeps off between liquid ring (79) and second storage component (62) and links to each other through first thrust spring.
4. A pipeline water sample collection robot according to claim 3, characterized in that the combining mechanism (8) comprises: the sliding frame (81), sliding connection has carriage (81) on support frame (5), C shape balladeur train (82) are installed to carriage (81) one end, sliding connection has separation frame (83) that are used for separating first hemisphere (71) and surplus first hemisphere (71) on C shape balladeur train (82), link to each other through second thrust spring between separation frame (83) and C shape balladeur train (82), install push pedal (84) that are used for promoting first hemisphere (71) on C shape balladeur train (82), install power unit (85) that are used for driving separation frame (83) on support frame (5), install actuating mechanism (86) that are used for driving the removal of a plurality of second hemispheres (72) on C shape balladeur train (82).
5. A pipeline water sample collection robot according to claim 4, characterized in that the transfer mechanism (9) comprises: division board (91), division board (91) that is used for separating first second hemisphere (72) and remaining second hemisphere (72) are installed to carriage (81) other end, and circular arc swash plate (92) that are used for pushing out second storage module (62) with second hemisphere (72) and first hemisphere (71) after the cooperation are installed to the carriage (81) other end, installs first direction slide (93) on second storage module (62), installs second direction slide (94) on output mechanism (10), and first direction slide (93) and second direction slide (94) are used for leading first hemisphere (71) and second hemisphere (72) after the cooperation.
6. A pipeline water sample collection robot according to claim 4, wherein the output mechanism (10) comprises: the novel water-proof box comprises an output box (101) and a water-proof discharging mechanism (102), wherein the output box (101) is installed in the shell (1), the water-proof discharging mechanism (102) for discharging the matched second hemispheres (72) and first hemispheres (71) out of the output box (101) is connected in a sliding mode in the output box (101), and an inclined driving frame (103) for driving the water-proof discharging mechanism (102) is installed on the C-shaped sliding frame (82).
7. A pipeline water sample collection robot according to claim 6, characterized in that the control box (4) comprises: the data processing module is electrically connected with the camera shooting mechanism (2), the traveling mechanism (3) and the power mechanism (85), and the positioning module and the wireless communication module are electrically connected with the data processing module.
8. A pipeline collecting method using the pipeline water sample collecting robot as claimed in claim 7, characterized by comprising the following specific steps:
s1, a pipeline water sample collection robot enters a pipeline by using a travelling mechanism (3), draws a pipeline map by real-time positioning and obtains picture information in the pipeline by using a camera mechanism (2);
s2, a sampling mechanism (7) collects water samples in the pipeline;
s3, discharging the sampling mechanism (7) after collection from the interior of the pipeline water sample collection robot by an output mechanism (10), and obtaining the sampling mechanism (7) drifting down from the pipeline by a detector in the pipeline to detect the water sample in the pipeline;
s4, the pipeline water sample collection robot moves to the next sampling position and collects water samples in the pipeline again through the sampling mechanism (7).
9. The method according to claim 8, wherein the specific method for collecting the water sample in the pipeline by the sampling mechanism (7) in the step S2 is that the power mechanism (85) drives the C-shaped carriage (82) to move through the separation frame (83), after the C-shaped carriage (82) contacts with the second storage component (62), the separation frame (83) drives the first half ball (71) to move along the C-shaped carriage (82) and enter the second storage component (62) through the push plate (84), meanwhile, the C-shaped carriage (82) drives the plurality of second half balls (72) to be far away from the water pumping pipe (78) and the air pumping pipe (772) through the driving mechanism (86), then the power mechanism (85) reversely drives the separation frame (83) to drive the driving mechanism (86) to reset through the C-shaped carriage (82), the second storage component (62) drives the first second half ball (72) to cooperate with the first half ball (71) through pushing the plurality of second half balls (72), meanwhile, the air pumping pipe (772) is communicated with the air pumping pipe (73), and the air pumping pipe (76) is communicated with the air pumping pipe (7776) to pump air storage chamber (772) to pump air under the action of the air pumping pipe (76).
10. The method according to claim 9, wherein the specific method that the output mechanism (10) separates the collected sampling mechanism (7) from the interior of the pipeline water sample collecting robot in the step S3 is that the power mechanism (85) drives the separation frame (83) to move reversely, the separation frame (83) drives the transfer mechanism (9) to move towards the second storage component (62) through the C-shaped sliding frame (82) and the sliding frame (81), the transfer mechanism (9) pushes the remaining second hemisphere (72) to separate from the first second hemisphere (72) and then pushes the matched first hemisphere (71) and second hemisphere (72) to separate from the extraction tube (772) and the extraction tube (78), the C-shaped sliding frame (82) drives the water-proof discharging mechanism (102) to move upwards through the inclined driving frame (103), then the transfer mechanism (9) pushes the matched first hemisphere (71) and second hemisphere (72) from the second storage component (62) to the output mechanism (10), and when the power mechanism (85) drives the separation frame (71) to move towards the second hemisphere (72) and then uses the separated frame (62) to discharge the water-proof housing (1).
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| CN116123387A (en) * | 2023-04-14 | 2023-05-16 | 广东广宇科技发展有限公司 | Pipeline collection robot and collection method |
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| CN109187095A (en) * | 2018-09-26 | 2019-01-11 | 中国石油大学(华东) | A kind of oil-gas field development petroleum sampling apparatus |
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