CN206208559U - A kind of novel quantitative sampling robot - Google Patents
A kind of novel quantitative sampling robot Download PDFInfo
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- CN206208559U CN206208559U CN201621064831.6U CN201621064831U CN206208559U CN 206208559 U CN206208559 U CN 206208559U CN 201621064831 U CN201621064831 U CN 201621064831U CN 206208559 U CN206208559 U CN 206208559U
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Abstract
The utility model provides a kind of novel quantitative sampling robot, including：Body, it is characterised in that the body is provided with：Control device, and the running gear being connected with the control device respectively, image collecting device, sampling apparatus, wherein, the running gear is arranged at the left and right sides of the body, and it includes：Road wheel and Timing Belt；Described image harvester, is arranged at front side and/or the rear side of the body, and it includes：The luffing mechanism being flexibly connected with the body and the camera being arranged on the luffing mechanism；The sampling apparatus, is arranged at the bottom of the body, and it includes：Sampling mechanism and controlling of sampling mechanism.
Description
Technical field
The utility model is related to sampling robot technical field, is to be related to a kind of novel quantitative sampling machine specifically
People.
Background technology
The Chinese patent of Patent No. CN200320128144 provides a kind of " pipeline cleaning robot ", the patent document
Disclosed pipeline cleaning robot replaces artificial, can clean the complicated pipeline of various situations, is mainly used in central air-conditioning ventilation
The cleaning of pipeline, detection, also can be used for other kitchen fume pipelines, factory's smoke discharging pipe etc..This robot also by with
In the sampling of laying dust and microorganism in airduct.This robot includes caterpillar drive system, operation control system, monitoring system
And purging system.Wherein monitoring system is mainly illumination apparatus, it is possibility to have the outfit of camera device.Adopted with this robot
Sample is mainly brushes disengaging by the powder sample of airduct by its cleaning head from tube wall.Then individually or by manually by sample from
Taken out in pipe or suctioned out dust with suction pipe.
But, make sample with above-mentioned robot, with following drawback：First it is cleaning head by the sample brush in airduct
After lower, non-sample dust may be mixed during artificial taking-up sample, so that disturbed specimen composition；Secondly, it is this clear
Wash robot sampling to be not easy to obtain the sample in deep pipe, because after the sample in deep pipe is under by brush, no matter manually taking out also
It is that to be suctioned out be not part nothing the matter；In addition, this robot is when ash is taken, and due to being configured without inhaling grey equipment, cleaning
During dust, dust diffuses in pipeline, even if there is searchlight, the visual field of the camera in pipeline is still very small, influences camera
Function.
Therefore, a kind of novel quantitative sampling robot how is researched and developed, it is technical problem urgently to be resolved hurrily to become.
The content of the invention
Technical problem to be solved in the utility model is to provide a kind of novel quantitative sampling robot, cannot be real with solution
It is existing to be easy to control, sample precisely, the problems such as capture scope is wide.
In order to solve the above technical problems, the utility model provides a kind of novel quantitative sampling robot, including：Body,
Characterized in that, the body is provided with：Control device, and the running gear being connected with the control device respectively, image
Harvester, sampling apparatus, wherein,
The running gear, is arranged at the left and right sides of the body, and it includes：Road wheel and Timing Belt；Described image
Harvester, is arranged at front side and/or the rear side of the body, and it includes：The luffing mechanism that is flexibly connected with the body and
It is arranged at the camera on the luffing mechanism；The sampling apparatus, is arranged at the bottom of the body, and it includes：Sampling Machine
Structure and controlling of sampling mechanism.
Further, the road wheel, including：Front wheels and rear wheels, wherein, the trailing wheel is by being arranged in the body
The bevel gear in portion drives and is rotated, and the front-wheel drives the Timing Belt to be rotated by the trailing wheel.
Further, the luffing mechanism makees 360 ° of rotations relative to the body.
Further, the luffing mechanism is connected with digital rudder controller, control of the digital rudder controller in the control device
The visual field direction of the lower adjustment camera.
Further, the body is additionally provided with communicator, described logical for the body and outside information transfer
T unit includes：Wireless communication module and/or wire communication module, wherein, the wireless communication module be 2.4g or 5.8g without
Line communication module；The wire communication module is RJ45 interfaces.
Further, the controlling of sampling mechanism, including：Lifting mould for controlling the elevating movement of the sampling mechanism
Block, and for controlling the rotary module of the sampling mechanism rotary motion, wherein, the lifting module, including：The liter being connected
Drop motor, lifting motor gear, elevating screws shaft gear, elevating screws axle；The rotary module, including：The rotation being connected
Motor, electric rotating machine gear rotates shaft gear, rotary shaft；The rotary shaft is with elevating screws axle for inner sleeve is set.
Further, the sampling mechanism, including：The sampling cavity and negative pressure cavity being connected, wherein, set in the sampling cavity
It is equipped with the scraping blade that is fixedly connected with the rotary shaft or wipes disk, it gathers sample in the sampling cavity by rotating wiping mode
Product；The negative pressure cavity is connected with dust absorption fan, and sampling bag and connection sheet are provided with the negative pressure cavity, and it passes through vacuum suction side
Formula gathers the sample in the sampling cavity.
Further, the position on the luffing mechanism near the camera is provided with lighting mechanism, the photograph
Bright mechanism is LED illumination lamp.
Further, the control device is single-chip microcomputer or Programmable Logic Controller.
Further, the body is additionally provided with supply unit, sensing device, and/or data transmission device, wherein, institute
Supply unit is stated for lithium battery；The sensing device is infrared sensor, and the data transmission device includes usb data interface.
Compared with prior art, novel quantitative sampling robot described in the utility model, has reached following effect：
(1) it is provided with and scrapes suction sampling and Wipe type two kinds of sampling mechanisms of sampling, pipeline or sampling ground is entered at the beginning of sampler
When interior, because pollutant is more in pipeline, now, cleaning can be sampled by scraping suction, by contaminant collecting in nonwoven bag
In, then, quantitative sampling is being carried out by wipe method, it is ensured that the accurate result of sampling；
(2) rotary shaft greatly reduces the height of sampler with elevating screws axle for inner sleeve is set, and saves height empty
Between, it is easy to sampler to carry out operation in the duct；
(3) camera is set using luffing mechanism, is easy to multi-angle capture, make capture scope wider；
(4) using steering wheel and control device control camera capture, it is easy to operating personnel to observe image；
(5) wire communication and radio communication two ways are set, are easy to the information transfer of robot and external agency.
Brief description of the drawings
Accompanying drawing described herein is used for providing being further understood to of the present utility model, constitutes of the present utility model one
Point, schematic description and description of the present utility model is used to explain the utility model, does not constitute to of the present utility model
Improper restriction.In the accompanying drawings：
The structural representation of the novel quantitative sampling robot that Fig. 1 is provided for the utility model embodiment；
The top view of the novel quantitative sampling robot that Fig. 2 is provided for the utility model embodiment；
The structural representation of the controlling of sampling mechanism of the novel quantitative sampling robot that Fig. 3 is provided for the utility model embodiment
Figure；
The upward view of the novel quantitative sampling robot that Fig. 4 is provided for the utility model embodiment；
The upward view of the novel quantitative sampling robot that Fig. 5 is provided for the utility model embodiment.
Specific embodiment
Implementation method of the present utility model is described in detail below in conjunction with schema and embodiment, thereby to the utility model
How application technology means can fully understand and implement according to this to solve technical problem and reach the implementation process of technology effect.
Embodiment 1
As shown in Fig. 1 to 5, the present embodiment provides a kind of novel quantitative sampling robot, including：Body 1, its feature exists
In the body 1 is provided with：Control device, and the running gear 100 being connected with the control device respectively, IMAQ
Device 200, sampling apparatus 300, wherein,
The running gear 100, is arranged at the left and right sides of the body 1, and it includes：Road wheel 110 and Timing Belt
120；Described image harvester 200, is arranged at front side and/or the rear side of the body 1, and it includes：With the activity of the body 1
The luffing mechanism 210 of connection and the camera 220 being arranged on the luffing mechanism 210；The sampling apparatus 300, is arranged at
The bottom of the body 1, it includes：Sampling mechanism 310 and controlling of sampling mechanism 320.
Preferably, the road wheel 110, including：Front-wheel 111 and trailing wheel 112, wherein, the trailing wheel 112 is by being arranged at
Bevel gear 11 inside the body 1 is driven and is rotated, and the front-wheel 111 is driven described same by the trailing wheel 112
Step band 120 is rotated.Specifically, as shown in figure 1, the trailing wheel 112 is arranged at two rearward positions of the body 1,
And the trailing wheel 112 is connected with bevel gear 11, the bevel gear 11 drives the trailing wheel 112 to revolve under the driving of motor
Turn, then, the trailing wheel 112 drives coupled Timing Belt 120 to be moved, meanwhile, the Timing Belt 120 drive with
Its described front-wheel 111 being connected rotates, so as to realize being arranged at four road wheels 110 of the both sides of the body 1 while carrying out
Walking movement.
Preferably, the luffing mechanism 210 makees 360 ° of rotations relative to the body 1.Specifically, the luffing mechanism
210 is the rotating mechanism being connected with the axle of the body 1, in actual applications, the luffing mechanism 210 along with the body 1 before
The axial direction for entering direction horizontal vertical rotates, for example：When the luffing mechanism 210 can revolve under control of the control means
Turn 90 °, 120 °, 150 °, 180 °, 360 ° etc. it is arbitrarily angled, be easy to environmental information of the sampling robot in service pipe
Collection and identification, are easy to operating personnel to adjust robot direction in time.
Preferably, the luffing mechanism 210 is connected with digital rudder controller, control of the digital rudder controller in the control device
The visual field direction of the lower adjustment camera 220.Specifically, under control of the control means, the luffing mechanism 210 can be by counting
The angle signal of word steering wheel rotates to image frame, for example, video is drawn when camera is rotated to 90 degree -180 degree angle
Face is handstand picture, and this timed unit can carry out 180 degree when steering wheel angle crosses 90 degree by default making software to picture
Reversion, the picture that at this moment operator is watched is then square picture.In actual applications, before and after the sampling robot all
Camera is provided with, when robot is walked with front camera direction, direction retreats to advance, and turns left, 4 directions of turning right,
In the prior art, but when operator is with rearview camera as visual angle, it is necessary to change the mode of operations, advanced with retreating, it is preceding
It is to retreat etc. to enter, and causes the problems such as operating inconvenience, now, the finger of control device described in the present embodiment in its default programming software
Under showing, the control in 4 directions can be exchanged, either with front and rear which camera as visual angle, 4 are walked such operator
Direction is all changed in itself in control without operator, significantly reduces the thinking of operator and the possibility of maloperation
Property.
Preferably, the body 1 is additionally provided with communicator, described logical for the body 1 and outside information transfer
T unit includes：Wireless communication module and/or wire communication module, wherein, the wireless communication module be 2.4g or 5.8g without
Line communication module；The wire communication module is RJ45 interfaces.Specifically, the communicator is used to set up the He of the body 1
The data or signal transmission of external agency, for example：Transmitting-receiving control signal or vision signal, in actual applications, can be by RJ45
The communication modes such as interface, WIFI module and external agency carry out data exchange, and the external agency can be computer, IPAD, hand
Machine etc..
Preferably, the controlling of sampling mechanism 320, including：Liter for controlling the elevating movement of the sampling mechanism 310
Drop module, and for controlling the rotary module of the rotary motion of the sampling mechanism 310, wherein, the lifting module, including：Phase
The lifting motor 321 of connection, lifting motor gear 322, elevating screws shaft gear 323, elevating screws axle 324；The rotating mould
Block, including：The electric rotating machine 325 being connected, electric rotating machine gear 326 rotates shaft gear 327, rotary shaft 328；The rotation
Axle 328 is with elevating screws axle 324 for inner sleeve is set.Specifically, in actual applications, when the robot reaches sampled point,
The lifting module starts, and the sampling mechanism 310 is fallen within into the sampled point, then starts the rotary module, makes described
Sampling mechanism 310 is sampled.In the present embodiment, connected by the gear and axle between the lifting module and rotary module,
The height of robot body is reduced, space is saved.
Preferably, the sampling mechanism 310, including：The sampling cavity 311 and negative pressure cavity 312 being connected, wherein, it is described to take
The scraping blade 315 or wiping disk 316 being fixedly connected with the rotary shaft 328 are provided with sample chamber 311, it is adopted by rotating wiping mode
Collect the sample in the sampling cavity 311；The negative pressure cavity 312 is connected with dust absorption fan, and sampling is provided with the negative pressure cavity 312
Bag 313 and connection sheet 314, it gathers the sample in the sampling cavity 311 by vacuum suction mode.Specifically, the sampling
Bag 313 is preferably nonwoven bag, and it is placed in the connection sheet 314, and the connection sheet 314 is connected to described by magnetic attachment mode
The connectivity part of sampling cavity 311 and negative pressure cavity 312.In actual applications, sampling process can be divided into two methods, the first, will
The scraping blade is installed in the rotary shaft 328, starts lifting motor, and sampling mechanism 310 is transferred to sample point, is then started
Dust absorption fan makes to form negative pressure in negative pressure cavity, then starts rotary shaft 328, rotates scraping blade, carries out scraping suction sampling, works as sampling
When time reaches 30-60 seconds, stop sampling, now, lifting motor reclaims sampling mechanism, suction sampling is scraped in completion；Second,
A nonwoven cleansing tissue 317 is fixed in the wiping tray bottom, the wiping disk is installed in the rotary shaft 328, start lifting electricity
Machine, sampling mechanism 310 is transferred to sample point, then starts rotary shaft 328, makes wiping disc spins, carries out wipe method sampling, when adopting
When the sample time reaches 30-60 seconds, stop sampling, now, lifting motor reclaims sampling mechanism, complete wipe method sampling.This reality
Suction sampling and Wipe type sampling are scraped with new being provided with, sampling operation twice can be respectively carried out, i.e. enter pipeline at the beginning of sampler
Or when in sampling ground, because pollutant is more in pipeline, now, cleaning can be sampled by scraping suction, by contaminant collecting
In nonwoven bag, then, quantitative sampling is being carried out by wipe method, it is ensured that the accurate result of sampling.
Preferably, the position on the luffing mechanism 210 near the camera 220 is provided with lighting mechanism 230,
The lighting mechanism 230 is LED illumination lamp.And specifically, it is preferable to the lighting mechanism 230 is arranged at around the camera,
Its quantity can be 2 LED illumination lamps, 4 LED illumination lamps, 6 LED illumination lamps or other any amounts, people in the art
Member can arrange according to actual conditions to it, be not repeated herein.
Preferably, the control device is single-chip microcomputer or Programmable Logic Controller.Specifically, the control device can be to more
Road motor, steering wheel, sensor etc. are exported or receive electric signal, wherein, mainly there is crawl power supply control to motor control, it is continuous to supply
Electric control, start and stop power supply control, motor positive and inverse power supply control.Accurate angle control, crawl rotation can be realized to steering wheel
Turn control, it is continuous to change control.The electric signal for being transmitted back to come can be received to sensor, number is converted into by built-in computing formula
Value passes computer back by communication module.
Preferably, the body 1 is additionally provided with supply unit, sensing device, and/or data transmission device, wherein, it is described
Supply unit is lithium battery；The sensing device is infrared sensor, and the data transmission device includes usb data interface.When
So, in actual applications, the supply unit includes direct current supply and Alternating Current Power Supply, in the present embodiment, preferably in the body 1
Side be provided with battery case, be that robot system is powered for accommodating lithium battery, certainly, can also be on the body 1
Set electricity to show, to remind user's battery whether there are enough electricity to allow robot normal work；In the body 1
Side or rear side be provided with usb data interface, for realizing wired manipulation, or data transfer.
Compared with prior art, novel quantitative sampling robot described in the utility model, has reached following effect：
(1) it is provided with and scrapes suction sampling and Wipe type two kinds of sampling mechanisms of sampling, pipeline or sampling ground is entered at the beginning of sampler
When interior, because pollutant is more in pipeline, now, cleaning can be sampled by scraping suction, by contaminant collecting in nonwoven bag
In, then, quantitative sampling is being carried out by wipe method, it is ensured that the accurate result of sampling；
(2) rotary shaft greatly reduces the height of sampler with elevating screws axle for inner sleeve is set, and saves height empty
Between, it is easy to sampler to carry out operation in the duct；
(3) camera is set using luffing mechanism, is easy to multi-angle capture, make capture scope wider；
(4) using steering wheel and control device control camera capture, it is easy to operating personnel to observe image；
(5) wire communication and radio communication two ways are set, are easy to the information transfer of robot and external agency.
Described above has shown and described some preferred embodiments of the present utility model, but as previously described, it should be understood that this
Utility model is not limited to form disclosed herein, is not to be taken as the exclusion to other embodiment, and can be used for various
Other combinations, modification and environment, and can be in utility model contemplated scope described herein, by above-mentioned teaching or association area
Technology or knowledge be modified.And the change and change that those skilled in the art are carried out do not depart from spirit of the present utility model and model
Enclose, then all should be in the protection domain of the utility model appended claims.
Claims (10)
1. a kind of novel quantitative sampling robot, including：Body, it is characterised in that the body is provided with：Control device, and
The running gear being connected with the control device respectively, image collecting device, sampling apparatus, wherein,
The running gear, is arranged at the left and right sides of the body, and it includes：Road wheel and Timing Belt；Described image is gathered
Device, is arranged at front side and/or the rear side of the body, and it includes：The luffing mechanism being flexibly connected with the body and setting
Camera on the luffing mechanism；The sampling apparatus, is arranged at the bottom of the body, and it includes：Sampling mechanism and
Controlling of sampling mechanism.
2. the novel quantitative sampling robot according to claims 1, it is characterised in that the road wheel, including：Front-wheel
And trailing wheel, wherein, bevel gear driving of the trailing wheel by being arranged at the body interior is rotated, the front-wheel
The Timing Belt is driven to be rotated by the trailing wheel.
3. the novel quantitative sampling robot according to claims 1, it is characterised in that the luffing mechanism is relative to institute
State body and make 360 ° of rotations.
4. the novel quantitative sampling robot according to claims 3, it is characterised in that the luffing mechanism is connected with number
Word steering wheel, the digital rudder controller adjusts the visual field direction of the camera under the control of the control device.
5. the novel quantitative sampling robot according to claims 1, it is characterised in that the body is additionally provided with communication
Device, for the body and outside information transfer, the communicator includes：Wireless communication module and/or wire communication
Module, wherein, the wireless communication module is 2.4g or 5.8g wireless communication modules；The wire communication module connects for RJ45
Mouthful.
6. the novel quantitative sampling robot according to claims 1, it is characterised in that the controlling of sampling mechanism, bag
Include：Lifting module for controlling the elevating movement of the sampling mechanism, and for controlling the sampling mechanism rotary motion
Rotary module, wherein, the lifting module, including：The lifting motor being connected, lifting motor gear, elevating screws shaft gear,
Elevating screws axle；The rotary module, including：The electric rotating machine being connected, electric rotating machine gear rotates shaft gear, rotary shaft；
The rotary shaft is with elevating screws axle for inner sleeve is set.
7. the novel quantitative sampling robot according to claims 6, it is characterised in that the sampling mechanism, including：Phase
The sampling cavity and negative pressure cavity of connection, wherein, the scraping blade or wiping disk being fixedly connected with the rotary shaft are provided with the sampling cavity,
It gathers sample in the sampling cavity by rotating wiping mode；The negative pressure cavity is connected with dust absorption fan, the negative pressure cavity
In be provided with sampling bag and connection sheet, it gathers the sample in the sampling cavity by vacuum suction mode.
8. the novel quantitative sampling robot according to claims 1, it is characterised in that near institute on the luffing mechanism
The position for stating camera is provided with lighting mechanism, and the lighting mechanism is LED illumination lamp.
9. the novel quantitative sampling robot according to claims 1, it is characterised in that the control device is single-chip microcomputer
Or Programmable Logic Controller.
10. the novel quantitative sampling robot according to claims 1, it is characterised in that the body is additionally provided with electricity
Source device, sensing device, and/or data transmission device, wherein, the supply unit is lithium battery；The sensing device is red
Outer sensor, the data transmission device includes usb data interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064831.6U CN206208559U (en) | 2016-09-19 | 2016-09-19 | A kind of novel quantitative sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621064831.6U CN206208559U (en) | 2016-09-19 | 2016-09-19 | A kind of novel quantitative sampling robot |
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| Publication Number | Publication Date |
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| CN206208559U true CN206208559U (en) | 2017-05-31 |
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ID=58762674
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| CN201621064831.6U Active CN206208559U (en) | 2016-09-19 | 2016-09-19 | A kind of novel quantitative sampling robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111966102A (en) * | 2020-08-18 | 2020-11-20 | 昆山三一环保科技有限公司 | Intelligent robot sampling system for automatic detection and control method thereof |
| CN114166804A (en) * | 2020-09-10 | 2022-03-11 | 浙江啄云智能科技有限公司 | Fluorescence detector capable of continuously monitoring and detection method |
-
2016
- 2016-09-19 CN CN201621064831.6U patent/CN206208559U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111966102A (en) * | 2020-08-18 | 2020-11-20 | 昆山三一环保科技有限公司 | Intelligent robot sampling system for automatic detection and control method thereof |
| CN114166804A (en) * | 2020-09-10 | 2022-03-11 | 浙江啄云智能科技有限公司 | Fluorescence detector capable of continuously monitoring and detection method |
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