Intelligent sampling robot for wetland ecosystem

Abstract

The utility model relates to the technical field of sampling robots, in particular to an intelligent sampling robot for a wetland ecosystem, which comprises a moving carrier, and a sampling mechanism is arranged on the moving carrier. The sampling mechanism comprises a multifunctional mechanical arm, a magnetic attraction device is arranged at the tail end of the multifunctional mechanical arm, and an iron circular ring matched with the sampling pipe is arranged on the sampling pipe; the mobile carrier comprises a base, and a crawler walking mechanism and a buoyancy mechanism are arranged on the base; a storage box is arranged on the base, and a rubber plug is arranged at the bottom of a partition bin in the storage box and can seal the sampling pipe; according to the utility model, the work of sampling and pipe sealing and replacing can be automatically completed, and the sealing arrangement of the sampling pipe completing sampling avoids sample leakage or mutual pollution in the action process; and the floating box and the expandable floating plate are arranged to meet the wading requirement when the device is used in the wetland environment.

Description

Technical Field

[0001] The utility model relates to the technical field of sampling robots, in particular to an intelligent sampling robot for wetland ecosystems. Background Art

[0002] Up to now, in the field of wetland sediment sampling in my country, it is still at the stage where sampling steps such as personnel arrival and manual sampling are required; and most of the sampling instruments on the market at this stage have problems such as poor environmental adaptability and single function. In the field of automated sampling in my country, technology and products are still in the initial stage, and there is a lack of mature and reliable existing products for use; especially in wetland sampling, the most typical and complex area is the criss-crossing wet lakes. When conducting all-round and large-area fixed-point sampling, staff often need to change various means of transportation many times, which consumes a lot of time and greatly reduces efficiency; at the same time, the manual sampling process is arduous, and it is difficult to move in the wetland environment. The legs of researchers are prone to sinking when sampling, and there are potential dangers such as mosquito bites and difficulty in getting out, making manual sampling very difficult.

[0003] There is a patent with application number CN201921505529.3, which discloses a geological and mineral auxiliary sampling robot, including a robot body, an automatic sampling mechanical arm and walking legs. The rear surface of the robot body is fixedly connected to a sampling storage frame, and a base is welded to the upper surface of the robot body, and a supporting block penetrates the upper side of the base; the patent uses an automatic sampling mechanical arm to sample different positions, and by setting an automatic sampling mechanical arm and a sampling storage frame, samples can be collected continuously; however, the patent lacks a reasonable automatic tube sealing structure and a water surface action structure, and is difficult to use in a harsh wetland environment. At the same time, it is easy to cause sample leakage due to bumps during the sampling process, resulting in mixed contamination between different samples, affecting the sampling results. Utility Model Content

[0004] The utility model aims to provide a wetland ecosystem intelligent sampling robot which is suitable for use in wetland environments and has an automatic sampling and tube sealing function.

[0005] Based on the above purpose, the utility model adopts the following technical solutions:

[0006] The intelligent sampling robot for wetland ecosystem comprises a mobile carrier, a sampling mechanism is arranged in cooperation with the mobile carrier, the sampling mechanism comprises a multifunctional mechanical arm, and a magnetic suction device is arranged at the end of the multifunctional mechanical arm; the mobile carrier comprises a base, and the multifunctional mechanical arm is fixedly mounted on the base through a mounting plate; a sample storage box is arranged on the base, a sampling tube is arranged in cooperation with the sample storage box, and an iron ring structure is arranged at the upper end of the sampling tube; crawler walking mechanisms are arranged on both sides of the base, and a buoyancy mechanism is arranged in cooperation with the crawler walking mechanism; a monitoring device is fixedly arranged on the mounting plate, and the monitoring device comprises a monitoring camera.

[0007] Preferably, the sample storage box is divided into a plurality of compartments of the same size by partitions, and each compartment is provided with a rubber stopper that cooperates with the sampling tube.

[0008] Preferably, the buoyancy mechanism includes a buoyancy box arranged on the inner side of the base, and the buoyancy box is a hollow and sealed box structure; the buoyancy mechanism also includes a floating plate, and the floating plate is connected to the base through a hinge structure; an iron plate cooperating with the magnetic suction device is arranged on the floating plate.

[0009] Preferably, the multifunctional robotic arm has six degrees of freedom, and all six degrees of freedom are rotational joint structures; the six degrees of freedom include one axis, two axes, three axes, four axes, five axes and six axes, the working range of one axis is 0°~300°, the working range of two axes is 0°~225°; the working range of three axes is 0°~200°, the working range of five axes is 0°~180°, and four axes and six axes are both continuous rotation.

[0010] Preferably, the first, second and third axes are all worm gear structures, and the fourth, fifth and sixth axes are all non-coupled structures; each degree of freedom is connected to a servo motor through a planetary gear reducer, and the servo motor is connected to an incremental encoder; and a slip ring structure is provided at the fourth and sixth axes.

[0011] The beneficial effects of the utility model are:

[0012] The utility model uses a multifunctional mechanical arm to carry various operators, and a magnetic suction device is arranged at the end of the mechanical arm to pick up and move the sampling tube; the magnetic suction device is mainly an electromagnet, and an iron ring structure with a hole is arranged at the upper end of the sampling tube, so that the sampling tube can be sucked when the electromagnet is energized; after the sampling is completed, the magnetic suction device is energized to make the electromagnet magnetic, and cooperate with the sampling tube to use the magnetic field to attract and seal the sampling tube; a plurality of compartments are arranged in the sample storage box arranged on the base, and each compartment is provided with a rubber plug that cooperates with the sampling tube, and the sampling tube is placed in the compartment and contacts with the rubber plug to seal the rubber plug, thereby realizing fully automated tube sealing and storage work.

[0013] The utility model has a buoyancy box inside the base and float plates on both sides, which can provide buoyancy for the sampling robot so that it can float on the water surface; with the help of crawler paddling to provide power and control direction, it can move on the water surface and can also move smoothly in wetlands with complex hydrological environments, and reach various locations that are inconvenient for sampling personnel to reach for sampling work; the float plate is hinged to the base, and can be unfolded with the help of a mechanical arm when in use, and can be closed with the help of a mechanical arm when not in use, which does not take up space and increases the terrain adaptability of the robot.

[0014] The sampling robot used in the utility model can realize autonomous transportation, directly skipping the complicated process of sampling personnel carrying equipment back and forth many times, and completing sampling and carrying and loading automatically, and autonomous transportation, which not only greatly reduces manpower consumption, but also can be monitored in real time by the monitoring system during the transportation of the sampling robot to find new sampling points, greatly improving the sampling efficiency; the utility model has strong maneuverability and good terrain adaptability, can move freely in complex wetland terrain, does not need to be placed in a specific position, can monitor the surrounding environment in real time and move to the designated position for operation, has high autonomy and controllability, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is the front view of the utility model;

[0016] Figure 2 It is a top view of the utility model.

[0017] In the figure: a magnetic device 1; a multifunctional robotic arm 2; a monitoring device 3; a single chip computer 4; a crawler 5; a buoyancy box 6; a storage box 7; a base 8; an energy device 9; a floating plate 10; and a mounting plate 11. DETAILED DESCRIPTION

[0018] The following is a further explanation of the present invention in conjunction with specific embodiments. Figure 1 As shown, this embodiment is an intelligent sampling robot for wetland ecosystem sampling, which mainly includes two parts: a mobile carrier and a sampling mechanism; the mobile carrier mainly includes a base 8 provided with a track 5, and the sampling mechanism mainly includes a multifunctional mechanical arm 2.

[0019] The end of the multifunctional robotic arm 2 can be equipped with various operators to meet different sampling needs; a magnetic suction device 1 is arranged at the end of the robotic arm 2, and the magnetic suction device 1 mainly includes an electromagnet, which can generate magnetic force to attract iron objects after being energized; in conjunction with it, a circle of iron ring structure is arranged at the upper end of the sampling tube, so that the magnetic suction device 1 can be used to absorb the sampling tube.

[0020] The multifunctional mechanical arm 2 is fixedly mounted on the base 8 via a mounting plate 11, and a monitoring device 3 is also arranged on the base 8. Figure 2 As shown; the multifunctional robotic arm 2 includes six degrees of freedom, two of which can rotate continuously, and the six degrees of freedom are a non-coupled structure. It adopts an articulated structure and a motion control solution based on a PMAC multi-axis motion controller. The control system has good real-time and scalability.

[0021] The working range of the six degrees of freedom of the multifunctional robot arm 2 is as follows: the first axis (waist) is 0°~300°; the second axis (shoulder) is 0°~225°; the third axis (elbow) is 0°~200°; the fourth axis (wrist rotation) is continuous rotation; the fifth axis (wrist pitch) is 0°~180°; the sixth axis (end rotation) is continuous rotation; all six degrees of freedom are rotary joints, and the first, second and third axes are in the form of worm gears, and the fourth, fifth and sixth axes are non-coupled structures, so that the movements of the various degrees of freedom do not interfere with each other; all six degrees of freedom use Manxon DC servo motors, which have excellent accuracy and reliability; a planetary gear reducer is installed at the front of the servo motor, and an incremental encoder is installed at the rear; a slip ring structure is set at the continuously rotating fourth and sixth axes to solve the problems of power connection and signal connection transmission between continuously relatively rotating parts.

[0022] The monitoring device 3 mainly includes a monitoring camera, which uses a 360° monitoring camera with no blind spots. The camera is aggregated through a switch through a wireless bridging method, and then transmitted back to a hard disk recorder or other video receiving device through a wireless bridge. The monitoring device 3 can monitor the progress of the sampling work in real time and observe the surrounding environment. The wireless bridging method is simple to wire, and attention should be paid to the influence of interference and broadband when using it. The sampling progress can be monitored in real time through the monitoring device 3 and remotely controlled. A GPS positioning system is provided in the monitoring device 3, which can remotely locate the sampling robot.

[0023] A pair of crawler tracks 5 are arranged on both sides of the base 1. The crawler tracks 5 are driven by the driving wheel and are flexible chains arranged around the driving wheel, the road wheel, the induction wheel and the towing wheel. They are mainly composed of track shoes and track pins. The track pins connect the track shoes to form a crawler chain. There are holes at both ends of the crawler track to mesh with the driving wheel, and there are induction teeth in the middle to regulate the crawler track and prevent the crawler track from falling off when the machine turns or tilts. There are reinforced anti-skid ribs on the side in contact with the ground to improve the firmness of the crawler track and the adhesion between the crawler track and the ground.

[0024] At the bottom of the base 8, a buoyancy tank 6 is provided. Figure 1As shown; the bottom end of the pontoon 6 is higher than the bottom end of the crawler 5 so that it will not touch the bottom and affect the action; the pontoon 6 is a hollow sealed box structure, which can provide buoyancy for the robot when wading; a floating plate 10 is provided on the outside of the crawler 5, as shown Figure 2 As shown, the float 10 is connected to the base 8 through a hinge structure. When wading is not required, it is vertically folded to avoid affecting normal movement. When wading is required, the float 10 can be unfolded with the help of the multifunctional robotic arm 2 to provide buoyancy for the robot; an iron plate is provided on the float 10, which can be attracted by the magnetic suction device 1. The float 10 is unfolded with the help of the multifunctional robotic arm 2 and the magnetic suction device 1, and the multifunctional robotic arm 2 can be used to return the float 10 to its original position after wading is completed; the buoyancy box 6 and the float 10 are both made of high molecular weight polypropylene material through blow molding, and are light in weight and have good sealing performance.

[0025] A storage box 7 is fixedly arranged on the base 8 for storing sampling tubes, such as Figure 2 As shown; the storage box 7 is divided into a plurality of compartments of the same size by partitions, and each compartment is provided with a rubber plug; the rubber plug can cooperate with the sampling tube, and when the sampling tube is placed in the compartment of the storage box 7, it will contact with the rubber plug, thereby sealing the sampling tube to prevent the sample therein from leaking and being lost during the movement of the robot.

[0026] A single-chip microcomputer 4 is arranged on the base as a controller of the mobile carrier and the sampling mechanism; the single-chip microcomputer 4 is controlled by an STM32 single-chip microcomputer, which is easy to debug and test and has a rich development ecology; in this embodiment, there are two single-chip microcomputers 4, one single-chip microcomputer is mainly used to control the movement of the mobile carrier, including basic movements such as crawler walking and steering; the other single-chip microcomputer is responsible for controlling the work of the sampling mechanism, including various functions of the multifunctional robotic arm 2, such as sampling, grabbing objects, and assisted walking; an energy device 9 is also arranged on the base 8. In this embodiment, the energy device 9 uses electrical energy, including batteries and transformers adapted to various components; gasoline, diesel and other energy sources can also be used as alternatives.

[0027] In actual use of this embodiment, after the sampling robot is placed near the area where sampling is required, the sampling personnel can remotely control the sampling robot to reach the designated sampling location through a handle or a computer; after arriving at the sampling location, the sampling area is cleaned using the multifunctional robotic arm 2, and then the multifunctional robotic arm 2 is rotated to move the magnetic suction device 1 at its end to the storage box 7; the magnetic suction device 1 is energized to cause the electromagnet to generate magnetic force, which can attract the iron ring on the sampling tube, and take the sampling tube out of the storage box 7 to the end of the multifunctional robotic arm 2.

[0028] After taking out the sampling tube, rotate the multifunctional robotic arm 2 to align the sampling tube with the sampling point, and the multifunctional robotic arm 2 pushes the sampling tube downward to fill the sampling tube with the sample for sampling; after the sampling is completed, rotate the multifunctional robotic arm 2 to send the sampling tube back to the empty compartment in the storage box 7, and make the tube mouth of the sampling tube contact with the rubber plug to form a seal; after completing the sealing and storage of the sampling tube, the power of the magnetic suction device 1 can be disconnected so that the electromagnet no longer has magnetic force, and the sampling tube can be separated from the magnetic suction device 1, completing a sampling and collection process.

[0029] The above description is only a further explanation of the present invention in combination with specific embodiments. All descriptions do not limit the protection scope of the present invention. Any changes or replacement solutions that can be easily thought of by technicians in this field within the technical scope disclosed by the present invention should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A wetland ecosystem intelligent sampling robot, including a mobile carrier, characterized in that: A sampling mechanism is arranged in cooperation with the mobile carrier, and the sampling mechanism includes a multifunctional mechanical arm, and a magnetic suction device is arranged on the end of the multifunctional mechanical arm; the mobile carrier includes a base, and the multifunctional mechanical arm is fixedly mounted on the base through a mounting plate; a sample storage box is arranged on the base, and a sampling tube is arranged in cooperation with the sample storage box, and an iron ring structure is arranged on the upper end of the sampling tube; crawler walking mechanisms are arranged on both sides of the base, and a buoyancy mechanism is arranged in cooperation with the crawler walking mechanism; a monitoring device is fixedly arranged on the mounting plate, and the monitoring device includes a monitoring camera.

2. The wetland ecosystem intelligent sampling robot according to claim 1 is characterized by: The sample storage box is divided into a plurality of compartments of the same size by a partition, and each compartment is provided with a rubber plug matched with the sampling tube.

3. The wetland ecosystem intelligent sampling robot according to claim 1 is characterized by: The buoyancy mechanism includes a buoyancy box arranged on the inner side of the base, and the buoyancy box is a hollow and sealed box structure; the buoyancy mechanism also includes a floating plate, and the floating plate is connected to the base through a hinge structure; the floating plate is provided with an iron plate that cooperates with the magnetic attraction device.

4. The wetland ecosystem intelligent sampling robot according to claim 1 is characterized by: The multifunctional robotic arm has six degrees of freedom, and all of the six degrees of freedom are rotational joint structures; the six degrees of freedom include one axis, two axes, three axes, four axes, five axes and six axes, the working range of the one axis is 0°~300°, the working range of the two axes is 0°~225°; the working range of the three axes is 0°~200°, the working range of the five axes is 0°~180°, and the four axes and the six axes are both continuous rotation.

5. The wetland ecosystem intelligent sampling robot according to claim 4 is characterized by: The first axis, second axis and third axis are all worm gear structures, and the fourth axis, fifth axis and sixth axis are all non-coupled structures; each degree of freedom is connected to a servo motor through a planetary gear reducer, and the servo motor is connected to an incremental encoder; the fourth axis and the sixth axis are provided with a slip ring structure.

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