Vehicle-mounted solid automatic sampling device and sampling method

Abstract

The present invention discloses a vehicle-mounted solid automatic sampling device and a sampling method, wherein a sample storage mechanism is installed on a vehicle body, a sampling cup for holding samples is installed on the sample storage mechanism, and the sample storage mechanism can move the sampling cup to a specified position; a sampling mechanism is also installed on the vehicle body, which is used to take the sampling cup from the sample storage mechanism and complete sampling, and put the sampling cup back into the sample storage mechanism after sampling is completed; and a control unit is also included, which is connected to the sample storage mechanism and the sampling mechanism, respectively, and is used to control the actions of the sample storage mechanism and the sampling mechanism. The sample storage mechanism and the sampling mechanism of the present invention are both installed on the outside of the vehicle body, and the control unit is installed on the inside of the vehicle body. The sampling personnel use the control unit in the vehicle to control the sample storage mechanism and the sampling mechanism outside the vehicle to realize the collection and collection of suspicious pollutants, which can effectively prevent the sampling personnel from being contaminated by pollutants and ensure the personal safety of the sampling personnel.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle-mounted sampling equipment, and in particular to a vehicle-mounted solid automatic sampling device and a sampling method. Background Art

[0002] At present, the collection of pollutant samples in the environment still mainly relies on manual sampling with the help of tools. The sampling method is relatively primitive and backward. Therefore, during the sampling process, the samplers need to have close contact with the pollutants to complete the sample collection work. For the nuclear, biological, and chemical pollutants that may exist in the current environment, the close contact between the samplers and the pollutants may cause the samplers to be contaminated by the pollutants, which seriously threatens the personal safety of the samplers. Summary of the invention

[0003] In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is: to provide a vehicle-mounted solid automatic sampling device and sampling method, which solves the problem that the prior art relies on manual sampling, the sampling method is backward, and seriously threatens the personal safety of the sampling personnel.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] A vehicle-mounted solid automatic sampling device comprises a vehicle body, a sample storage mechanism is installed on the vehicle body, a sampling cup for holding samples is installed on the sample storage mechanism, and the sample storage mechanism can move the sampling cup to a specified position; a sampling mechanism is also installed on the vehicle body, which is used to take the sampling cup from the sample storage mechanism, complete sampling, and put the sampling cup back to the sample storage mechanism after sampling is completed; and a control unit is also included, which is respectively connected to the sample storage mechanism and the sampling mechanism, and is used to control the actions of the sample storage mechanism and the sampling mechanism.

[0006] As an optimization, the sample storage mechanism includes a slide rail installed on the vehicle body, a bracket is slidably mounted on the slide rail, and a plurality of mounting grooves for mounting sampling cups are provided on the bracket; it also includes a driving mechanism, which is connected to the bracket and is used to drive the bracket to slide along the slide rail.

[0007] As an optimization, the driving mechanism includes a servo motor, the motor shaft of the servo motor is transmission-connected to a lead screw extending along the length direction of the slide rail, a slider is threadedly mounted on the lead screw, the slider is slidingly connected to the slide rail, and the slider is fixedly connected to the bracket, the servo motor drives the lead screw to rotate, causing the slider to slide along the slide rail, thereby driving the bracket to move along the length direction of the slide rail.

[0008] As an optimization, the sampling cup includes a cup body and a cup cover, the cup cover and the cup body are movably connected via a pin, and a torsion spring is sleeved on the pin. In the initial state, the torsion spring can drive the cup cover to buckle onto the cup body.

[0009] As an optimization, an angle is formed between the fastening surfaces of the cup body and the cup cover and the cross section of the cup body, so that the side of the cup body close to the pin is lower than the side away from the pin.

[0010] As an optimization, a guide groove is provided on the bottom surface of the cup body, and correspondingly, a guide column matching the guide groove is provided at the bottom of the installation groove.

[0011] As an optimization, the sampling mechanism includes a base installed on the vehicle body, a sampling arm is installed on the base, an electromagnetic adsorption mechanism is provided at the end of the sampling arm away from the base, and correspondingly, a magnetic adsorption groove matching the electromagnetic adsorption mechanism is provided on the cup cover of the sampling cup, and the electromagnetic adsorption mechanism can extend into the magnetic adsorption groove to adsorb or release the sampling cup.

[0012] As an optimization, an electric push rod is installed at one end of the sampling arm away from the base, and the electromagnetic adsorption mechanism is installed at one end of the electric push rod away from the sampling arm.

[0013] As an optimization, the sampling arm includes a main arm and a secondary arm, and the main arm and the secondary arm are rotatably connected by a first rotating motor so that the secondary arm can rotate in a vertical plane, and the electromagnetic adsorption mechanism is installed at an end of the secondary arm away from the main arm; the main arm is rotatably connected to a horizontal rotating seat rotatably installed on a base through a second rotating motor so that the main arm can rotate in a vertical plane; the horizontal rotating seat is installed on the base through a third rotating motor so that the horizontal rotating seat can rotate in a horizontal plane.

[0014] Based on the above-mentioned vehicle-mounted solid automatic sampling device, the present invention also provides a vehicle-mounted solid automatic sampling method, including the above-mentioned vehicle-mounted solid automatic sampling device, comprising the following steps:

[0015] a) installing the sample storage mechanism on the side wall of the vehicle body, and installing the base of the sampling mechanism on the rear side wall of the vehicle body;

[0016] b) The control unit controls the servo motor to rotate, and the screw rod drives the bracket to move toward the rear side of the vehicle body, so that the sampling cup installed on the bracket faces the electromagnetic adsorption mechanism on the sampling arm of the sampling mechanism;

[0017] c) The control unit controls the movement of the electric push rod on the sampling arm to drive the electromagnetic adsorption mechanism close to the sampling cup, and the electromagnetic adsorption mechanism extends into the magnetic adsorption groove on the sampling cup to adsorb the sampling cup;

[0018] d) The control unit controls the movement of the electric push rod, and the sampling cup is removed from the bracket through the electromagnetic adsorption mechanism;

[0019] e) The sampling arm is driven to rotate to a specified position by the first rotating motor, the second rotating motor and the third rotating motor of the sampling mechanism, and the electric push rod is controlled to make the end with the sampling cup adsorbed close to the position to be sampled, and the auxiliary arm of the sampling arm is kept at a certain angle to the plane where the position to be sampled is located;

[0020] f) Rotate the main arm or apply pressure to the cup body of the sampling cup through the electric push rod, so that the cup body of the sampling cup overcomes the initial torsion of the torsion spring and the cup cover opens until one side of the buckling surface of the cup body and the cup cover fits with the position to be sampled;

[0021] g) Rotate the auxiliary arm to drive the cup body of the sampling cup to dig the sample. After the sampling is completed, release the pressure on the sampling cup so that the cup body is buckled with the cup cover under the action of the torsion spring;

[0022] h) The sampling arm drives the sampling cup to move to a position corresponding to the mounting slot on the bracket through the first rotating motor, the second rotating motor, the third rotating motor and the electric push rod;

[0023] i) Control the electric push rod to place the sampling cup in the corresponding installation slot and release the sampling cup;

[0024] j) Control the servo motor to drive the bracket to continue to move a certain distance to the rear side of the vehicle body so that the adjacent sampling cups face the electromagnetic adsorption mechanism for the next round of sampling or drive the bracket to move back to the initial position to complete the sampling.

[0025] Compared with the prior art, this application has the following beneficial effects:

[0026] The present invention is aimed at nuclear, biological and chemical pollutants that may exist in the current environment. Samplers may be contaminated by pollutants when they collect samples at close range, so the present application focuses on solving the problem of samplers collecting samples of pollutants at a long distance. The sample storage mechanism and sampling mechanism of the present invention are both installed on the outside of the vehicle body, and the control unit is installed inside the vehicle body. The samplers use the control unit inside the vehicle to control the sample storage mechanism and sampling mechanism outside the vehicle to collect suspicious pollutants. During the entire sample collection work, the samples and the collectors will never be in close contact, and they are both in two mutually isolated spaces inside and outside the vehicle, which can effectively prevent the samplers from being contaminated by pollutants and ensure the personal safety of the samplers. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the sample storage mechanism in the present invention;

[0028] Figure 2It is a structural schematic diagram of the sampling mechanism in the present invention;

[0029] Figure 3 It is a schematic diagram of the structure of the sampling cup in the present invention;

[0030] Figure 4 It is a schematic diagram of the overall structure of the present invention;

[0031] In the figure, 1 is a vehicle body, 2 is a sample storage mechanism, 3 is a sampling cup, 4 is a sampling mechanism, 5 is a slide rail, 6 is a bracket, 7 is a mounting groove, 8 is a servo motor, 9 is a lead screw, 10 is a slider, 11 is a cup body, 12 is a cup cover, 13 is a base, 14 is an electromagnetic adsorption mechanism, 15 is a magnetic adsorption groove, 16 is an electric push rod, 17 is a main arm, 18 is a sub-arm, 19 is a first rotating motor, 20 is a second rotating motor, and 21 is a third rotating motor. DETAILED DESCRIPTION

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings.

[0033] For specific implementation: see Figure 1-Figure 4 ,

[0034] A vehicle-mounted solid automatic sampling device includes a vehicle body 1, a sample storage mechanism 2 is installed on the side wall of the vehicle body 1, a plurality of sampling cups 3 for holding samples are installed on the sample storage mechanism 2, and the sample storage mechanism 2 can move the sampling cups 3 to a specified position. Specifically, the sample storage mechanism 2 includes a slide rail 5 installed on the vehicle body 1, a bracket 6 is slidably mounted on the slide rail 5, and a plurality of mounting grooves 7 for mounting the sampling cups 3 are provided on the bracket 6; and also includes a driving mechanism, which is connected to the bracket 6 and is used to drive the bracket 6 to slide along the slide rail 5. The driving mechanism includes a servo motor 8, the motor shaft of the servo motor 8 is transmission-connected to a lead screw 9 extending along the length direction of the slide rail 5, a slider 10 is threadedly mounted on the lead screw 9, the slider 10 is slidably connected to the slide rail 5, and the slider 10 is fixedly connected to the bracket 6, the servo motor 8 drives the lead screw 9 to rotate, so that the slider 10 slides along the slide rail 5, and drives the bracket 6 to move along the length direction of the slide rail 5.

[0035] The sampling cup 3 includes a cup body 11 and a cup cover 12. The cup cover 12 is movably connected to the cup body 11 through a pin shaft, and a torsion spring is sleeved on the pin shaft. In the initial state, the torsion spring can drive the cup cover 12 to buckle on the cup body 11. In this way, the cup body 11 and the cup cover 12 are always in a closed state in a natural state, thereby protecting the sample therein and preventing the leakage of pollutants. There is an angle between the buckling surface of the cup body 11 and the cup cover 12 and the cross section of the cup body 11. Specifically, in this embodiment, an angle of 45° is adopted, so that the side of the cup body 11 close to the pin shaft is lower than the side away from the pin shaft, so that the sample can be well shoveled when collecting the sample. In order to facilitate the accurate placement of the sampling cup 3 in the mounting groove 7, a guide groove is provided on the bottom surface of the cup body 11, and correspondingly, a guide column matching the guide groove is provided at the bottom of the mounting groove 7.

[0036] A sampling mechanism 4 is also installed on the vehicle body 1, which is used to remove the sampling cup 3 from the sample storage mechanism 2, complete the sampling, and put the sampling cup 3 back into the sample storage mechanism 2 after the sampling is completed. Specifically, the sampling mechanism 4 adopts a three-axis mechanical arm, which specifically includes a base 13 installed on the vehicle body 1, a sampling arm is installed on the base 13, and an electromagnetic adsorption mechanism 14 is provided at one end of the sampling arm away from the base 13. Correspondingly, a magnetic adsorption groove 15 matching the electromagnetic adsorption mechanism 14 is provided on the cup cover 12 of the sampling cup 3. The electromagnetic adsorption mechanism 14 can extend into the magnetic adsorption groove 15 and be powered on or off to adsorb or release the sampling cup 3. An electric push rod 16 is installed at one end of the sampling arm away from the base 13, and the electromagnetic adsorption mechanism 14 is installed at one end of the electric push rod 16 away from the sampling arm. The sampling arm includes a main arm 17 and a secondary arm 18, and the main arm 17 and the secondary arm 18 are rotatably connected by a first rotating motor 19, so that the secondary arm 18 can rotate in a vertical plane, and the electromagnetic adsorption mechanism 14 is installed at one end of the secondary arm 18 away from the main arm 17; the main arm 17 is rotatably connected to a horizontal rotating seat rotatably installed on the base 13 by a second rotating motor 20, so that the main arm 17 can rotate in a vertical plane; the horizontal rotating seat is installed on the base 13 by a third rotating motor 21, so that the horizontal rotating seat can rotate in a horizontal plane. At the same time, in order to better observe the collection process, a camera and a lighting lamp are also installed at the end of the secondary arm 18, and the camera and the lighting lamp are communicatively connected with the control unit.

[0037] It also includes a control unit, which is connected to the sample storage mechanism 2 and the sampling mechanism 4, respectively, and is used to control the actions of the sample storage mechanism 2 and the sampling mechanism 4. Specifically, the control unit is composed of an information processing unit and a control unit. The information processing unit is composed of a single-chip control circuit, a relay, a stepper motor driver, a communication circuit, a router, a DC motor driver, etc., and is the control and communication center of the entire system; the control unit uses a multi-function joystick.

[0038] Specifically, when in use, the vehicle-mounted solid automatic sampling device is connected to the power supply and distribution box via a power / CAN bus cable. On the one hand, the power supply and distribution box supplies power to the device, and on the other hand, it is connected to the control unit via the CAN bus access system. Various instructions from the control unit can be received in real time via the CAN bus, and the control unit controls the sampling "manipulator" (hereinafter referred to as "sampling mechanism 4") to collect samples of suspicious objects on the ground, and then places the collected samples in the sampling cup 3, and finally retracts the sampling manipulator, while uploading the sampling information, and reporting the sampling information and the status information of the device in real time.

[0039] The control unit includes a sampling control box, which is mainly composed of an MCU control unit, a 3-arm sampling manipulator control unit, a bracket 6 control unit, a position detection unit, a CAN communication unit, a data storage unit, a button, a display and lighting, and a power supply unit. The control unit controls the acquisition motion process and communicates data and video with the host computer through the CAN bus and USB communication methods.

[0040] The sampling control box is installed in the solid automatic sampling equipment. During operation, the multi-function joystick is manipulated or the host computer sends instructions. The sampling control box receives the host computer instructions, reads the manipulator status information, and outputs the drive control signal. After photoelectric isolation, the manipulator, the sampling cup 3 movement, the bracket 6 drive control and the night light control are respectively controlled, including the control actions of unfolding, approaching the target, sample collection, sample placement and disassembly, so as to realize the automatic sampling function. And the sampling information and the sampling equipment status information are uploaded in real time through the communication interface. In order to meet the installation requirements of the equipment, the sampling control box adopts the structural design of the 19-inch standard chassis. The chassis as a whole includes the lower box assembly, the cover plate and other parts. The lower box assembly consists of a box body and a front panel. The box body is processed and manufactured by sheet metal bending, and the front panel is manufactured by CNC machining center. The two parts are combined into one by riveting; the upper cover plate is formed by laser cutting; the front panel is a control display panel, and the control display panel is designed with a power switch, mode setting and operation buttons for switching between automatic sampling and manual working modes, and LED indication of the corresponding working status is designed. All connection sockets are designed at the rear of the box with rear outlet, and are installed by inserting from the front to the back. The whole control box is reasonably designed with a sturdy and beautiful appearance.

[0041] Based on the above-mentioned vehicle-mounted solid automatic sampling device, the present invention also provides a vehicle-mounted solid automatic sampling method, including the above-mentioned vehicle-mounted solid automatic sampling device, comprising the following steps:

[0042] a) installing the sample storage mechanism 2 on the side wall of the vehicle body 1, and installing the base 13 of the sampling mechanism 4 on the rear side wall of the vehicle body 1;

[0043] b) controlling the servo motor 8 to rotate through the control unit, and driving the bracket 6 to move toward the rear side of the vehicle body 1 through the lead screw 9, so that the sampling cup 3 installed on the bracket 6 faces the electromagnetic adsorption mechanism 14 on the sampling arm of the sampling mechanism 4;

[0044] c) The control unit controls the electric push rod 16 on the sampling arm to move, driving the electromagnetic adsorption mechanism 14 to approach the sampling cup 3, and the electromagnetic adsorption mechanism 14 extends into the magnetic adsorption groove 15 on the sampling cup 3, and adsorbs the sampling cup 3;

[0045] d) The control unit controls the electric push rod 16 to move, and the sampling cup 3 is removed from the bracket 6 through the electromagnetic adsorption mechanism 14;

[0046] e) The sampling arm is driven to rotate to a specified position by the first rotating motor 19, the second rotating motor 20, and the third rotating motor 21 of the sampling mechanism 4, and the electric push rod 16 is controlled to make the end with the sampling cup 3 adsorbed close to the position to be sampled, and the auxiliary arm 18 of the sampling arm is kept at a certain angle to the plane where the position to be sampled is located;

[0047] f) rotating the main arm 17 or applying pressure to the cup body 11 of the sampling cup 3 through the electric push rod 16, so that the cup body 11 of the sampling cup 3 overcomes the initial torsion of the torsion spring and the cup cover 12 is opened until one side of the fastening surface of the cup body 11 and the cup cover 12 is in contact with the position to be sampled;

[0048] g) Rotate the auxiliary arm 18 to drive the cup body 11 of the sampling cup 3 to dig the sample. After the sampling is completed, release the pressure on the sampling cup 3 so that the cup body 11 is buckled with the cup cover 12 under the action of the torsion spring;

[0049] h) The sampling arm drives the sampling cup 3 to move to a position corresponding to the mounting slot 7 on the bracket 6 through the first rotating motor 19, the second rotating motor 20, the third rotating motor 21 and the electric push rod 16;

[0050] i) controlling the electric push rod 16 to place the sampling cup 3 in the corresponding mounting groove 7 and release the sampling cup 3;

[0051] j) Control the servo motor 8 to drive the bracket 6 to continue to move a certain distance to the rear side of the vehicle body 1 so that the adjacent sampling cup 3 faces the electromagnetic adsorption mechanism 14 for the next round of sampling or drives the bracket 6 to move back to the initial position to complete the sampling.

[0052] Specifically, first, a sealed drawer is designed on the side of the vehicle body 1 for the bracket 6 to extend and retract, and a sample storage mechanism 2 is installed in the drawer. Its position is relatively fixed, which is convenient for the sampling mechanism 4 to pick up and store the sampling cup 3. Before sampling, the sampling mechanism 4 is in the initial position. During sampling, the sample storage mechanism 2 is activated first, and the servo motor 8 drives the lead screw 9 to push the bracket 6 to a position, facing the electromagnetic adsorption mechanism 14 of the sampling mechanism 4. The electric push rod 16 on the sampling mechanism 4 is activated to push the magnetic structure into the top magnetic adsorption groove 15 of the sampling cup 3. The electromagnetic adsorption mechanism 14 is powered on and adsorbed together with the sampling cup 3. The electric push rod 16 is recovered to the initial state, and the third rotating motor 21 installed on the base 13 drives the entire sampling mechanism 4 to rotate around the Z axis (vertical) as the axis to the approximate position where the sampling is required, and then the second rotating motor 20 installed at the bottom of the main arm 17 drives the main arm 17 to rotate around the Y axis as the axis to achieve up and down movement. At the same time, the first rotating motor 19 installed at the bottom of the auxiliary arm 18 drives the auxiliary arm 18 to rotate and unfold around the Y axis, so that the entire sampling arm is aligned with the object to be sampled, the electric push rod 16 is pushed out, and the sampling cup 3 is close to the sampling position. Then, the electric push rod 16 fixed on the auxiliary arm 18 drives the sampling cup 3 adsorbed on the end of the push rod to the specified position for pressing and shoveling sampling. After the sampling is completed, each driving mechanism works in reverse order, the sampling mechanism 4 returns to the initial state, the bracket 6 is pushed out, the electric push rod 16 works, and the sampling cup 3 is pushed into the predetermined position on the sampling cup 3 rack. The electromagnetic adsorption mechanism 14 is powered off, the sampling cup 3 is released, the electric push rod 16 is recovered, and the sampling cup 3 rack is recovered. A complete sampling action is completed. Subsequent sampling sequences are carried out in sequence.

[0053] The present invention is aimed at nuclear, biological and chemical pollutants that may exist in the current environment. Samplers may be contaminated by pollutants when they collect samples at close range, so the present application focuses on solving the problem of samplers collecting samples of pollutants at a long distance. The sample storage mechanism and sampling mechanism of the present invention are both installed on the outside of the vehicle body, and the control unit is installed inside the vehicle body. The samplers use the control unit inside the vehicle to control the sample storage mechanism and sampling mechanism outside the vehicle to collect suspicious pollutants. During the entire sample collection work, the samples and the collectors will never be in close contact, and they are both in two mutually isolated spaces inside and outside the vehicle, which can effectively prevent the samplers from being contaminated by pollutants and ensure the personal safety of the samplers.

[0054] Although the embodiments of the present invention have been shown and described, it is apparent to those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and basis of the present invention. The scope of the present invention is defined by the appended claims and their equivalents. Therefore, the embodiments of the present invention are merely illustrative examples of the present invention. The embodiments of the present invention do not constitute limitations on the present invention from any point of view.

Claims

1. A vehicle-mounted solid automatic sampling device, comprising a vehicle body, characterized in that: A sample storage mechanism is installed on the vehicle body, and a sampling cup for holding samples is installed on the sample storage mechanism, and the sample storage mechanism can move the sampling cup to a specified position; a sampling mechanism is also installed on the vehicle body, which is used to take the sampling cup from the sample storage mechanism, complete sampling, and put the sampling cup back to the sample storage mechanism after sampling is completed; and a control unit is also included, which is connected to the sample storage mechanism and the sampling mechanism respectively, and is used to control the actions of the sample storage mechanism and the sampling mechanism; The sampling cup comprises a cup body and a cup cover, wherein the cup cover is movably connected to the cup body via a pin shaft, and a torsion spring is sleeved on the pin shaft, and the torsion spring can drive the cup cover to buckle on the cup body in an initial state; There is an included angle between the buckling surface of the cup body and the cup cover and the cross section of the cup body, and the side of the cup body close to the pin is lower than the side away from the pin; The sample storage mechanism comprises a slide rail mounted on the vehicle body, a bracket is slidably mounted on the slide rail, and a plurality of mounting grooves for mounting the sampling cup are provided on the bracket; a guide groove is provided on the bottom surface of the cup body, and correspondingly, a guide column matching the guide groove is provided at the bottom of the mounting groove; The sampling mechanism includes a base installed on the vehicle body, a sampling arm is installed on the base, an electromagnetic adsorption mechanism is provided at one end of the sampling arm away from the base, and correspondingly, a magnetic adsorption groove matching the electromagnetic adsorption mechanism is provided on the cup cover of the sampling cup. After the electromagnetic adsorption mechanism extends into the magnetic adsorption groove, the sampling cup can be adsorbed or released by powering on or off the electromagnetic adsorption mechanism.

2. The vehicle-mounted solid automatic sampling device according to claim 1, characterized in that: It also includes a driving mechanism, which is connected to the bracket and is used to drive the bracket to slide along the slide rail.

3. The vehicle-mounted solid automatic sampling device according to claim 2, characterized in that: The driving mechanism includes a servo motor, a motor shaft of the servo motor is drivingly connected to a lead screw extending along the length direction of the slide rail, a slider is threadedly mounted on the lead screw, the slider is slidably connected to the slide rail, and the slider is fixedly connected to the bracket, the servo motor drives the lead screw to rotate, so that the slider slides along the slide rail, driving the bracket to move along the length direction of the slide rail.

4. The vehicle-mounted solid automatic sampling device according to claim 1, characterized in that: An electric push rod is installed at one end of the sampling arm away from the base, and the electromagnetic adsorption mechanism is installed at the telescopic end of the electric push rod.

5. The vehicle-mounted solid automatic sampling device according to claim 1, characterized in that: The sampling arm includes a main arm and a secondary arm, and the main arm and the secondary arm are rotatably connected by a first rotating motor so that the secondary arm can rotate in a vertical plane, and the electromagnetic adsorption mechanism is installed at an end of the secondary arm away from the main arm; the main arm is rotatably connected to a horizontal rotating seat rotatably installed on a base through a second rotating motor so that the main arm can rotate in a vertical plane; the horizontal rotating seat is installed on the base through a third rotating motor so that the horizontal rotating seat can rotate in a horizontal plane.

6. A vehicle-mounted solid automatic sampling method, comprising the vehicle-mounted solid automatic sampling device according to any one of claims 1 to 5, characterized in that: The steps include: a) installing the sample storage mechanism on the side wall of the vehicle body, and installing the base of the sampling mechanism on the rear side wall of the vehicle body; b) The control unit controls the servo motor to rotate, and the lead screw drives the bracket to move toward the rear side of the vehicle body, so that the sampling cup installed on the bracket faces the electromagnetic adsorption mechanism on the sampling arm of the sampling mechanism; c) The control unit controls the movement of the electric push rod on the sampling arm to drive the electromagnetic adsorption mechanism close to the sampling cup, and the electromagnetic adsorption mechanism is extended into the magnetic adsorption groove on the sampling cup, and then the electromagnetic adsorption mechanism is energized to adsorb the sampling cup; d) The control unit controls the movement of the electric push rod, and the sampling cup is removed from the bracket through the electromagnetic adsorption mechanism; e) The sampling arm is driven to rotate to a specified position by the first rotating motor, the second rotating motor and the third rotating motor of the sampling mechanism, and the electric push rod is controlled to make the end with the sampling cup adsorbed close to the position to be sampled, and the axis of the sampling cup is kept at a certain angle to the plane where the position to be sampled is located; f) Rotate the main arm or continuously apply torque and pressure to the sampling cup through the electric push rod, so that the cup body of the sampling cup overcomes the initial torque of the torsion spring and the cup cover is opened. At the same time, the cup body rotates around its contact point with the sampling position until the side of the cup body away from the pin is in contact with the position to be sampled; g) Continue to apply pressure to the sampling cup through the electric push rod, so that the end of the sampling cup close to the cup cover tilts downward, and at the same time rotate the auxiliary arm to drive the cup body of the sampling cup to shovel the sample. After the sampling is completed, release the pressure on the sampling cup, so that the cup body is buckled with the cup cover under the action of the torsion spring; h) The sampling arm drives the sampling cup to move to a position corresponding to the mounting slot on the bracket through the first rotating motor, the second rotating motor, the third rotating motor and the electric push rod; i) Control the electric push rod to place the sampling cup in the corresponding installation slot and release the sampling cup; j) Control the servo motor to drive the bracket to continue to move a certain distance to the rear side of the vehicle body so that the adjacent sampling cups face the electromagnetic adsorption mechanism for the next round of sampling or drive the bracket to move back to the initial position to complete the sampling.

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