A movable robot with base station for automatic sewage sampling and sampling method thereof

Abstract

The present invention proposes a movable robot with a base station for automatic sewage sampling and a sampling method thereof, comprising a base station, a sampling robot, a sampling cup, a sewage inlet pipe, a traction component, a sampling pump, a sample outlet pipe, a first sewage pipe, a sampling main pipe, a sampling inlet pipe, and a second sewage pipe, wherein the sampling robot is detachably connected to the base station, and the sampling cup is detachably connected to the sampling robot; the sampling pump is arranged on the base station. By arranging the traction component, the length of the sewage inlet pipe extending from the base station can be adjusted, so that it is convenient to sample sewage at any height. By arranging the second sewage pipe and the first sewage pipe which are also connected to the sampling main pipe, the sewage in the sampling cup can be emptied through the first sewage pipe before sampling. At the same time, when the sampling cup is cleaned, the cleaning water in the sampling cup can be discharged, thereby preventing external impurities from affecting the content of various substances in the extracted sewage, and improving the accuracy of sewage sampling.

Description

Technical Field

[0001] The invention relates to the technical field of sewage sampling, and in particular to a movable robot with a base station for automatic sewage sampling and a sampling method thereof. Background Art

[0002] In order to monitor the sewage level in water bodies, it is usually necessary to frequently sample and test sewage to determine whether the water quality meets the standards. Industrial sewage has many uncertain factors such as complex pollution components and large fluctuations in incoming water concentration. Therefore, it is necessary to sample and test the water quality of each section of the system multiple times and frequently to monitor the normal operation of the entire system.

[0003] Conventional sampling methods mostly use deep water samplers, beakers, measuring cylinders and other tools for manual sampling, which requires multiple and frequent operations and is prone to confusion and errors in sampling, resulting in low efficiency.

[0004] The invention with publication number CN114152480A proposes a robot for sewage monitoring and sampling. When the water-soluble resin melts, the squeezed elastic airbag quickly recovers to a spherical shape, dragging the sampling tube to float up. At the moment when the water-soluble resin melts, the special bacteria for garbage treatment will contact the sewage, and the sampling sponge will sample the sewage at the same time. The special bacteria for garbage treatment cooperates with the floating of the sampling tube, so that the special bacteria for garbage treatment can be fully distributed in the sewage. However, the above-mentioned sewage sampling robot cannot sample sewage in waters of different depths in aerobic pools, so this application proposes a movable robot with a base station for automatic sewage sampling and a sampling method thereof to solve the above-mentioned problem. Summary of the invention

[0005] In view of this, the present invention proposes a mobile robot with a base station for automatic sewage sampling and a sampling method thereof. By setting a traction component, the length of the sewage inlet pipe extending from the base station can be adjusted, so that the sewage inlet pipe can be extended to any height of the external aerobic tank, which facilitates the sampling of sewage at any height. By setting a second sewage pipe and a first sewage pipe that are also connected to the sampling main pipe, the sewage in the sampling cup can be emptied through the first sewage pipe before sampling, and the cleaning water in the sampling cup can be discharged when the sampling cup is cleaned, thereby preventing external impurities from affecting the content of various substances in the extracted sewage, and improving the accuracy of sewage sampling.

[0006] The technical solution of the present invention is implemented as follows: The present invention provides a movable robot with a base station for automatic sewage sampling, comprising a base station, a sampling robot, a sampling cup, a sewage inlet pipe, a traction component, a sampling pump, a sample outlet pipe, a first sewage discharge pipe, a sampling main pipe, a sample inlet pipe and a second sewage discharge pipe, wherein:

[0007] The sampling robot is detachably connected to the base station, and the sampling cup is detachably connected to the sampling robot;

[0008] A sampling pump, arranged on the base station;

[0009] The sewage inlet pipe is a bendable hose and is located inside the base station. One end of the sewage inlet pipe is connected to the water inlet end of the sampling pump. The other end of the sewage inlet pipe passes through the base station and extends to the external aerobic tank. The traction component is used to adjust the length of the sewage inlet pipe extending from the base station. The sewage inlet pipe is used to extract sewage from the external aerobic tank.

[0010] A sampling main pipe is arranged inside the sampling robot, and the sampling pipe and the second sewage pipe are both connected to the sampling main pipe, and the sampling main pipe is connected to the sampling cup;

[0011] A sample outlet pipe, connected to the water outlet end of the sampling pump and connected to the sample inlet pipe;

[0012] The first sewage pipe is arranged on the base station and is connected to the second sewage pipe, and is used for discharging sewage in the second sewage pipe.

[0013] On the basis of the above technical solution, preferably, it further includes a connecting pipe, a first solenoid valve, a clean water inlet pipe and a second solenoid valve, wherein:

[0014] The sewage inlet pipe is connected to the water inlet end of the sampling pump through the connecting pipe;

[0015] A clean water inlet pipe is arranged on the base station and is connected to the other end of the connecting pipe, and the clean water inlet pipe is used to extract external clean water;

[0016] The first solenoid valve and the second solenoid valve are both arranged on the connecting pipe, the first solenoid valve is used to regulate the on-off between the sewage inlet pipe and the sampling pump, and the second solenoid valve is used to regulate the on-off between the clean water inlet pipe and the sampling pump.

[0017] On the basis of the above technical solution, preferably, the traction component includes a mounting seat and a traction column, wherein:

[0018] The mounting seat is arranged inside the base station, and the traction column is rotatably arranged on the mounting seat, and the sewage inlet pipe is wound around the circumference of the traction column.

[0019] On the basis of the above technical solution, preferably, it also includes a sampling branch pipe, a third solenoid valve, an injection solenoid valve and a sewage solenoid valve, wherein:

[0020] The sampling robot supports a plurality of sampling cups, and the sampling main pipe is connected to the plurality of sampling cups through a plurality of sampling branch pipes;

[0021] A plurality of third solenoid valves, respectively arranged on each of the sampling branch pipes, for regulating the on-off of the sampling branch pipes;

[0022] An injection solenoid valve, arranged on the injection tube, for regulating the on-off of the injection tube;

[0023] The sewage discharge solenoid valve is arranged on the second sewage discharge pipe and is used for regulating the opening and closing of the second sewage discharge pipe.

[0024] On the basis of the above technical solution, preferably, it also includes a sample feeding slide pipe, a sewage discharge slide pipe and a position adjustment component, wherein:

[0025] The sampling robot is provided with an auxiliary roller for rotation;

[0026] A sample inlet sliding tube, slidably connected to the sample inlet tube and detachably connected to the sample outlet tube;

[0027] A sewage discharge sliding pipe, slidably disposed on the second sewage discharge pipe and detachably connected to the first sewage discharge pipe;

[0028] The position adjustment component is used to adjust the sample feeding slide tube and the sewage discharge slide tube to slide towards or away from the sample feeding tube or the second sewage discharge tube at the same time.

[0029] On the basis of the above technical solution, preferably, the positioning component includes a mounting bottom block and a mounting top block, and also includes an adjusting component, and the adjusting component includes a first motor and a gear roller, wherein:

[0030] The mounting bottom block is fixedly connected to the mounting top block, the mounting top block is slidably connected to the sampling robot, and a sliding hole is provided on the side wall of the mounting bottom block, and the sliding hole is a bent hole;

[0031] A connecting rod is fixedly connected between the sample feeding slide pipe and the sewage discharge slide pipe, and the connecting rod passes through the sliding hole. When the mounting top block slides upward, the connecting rod moves along the sliding hole in a direction away from the base station;

[0032] A first motor is arranged inside the sampling robot;

[0033] The gear roller is arranged at the output shaft of the first motor, and the outer side of the mounting top block is provided with a tooth groove meshing with the gear roller.

[0034] On the basis of the above technical solution, preferably, it further comprises a mounting tube, a sliding block, a sealing plug and a spring, wherein:

[0035] The top of the sampling cup is detachably connected with a top cover, and a partition is arranged inside the sampling cup, and the partition is used to separate the inner cavity of the sampling cup into a sampling cavity and an assembly cavity, and the sampling cavity is located above the assembly cavity;

[0036] A mounting tube, which is arranged on the partition and communicates with the sampling cavity and the assembly cavity, wherein the sampling branch tube passes through the assembly cavity and extends to the interior of the mounting tube, and the sampling branch tube is detachably connected to the mounting tube;

[0037] A sliding block is slidably arranged inside the mounting tube, and a water hole is opened on the sliding block;

[0038] A sealing plug fixedly connected to the sliding block, wherein the sealing plug comprises a plug connector, the plug connector is a conical head, and is sealed at the end of the mounting tube;

[0039] A spring is slidably connected with the sealing plug and the partition plate and is used for resetting the sliding position of the sealing plug.

[0040] On the basis of the above technical solution, preferably, it further includes a transfer shaft, a stirring frame, a second motor and a connecting shaft, wherein:

[0041] A transfer shaft is rotatably disposed on the partition, and two ends of the transfer shaft extend to the interior of the sampling cavity and the assembly cavity respectively;

[0042] A stirring frame, arranged on the transfer shaft and located inside the sampling cavity;

[0043] A second motor is arranged on the sampling robot;

[0044] The connecting shaft is fixedly connected to the output end of the second motor and extends to the interior of the assembly cavity. The connecting shaft and the transfer shaft are plugged and meshed with each other.

[0045] On the basis of the above technical solution, preferably, it also includes a capacitive liquid level sensor, wherein:

[0046] A plurality of capacitive liquid level sensors are arranged on the sampling robot and are used to monitor the liquid level height of each of the sampling cups.

[0047] The present invention also proposes a sampling method for automatic sewage sampling, including the above-mentioned movable robot with a base station for automatic sewage sampling, and further comprising the following steps:

[0048] S1. Connect the sampling robot to the base station in advance, and connect the sampling cup to the sampling robot;

[0049] S2, cleaning the multiple sampling cups, and after cleaning, passing the cleaning liquid through the sampling main pipe and the second sewage pipe, and discharging the cleaning liquid from the first sewage pipe;

[0050] S3, by adjusting the traction component to control the length of the sewage inlet pipe extending from the base station, the sewage inlet pipe is extended to the height to be extracted of the aerobic tank for storing sewage outside to perform preparation work before sewage sampling;

[0051] S4, disconnecting the second sewage pipe from the sampling main pipe, and starting the sampling pump, at which time the sewage in the aerobic pool is extracted by the sampling pump, and the sewage flows into the interior of the sampling cup through the sewage inlet pipe, the sample outlet pipe, the sampling pipe and the sampling main pipe, thereby completing the sewage sampling process of the sampling cup;

[0052] S5. During the sampling process, the sewage storage in the sampling cup is monitored in real time through the external liquid level monitoring component. When the sewage level in the sampling cup reaches the ideal height, the sampling pump is turned off to complete the sampling.

[0053] The movable robot with base station for automatic sewage sampling and the sampling method thereof of the present invention have the following beneficial effects compared with the prior art:

[0054] (1) The sewage in the external aerobic pool is extracted by a sampling pump and supplied to the sampling cup by a sampling robot. The length of the sewage inlet pipe extending from the base station can be adjusted by setting a traction component, so that the sewage inlet pipe can be extended to any height of the external aerobic pool, which facilitates the sampling of sewage at any height. By setting a second sewage pipe and a first sewage pipe that are also connected to the sampling main pipe, the sewage in the sampling cup can be emptied through the first sewage pipe before sampling. At the same time, when the sampling cup is cleaned, the cleaning water in the sampling cup can be discharged, thereby preventing external impurities from affecting the content of various substances in the extracted sewage and improving the accuracy of sewage sampling.

[0055] (2) By connecting a clean water inlet pipe to the connecting pipe, the clean water inlet pipe is connected to an external clean water storage device, so that the sampling pump has the advantage of extracting external clean water while being able to extract sewage. In a specific implementation, before extracting and sampling sewage, the first solenoid valve can be closed and the second solenoid valve can be opened to start the sampling pump. At this time, the sampling pump extracts clean water through the clean water inlet pipe and supplies it to the sampling cup, thereby completing the cleaning of the sampling cup and the pipelines in the sampling robot. After the cleaning is completed, the second solenoid valve is closed and the first solenoid valve is opened to extract sewage, thereby improving the accuracy of sewage sampling.

[0056] (3) The sealing plug is connected by a spring to realize the rapid closing and opening of the sampling chamber. In the specific implementation, it is only necessary to put the sampling cup holder on the sampling robot or take it out from the sampling robot to automatically realize the connection and disconnection between the sampling cup and the sampling robot. At the same time, after the sampling cup is removed, the sealing process of the sampling cup can be automatically completed, which is convenient for use. BRIEF DESCRIPTION OF THE DRAWINGS

[0057] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0058] Figure 1 A bottom-up stereoscopic view of a movable robot with a base station for automatic sewage sampling according to the present invention;

[0059] Figure 2 A left perspective view of a movable robot with a base station for automatic sewage sampling according to the present invention;

[0060] Figure 3 A schematic diagram of the connection mode of the pipelines in the base station of the mobile robot with base station for automatic sewage sampling of the present invention;

[0061] Figure 4 A schematic diagram of the connection between the sampling robot and the sampling cup of the movable sampling robot with a base station robot for automatic sewage sampling of the present invention;

[0062] Figure 5 A movable robot with a base station for automatic sewage sampling according to the present invention Figure 4 a left side view of the structure shown;

[0063] Figure 6 A movable robot with a base station for automatic sewage sampling according to the present invention Figure 5 A cross-sectional view of the structure at AA is shown;

[0064] Figure 7 A movable robot with a base station for automatic sewage sampling according to the present invention Figure 6 The enlarged schematic diagram of point B is shown;

[0065] Figure 8 A movable robot with a base station for automatic sewage sampling according to the present invention Figure 4 A three-dimensional schematic diagram of the structure shown after the sampling cup is detached;

[0066] Fig. 9It is a three-dimensional schematic diagram of the connection structure of the sampling main pipe of the movable robot with a base station for automatic sewage sampling of the present invention;

[0067] Fig.10 A movable robot with a base station for automatic sewage sampling according to the present invention Fig. 9 A right-side perspective schematic diagram of the structure shown. DETAILED DESCRIPTION

[0068] The following will be combined with the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0069] like Figures 1 to 10 As shown, the movable robot with a base station for automatic sewage sampling of the present invention comprises a base station 1, a sampling robot 21, a sampling cup 31, a sewage inlet pipe 41, a traction component 42, a sampling pump 43, a sample outlet pipe 44, a first sewage discharge pipe 45, a sampling main pipe 51, a sample inlet pipe 52 and a second sewage discharge pipe 53, wherein the sampling robot 21 is detachably connected to the base station 1, and the sampling cup 31 is detachably connected to the sampling robot 21; the sampling pump 43 is arranged on the base station 1; the sewage inlet pipe 41 is a bendable hose and is located inside the base station 1, one end of the sewage inlet pipe 41 is connected to the water inlet end of the sampling pump 43, and the sewage inlet pipe The other end of 41 passes through the base station 1 and extends to the external aerobic pool. The traction component 42 is used to adjust the length of the sewage inlet pipe 41 extending from the base station 1. The sewage inlet pipe 41 is used to extract sewage from the external aerobic pool; the sampling main pipe 51 is arranged inside the sampling robot 21, and the sampling injection pipe 52 and the second sewage discharge pipe 53 are both connected to the sampling main pipe 51, and the sampling main pipe 51 is connected to the sampling cup 31; the sampling outlet pipe 44 is connected to the water outlet end of the sampling pump 43, and is connected to the sampling injection pipe 52; the first sewage discharge pipe 45 is arranged on the base station 1, and is connected to the second sewage discharge pipe 53, and is used to discharge the sewage in the second sewage discharge pipe 53.

[0070] In a specific implementation, three supporting seats 23 are arranged on the top of the sampling robot 21. The supporting seats 23 are annular. The bottom of the sampling cup 31 is open. The top of the supporting seat 23 is provided with a supporting groove 231 for the sampling cup 31 to be inserted.

[0071] In a specific implementation, after the sampling robot 21 is connected to the base station 1, the sample outlet pipe 44 and the first sewage pipe 45 are connected to the sample inlet pipe 52 and the second sewage pipe 53. At this time, the length of the sewage inlet pipe 41 extending from the base station 1 is adjusted by the traction component 42, so that the sewage inlet pipe 41 extends into the interior of the aerobic pool where sewage is stored externally. By extending the sewage inlet pipe 41 to the height of the sewage to be extracted in the aerobic pool, the preparation treatment before the sewage extraction is completed. By starting the sampling pump 43, the sewage flows into the interior of the sampling cup 31 through the sewage inlet pipe 41, the sample outlet pipe 44, the sample inlet pipe 52 and the sampling main pipe 51, thereby completing the sampling treatment of the sewage. By setting the traction component 42, the length of the sewage inlet pipe 41 extending from the base station 1 can be adjusted, so that the sewage inlet pipe 41 can be extended to any height of the external aerobic pool, which facilitates the sampling of sewage at any height. By providing a second sewage pipe 53 and a first sewage pipe 45 which are also connected to the sampling main pipe 51, the sewage in the sampling cup 31 can be emptied through the first sewage pipe 45 before sampling. At the same time, when the sampling cup 31 is cleaned, the cleaning water in the sampling cup 31 can be discharged, thereby preventing external impurities from affecting the content of various substances in the extracted sewage, thereby improving the accuracy of sewage sampling.

[0072] As a preferred embodiment, it also includes a connecting pipe 46, a first solenoid valve 47, a clean water inlet pipe 48 and a second solenoid valve 49, wherein the sewage inlet pipe 41 is connected to the water inlet end of the sampling pump 43 through the connecting pipe 46; the clean water inlet pipe 48 is arranged on the base station 1 and is connected to the other end of the connecting pipe 46, and the clean water inlet pipe 48 is used to extract external clean water; the first solenoid valve 47 and the second solenoid valve 49 are both arranged on the connecting pipe 46, the first solenoid valve 47 is used to regulate the on-off between the sewage inlet pipe 41 and the sampling pump 43, and the second solenoid valve 49 is used to regulate the on-off between the clean water inlet pipe 48 and the sampling pump 43.

[0073] By connecting the clean water inlet pipe 48 to the connecting pipe 46, the clean water inlet pipe 48 is connected to the external clean water storage device, so that the sampling pump 43 has the advantage of extracting external clean water while being able to extract sewage. In a specific implementation, before extracting and sampling sewage, the first solenoid valve 47 can be closed and the second solenoid valve 49 can be opened to start the sampling pump 43. At this time, the sampling pump 43 extracts clean water through the clean water inlet pipe 48 and supplies it to the sampling cup 31, thereby completing the cleaning of the sampling cup 31 and the pipelines in the sampling robot 21. After the cleaning is completed, the second solenoid valve 49 is closed and the first solenoid valve 47 is opened to extract sewage, thereby improving the accuracy of sewage sampling.

[0074] As a preferred embodiment, the traction component 42 includes a mounting seat 421 and a traction column 422 , wherein the mounting seat 421 is arranged inside the base station 1 , and the traction column 422 is rotatably arranged on the mounting seat 421 , and the sewage inlet pipe 41 is wrapped around the circumference of the traction column 422 .

[0075] Specifically, the sewage inlet pipe 41 is wound around the traction column 422, thereby limiting the length of the sewage inlet pipe 41 extending out of the base station 1. When it is necessary to adjust the length of the sewage inlet pipe 41 extending out of the base station 1, the traction column 422 is adjusted to rotate, and the length of the sewage inlet pipe 41 extending out of the base station 1 can be adjusted by loosening or winding the sewage inlet pipe 41.

[0076] As a preferred embodiment, it also includes a sampling branch pipe 54, a third solenoid valve 55, an injection solenoid valve 56 and a sewage discharge solenoid valve 57, wherein a plurality of sampling cups 31 are supported on the sampling robot 21, and the sampling main pipe 51 is respectively connected to the plurality of sampling cups 31 through a plurality of sampling branch pipes 54; a plurality of third solenoid valves 55 are respectively arranged on each sampling branch pipe 54, for regulating the on-off of the sampling branch pipe 54; the injection solenoid valve 56 is arranged on the injection tube 52, for regulating the on-off of the injection tube 52; the sewage discharge solenoid valve 57 is arranged on the second sewage discharge pipe 53, for regulating the on-off of the second sewage discharge pipe 53.

[0077] In specific implementation, by adjusting the on-off of the sample injection solenoid valve 56, it is regulated whether the sewage or clean water can flow to each sampling branch pipe 54, and by adjusting the on-off of the sewage discharge solenoid valve 57, the sewage or the cleaning liquid after cleaning is discharged from the first sewage discharge pipe 45.

[0078] As a preferred embodiment, it also includes an inlet slide 58, a sewage slide 59 and an adjustment component 6, wherein an auxiliary roller 22 is rotatably arranged on the sampling robot 21; the inlet slide 58 is slidably connected to the inlet tube 52, and can be detachably connected to the sample outlet tube 44; the sewage slide 59 is slidably arranged on the second sewage pipe 53, and can be detachably connected to the first sewage pipe 45; the adjustment component 6 is used to regulate the inlet slide 58 and the sewage slide 59 to slide simultaneously in a direction close to or away from the inlet tube 52 or the second sewage pipe 53.

[0079] In a specific implementation, the sampling robot 21 can be moved by the auxiliary roller 22, and the docking or separation processing between the sampling robot 21 and the base station 1 is completed by whether the sampling robot 21 moves to the base station 1. After the sampling robot 21 is moved to the base station 1, the sampling robot 21 is positioned, and the sample inlet slide 58 and the sewage discharge slide 59 are regulated by the positioning component 6 to move simultaneously in the direction close to the base station 1, and are respectively connected with the sample outlet tube 44 and the first sewage discharge pipe 45, thereby completing the connection and connection processing between the sampling robot 21 and the base station 1.

[0080] As a preferred embodiment, the positioning component 6 includes a mounting bottom block 61 and a mounting top block 62, and also includes an adjusting component 7, the adjusting component 7 includes a first motor 71 and a gear roller 72, wherein the mounting bottom block 61 is fixedly connected to the mounting top block 62, and the mounting top block 62 is slidably connected to the sampling robot 21, and the side wall of the mounting bottom block 61 is provided with a sliding hole 611, and the sliding hole 611 is a bending hole; a connecting rod 510 is fixedly connected between the sample feeding slide tube 58 and the sewage discharge slide tube 59, and the connecting rod 510 passes through the sliding hole 611, and when the mounting top block 62 slides upward, the connecting rod 510 moves along the sliding hole 611 in a direction away from the base station 1; the first motor 71 is arranged inside the sampling robot 21; the gear roller 72 is arranged at the output shaft of the first motor 71, and the outer side of the mounting top block 62 is provided with a tooth groove meshing with the gear roller 72.

[0081] Specifically, when the sample inlet slide 58 and the sewage discharge slide 59 are moved, the first motor 71 is started. At this time, the first motor 71 drives the gear roller 72 to rotate, and the gear roller 72 drives the mounting top block 62 engaged therewith to slide in the height direction. The mounting top block 62 drives the mounting bottom block 61 to slide, and the mounting bottom block 61 presses the connecting rod 510 through the sliding hole 611 opened thereon, thereby completing the automatic adjustment of the sample inlet slide 58 and the sewage discharge slide 59, which is convenient for use.

[0082] As a preferred embodiment, it also includes a mounting tube 81, a sliding block 82, a sealing plug 83 and a spring 84, wherein the top of the sampling cup 31 is detachably connected to the top cover 32, and the interior of the sampling cup 31 is provided with a partition 33, the partition 33 is used to separate the inner cavity of the sampling cup 31 into a sampling cavity 311 and an assembly cavity 312, and the sampling cavity 311 is located above the assembly cavity 312; the mounting tube 81 is arranged on the partition 33 and is connected to the sampling cavity 311 and the assembly cavity 312, and the sampling branch tube 54 passes through the assembly cavity 312 and extends to the interior of the mounting tube 81, and the sampling branch tube 54 is detachably connected to the mounting tube 81; the sliding block 82 is slidably arranged inside the mounting tube 81, and a water hole 821 is opened on the sliding block 82; the sealing plug 83 is fixedly connected to the sliding block 82, and the sealing plug 83 includes a plug joint 831, which is a conical head and is sealed at the end of the mounting tube 81; the spring 84 is slidably connected with the sealing plug 83 and the partition 33, and is used to reset the sliding position of the sealing plug 83.

[0083] In a specific implementation, a tapered matching hole 331 for the sealing plug 83 to be inserted is opened on the partition plate 33.

[0084] In a specific implementation, a hanging hole 832 for hanging the spring 84 is provided on the sealing plug 83 , and a hanging ear plate 85 for hanging with the spring 84 is provided on the partition plate 33 .

[0085] By setting a sealing plug 83 to block the end of the mounting tube 81, when the sampling cup 31 is placed on the sampling robot 21, the sampling branch pipe 54 can automatically push the sliding block 82 upwards. At this time, the sliding block 82 slides upward along the mounting tube 81 and drives the sealing plug 83 to move upwards to separate from the mounting tube 81, thereby completing the automatic opening of the sampling chamber 311. During this period, sewage can flow into the interior of the sampling chamber 311 through the water holes 821 provided on the sampling branch pipe 54 and the sliding block 82, thereby completing the sewage supply and transportation treatment of the sampling chamber 311. After the sewage sampling is completed, the sampling cup 31 can be directly taken out. At this time, the sealing plug 83 automatically slides in the direction close to the mounting tube 81 under the traction of the spring 84, and blocks the mounting tube 81, thereby completing the automatic blocking treatment of the mounting tube 81. During this period, the sewage cannot flow out from the bottom of the sampling cup 31 through the mounting tube 81, and the automatic closing treatment of the sampling chamber 311 is automatically completed. With this design, the sampling cup 31 can be automatically connected to the sampling robot 21 only by placing it on the sampling robot 21 or taking it out from the sampling robot 21. At the same time, after the sampling cup 31 is taken off, the sealing process of the sampling cup 31 can be automatically completed, which is convenient for use.

[0086] As a preferred embodiment, it also includes an adapter shaft 91, a stirring frame 92, a second motor 93 and a connecting shaft 94, wherein the adapter shaft 91 is rotatably set on the partition 33, and the two ends of the adapter shaft 91 extend to the inside of the sampling chamber 311 and the assembly chamber 312 respectively; the stirring frame 92 is set on the adapter shaft 91 and is located inside the sampling chamber 311; the second motor 93 is set on the sampling robot 21; the connecting shaft 94 is fixedly connected to the output end of the second motor 93 and extends to the inside of the assembly chamber 312, and the connecting shaft 94 is plugged into the adapter shaft 91 and meshed with each other.

[0087] In a specific implementation, a tooth block or a non-circular block is provided at the end of the connecting shaft 94, and a groove matching the end of the adapter shaft 91 is provided at the end of the connecting shaft 94 for plugging in the connecting shaft 94 and meshing with the connecting shaft 94, so that the connecting shaft 94 can drive the adapter shaft 91 to rotate.

[0088] In this design, the stirring frame 92 is used to rotate and stir the liquid inside the sampling cavity 311. Specifically, after the sampling cup 31 is placed on the sampling robot 21, the connecting shaft 94 can automatically align with the adapter shaft 91 and plug into the adapter shaft 91, thereby automatically completing the connection between the connecting shaft 94 and the adapter shaft 91. When it is necessary to stir the liquid in the sampling cup 31, such as when it is necessary to stir the cleaning liquid in the sampling cup 31 to increase the cleaning effect, the second motor 93 can be started. At this time, the second motor 93 drives the stirring frame 92 to rotate through the connecting shaft 94 and the adapter shaft 91, thereby completing the stirring of the liquid in the sampling cup 31.

[0089] As a preferred embodiment, a capacitive liquid level sensor 10 is further included, wherein a plurality of capacitive liquid level sensors 10 are arranged on the sampling robot 21 and are respectively used to monitor the liquid level height of each sampling cup 31 .

[0090] Such a design can assist the user to detect the liquid storage status in the sampling cup 31 in real time through the capacitive liquid level sensor 10 .

[0091] The present invention also proposes a sampling method for automatic sewage sampling, including the above-mentioned movable robot with a base station for automatic sewage sampling, and further comprising the following steps:

[0092] Step 1: by adjusting the auxiliary roller 22 to roll, the sampling robot 21 moves to align with the base station 1;

[0093] Step 2: Start the first motor 71 to control the gear roller 72 to rotate. At this time, the gear roller 72 drives the mounting top block 62 to slide, so that the sample feed slide tube 58 and the sewage discharge slide tube 59 move toward the base station 1 at the same time, and plug the sample outlet tube 44 and the first sewage discharge pipe 45, thereby completing the connection between the base station 1 and the sampling robot 21;

[0094] Step 3: Place multiple sampling cups 31 on the top of the sampling robot 21. At this time, the sampling branch pipe 54 is inserted into the inside of the mounting pipe 81 and pushes the sliding block 82 upward. The sealing plug 83 is automatically opened, the spring 84 is stretched, and the connecting shaft 94 is automatically inserted and engaged with the adapter shaft 91.

[0095] Step 4: Open the second solenoid valve 49, the injection solenoid valve 56 and each third solenoid valve 55, and start the sampling pump 43 and the second motor 93. At this time, the sampling pump 43 draws external clean water through the clean water inlet pipe 48, and the clean water flows into the interior of each sampling cup 31 after passing through the connecting pipe 46, the sample outlet pipe 44, the injection slide pipe 58, the injection pipe 52, the sampling main pipe 51 and the sampling branch pipe 54. The second motor 93 drives the adapter shaft 91 to rotate through the connecting shaft 94, and the adapter shaft 91 drives the stirring frame 92 to rotate. The rotating stirring frame 92 stirs the cleaning liquid in the sampling cup 31, thereby completing the cleaning process before sampling the interior of the multiple sampling cups 31;

[0096] Step 5: After cleaning is completed, the drain solenoid valve 57 is opened, and the cleaning liquid is discharged from the first drain pipe 45 through the second drain pipe 53 and the drain slide pipe 59. After the cleaning liquid is discharged, the drain solenoid valve 57 is closed;

[0097] Step 6: By adjusting the rotation of the traction column 422, the length of the sewage inlet pipe 41 extending from the base station 1 is adjusted, and the sewage inlet pipe 41 is extended to the height to be extracted of the aerobic tank for storing sewage outside. When one third solenoid valve 55 is opened, the other third solenoid valves 55 are closed to prepare for sewage sampling;

[0098] Step 7: close the second solenoid valve 49 and open the first solenoid valve 47, start the sampling pump 43, and the sewage in the aerobic tank is extracted by the sampling pump 43, and the sewage flows into the interior of the sampling cup 31 corresponding to the opened third solenoid valve 55 through the sewage inlet pipe 41, the connecting pipe 46, the sample outlet pipe 44, the sampling slide pipe 58, the sampling pipe 52, the sampling main pipe 51 and the sampling branch pipe 54, thereby completing the sewage sampling treatment of the sampling cup 31;

[0099] Step 8: Repeat steps 6 and 7 to complete the sewage sampling process of other sampling cups 31;

[0100] Step nine: After sampling is completed, each sampling cup 31 is taken out, at which time the sampling branch pipe 54 is separated from the sliding block 82, and the sealing plug 83 automatically slides to block the installation pipe 81 under the traction of the spring 84, thereby preventing the sampled sewage from flowing out of the installation pipe 81.

[0101] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A mobile robot with a base station for automatic sewage sampling, characterized in that: The invention comprises a base station (1), a sampling robot (21), a sampling cup (31), a sewage inlet pipe (41), a traction component (42), a sampling pump (43), a sample outlet pipe (44), a first sewage discharge pipe (45), a sampling main pipe (51), a sample injection pipe (52), a second sewage discharge pipe (53), a connecting pipe (46), a first electromagnetic valve (47), a clean water inlet pipe (48), a second electromagnetic valve (49), a sampling branch pipe (54), a third electromagnetic valve (55), a sample injection electromagnetic valve (56), a sewage discharge electromagnetic valve (57), a sample injection sliding pipe (58), a sewage discharge sliding pipe (59), a positioning component (6), a mounting pipe (81), a sliding block (82), a sealing plug (83) and a spring (84), wherein: The sampling robot (21) is detachably connected to the base station (1), and the sampling cup (31) is detachably connected to the sampling robot (21); A sampling pump (43) is arranged on the base station (1); The sewage inlet pipe (41) is a bendable hose and is located inside the base station (1). One end of the sewage inlet pipe (41) is connected to the water inlet end of the sampling pump (43). The other end of the sewage inlet pipe (41) passes through the base station (1) and extends to the external aerobic pool. The traction component (42) is used to adjust the length of the sewage inlet pipe (41) extending from the base station (1). The sewage inlet pipe (41) is used to extract sewage from the external aerobic pool. A sampling main pipe (51) is arranged inside the sampling robot (21), and the sampling pipe (52) and the second sewage pipe (53) are both connected to the sampling main pipe (51), and the sampling main pipe (51) is connected to the sampling cup (31); A sample outlet pipe (44) is connected to the water outlet end of the sampling pump (43) and is connected to the sample inlet pipe (52); A first sewage pipe (45) is arranged on the base station (1) and is connected to the second sewage pipe (53) and is used to discharge sewage in the second sewage pipe (53); The sewage inlet pipe (41) is connected to the water inlet end of the sampling pump (43) through the connecting pipe (46); A clean water inlet pipe (48), which is arranged on the base station (1) and is connected to the other end of the connecting pipe (46), and the clean water inlet pipe (48) is used to extract external clean water; The first solenoid valve (47) and the second solenoid valve (49) are both arranged on the connecting pipe (46), the first solenoid valve (47) is used to regulate the connection between the sewage inlet pipe (41) and the sampling pump (43), and the second solenoid valve (49) is used to regulate the connection between the clean water inlet pipe (48) and the sampling pump (43); The sampling robot (21) supports a plurality of sampling cups (31), and the sampling main pipe (51) is respectively connected to the plurality of sampling cups (31) through a plurality of sampling branch pipes (54); A plurality of third electromagnetic valves (55), respectively arranged on each of the sampling branch pipes (54), for regulating the on-off of the sampling branch pipes (54); An injection solenoid valve (56), arranged on the injection tube (52), for regulating the on-off of the injection tube (52); A sewage discharge solenoid valve (57), arranged on the second sewage discharge pipe (53), and used for regulating the opening and closing of the second sewage discharge pipe (53); The sampling robot (21) is rotatably provided with an auxiliary moving roller (22); A sample inlet sliding tube (58) is slidably connected to the sample inlet tube (52) and is detachably connected to the sample outlet tube (44); A sewage discharge sliding pipe (59) is slidably disposed on the second sewage discharge pipe (53) and is detachably connected to the first sewage discharge pipe (45); The positioning component (6) is used to adjust the sample inlet slide tube (58) and the sewage discharge slide tube (59) to slide towards or away from the sample inlet tube (52) or the second sewage discharge tube (53) at the same time; The top of the sampling cup (31) is detachably connected to a top cover (32), and a partition (33) is provided inside the sampling cup (31), and the partition (33) is used to separate the inner cavity of the sampling cup (31) into a sampling cavity (311) and an assembly cavity (312), and the sampling cavity (311) is located above the assembly cavity (312); A mounting tube (81) is arranged on the partition (33) and is connected to the sampling cavity (311) and the assembly cavity (312); the sampling branch tube (54) passes through the assembly cavity (312) and extends to the interior of the mounting tube (81); the sampling branch tube (54) is detachably connected to the mounting tube (81); A sliding block (82) is slidably disposed inside the mounting tube (81), and a water hole (821) is provided on the sliding block (82); A sealing plug (83) is fixedly connected to the sliding block (82), and the sealing plug (83) comprises a plug connector (831), wherein the plug connector (831) is a conical head and seals the end of the mounting tube (81); A spring (84) is in sliding contact with the sealing plug (83) and the partition plate (33) and is used to reset the sliding position of the sealing plug (83).

2. The movable robot with base station for automatic sewage sampling according to claim 1, characterized in that: The traction component (42) comprises a mounting seat (421) and a traction column (422), wherein the mounting seat (421) is arranged inside the base station (1), and the traction column (422) is rotatably arranged on the mounting seat (421), and the sewage inlet pipe (41) is wound around the circumference of the traction column (422).

3. The movable robot with base station for automatic sewage sampling according to claim 1, characterized in that: The positioning component (6) comprises a mounting bottom block (61) and a mounting top block (62), and also comprises an adjusting component (7), wherein the adjusting component (7) comprises a first motor (71) and a gear roller (72), wherein: The mounting bottom block (61) is fixedly connected to the mounting top block (62), the mounting top block (62) is slidably connected to the sampling robot (21), and a sliding hole (611) is provided on the side wall of the mounting bottom block (61), and the sliding hole (611) is a bent hole; A connecting rod (510) is fixedly connected between the sample inlet sliding pipe (58) and the sewage discharge sliding pipe (59), and the connecting rod (510) passes through the sliding hole (611), and when the mounting top block (62) slides upward, the connecting rod (510) moves along the sliding hole (611) in a direction away from the base station (1); A first motor (71) is arranged inside the sampling robot (21); A toothed roller (72) is arranged at the output shaft of the first motor (71), and a toothed groove meshing with the toothed roller (72) is formed on the outer side of the mounting top block (62).

4. The movable robot with base station for automatic sewage sampling according to claim 1, characterized in that: It also includes a transfer shaft (91), a stirring frame (92), a second motor (93) and a connecting shaft (94), wherein: A transfer shaft (91) is rotatably disposed on the partition (33), and two ends of the transfer shaft (91) extend to the inside of the sampling cavity (311) and the assembly cavity (312) respectively; A stirring frame (92) is arranged on the adapter shaft (91) and is located inside the sampling cavity (311); A second motor (93) is arranged on the sampling robot (21); The connecting shaft (94) is fixedly connected to the output end of the second motor (93) and extends to the interior of the assembly cavity (312). The connecting shaft (94) and the transfer shaft (91) are plugged and meshed with each other.

5. The movable robot with base station for automatic sewage sampling according to claim 1, characterized in that: Also included is a capacitive liquid level sensor (10), wherein: A plurality of capacitive liquid level sensors (10) are arranged on the sampling robot (21) and are respectively used to monitor the liquid level height of the liquid in each of the sampling cups (31).

6. A sampling method for automatic sewage sampling, characterized in that: The movable robot with a base station for automatic sewage sampling according to any one of claims 1 to 5 further comprises the following steps; S1, connecting the sampling robot (21) to the base station (1) in advance, and connecting the sampling cup (31) to the sampling robot (21); S2, cleaning the plurality of sampling cups (31), and after the cleaning is completed, passing the cleaning liquid through the sampling main pipe (51) and the second drainage pipe (53), and discharging the cleaning liquid from the first drainage pipe (45); S3, by adjusting the traction component (42) to control the length of the sewage inlet pipe (41) extending from the base station (1), the sewage inlet pipe (41) is extended to the height to be extracted of the aerobic tank for storing sewage outside to perform preparation work before sewage sampling; S4, disconnecting the second sewage pipe (53) from the sampling main pipe (51), and starting the sampling pump (43), so that the sewage in the aerobic pool is extracted by the sampling pump (43), and the sewage flows into the interior of the sampling cup (31) through the sewage inlet pipe (41), the sample outlet pipe (44), the sample inlet pipe (52) and the sampling main pipe (51), thereby completing the sewage sampling process of the sampling cup (31); S5. During the sampling process, the sewage storage in the sampling cup (31) is monitored in real time through an external liquid level monitoring component. When the sewage liquid level in the sampling cup (31) reaches an ideal height, the sampling pump (43) is turned off to complete the sampling.

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