Gas sampling robot, gas collection system and gas collection method

Abstract

The invention discloses a gas sampling robot, a gas collection system and a gas collection method. The gas sampling robot comprises a self-walking frame, a clamping layer and a needle cylinder assembly, the clamping layer is rotationally installed on the self-walking frame, the rotating axis of the clamping layer vertically extends, a first driving mechanism for driving the clamping layer to rotate is arranged on the self-walking frame, the clamping layer is divided into a notch part and a gas collecting part in the rotating direction of the clamping layer, gas collecting bags are arranged on the gas collecting part in the rotating direction of the gas collecting part at equal intervals, and air inlet valves are arranged at the top ends of the gas collecting bags; the needle cylinder assembly is located above the clamping layer and comprises a needle head, a needle cylinder and a piston rod which are sequentially distributed from bottom to top, and the self-walking frame is provided with a second driving mechanism for driving the needle cylinder to move in the vertical direction and a third driving mechanism for driving the piston rod to move along the needle cylinder. Conversion between gas collection and gas collection is achieved through the gas sampling robot, and the labor cost is fully saved.

Description

Technical Field

[0001] The present invention relates to the technical field of gas collection equipment, and in particular to a gas sampling robot, a gas collection system and a gas collection method. Background Art

[0002] At present, field gas collection operations require taking turns to collect gas from gas collection barrels in the field at certain time intervals, which takes a long time to wait. At the same time, existing unmanned gas collection devices often require substantial modifications to the site, such as setting up a gantry that can cover the entire site, which is costly, cumbersome to use, and poor in versatility. Summary of the invention

[0003] The purpose of the present invention is to provide a gas sampling robot to solve the problems existing in the prior art. The gas sampling robot can realize the conversion between collecting gas and storing gas, thereby fully saving labor costs.

[0004] To achieve the above-mentioned object, the present invention provides the following solutions: The present invention provides a gas sampling robot, comprising a self-propelled frame, a clamping layer and a syringe assembly; The clamping layer is rotatably mounted on the self-propelled frame, and its rotation axis extends vertically. The self-propelled frame is provided with a first driving mechanism for driving the clamping layer to rotate. The clamping layer is divided into a notch portion and an air collecting portion along its rotation direction. The air collecting portion is provided with air collecting bags at equal intervals along its rotation direction, and an air inlet valve is provided at the top of the air collecting bag. The syringe assembly is located above the clamping layer, and includes a needle, a syringe and a piston rod distributed in sequence from bottom to top. The self-propelled frame is provided with a second driving mechanism for driving the syringe to move in a vertical direction and a third driving mechanism for driving the piston rod to move along the syringe.

[0005] Preferably, the second driving mechanism includes a first slide rail and a first driving screw both extending in the vertical direction and distributed in parallel, the first driving screw is equipped with a first driving motor for driving its rotation; the syringe is connected to a first sliding block slidably mounted on the first slide rail, and the first sliding block is provided with a first threaded hole for threaded connection of the first driving screw.

[0006] Preferably, the third driving mechanism includes a second slide rail and a second driving screw both extending vertically and distributed in parallel, the second driving screw being equipped with a second driving motor for driving its rotation; a second slider slidably mounted on the second slide rail is connected to the top position of the piston rod, and a second threaded hole is provided on the second slider for threaded connection of the second driving screw.

[0007] Preferably, the clamping layer comprises a rotating shaft rotatably mounted on the self-propelled vehicle frame, a plurality of radially distributed and horizontally extending connecting rods are mounted on the outer wall of the rotating shaft, and a connecting piece detachably connected to the air collecting bag is provided between two adjacent connecting rods.

[0008] Preferably, the connecting member includes clamps arranged in pairs, one end of each of the clamps is hinged on two adjacent connecting rods, and its rotation axis extends vertically, and the other end is clamped on both sides of the intake valve, and a spring assembly is connected between the end of the clamp used to clamp the intake valve and the corresponding connecting rod.

[0009] Preferably, the self-propelled frame includes a chassis and a connecting portion suspended above the chassis, a support frame supporting the connecting portion is installed on the chassis, and a clearance gap for the syringe assembly to pass through is opened on the support frame at a position corresponding to the syringe assembly along the circumferential direction; the rotating shaft is rotatably installed between the connecting portion and the chassis, and the first driving mechanism is provided on the connecting portion and / or the chassis.

[0010] Preferably, the connecting portion includes a vertical support column and a transverse support column extending in the vertical direction and the horizontal direction respectively, the bottom end of the vertical support column is connected to the support frame, the top end of the vertical support column is connected to the transverse support column, the transverse support column extends to above the make way interval, and there is a space between the transverse support column and the make way interval for accommodating the second drive mechanism and the third drive mechanism, and the second drive mechanism and the third drive mechanism are both installed on the transverse support column.

[0011] Preferably, the support frame includes a plurality of support rods which are spaced circumferentially around the chassis and surround the outer peripheral side of the clamping layer, the bottom ends of the support rods are fixed on the chassis, the top ends of the support rods extend upward and are fixed at the bottom ends of the vertical support columns, and there is a clearance gap between the two support rods corresponding to the transverse support columns.

[0012] A gas collection system is also provided, comprising a gas collection barrel and a gas sampling robot, wherein the gas collection barrel has an opening at the bottom and is integrally covered on the area to be collected, the gas collection barrel is connected to a gas outlet pipe that can be inserted into the notch, and the top of the gas outlet pipe is provided with an interface for a detachable and sealed insertion of a needle; The self-propelled frame of the gas sampling robot is provided with a navigation mechanism and an adjustment mechanism for allowing the needle and the interface to correspond to each other.

[0013] A gas collection method is also provided, comprising the following steps: Placing gas collection barrels: preparing a plurality of gas collection barrels, placing them at the required locations in each area to be collected in the target field, and placing them for the required time; Starting the gas sampling robot to move: according to the placement position of the gas collecting barrel, setting the moving route of the gas sampling robot through the navigation mechanism, so that the gas sampling robot moves to each of the gas collecting barrels in turn; Accurate determination of position: after the gas sampling robot moves to the first gas collecting barrel, the gas sampling robot is adjusted by the adjusting mechanism so that its syringe assembly is arranged correspondingly to the interface of the gas collecting barrel; Collecting gas: drive the syringe assembly so that its needle is inserted into the interface, and drive the piston rod of the syringe assembly to complete the gas collection barrel pumping work. After the collection is completed, the needle withdraws from the interface, and is inserted into the gas collection bag through the air inlet valve to discharge the collected gas, and completes the gas collection barrel pumping work in turn.

[0014] Compared with the prior art, the present invention has achieved the following technical effects: The present invention provides a notch portion and a gas collecting portion on the clamping layer. When it is necessary to extract gas from the corresponding gas collecting barrel, the clamping layer is rotated so that the notch portion is directly opposite to the bottom of the syringe assembly. The notch portion is provided so that the gas outlet pipe of the gas collecting barrel can be extended into the notch portion and can be located below the syringe assembly. The syringe of the syringe assembly is convenient for moving toward the notch portion located below it under the action of the second driving mechanism, and after passing through the notch portion, it is connected with the gas outlet pipe through plug-in cooperation. The piston rod is driven by the third driving mechanism to complete the work of extracting gas from the gas collecting barrel. Furthermore, when it is necessary to exhaust the gas collecting bag, the clamping layer is rotated so that the gas collecting portion is directly opposite to the bottom of the syringe assembly. Under the action of the second driving mechanism, the syringe moves in a vertical direction and inserts the needle into the gas inlet valve at the top of the gas collecting bag. Subsequently, the piston rod is moved under the driving action of the third driving mechanism to complete the work of exhausting the gas in the syringe into the gas collecting bag. The gas sampling robot disclosed in the present invention can realize gas collection in different places by its self-propelled power supply, has good versatility, is convenient and fast, and can also set its working conditions in the form of pre-set parameters. The gas sampling robot can realize the conversion between collecting gas and collecting gas, thus fully saving labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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 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 labor.

[0016] Figure 1 Axonometric view of a gas sampling robot according to an embodiment of the present invention Figure 1 ; Figure 2 Axonometric view of a gas sampling robot according to an embodiment of the present invention Figure 2 ; Figure 3 This is a schematic diagram of the cooperation between the syringe and the gas collecting barrel in one embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of a gas collecting barrel in one embodiment of the present invention; Figure 5 It is a schematic diagram of evenly placing gas collecting barrels on a target field in one embodiment of the present invention; Figure 6 A schematic diagram of placing a gas collecting barrel on a target field and establishing a coordinate system in one embodiment of the present invention; Among them, 1-chassis, 2-track structure, 3-support rod, 4-rotating shaft, 5-clamping layer, 6-second driving mechanism, 7-syringe, 8-piston rod, 9-third driving mechanism, 10-connecting part, 11-connecting rod, 12-first driving motor, 13-first slide rail, 14-second driving motor, 15-second slide rail, 16-interface, 17-gas collecting barrel. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in 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.

[0018] The purpose of the present invention is to provide a gas sampling robot to solve the problems existing in the prior art. The gas sampling robot can realize the conversion between collecting gas and storing gas, thereby fully saving labor costs.

[0019] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0020] like Figures 1 to 6As shown, this embodiment provides a gas sampling robot, including a self-propelled frame, a clamping layer 5 and a syringe assembly; the clamping layer 5 is rotatably mounted on the self-propelled frame, and its rotation axis extends vertically, and a first driving mechanism for driving the clamping layer 5 to rotate is provided on the self-propelled frame, and the clamping layer 5 is divided into a notch portion and a gas collecting portion along its rotation direction. Preferably, the clamping layer 5 is a circular structure as a whole, and the corresponding notch portion and the gas collecting portion are both fan-shaped structures, and gas collecting bags are arranged at equal intervals on the gas collecting portion along its rotation direction, and an air inlet valve is provided on the top of the gas collecting bag; the syringe assembly is located above the clamping layer 5, and the syringe assembly includes a needle, a syringe 7 and a piston rod 8 distributed in sequence from bottom to top, and a second driving mechanism 6 for driving the syringe 7 to move in the vertical direction and a third driving mechanism 9 for driving the piston rod 8 to move along the syringe 7 are provided on the self-propelled frame. By arranging a notch portion and a gas collecting portion on the clamping layer 5, when it is necessary to When the gas collecting barrel is to be extracted with gas, the clamping layer 5 is rotated so that the notch portion thereof is directly opposite to the bottom of the syringe assembly, and the notch portion is set so that the gas outlet pipe of the gas collecting barrel can be extended into the notch portion and can be located below the syringe assembly, and the syringe 7 of the syringe assembly is convenient to move toward the notch portion located below it under the action of the second driving mechanism 6, and after passing through the notch portion, it is plugged and connected with the gas outlet pipe, and the piston rod 8 is driven by the third driving mechanism 9 to complete the work of extracting gas from the gas collecting barrel. Furthermore, when it is necessary to vent the gas collecting bag, the clamping layer 5 is rotated so that the gas collecting part thereof is directly opposite to the bottom of the syringe assembly, and under the action of the second driving mechanism 6, the syringe 7 moves in the vertical direction, and the needle is inserted into the air inlet valve at the top of the gas collecting bag, and then the piston rod 8 is moved under the driving action of the third driving mechanism 9 to complete the work of discharging the gas in the syringe 7 into the gas collecting bag. The gas sampling robot disclosed in the present invention can realize gas collection in different places by its self-propelled power supply, has good versatility, is convenient and fast, and can also set its working conditions in the form of pre-set parameters. The gas sampling robot can realize the conversion between collecting gas and collecting gas, thus fully saving labor costs.

[0021] In a specific embodiment, the second driving mechanism 6 includes a first slide rail 13 and a first driving screw, both of which extend in the vertical direction and are distributed in parallel. The first driving screw is equipped with a first driving motor 12 for driving its rotation; the syringe 7 is connected to a first slider slidably mounted on the first slide rail 13, and the first slider is provided with a first threaded hole for threaded connection of the first driving screw. The first driving screw is rotated by the drive of the first driving motor 12 through a lead screw slider, thereby driving the first slider to drive the syringe 7 to move in the vertical direction, so that the syringe 7 and the needle can be moved in the vertical direction, thereby realizing the insertion or removal of the needle into the air outlet pipe, and also realizing the insertion or removal of the needle into the air inlet valve.

[0022] In a specific embodiment, the third driving mechanism 9 includes a second slide rail 15 and a second driving screw both extending in the vertical direction and distributed in parallel, and the second driving screw is equipped with a second driving motor 14 for driving its rotation; a second slider slidably mounted on the second slide rail 15 is connected to the top position of the piston rod 8, and a second threaded hole for threaded connection of the second driving screw is provided on the second slider, so that the second driving screw is rotated by the drive of the second driving motor 14 through the means of a lead screw slider, thereby driving the second slider to drive the piston rod 8 to move in the vertical direction. When the position of the syringe 7 remains unchanged, the piston rod 8 is moved along the syringe 7, so that the air extraction work is completed when the needle is connected to the air outlet pipe, and the exhaust work is completed when the needle is connected to the air inlet valve.

[0023] In a specific embodiment, the clamping layer 5 includes a rotating shaft 4 rotatably mounted on a self-propelled vehicle frame, and a plurality of radially distributed and horizontally extending connecting rods 11 are mounted on the outer wall of the rotating shaft 4. A connecting piece detachably connected to the air collecting bag is provided between two adjacent connecting rods 11, so as to connect the air collecting bag through the connecting piece, wherein, in order to form a notch portion, a sufficiently large interval is provided between the corresponding two connecting rods 11, and after rotating to the bottom of the syringe assembly position, an air outlet pipe of the air collecting barrel can extend into the interval between the above-mentioned corresponding two connecting rods 11, and each connecting rod 11 is evenly arranged to form a gas collecting portion, which is connected to the air collecting bag through a connecting piece, so that the air collecting bag is installed between two adjacent connecting rods 11, completing the installation of the air collecting bag, and when it is necessary to discharge gas into the air collecting bag, the needle can be moved down through the interval between the two adjacent connecting rods 11 and can be inserted into the air inlet valve at the top of the air collecting bag.

[0024] In a specific embodiment, the connecting member includes a pair of clamps, one end of each of the two clamps is hinged on two adjacent connecting rods 11, and the rotation axis thereof extends vertically, and the other end is clamped on both sides of the air inlet valve, and a spring assembly is connected between the end of the clamp used to clamp the air inlet valve and the corresponding connecting rod 11, so as to clamp the air inlet valve of the air collecting bag with the two clamps. More importantly, when all the gas in the syringe 7 is discharged into the air collecting bag through the air inlet valve, the syringe 7 with the needle can be driven downward to push the air inlet valve and the air collecting bag, so that the air inlet valve squeezes the spring assemblies on both sides through the clamps, and the air collecting bag is convenient to fall off from between the two clamps, so that the air collecting bag is separated from the clamping layer 5, and the air collecting bag separated from the clamping layer 5 can be collected manually later. Alternatively, a collection bucket with an upward opening is provided below the clamping layer 5, and the collection bucket is arranged opposite to the syringe assembly, so that the air collecting bag can fall into the collection bucket after it is separated from the clamping layer 5.

[0025] In a specific embodiment, the self-propelled frame includes a chassis 1 and a connecting portion 10 suspended above the chassis 1. In order to adapt to the field soil ground, the chassis 1 is preferably provided with two rows of track wheels symmetrically distributed on both sides thereof, and each row of track wheels is sleeved with a track structure 2 to ensure that the entire self-propelled frame can stably move on the field soil ground. A support frame supporting the connecting portion 10 is installed on the chassis 1, and a clearance gap for the syringe assembly to pass through is provided at the position of the support frame corresponding to the syringe assembly along the circumferential direction to avoid interference between the structure of the support frame and the movement of the syringe assembly; the rotating shaft 4 is rotatably installed between the connecting portion 10 and the chassis 1, and a first driving mechanism is provided on the connecting portion 10 and / or the chassis 1, wherein the connecting portion 10 and the chassis 1 are both provided with bearing structures for rotating the rotating shaft 4, and the two ends of the rotating shaft 4 are respectively installed in the corresponding bearing structures. Preferably, the first driving mechanism adopts a driving motor, and the driving motor can complete the rotation driving work of the rotating shaft 4 through gear transmission or chain transmission. Alternatively, as a preference, a bearing groove is opened on the chassis 1 so that the bottom end of the rotating shaft 4 can be rotatably engaged in the bearing groove, and the top end thereof is spaced apart from the connecting portion 10. The first driving mechanism is arranged at the bottom end of the connecting portion 10 and is transmission-connected to the top end of the rotating shaft 4, thereby realizing the operation of the first driving mechanism driving the rotating shaft 4 to rotate.

[0026] In a specific embodiment, the connecting portion 10 includes a vertical support column and a transverse support column extending in the vertical direction and the horizontal direction respectively, the bottom end of the vertical support column is connected to the support frame, the top end of the vertical support column is connected to the transverse support column, the transverse support column extends to above the make way interval, and there is a space between the transverse support column and the make way interval for accommodating the second drive mechanism 6 and the third drive mechanism 9, and the second drive mechanism 6 and the third drive mechanism 9 are both installed on the transverse support column, so as to use the vertical support column as a support, and use the transverse support column to connect the second drive mechanism 6 and the third drive mechanism 9, so that the syringe assembly can be suspended above the clamping layer 5.

[0027] In a specific embodiment, the support frame includes a plurality of support rods 3 that are spaced circumferentially around the chassis 1 and surround the outer peripheral side of the clamping layer 5. The bottom ends of the support rods 3 are fixed on the chassis 1, and the top ends of the support rods 3 extend upward and are fixed at the bottom ends of the vertical support columns. The support rods 3 are combined into a cage-like structure to enhance the supporting strength of the entire connecting portion 10, ensuring that it can be stably suspended above the chassis 1, thereby ensuring the stability of the syringe assembly during movement. In addition, the cage-like structure formed by the combination of support rods 3 can protect the clamping layer 5 and the air collecting bag on its inner side, and a clearance gap is provided between the two support rods 3 corresponding to the transverse support column to facilitate the syringe assembly installed at the transverse support column to pass through the clearance gap.

[0028] Furthermore, a gas collection system is also provided, including a gas collecting barrel and a gas sampling robot. The bottom of the gas collecting barrel is open and the overall cover is arranged on the area to be collected. The gas collecting barrel is connected to an outlet pipe that can be extended into the notch, and the top of the outlet pipe is provided with an interface for the detachable and sealed insertion of a needle; preferably, a one-way valve is provided at the interface, and after the needle is connected to the interface, the one-way valve is opened to ensure that the gas in the gas collecting barrel is extracted from the interface, and by setting the one-way valve, it is prevented that the external gas flows into the gas collecting barrel from the interface when the needle is connected to the interface; the gas sampling robot is installed on the self-propelled frame. There is a navigation mechanism, preferably using GPS, and an adjustment mechanism is installed for the needle and the interface to correspond to each other; by setting up the navigation mechanism to navigate the gas sampling robot, the gas sampling robot can plan a corresponding route according to the location of each gas collecting barrel, and use the navigation mechanism to make the gas sampling robot move along the route, and when the gas sampling robot moves and approaches the gas collecting barrel, the adjustment mechanism is used to fine-tune the gas sampling robot so that its needle and the interface of the gas collecting barrel correspond to each other, thereby ensuring that the subsequent needle can be quickly plugged into the interface to complete the gas collection work.

[0029] Preferably, a pressure-sensitive sensor is provided between the end face of the needle and the end face of the interface of the syringe 7, so as to know whether the needle and the interface are properly plugged in through the pressure-sensitive sensor, thereby ensuring the effectiveness of gas collection.

[0030] Preferably, the adjustment mechanism includes an ultrasonic ranging sensor, an infrared transmitter and an infrared receiver. The gas sampling robot is equipped with an ultrasonic ranging sensor, and an infrared transmitter is installed at the interface, corresponding to the infrared receiver on the gas sampling robot. When the infrared receiver on the gas sampling robot receives a signal, it indicates that the gas sampling robot has been aligned with the interface. When the gas sampling robot has been aligned with the interface, the gas sampling robot begins to change the direction of movement and approaches the gas collecting barrel interface. In the process of the gas sampling robot approaching the interface, when the preset value of the ultrasonic sensor is reached, the gas sampling robot slows down and starts to fine-tune the distance. The syringe 7 contacts the pressure-sensitive sensor on the interface. When the pressure reaches the specified value, it means that the gas sampling robot is in place.

[0031] Furthermore, a gas collection method is provided, comprising the following steps: Place gas collection barrels: prepare multiple gas collection barrels and place them in the target field plots according to the required positions in each area to be collected. Install an outlet pipe with an interface and a one-way valve on each gas collection barrel and place them for the required time; Start the gas sampling robot to move: according to the placement of the gas collecting barrel, set the moving route of the gas sampling robot through the navigation mechanism, so that the gas sampling robot moves to each gas collecting barrel in turn; Accurate determination of position: After the gas sampling robot moves to the first gas collecting barrel, the gas sampling robot is adjusted through the adjustment mechanism so that its syringe assembly and the interface of the gas collecting barrel are set correspondingly; Collecting gas: drive the syringe assembly so that its needle is inserted into the interface, and drive the piston rod 8 of the syringe assembly to complete the vacuuming of the gas collecting barrel. After the collection is completed, the needle withdraws from the interface and is inserted into the gas collecting bag through the air inlet valve to discharge the collected gas, and complete the vacuuming of the remaining gas collecting barrels in turn.

[0032] In a specific example of a gas collection method, such as Figure 5 As shown, first, the gas collecting barrels are evenly placed on the target field, and the number of placements is a×b, and the row spacing is I x , the column spacing is I y , the gas collection interval is t collect , input this information before the gas sampling robot works. The internal system of the gas sampling robot pre-calculates the time required for gas collection in a single gas collection barrel. Counting the movement time and gas collection time, the start time is when the gas sampling robot completes the last gas collection and the syringe 7 is completely retracted into the gas sampling robot, and the end time is when the gas sampling robot completes the current gas collection and the syringe 7 is completely retracted into the gas sampling robot, recorded as t x At this time, t collect \t x The maximum collection volume that the gas sampling robot can achieve in one gas collection cycle is obtained. Based on this, the distribution of gas collection barrels is estimated and whether to use multi-machine collaborative work is planned.

[0033] Next, start the gas sampling robot.

[0034] Then, the gas sampling robot moves between the gas collecting barrels and makes a rough estimate based on the pre-input gas collecting barrel placement parameters a\b, using parameter conversion: assuming that the set distance length is x, the pre-set conversion coefficient μ v , and the acceleration and deceleration constant m are substituted into the calculation, and the motion time t x =μ v x+m. Here μ is the robot's own speed parameter. For example, when moving between barrels in the same column, t a =μ v a+m. When moving at a corner, it first moves forward, performs a turning operation, then moves again, performs a turning operation, and then moves forward again to achieve a turning operation. When turning a corner, the gas sampling robot accumulates the number of samples collected, and a turning signal is generated when the number of columns reaches an integer multiple. At the same time, the number of columns is counted to determine the turning direction. And the navigation mechanism is used for assistance to avoid errors and omissions.

[0035] Next, the position of the gas sampling robot is accurately determined. When the infrared receiver on the gas sampling robot receives a signal, it indicates that the gas sampling robot has been aligned with the interface. When the gas sampling robot has been aligned with the interface, the gas sampling robot begins to change its direction of movement and approaches the gas collection barrel interface. When the gas sampling robot approaches the interface, when the preset value of the ultrasonic sensor is reached, the gas sampling robot slows down and begins to fine-tune the distance. The syringe 7 contacts the pressure-sensitive sensor on the interface. When the pressure reaches the specified value, it indicates that the gas sampling robot is in place.

[0036] Finally, the gas is collected. Each time the gas is collected, the needle is first inserted into the interface, and the gas is collected by pumping air through the piston rod 8. After the collection is completed, the entire syringe assembly is returned, and the gas in the syringe 7 is discharged into the gas collection bag.

[0037] Furthermore, the working time of the air collecting bag after loading once is calculated by the formula: First, count, use a parameter n to record which bag is the turn now, and use a parameter m to record the total number of bags.

[0038] Second, convert n to the angle required to rotate. Assume that the required opening angle at the syringe where the gas is collected is α1. According to the calculation, the angle α0 between two adjacent connecting rods on the clamping layer is obtained = . Then the angle α that needs to be rotated each time is n = = .

[0039] Third, the angle information is converted into the input parameter of the first driving mechanism. Assume that the maximum rotation angle range of the first driving mechanism is , the maximum pulse width is , the minimum pulse width is .

[0040] For the first drive mechanism: Input pulse width = / *( - )+ = *( - )+ .

[0041] Assume the counter cycle length is , then the time required for input high level =[ *( - )+ ]* .

[0042] Obtain duty cycle = (high level time / signal period) × 100% = [ *( - )+ ]* .

[0043] Fourth, calculate the total time that can be used for gas collection after loading a gas collection bag: Assume that the gas collection buckets in the gas collection area are arranged as a*b. Assume that the rotation speed (angular velocity) of the servo is ω.

[0044] = / ω= .

[0045] Since there will be a round trip, the total rotation time is: .

[0046] In addition to rotation, we also need to calculate the time it takes to travel between barrels. Assuming that our gas collection barrels are arranged as a*b, when we reach the mth barrel, the gas collection bag we loaded is exhausted. Figure 6 The coordinate axes shown in the figure, assuming that when we install the air collection bag, the robot is located at At this time, its number = *a+ .

[0047] Therefore, in theory = *a+ ≤a*b). If >a*b, then = *a+ -a*b= By dividing by a and taking the integer result and remainder, we can find the ending coordinates as Assume that the spacing of the barrels along the x direction is , the spacing along the y direction is . Design a conversion coefficient between movement time and moving speed for the robot and the acceleration and deceleration constant p at the turn. Since the speed is not particularly fast when traveling in a straight line, no acceleration and deceleration constant is added. The measured time for moving between two barrels in the same row is , the time to move between two buckets in the same row The turning time is .

[0048] ≤a*b: =( * .

[0049] >a*b: =( * + .

[0050] At this time, since it is necessary to return to the initial coordinate (1, 1), the return time is .

[0051] Fifth, record the time it takes for the syringe to collect gas once. .

[0052] Sixth, comprehensive calculation results: (1) ≤a*b, when there is no return process, .

[0053] =( * .

[0054] ( * .

[0055] (2) >a*b, ( * + .

[0056] Thus, the time for continuous gas collection after installing a gas collection bag can be calculated. The staff only needs to replenish the gas collection bag in time at a specific time, and does not need to continuously pay attention to the consumption of the gas collection bag, which reduces the work intensity of the staff.

[0057] Further, the interface selection reference formula: Air tightness evaluation index: air pressure P, temperature t, altitude h, 101.325 kilopascals (kPa) is the standard atmospheric pressure, recorded as Environmental factors = , where P and The unit of is Kpa, the unit of t is K, and the unit of h is m.

[0058] Robot's own indicators: 1. Interface diameter d, hole wall width a; 2. Interface material (plastic, aluminum alloy, magnesium alloy, carbon fiber composite material) corresponds to a material constant ; Interface coefficient α= (where d and e are in mm); 3. Maximum angle of valve opening ; 4. Pumping speed (volume / time) v; 5. Maximum torque when screwing in (note that it cannot exceed the bearing limit of the corresponding material) T; 6. Production accuracy index (determines the tightness of the connection at the interface) ; 7. Add piston sealant: lithium ester / silicone grease. Its sealing coefficient is β. Self-factors = α ).

[0059] Furthermore, the syringe and the piston rod are driven by the second drive mechanism and the third drive mechanism respectively. The second drive mechanism and the third drive mechanism are designed to cooperate with each other: when collecting gas, the initial position of the piston rod is located at the top of the syringe, that is, there is no gas in the syringe at this time. After that, the syringe and the piston rod start to move at the same time, at the same speed. When the return value of the pressure sensor on the syringe reaches the set value, the syringe stops moving and the piston rod moves in the opposite direction at a speed of . Piston motion time constant Then stop exercising again.

[0060]

[0061] At this time, the collective collection has been completed. The second drive mechanism and the third drive mechanism rotate simultaneously, and the movement speeds of the syringe and the piston rod are both , at this time, the syringe exits the interface. After the syringe exits the interface, the clamping layer moves the prepared gas collection bag to the corresponding position, and the piston rod moves to the top of the syringe to discharge the collected gas and return to the initial position.

[0062] Adaptive changes made according to actual needs are all within the protection scope of the present invention.

[0063] It should be noted that it is obvious to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential features of the present invention. Therefore, the embodiments should be regarded as exemplary and non-restrictive from any point of view, and the scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes falling within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any reference numerals in the claims should not be regarded as limiting the claims involved.

[0064] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only used to help understand the method and core ideas of the present invention. At the same time, for those skilled in the art, according to the ideas of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A gas sampling robot, characterized in that: It includes a self-propelled frame, a clamping layer and a syringe assembly; The clamping layer is rotatably mounted on the self-propelled frame, and its rotation axis extends vertically. The self-propelled frame is provided with a first driving mechanism for driving the clamping layer to rotate. The clamping layer is divided into a notch portion and an air collecting portion along its rotation direction. The air collecting portion is provided with air collecting bags at equal intervals along its rotation direction, and an air inlet valve is provided at the top of the air collecting bag. The syringe assembly is located above the clamping layer, and includes a needle, a syringe and a piston rod distributed in sequence from bottom to top. The self-propelled frame is provided with a second driving mechanism for driving the syringe to move in a vertical direction and a third driving mechanism for driving the piston rod to move along the syringe.

2. The gas sampling robot according to claim 1, characterized in that: The second driving mechanism includes a first slide rail and a first driving screw, both of which extend in a vertical direction and are distributed in parallel. The first driving screw is equipped with a first driving motor to drive its rotation. The syringe is connected to a first sliding block slidably mounted on the first slide rail, and the first sliding block is provided with a first threaded hole for threaded connection of the first driving screw.

3. The gas sampling robot according to claim 2, characterized in that: The third driving mechanism includes a second slide rail and a second driving screw rod, both of which extend vertically and are distributed in parallel. The second driving screw rod is equipped with a second driving motor to drive its rotation. The top end of the piston rod is connected to a second slider slidably mounted on the second slide rail. The second slider rod is provided with a second threaded hole for threaded connection of the second driving screw rod.

4. The gas sampling robot according to claim 2 or 3, characterized in that: The clamping layer comprises a rotating shaft rotatably mounted on the self-propelled vehicle frame, a plurality of connecting rods which are radially distributed and horizontally extended are mounted on the outer wall of the rotating shaft, and a connecting piece which is detachably connected to the air collecting bag is arranged between two adjacent connecting rods.

5. The gas sampling robot according to claim 4, characterized in that: The connecting member includes a pair of clamping jaws, one end of each of the clamping jaws is hinged on two adjacent connecting rods, and its rotation axis extends vertically, and the other end is clamped on both sides of the intake valve, and a spring assembly is connected between the end of the clamping jaw used to clamp the intake valve and the corresponding connecting rod.

6. The gas sampling robot according to claim 5, characterized in that: The self-propelled frame includes a chassis and a connecting portion suspended above the chassis, a support frame supporting the connecting portion is installed on the chassis, and a clearance gap for the syringe assembly to pass through is opened on the support frame at a position corresponding to the syringe assembly along the circumferential direction; the rotating shaft is rotatably installed between the connecting portion and the chassis, and the first driving mechanism is provided on the connecting portion and / or the chassis.

7. The gas sampling robot according to claim 6, characterized in that: The connecting portion includes a vertical support column and a transverse support column extending in the vertical direction and the horizontal direction respectively, the bottom end of the vertical support column is connected to the support frame, the top end of the vertical support column is connected to the transverse support column, the transverse support column extends to above the make way interval, and there is a space between the transverse support column and the make way interval for accommodating the second drive mechanism and the third drive mechanism, and the second drive mechanism and the third drive mechanism are both installed on the transverse support column.

8. The gas sampling robot according to claim 7, characterized in that: The support frame includes a plurality of support rods which are spaced circumferentially around the chassis and surround the outer peripheral side of the clamping layer. The bottom ends of the support rods are fixed to the chassis, and the top ends of the support rods extend upward and are fixed at the bottom ends of the vertical support columns. There is a clearance interval between the two support rods corresponding to the transverse support columns.

9. A gas collection system, characterized in that: It comprises a gas collecting barrel and a gas sampling robot as claimed in any one of claims 1 to 8, wherein the bottom of the gas collecting barrel is open and the entire cover is arranged on the area to be collected, the gas collecting barrel is connected to an outlet pipe that can be extended into the position of the notch, and the top of the outlet pipe is provided with an interface for the detachable and sealed insertion of a needle; The self-propelled frame of the gas sampling robot is equipped with a navigation mechanism and an adjustment mechanism for allowing the needle and the interface to correspond to each other.

10. A gas collection method using the gas collection system according to claim 9, characterized in that: The steps include: Placing gas collection barrels: preparing a plurality of gas collection barrels, placing them at the required locations in each area to be collected in the target field, and placing them for the required time; Starting the gas sampling robot to move: according to the placement position of the gas collecting barrel, setting the moving route of the gas sampling robot through the navigation mechanism, so that the gas sampling robot moves to each of the gas collecting barrels in turn; Accurate determination of position: after the gas sampling robot moves to the first gas collecting barrel, the gas sampling robot is adjusted by the adjusting mechanism so that its syringe assembly is arranged correspondingly to the interface of the gas collecting barrel; Collecting gas: drive the syringe assembly so that its needle is inserted into the interface, and drive the piston rod of the syringe assembly to complete the gas collection barrel pumping work. After the collection is completed, the needle withdraws from the interface, and is inserted into the gas collection bag through the air inlet valve to discharge the collected gas, and completes the gas collection barrel pumping work in turn.

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