A gas sampling robot, a gas collection system, and a gas collection method

Abstract

A gas sampling robot, a gas collection system and a gas collection method disclosed by the present invention include a self-propelled vehicle frame, a clamping layer and a syringe assembly; the clamping layer is rotatably installed on the self-propelled vehicle frame, and its rotation axis extends vertically. A first driving mechanism for driving the clamping layer to rotate self is provided on the self-propelled vehicle frame. The clamping layer is divided into a notch part and a gas collection part along its rotation direction. Gas collection bags are arranged at equal intervals along the rotation direction on the gas collection part, and an air inlet valve is arranged at the top of the gas collection bag; the syringe assembly is located above the clamping layer. The syringe assembly includes a needle head, a syringe barrel and a piston rod which are distributed in sequence from bottom to top. A second driving mechanism for driving the syringe barrel to move vertically and a third driving mechanism for driving the piston rod to move along the syringe barrel are provided on the self-propelled vehicle frame. The conversion between gas collection and gas collection is realized through the gas sampling robot, which fully saves labor costs.

Description

Technical Field

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

[0002] Currently, gas sampling operations in the field need to collect gas from gas collection barrels in the field at certain time intervals in turn, resulting in a long waiting time. At the same time, existing unmanned gas collection devices often require a large-scale transformation of the site, such as setting up gantries that can cover the entire site, which is costly, has a cumbersome usage process, and poor 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, and to realize the conversion between gas collection and gas collection through the gas sampling robot, so as to fully save labor costs.

[0004] To achieve the above object, the present invention provides the following solution: The present invention provides a gas sampling robot, including a self-propelled vehicle frame, a clamping layer, and a syringe assembly;

[0005] The clamping layer is rotatably installed on the self-propelled vehicle frame, and its rotation axis extends vertically. A first driving mechanism for driving the clamping layer to rotate self is provided on the self-propelled vehicle frame. The clamping layer is divided into a notch part and a gas collection part along its rotation direction. Gas collection bags are arranged at equal intervals along its rotation direction on the gas collection part, and an intake valve is opened at the top of the gas collection bag;

[0006] The syringe assembly is located above the clamping layer. The syringe assembly includes a needle head, a syringe, and a piston rod distributed in sequence from bottom to top. A second driving mechanism for driving the syringe to move vertically and a third driving mechanism for driving the piston rod to move along the syringe are provided on the self-propelled vehicle frame.

[0007] Preferably, the second driving mechanism includes a first slide rail and a first driving screw rod that both extend vertically and are distributed in parallel. The first driving screw rod is equipped with a first driving motor for driving its self-rotation; the syringe is connected with a first slider slidably installed on the first slide rail, and a first threaded hole for threaded connection with the first driving screw rod is opened on the first slider.

[0008] Preferably, the third driving mechanism includes a second slide rail and a second driving screw rod that both extend vertically and are distributed in parallel. The second driving screw rod is equipped with a second driving motor for driving its self-rotation; the top of the piston rod is connected with a second slider slidably installed on the second slide rail, and a second threaded hole for threaded connection with the second driving screw rod is opened on the second slider.

[0009] 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.

[0010] 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.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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;

[0015] 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.

[0016] A gas collection method is also provided, comprising the following steps:

[0017] Placing gas collection barrels: Prepare multiple said gas collection barrels, place them at each area to be sampled in the target field according to the required positions, and record the placement time;

[0018] Starting the movement of the gas sampling robot: According to the placement positions of the gas collection barrels, set the movement route of the gas sampling robot through the navigation mechanism for the gas sampling robot to move to each of the gas collection barrels in sequence;

[0019] Precisely determining the position: After the gas sampling robot moves to the first gas collection barrel, adjust the gas sampling robot through the adjustment mechanism so that the syringe assembly corresponds to the interface of the gas collection barrel;

[0020] Collecting gas: Drive the syringe assembly to insert its needle into the interface, and drive the piston rod of the syringe assembly to complete the air extraction work for the gas collection barrel. After the collection is completed, the needle exits the interface and is inserted into the gas collection bag through the intake valve to discharge the collected gas, and sequentially complete the air extraction work for the remaining gas collection barrels.

[0021] The present invention has achieved the following technical effects compared with the prior art:

[0022] By providing a notch portion and a gas collection portion on the clamping layer, when it is necessary to extract gas from the corresponding gas collection barrel, rotate the clamping layer so that the notch portion is directly below the syringe assembly. By providing the notch portion, the outlet pipe of the gas collection barrel can extend into the notch portion and be located directly below the syringe assembly, and it is convenient for the syringe of the syringe assembly to move downward under the action of the second driving mechanism towards the notch portion directly below it, pass through the notch portion and be inserted and connected with the outlet pipe for communication. Further, when it is necessary to exhaust the gas collection bag, rotate the clamping layer so that the gas collection portion is directly below the syringe assembly. Under the action of the second driving mechanism, the syringe moves in the vertical direction, and the needle is inserted into the intake valve at the top of the gas collection bag. Subsequently, under the driving action of the third driving mechanism, move the piston rod to complete the work of discharging the gas in the syringe into the gas collection bag. The gas sampling robot disclosed in the present invention can realize gas collection in different sites through its self-propelled power supply, has good versatility, is convenient and fast, and can also set its working conditions in the form of preset parameters, and realize the conversion between gas collection and gas collection through the gas sampling robot, fully saving labor costs. Description of the Drawings

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0024] Figure 1 Isometric view of the gas sampling robot in an embodiment of the present invention Figure 1 ;

[0025] Figure 2 Isometric view of the gas sampling robot in an embodiment of the present invention Figure 2 ;

[0026] Figure 3 Schematic diagram of the cooperation between the syringe and the gas collection barrel in an embodiment of the present invention;

[0027] Figure 4 Schematic diagram of the structure of the gas collection barrel in an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of evenly placing the gas collection barrels on the target field in an embodiment of the present invention;

[0029] Figure 6 Schematic diagram of placing the gas collection barrels on the target field and establishing a coordinate system in an embodiment of the present invention;

[0030] Among them, 1 - chassis, 2 - crawler 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 collection barrel. Detailed implementation manners

[0031] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0032] The purpose of the present invention is to provide a gas sampling robot to solve the problems existing in the prior art, and realize the conversion between gas collection and gas collection through the gas sampling robot, so as to fully save labor costs.

[0033] To make the above objects, features, and advantages of the present invention more obvious and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0034] As Figures 1 to 6 shown, this embodiment provides a gas sampling robot, including a self-propelled vehicle frame, a clamping layer 5, and a syringe assembly; the clamping layer 5 is rotatably installed on the self-propelled vehicle frame, and its rotation axis extends vertically. A first driving mechanism for driving the clamping layer 5 to rotate self is provided on the self-propelled vehicle frame. The clamping layer 5 is divided into a notch part and a gas collection part along its rotation direction. Preferably, the clamping layer 5 is integrally circular, and correspondingly, both the notch part and the gas collection part are fan-shaped. Gas collection bags are arranged at equal intervals along the rotation direction of the gas collection part, and an air inlet valve is opened at the top of the gas collection bag; the syringe assembly is located above the clamping layer 5. The syringe assembly includes a needle head, a syringe 7, and a piston rod 8 distributed in sequence from bottom to top. A second driving mechanism 6 for driving the syringe 7 to move vertically and a third driving mechanism 9 for driving the piston rod 8 to move along the syringe 7 are provided on the self-propelled vehicle frame. In the present invention, by providing a notch part and a gas collection part on the clamping layer 5, when it is necessary to extract gas from a corresponding gas collection barrel, the clamping layer 5 is rotated so that its notch part is directly below the syringe assembly. By providing the notch part, the air outlet pipe of the gas collection barrel can extend into the notch part and be located directly below the syringe assembly, and it is convenient for the syringe 7 of the syringe assembly to move downward toward the notch part located below it under the action of the second driving mechanism 6, pass through the notch part, and be inserted and connected with the air outlet pipe in a communicating manner. And by driving the piston rod 8 by the third driving mechanism 9, the work of extracting gas from the gas collection barrel is completed. Further, when it is necessary to exhaust the gas collection bag, the clamping layer 5 is rotated so that its gas collection part is directly below the syringe assembly. Under the action of the second driving mechanism 6, the syringe 7 moves vertically, and the needle head is inserted into the air inlet valve at the top of the gas collection bag. Subsequently, 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 collection bag. The gas sampling robot disclosed in the present invention can realize gas collection at different sites through its self-propelled power supply, has good versatility, is convenient and fast, and can also set its working conditions in the form of preset parameters, and realize the conversion between gas collection and gas collection through the gas sampling robot, fully saving labor costs.

[0035] In a specific embodiment, the second driving mechanism 6 includes a first slide rail 13 and a first driving screw rod that both extend in the vertical direction and are distributed in parallel. The first driving screw rod is equipped with a first driving motor 12 that drives it to rotate; the syringe barrel 7 is connected to a first slider that is slidably installed on the first slide rail 13. A first threaded hole for the first driving screw rod to be threadedly connected is provided on the first slider. In the form of a screw and slider, driven by the first driving motor 12, the first driving screw rod rotates, and then drives the first slider to drive the syringe barrel 7 to move in the vertical direction, realizing the movement of the syringe barrel 7 with the needle in the vertical direction, thereby realizing the work of inserting or pulling out the needle from the air outlet pipe, and also being able to realize the work of inserting or pulling out the needle from the intake valve.

[0036] In a specific embodiment, the third driving mechanism 9 includes a second slide rail 15 and a second driving screw rod that both extend in the vertical direction and are distributed in parallel. The second driving screw rod is equipped with a second driving motor 14 that drives it to rotate; the top end of the piston rod 8 is connected to a second slider that is slidably installed on the second slide rail 15. A second threaded hole for the second driving screw rod to be threadedly connected is provided on the second slider. In the form of a screw and slider, driven by the second driving motor 14, the second driving screw rod rotates, and then drives the second slider to drive the piston rod 8 to move in the vertical direction. When the position of the syringe barrel 7 remains unchanged, the piston rod 8 moves along the syringe barrel 7 to complete the air extraction work when the needle is connected to the air outlet pipe, and complete the exhaust work when the needle is connected to the intake valve.

[0037] In a specific embodiment, the clamping layer 5 includes a rotating shaft 4 rotatably installed on the self - propelled vehicle frame. A plurality of connecting rods 11 that are radially distributed and extend horizontally are installed on the outer wall of the rotating shaft 4. A connecting member that is detachably connected to the gas collection bag is provided between adjacent two connecting rods 11 to connect the gas collection bag through the connecting member. Among them, in order to form a notch portion, there is a sufficiently large gap between the corresponding two connecting rods 11, and after rotating to the position below the syringe assembly, the air outlet pipe of the gas collection barrel can extend into the gap between the corresponding two connecting rods 11. And each connecting rod 11 is evenly arranged to form a gas collection portion, which connects the gas collection bag through the connecting member, so that the gas collection bag is installed between adjacent two connecting rods 11 to complete the installation work of the gas collection bag. When it is necessary to discharge gas into the gas collection bag, after the needle moves down through the gap between adjacent two connecting rods 11, it can be inserted into the intake valve at the top end of the gas collection bag.

[0038] 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.

[0039] 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.

[0040] 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.

[0041] 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.

[0042] 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.

[0043] 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.

[0044] Preferably, the adjustment mechanism includes an ultrasonic ranging sensor, an infrared emitter, and an infrared receiver. The gas sampling robot is equipped with an ultrasonic ranging sensor, and the interface is equipped with an infrared emitter 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. After the gas sampling robot has been aligned with the interface, the gas sampling robot starts to change its moving direction and approaches the gas collection barrel interface. During the process of the gas sampling robot approaching the interface, when the preset value of the ultrasonic sensor is reached, the gas sampling robot decelerates and starts to finely adjust the distance. The syringe 7 contacts the pressure sensor on the interface, and when the pressure reaches the specified value, it represents that the gas sampling robot is in place.

[0045] Furthermore, a gas collection method is also provided, including the following steps:

[0046] Placing the gas collection barrels: Prepare multiple gas collection barrels, place them at the required positions in each area to be collected in the target field, and install an air outlet pipe with an interface and a one-way valve on each gas collection barrel, and record the required time;

[0047] Starting the gas sampling robot to move forward: According to the placement positions of the gas collection barrels, set the moving route of the gas sampling robot through the navigation mechanism for the gas sampling robot to move forward to each gas collection barrel in turn;

[0048] Accurately determining the position: After the gas sampling robot moves to the first gas collection barrel, adjust the gas sampling robot through the adjustment mechanism so that its syringe assembly is correspondingly set with the interface of the gas collection barrel;

[0049] Collecting gas: Drive the syringe assembly to insert its needle into the interface, and drive the piston rod 8 of the syringe assembly to complete the air extraction work on the gas collection barrel. After the collection is completed, the needle withdraws from the interface and is inserted into the gas collection bag through the intake valve to discharge the collected gas, and sequentially complete the air extraction work on the remaining gas collection barrels.

[0050] In a specific example of the gas collection method, as Figure 5 shown, first evenly place each gas collection barrel on the target field, and the placement quantity is a×b, the row spacing is I x , the column spacing is I y , and the gas collection interval time 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, that is, starting from the moment when the gas sampling robot completes the previous gas collection and the syringe 7 is completely retracted into the gas sampling robot, and ending at the moment when the gas sampling robot completes this gas collection and the syringe 7 is completely retracted into the gas sampling robot, denoted as t x At this time, then take t collect \t x to obtain the maximum collection amount that the gas sampling robot can achieve in one gas collection cycle. Based on this, estimate the distribution of the gas collection barrels and plan whether to adopt multi-robot collaborative work.

[0051] Furthermore, start the gas sampling robot.

[0052] Subsequently, the gas sampling robot travels between the gas collection barrels and makes a rough estimate according to the pre-input gas collection barrel placement parameters a\b, and uses parameter conversion: assume the set distance length is x, then substitute the pre-set conversion coefficient μ v , and the acceleration and deceleration constant m into the calculation, and the movement time t x =μ v x + m. Here, μ is the speed parameter of the robot itself. For example, when moving between barrels in the same column, t a =μ v a + m. When moving at a corner, first move forward, perform a turning operation, then move, perform a turning operation, and then move forward to achieve the turning operation. When at a corner, the gas sampling robot internally accumulates the collected quantity, and a turning signal will be generated after reaching an integer multiple of the number of columns. At the same time, count the number of columns to judge the turning direction. And use the navigation mechanism for assistance to avoid omissions.

[0053] Next, accurately determine the position of 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. After the gas sampling robot has been aligned with the interface, the gas sampling robot starts to change its movement direction and approaches the gas collection barrel interface. During the process of the gas sampling robot approaching the interface, when it reaches the preset value of the ultrasonic sensor, the gas sampling robot decelerates and starts to finely adjust the distance. The syringe 7 contacts the pressure sensor on the interface, and when the pressure reaches the specified value, it means that the gas sampling robot is in place.

[0054] Finally, collect the gas. Each time when collecting the gas, first insert the needle into the interface and pump the gas by the action of the piston rod 8 to collect the gas. After the collection is completed, retract the entire syringe assembly and discharge the gas in the syringe 7 into the gas collection bag.

[0055] Further, the working time of loading the gas collection bag once is calculated by the formula:

[0056] First, count. Use a parameter n to record which bag it is now, and a parameter m to record how many bags there are in total.

[0057] Second, convert n to the angle that needs to be rotated. Let the opening angle required at the gas collection point of the syringe be α1. According to the calculation, the opening angle α0 between two adjacent connecting rods on the clamping layer is . Then the angle α that needs to be rotated each time n = = .

[0058] Third, convert the angle information into the input parameters of the first driving mechanism. Let the maximum rotation angle range of the first driving mechanism used be , the maximum pulse width be , and the minimum pulse width be .

[0059] For the first driving mechanism: the input pulse width = / * ( - ) + = * ( - ) + .

[0060] Let the counter period duration be , then the time required for the input high level = * ( - ) + *

[0061] The duty cycle is obtained = (high level time / signal cycle) × 100% = * ( - ) + * .

[0062] Fourth, calculate the total time for gas collection after loading the gas collection bag once: Assume that the gas collection barrels in the gas collection area are arranged in a * b. Assume that the rotation speed (angular velocity) of the servo motor is ω.

[0063] = / ω = .

[0064] Due to a round trip, the total rotation time: .

[0065] In addition to rotation, it is also necessary to calculate the time spent traveling between barrels. Assume that our gas collection barrels are arranged in an a*b pattern. When we reach the mth barrel, the gas collection bags we loaded are exhausted. Construct the coordinate axes as shown in Figure 6 . Assume that when we finish loading the gas collection bags, the robot is located at . At this time, its number = * a + .

[0066] Therefore, theoretically, it ends at = * a + ≤ a * b). If > a * b, then = * a + - a * b = . By dividing by a and taking the integer result and remainder, we can obtain the ending coordinates as . Assume that the spacing between barrels in the x direction is , and the spacing in the y direction is . Design a conversion coefficient between the movement time and the moving speed for the robot and an acceleration / deceleration constant p at turning points. Since the speed during straight-line movement is not particularly fast, no acceleration / deceleration constant is added. Through actual measurement, it is obtained that when moving between two barrels in the same column, the time , when moving between two barrels in the same row, the time , and the time at turning points is .

[0067] ≤ a * b: = ( * .

[0068] > a * b: = ( * + .

[0069] At this time, since it is necessary to return to the initial (1, 1) coordinates, the return time is calculated as .

[0070] Fifth, record the time for the syringe to collect gas once as .

[0071] Sixth, comprehensive calculation results:

[0072] (1) ≤a * b, when there is no return process, .

[0073] =( * .

[0074] ( * .

[0075] (2) >a * b, ( * + .

[0076] Thus, the time that the gas collection can be continuously carried out after installing the gas collection bag once can be obtained. The staff only need to replenish the gas collection bag in time at a specific time, without continuously paying attention to the consumption of the gas collection bag, reducing the work intensity of the staff.

[0077] Furthermore, the reference formula for interface selection:

[0078] Air tightness evaluation index: air pressure P, temperature t, altitude h, 101.325 kPa is the standard atmospheric pressure, recorded as . Environmental factors = , where, the units of P and are kPa, the unit of t is K, and the unit of h is m.

[0079] 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 the units of d and e are mm); 3. The maximum angle at which the valve opens; 4. Air extraction speed (volume / time) v; 5. The maximum torque when screwing in (note that it cannot exceed the bearing limit of the corresponding material) T; 6. Production precision index (determines the tightness of the connection at the interface) ; 7. Adding piston sealant: lithium-based grease / silicone grease. Its sealing coefficient is β. Own factors = α ).

[0080] Further, the syringe barrel and the piston rod are respectively driven by a second driving mechanism and a third driving mechanism. The second driving mechanism and the third driving mechanism are designed to cooperate in a coordinated manner: during gas collection, the initial position of the piston rod is at the top of the syringe barrel, that is, there is no gas in the syringe barrel at this time. After that, the syringe barrel and the piston rod start to move simultaneously at the same speed, which is . When the return value of the pressure-sensitive sensor on the syringe barrel reaches the set value, the syringe barrel stops moving, and the piston rod moves in the reverse direction at a speed of . After the piston movement time constant , it stops moving again.

[0081]

[0082] At this time, the collective collection is completed. The second driving mechanism and the third driving mechanism rotate simultaneously, and the moving speeds of both the syringe barrel and the piston rod are . At this time, the syringe barrel withdraws from the interface. After the syringe barrel withdraws from the interface, the clamping layer rotates the prepared gas collection bag to the corresponding position, and the piston rod moves to the top of the syringe barrel to discharge the collected gas and returns to the initial position.

[0083] Adaptations made according to actual requirements are all within the protection scope of the present invention.

[0084] It should be noted that for those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0085] Specific examples are used in the present invention to elaborate on the principles and implementation manners of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manners and application scopes. In summary, the content of this specification should not be construed as a limitation to 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 installed on the self - propelled frame, and its rotation axis extends vertically. A first driving mechanism for driving the self - rotation of the clamping layer is provided on the self - propelled frame. The clamping layer is divided into a notch part and a gas - collecting part along its rotation direction. Gas - collecting bags are arranged at equal intervals along the rotation direction on the gas - collecting part, and an air inlet valve is provided at the top of each gas - collecting bag; the syringe assembly is located above the clamping layer, and the syringe assembly includes a needle, a syringe and a piston rod which are distributed in sequence from bottom to top. A second driving mechanism for driving the syringe to move in the vertical direction and a third driving mechanism for driving the piston rod to move along the syringe are provided on the self - propelled frame; The notch part is used for the air outlet pipe of the gas - collecting barrel to extend into its inner side, and the needle is used for detachably and sealingly inserting into the interface at the top of the air outlet pipe; a navigation mechanism is installed on the self - propelled frame, and an adjusting mechanism for aligning the needle and the interface in place is installed; When it is necessary to extract gas from the corresponding gas - collecting barrel, by rotating the clamping layer so that its notch part is directly below the syringe assembly, and by setting the notch part, the air outlet pipe of the gas - collecting barrel can extend into the notch part and be located directly below the syringe assembly. And it is convenient for the syringe of the syringe assembly to move downward under the action of the second driving mechanism towards the notch part located below it, and after passing through the notch part, it is inserted and connected with the air outlet pipe to be communicated. And by driving the piston rod through the third driving mechanism, the work of extracting gas from the gas - collecting barrel is completed; when it is necessary to exhaust the gas - collecting bag, by rotating the clamping layer so that its gas - collecting part is directly below the syringe assembly, under the action of the second driving mechanism, the syringe moves in the vertical direction, and the needle is inserted into the air inlet valve at the top of the gas - collecting bag. Subsequently, by driving the piston rod under the driving action of the third driving mechanism, the work of discharging the gas in the syringe into the gas - collecting bag is completed.

2. The gas sampling robot according to claim 1, wherein The second driving mechanism includes a first slide rail and a first driving screw rod which both extend in the vertical direction and are distributed in parallel. The first driving screw rod is equipped with a first driving motor for driving its self - rotation; the syringe is connected with a first slider slidably installed on the first slide rail, and a first threaded hole for the first driving screw rod to be threadedly connected is provided on the first slider.

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 which both extend in the vertical direction and are distributed in parallel. The second driving screw rod is equipped with a second driving motor for driving its self - rotation; at the top position of the piston rod, it is connected with a second slider slidably installed on the second slide rail, and a second threaded hole for the second driving screw rod to be threadedly connected is provided on the second slider.

4. The gas sampling robot according to claim 2 or 3, characterized in that, The clamping layer includes a rotating shaft rotatably installed on the self - propelled frame. A plurality of connecting rods which are radially distributed and horizontally extend are installed on the outer wall of the rotating shaft, and a connecting piece for detachably connecting with the gas - collecting bag is provided 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, wherein 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 provided 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 as described in 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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