Automatic sampling robot for waste residue soil water of historical remaining mine cave

Abstract

The invention discloses an automatic sampling robot for waste muck water in historical remaining mine caverns, and relates to the technical field of sampling of waste muck water in historical remaining mine caverns, the automatic sampling robot comprises a supporting frame, and the inner wall of the supporting frame is sequentially provided with a first supporting plate, a collecting assembly and a second supporting plate from left to right. According to the automatic sampling robot for the waste residue soil water of the historical remaining mine cave, the moving assembly is adopted, so that the trafficability of the automatic sampling robot can be improved, and the automatic sampling robot can perform sampling work in a relatively complex terrain; the camera shooting assembly is adopted, and when the automatic sampling robot is used and the angle of a camera is adjusted, dust attached to protective glass at the front end of the camera can be automatically cleaned; the cleaning assembly and the spraying assembly are adopted, so that the sampling assembly can be automatically cleaned, and the situation that subsequent samples are polluted by residual impurities on four grabbing claws when the sampling assembly is used for repeatedly sampling can be avoided.

Description

Technical Field

[0001] The invention relates to the technical field of sampling the soil and water of waste slag in historical mine caves, and in particular to an automatic sampling robot for the soil and water of waste slag in historical mine caves. Background Art

[0002] Historical mine waste soil and water sampling refers to the planned and standardized sampling process of waste slag and wastewater around the mines left after the cessation of past mining activities. These mines may have accumulated waste slag and discharged wastewater due to limited mining technology and imperfect environmental protection measures in the past, which may cause potential pollution to the surrounding environment.

[0003] The sampling of waste slag, soil and water in historical mines often faces many difficulties and challenges. The environment in which these mines are located is complex, and there may be problems such as rugged terrain and narrow space, which brings safety risks and operational inconvenience to manual sampling. Therefore, an automatic sampling robot for waste slag, soil and water in historical mines is needed.

[0004] Current:

[0005] 1. When using the existing common automatic sampling robot, it usually needs to use a camera to carry out shooting. However, due to the harsh sampling environment, the camera is very easy to be attached with dust during use, which in turn has an adverse effect on the clarity of the shooting picture, making it difficult to accurately obtain clear and effective image information;

[0006] 2. The existing common automatic sampling robots generally need to perform sampling operations at multiple points during operation. When the sampling device performs the sampling task, impurities often adhere to it. These residual impurities are very likely to be mixed into the samples obtained by the next sampling, causing the samples to be contaminated, thus having a negative impact on the accuracy and reliability of the sampling;

[0007] 3. In actual use, the mobile carriers of existing ordinary automatic sampling robots mostly rely on the rotation of the two wheels at the front end to achieve the displacement of the entire mobile carrier. This driving method has poor passability when facing complex terrain, and it is difficult to smoothly shuttle through complex terrain environments and reach the predetermined sampling site. Summary of the invention

[0008] In view of the deficiencies in the prior art, the present invention provides an automatic sampling robot for waste slag, soil and water in historical mines, which solves the problems raised in the above-mentioned background technology.

[0009] To achieve the above objectives, the present invention is implemented through the following technical solutions: an automatic sampling robot for waste soil and water in historical mines, comprising a support frame, the inner wall of the support frame is successively installed with a first support plate, a collecting assembly and a second support plate from left to right, a water storage tank, a cleaning assembly and a spray assembly are installed on the top of the second support plate, an adjusting assembly is installed on the top of the support frame, a camera assembly is installed on the top of the first support plate, moving assemblies are installed on the front and rear ends of the support frame, and a sampling assembly is installed on the inner wall of the adjusting assembly.

[0010] The camera assembly includes a third reduction motor installed at the bottom of the first support plate, a fan housing and a first speed increaser installed on the top of the first support plate, a first fixing rod installed at the output end of the third reduction motor, a first bevel gear installed on the outer wall of the first fixing rod, a second bevel gear installed at the input end of the first speed increaser, a camera installed on the top of the first fixing rod, and a T-shaped jet pipe installed on the top of the camera.

[0011] The cleaning assembly includes a first mounting plate and a protective shell installed on the top of the second supporting plate, a connecting tube and a second fixed rod are rotatably installed on the top of the protective shell from right to left in sequence, a rotating joint is installed on the bottom of the connecting tube, a brush roller is installed on the top of the connecting tube, a second gear is installed on the outer wall of the connecting tube, a first toothed belt is meshed and installed on the outer wall of the second gear, a third gear is meshed and installed on the inner wall of the first toothed belt, a third gear and a third bevel gear are installed on the outer wall of the second fixed rod in sequence from bottom to top, a third fixed rod is rotatably installed on one side of the first mounting plate, a fourth gear, a fourth bevel gear and a fifth gear are installed on the outer wall of the third fixed rod in sequence from left to right, a ratchet is rotatably installed on one side of the fifth gear, a support block is installed on one side of the fifth gear, and a plurality of springs evenly and equidistantly distributed are installed on the rear end of the support block.

[0012] The spray assembly includes a pump casing installed on the top of the second support plate, a second speed increaser and a second fixed plate, a first connecting rod and a second connecting rod are rotatably installed on one side of the second fixed plate, a ratchet and a sixth gear are installed on the outer wall of the first connecting rod from left to right in sequence, a second toothed belt is meshed and installed on the outer wall of the sixth gear, and a seventh gear is installed on the outer wall of the second connecting rod.

[0013] Optionally, the collection assembly includes a collection box installed on the inner wall of the support frame, an L-shaped plate is installed on one side of the collection box near the bottom, a first electric push rod is installed through one side of the L-shaped plate, a cover plate is installed on one side of the first electric push rod, the inner wall of the collection box is provided with a plurality of evenly and equidistantly distributed partitions, a bottom slider of the cover plate, and a slide groove with an internal dimension structure consistent with the external dimension structure of the slider is opened on the top of the collection box, and the slider is slidably installed in the slide groove.

[0014] Optionally, the adjusting component includes a track installed on the top of the supporting frame, a sliding block is slidably installed on the outer wall of the track, a first rack is installed on the rear end of the sliding track, a first reduction motor is installed on the rear end of the sliding block, a first gear is installed on the output end of the first reduction motor, a U-shaped frame is installed on the top of the sliding block, a rectangular hole is opened on the top of the U-shaped frame, and a moving block is slidably installed on the inner wall of the rectangular hole, a second electric push rod is installed through the top of the moving block, a second reduction motor is installed on the front end of the U-shaped frame, a threaded rod is installed on the output end of the second reduction motor, the outer wall of the threaded rod is threadedly installed on the moving block, the first rack is meshed with the first gear, the track and the sliding block are symmetrically distributed about the vertical center line of the U-shaped frame, and limit blocks are provided on both sides of the top of the track.

[0015] Optionally, sliders are provided on the left and right sides of the moving block, and sliding grooves with inner wall heights consistent with the outer wall heights of the moving block are opened on the left and right sides of the inner wall of the rectangular hole of the U-shaped frame, and the sliders are slidably installed in the sliding grooves, and the moving block forms a transmission mechanism through a threaded rod and a second reduction motor.

[0016] Optionally, a plurality of nozzles evenly and equidistantly distributed are provided at the bottom of the T-shaped jet pipe, one side of the T-shaped jet pipe is connected to the air outlet of the fan casing through a telescopic hose, an impeller is provided at the output end of the first speed increaser, and the first bevel gear is meshed with the second bevel gear.

[0017] Optionally, the third bevel gear is meshed and installed with the fourth bevel gear, one end of the spring is connected to the pawl, the third bevel gear is meshed and installed with the fourth bevel gear, the fourth gear and the third bevel gear form a transmission mechanism through the third fixed rod and the fourth bevel gear, and the third bevel gear and the brush roller form a transmission mechanism through the third gear, the first toothed belt, the second gear and the connecting tube.

[0018] Optionally, the inner wall of the second toothed belt is meshed with the outer wall of the seventh gear, the sixth gear forms a transmission mechanism with the seventh gear through the second toothed belt, the second connecting rod is connected to the input end of the second speed increaser, the output end of the second speed increaser is provided with an impeller, the liquid inlet end of the pump casing is connected to the water tank through a pipe, and the liquid outlet end of the pump casing is connected to the rotary joint through a pipe.

[0019] Optionally, the moving component includes a second mounting plate installed on the outer wall of the support frame, a first rotating mounting seat and a second rotating mounting seat are installed on the front end of the second mounting plate in sequence from top to bottom, a spring shock absorber is installed on the front end of the second rotating mounting seat, a third rotating mounting seat is installed on the front end of the spring shock absorber, a support plate is installed on the bottom of the third rotating mounting seat, a rear end of the support plate is connected to the second rotating mounting seat, a first fixed shell is installed on the bottom of the support plate, a fourth reduction motor is installed through the bottom of the inner wall of the first fixed shell, a second fixed shell is installed on the bottom of the fourth reduction motor, a fifth reduction motor is installed through the front end of the inner wall of the second fixed shell, and a moving wheel is provided at the output end of the fifth reduction motor.

[0020] Optionally, the outer walls of the first fixed shell and the second fixed shell are both provided with rectangular holes, and dustproof nets are provided in the rectangular holes. A plurality of movable components are provided, and the plurality of movable components are evenly and equidistantly distributed at the front and rear ends of the support frame.

[0021] Optionally, the sampling assembly includes a mounting cylinder installed at the bottom of the second electric push rod, a fourth fixing rod is installed on the outer wall of the mounting cylinder, a second rack is installed at the front end of the fourth fixing rod, a first connecting plate is installed on the inner wall of the mounting cylinder, a third electric push rod is installed through the top of the first connecting plate, a second connecting plate is installed at the bottom of the third electric push rod, a first U-shaped block is installed on the outer wall of the second connecting plate, a push-pull rod is rotatably installed on the inner wall of the first U-shaped block, a second U-shaped block is rotatably installed on the outer wall of the push-pull rod and close to the bottom, a second grabbing claw is installed on one side of the second U-shaped block, a rotating block is installed on the top of the grabbing claw, four rectangular grooves distributed in an annular manner are opened at the bottom of the mounting cylinder, and the rotating block is rotatably installed on the inner wall of the rectangular groove, the first U-shaped block, the push-pull rod, the second U-shaped block, the grabbing claw and the rotating block are set as a group, and there are four groups in total, and the four groups of first U-shaped blocks, push-pull rods, second U-shaped blocks, grabbing claws and rotating blocks are distributed in annular manner with the vertical center line of the second connecting plate as the origin.

[0022] The present invention provides a robot for automatically sampling soil and water from waste slag in historical mines, which has the following beneficial effects:

[0023] This historical mine waste soil and water automatic sampling robot uses mobile components. When the automatic sampling robot is used, the synchronizer is used to control the fifth reduction motor to start at the same time, and the sampling robot is driven to move through several mobile components. When turning or turning around is required, several fourth reduction motors are started to drive the second fixed shell, the fifth reduction motor and the moving wheels. The moving wheels are adjusted to a suitable angle to facilitate turning or turning around in a narrow area, which can improve the passability of the automatic sampling robot and enable the automatic sampling robot to perform mobile sampling in more complex terrain.

[0024] This historical mine waste soil and water automatic sampling robot uses a camera component. When the automatic sampling robot is used, when the angle of the camera is adjusted, the third reduction motor is started to drive the first bevel gear, the camera and the T-shaped jet tube to rotate through the first fixed rod. At the same time, the first bevel gear drives the impeller located inside the fan housing at the output end of the first speed increaser to rotate through the second bevel gear and the first speed increaser, thereby drawing in the outside air. The air enters the T-shaped jet tube through the telescopic hose and is then ejected through several nozzles on the T-shaped jet tube, thereby blowing off the dust attached to the protective glass at the front end of the camera, thereby preventing dust from adhering to the protective glass at the front end of the camera and affecting the clarity of the camera shooting.

[0025] The historical mine waste soil and water automatic sampling robot uses an adjustment component and a sampling component. When the automatic sampling robot is used for sampling, the third electric push rod is started, and the four grabbing claws are driven to open outward through the second connecting plate, the first U-shaped block, the push-pull rod and the second U-shaped block. Then the second electric push rod is started to drive the sampling component to move downward. Then the third electric push rod is started, and the four grabbing claws are driven to retract inward through the second connecting plate, the first U-shaped block, the push-pull rod and the second U-shaped block, so that the four grabbing claws are closed, and soil samples or water samples can be grabbed. Through a sampling component, soil samples or water samples can be sampled respectively, thereby improving the applicability of the automatic sampling robot when used.

[0026] The historical mine waste soil and water automatic sampling robot uses a cleaning component and a spray component. When the sampling component needs to be cleaned, the second electric push rod is started to drive the sampling component to move up and down. When the sampling component moves down, the second rack is meshed with the fourth gear, and the fourth gear is driven to rotate at the same time. When the fourth gear rotates, the brush roller is driven to rotate through the third fixed rod, the fourth bevel gear, the fifth gear, the third bevel gear, the third gear, the first toothed belt, the second gear and the connecting pipe. At the same time, the fifth gear, through the pawl, the ratchet, the first connecting rod, the sixth gear, the third gear and the connecting pipe are driven to rotate. The second toothed belt, the seventh gear, the second connecting rod and the second speed increaser drive the impeller at the output end of the second speed increaser to rotate, pumping water in the water tank. The water enters the circular groove at the bottom of the brush roller through the pipe, the rotary joint and the connecting pipe, and is sprayed out from the circular holes on the brush roller through the circular groove. The water sprayed from the circular holes on the brush roller can rinse the four grabbing claws of the sampling component. The rotation of the brush roller can clean the four grabbing claws, which can avoid the residual impurities on the four grabbing claws from contaminating subsequent samples when the sampling component is used for repeated sampling.

[0027] This historical mine waste soil and water automatic sampling robot has a collection component. When the automatic sampling robot is used for sampling, a number of partitions divide the collection box into a number of small storage bins. When the first electric push rod is started, the cover plate can be automatically driven to separate or close the collection box. The several small storage bins can be used to store samples collected from different sampling points, so that the sampling robot can collect different samples, thereby improving the flexibility of the sampling robot when in use. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the main structure of the invention;

[0029] Figure 2 It is a schematic diagram of the structure of the collecting component in the invention;

[0030] Figure 3 It is a schematic diagram of the structure of the regulating component in the invention;

[0031] Figure 4 It is a schematic diagram of the structure of the camera assembly in the invention;

[0032] Figure 5 It is a schematic diagram of the cleaning component structure in the invention;

[0033] Figure 6 For the invention Figure 5 The enlarged structural diagram at A in the middle;

[0034] Figure 7 It is a schematic diagram of the full cross-section structure of the cleaning component in the invention;

[0035] Figure 8It is a schematic diagram of the structure of the spray assembly in the invention;

[0036] Fig. 9 It is a schematic diagram of the full cross-section structure of the mobile component in the invention;

[0037] Fig.10 This is a schematic diagram of the full cross-section structure of the sampling component in the invention.

[0038] In the figure: 1, support frame; 2, first support plate; 3, collection assembly; 301, collection box; 302, L-shaped plate; 303, first electric push rod; 304, cover plate; 4, second support plate; 5, water storage tank; 6, adjustment assembly; 601, track; 602, sliding block; 603, first rack; 604, first reduction motor; 605, first gear; 606, U-shaped frame; 607, moving block; 608, second electric push rod; 609, second reduction motor; 6010, threaded rod; 7, camera assembly; 701, third reduction motor; 7 02, fan housing; 703, first speed increaser; 704, first fixed rod; 705, first bevel gear; 706, second bevel gear; 707, camera; 708, T-shaped jet pipe; 8, cleaning assembly; 801, first mounting plate; 802, protective housing; 803, connecting pipe; 804, second fixed rod; 805, rotary joint; 806, brush roller; 807, second gear; 808, first toothed belt; 809, third gear; 8010, third bevel gear; 8011, third fixed rod; 8012, fourth gear; 80 13. Fourth bevel gear; 8014. Fifth gear; 8015. Ratchet; 8016. Support block; 8017. Spring; 9. Spray assembly; 901. Pump housing; 902. Second speed increaser; 903. Second fixed plate; 904. First connecting rod; 905. Ratchet; 906. Sixth gear; 907. Second toothed belt; 908. Second connecting rod; 909. Seventh gear; 10. Moving assembly; 1001. Second mounting plate; 1002. First rotating mounting seat; 1003. Second rotating mounting seat; 1004. Spring shock absorber; 1 005, third rotating mounting seat; 1006, support plate; 1007, first fixed shell; 1008, fourth reduction motor; 1009, second fixed shell; 10010, fifth reduction motor; 11, sampling assembly; 1101, mounting cylinder; 1102, fourth fixed rod; 1103, second rack; 1104, first connecting plate; 1105, third electric push rod; 1106, second connecting plate; 1107, first U-shaped block; 1108, push-pull rod; 1109, second U-shaped block; 11010, grabbing claw; 11011, rotating block. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0040] In the description of the present invention, unless otherwise specified, "plurality" means two or more than two; the orientations or positional relationships indicated by the terms "upper", "lower", "left", "right", "inner", "outer", "front end", "rear end", "head", "tail", etc. are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0041] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0042] See also Figures 1 to 10 The present invention provides a technical solution: an automatic sampling robot for waste soil and water in historical mines, comprising a support frame 1, the inner wall of the support frame 1 is successively installed with a first support plate 2, a collecting component 3 and a second support plate 4 from left to right, a water storage tank 5, a cleaning component 8 and a spray component 9 are installed on the top of the second support plate 4, an adjusting component 6 is installed on the top of the support frame 1, a camera component 7 is installed on the top of the first support plate 2, moving components 10 are installed on the front and rear ends of the support frame 1, and a sampling component 11 is installed on the inner wall of the adjusting component 6.

[0043] The camera assembly 7 includes a third reduction motor 701 installed at the bottom of the first support plate 2, a fan housing 702 and a first speed increaser 703 are installed on the top of the first support plate 2, a first fixed rod 704 is installed on the output end of the third reduction motor 701, a first bevel gear 705 is installed on the outer wall of the first fixed rod 704, a second bevel gear 706 is installed on the input end of the first speed increaser 703, a camera 707 is installed on the top of the first fixed rod 704, and a T-shaped jet pipe 708 is installed on the top of the camera 707.

[0044] The cleaning assembly 8 includes a first mounting plate 801 and a protective shell 802 mounted on the top of the second support plate 4, a connecting tube 803 and a second fixed rod 804 are rotatably mounted on the top of the protective shell 802 from right to left, a rotating joint 805 is mounted on the bottom of the connecting tube 803, a brush roller 806 is mounted on the top of the connecting tube 803, a second gear 807 is mounted on the outer wall of the connecting tube 803, a first toothed belt 808 is meshed with the outer wall of the second gear 807, a third gear 809 is meshed with the inner wall of the first toothed belt 808, and a second fixed rod 804 is meshed with the inner wall of the second fixed rod 804. The outer wall of the rod 804 is installed with a third gear 809 and a third bevel gear 8010 in sequence from bottom to top, a third fixed rod 8011 is rotatably installed on one side of the first mounting plate 801, a fourth gear 8012, a fourth bevel gear 8013 and a fifth gear 8014 are installed on the outer wall of the third fixed rod 8011 in sequence from left to right, a ratchet 8015 is rotatably installed on one side of the fifth gear 8014, a support block 8016 is installed on one side of the fifth gear 8014, and a plurality of springs 8017 evenly and equidistantly distributed are installed at the rear end of the support block 8016.

[0045] The spray assembly 9 includes a pump housing 901, a second speed increaser 902 and a second fixed plate 903 installed on the top of the second support plate 4. A first connecting rod 904 and a second connecting rod 908 are rotatably installed on one side of the second fixed plate 903. A ratchet 905 and a sixth gear 906 are installed on the outer wall of the first connecting rod 904 from left to right in sequence. A second toothed belt 907 is meshed and installed on the outer wall of the sixth gear 906. A seventh gear 909 is installed on the outer wall of the second connecting rod 908.

[0046] In this embodiment, Figure 2 As shown, the collecting assembly 3 includes a collecting box 301 installed on the inner wall of the supporting frame 1, an L-shaped plate 302 is installed on one side of the collecting box 301 and near the bottom, a first electric push rod 303 is installed through one side of the L-shaped plate 302, a cover plate 304 is installed on one side of the first electric push rod 303, the inner wall of the collecting box 301 is provided with a plurality of partitions evenly and equidistantly distributed, a bottom slider of the cover plate 304, and a slide groove with an internal dimension structure consistent with the external dimension structure of the slider is opened on the top of the collecting box 301, and the slider is slidably installed in the slide groove; a plurality of partitions divide the collecting box 301 into a plurality of small storage bins, which is convenient for collecting and storing different samples. When the first electric push rod 303 is started, the cover plate 304 can be driven to slide on the top of the collecting box 301, so that the cover plate 304 is automatically separated from or covered with the collecting box 301.

[0047] In this embodiment, Figure 3As shown, the adjustment component 6 includes a track 601 installed on the top of the support frame 1, a sliding block 602 is slidably installed on the outer wall of the track 601, a first rack 603 is installed at the rear end of the sliding track 601, a first reduction motor 604 is installed at the rear end of the sliding block 602, a first gear 605 is installed at the output end of the first reduction motor 604, a U-shaped frame 606 is installed on the top of the sliding block 602, a rectangular hole is opened on the top of the U-shaped frame 606, and a moving block 607 is slidably installed on the inner wall of the rectangular hole, a second electric push rod 608 is installed through the top of the moving block 607, a second reduction motor 609 is installed at the front end of the U-shaped frame 606, and a threaded rod 6010 is installed at the output end of the second reduction motor 609, and the threaded rod 6010 is installed at the output end of the second reduction motor 609. The outer wall of 010 is threadedly installed with the moving block 607, the first rack 603 is meshed with the first gear 605, the track 601 and the sliding block 602 are symmetrically distributed about the vertical center line of the U-shaped frame 606, and limit blocks are provided on both sides of the top of the track 601; when the first reduction motor 604 is started to drive the first gear 605 to rotate, the first gear 605 rotates and moves on the first rack 603, thereby driving the U-shaped frame 606, the moving block 607, the second electric push rod 608, the second reduction motor 609, the threaded rod 6010 and the sampling component 11 to move left and right, and the position of the sampling component 11 can be adjusted according to needs. The limit block at the top of the track 601 can prevent the sliding block 602 from falling off the track 601.

[0048] In this embodiment, Figure 3 As shown, sliders are provided on the left and right sides of the moving block 607, and sliding grooves with inner wall heights consistent with the outer wall heights of the moving block 607 are opened on the left and right sides of the inner wall of the rectangular hole of the U-shaped frame 606, and the sliders are slidably installed in the sliding grooves, and the moving block 607 and the second reduction motor 609 form a transmission mechanism through the threaded rod 6010; when the second reduction motor 609 is started, the moving block 607, the second electric push rod 608 and the sampling component 11 are driven to move forward and backward through the threaded rod 6010, and the position of the sampling component 11 can be adjusted according to needs.

[0049] In this embodiment, Figure 4As shown, a plurality of nozzles evenly and equidistantly distributed are provided at the bottom of the T-shaped jet tube 708, one side of the T-shaped jet tube 708 is connected to the air outlet of the fan housing 702 through a telescopic hose, an impeller is provided at the output end of the first speed increaser 703, and the first bevel gear 705 is meshed and installed with the second bevel gear 706; when it is necessary to adjust the angle of the camera 707, the third reduction motor 701 is started to drive the first bevel gear 705, the camera 707 and the T-shaped jet tube 708 to rotate through the first fixing rod 704 to adjust the angle of the camera 707, and at the same time, the first bevel gear 705 drives the impeller located inside the fan housing 702 at the output end of the first speed increaser 703 to rotate through the second bevel gear 706 and the first speed increaser 703, and draws in the outside air, and the air enters the T-shaped jet tube 708 through the telescopic hose, and then is ejected through the plurality of nozzles on the T-shaped jet tube 708, so as to blow off the dust attached to the protective glass at the front end of the camera 707, so as to prevent the dust from affecting the shooting clarity of the camera 707.

[0050] In this embodiment, Figure 5 , Figure 6 and Figure 7 As shown, the third bevel gear 8010 is meshed with the fourth bevel gear 8013, one end of the spring 8017 is connected to the ratchet 8015, the third bevel gear 8010 is meshed with the fourth bevel gear 8013, the fourth gear 8012 and the third bevel gear 8010 form a transmission mechanism through the third fixed rod 8011 and the fourth bevel gear 8013, and the third bevel gear 8010 forms a transmission mechanism with the brush roller 806 through the third gear 809, the first toothed belt 808, the second gear 807 and the connecting tube 803; when the sampling component 11 is driven to move to the top of the brush roller 806, Then, the second electric push rod 608 is started to drive the sampling component 11 to move up and down. When the sampling component 11 moves downward, the second rack 1103 engages with the fourth gear 8012, driving the fourth gear 8012 to rotate. When the fourth gear 8012 rotates, the third bevel gear 8010 is driven to rotate through the third fixed rod 8011 and the fourth bevel gear 8013. When the third bevel gear 8010 rotates, the brush roller 806 is driven to rotate through the third gear 809, the first toothed belt 808, the second gear 807 and the connecting tube 803. When the brush roller 806 rotates, it can clean the inner wall of the sampling component 11.

[0051] In this embodiment, Figure 6 and Figure 8As shown, the inner wall of the second toothed belt 907 is meshed with the outer wall of the seventh gear 909, the sixth gear 906 forms a transmission mechanism with the seventh gear 909 through the second toothed belt 907, the second connecting rod 908 is connected to the input end of the second speed increaser 902, the output end of the second speed increaser 902 is provided with an impeller, the liquid inlet end of the pump housing 901 is connected to the water storage tank 5 through a pipeline, and the liquid outlet end of the pump housing 901 is connected to the rotary joint 805 through a pipeline, the bottom of the brush roller 806 is provided with a circular groove, and the brush roller 806 is provided with a number of circular holes evenly and equidistantly distributed; the pawl 8015 is subjected to the elastic force of the spring 8017, so that the pawl 8015 is meshed with the ratchet 905, when the fifth gear 8014 rotates, the ratchet 905 is driven to rotate through the pawl 8015, and when the ratchet 905 rotates, it drives the first connecting rod 904 and the sixth gear 906 to rotate, and the sixth gear When 906 rotates, the output end of the second speed increaser 902 and the impeller located in the pump housing 901 are driven to rotate through the second toothed belt 907, the seventh gear 909, the second connecting rod 908 and the second speed increaser 902, so as to pump the water in the water tank 5, and then send the water into the rotary joint 805 through the pipeline, and then the water passes through the rotary joint 805 and the connecting pipe 803 into the circular groove at the bottom of the brush roller 806, and is sprayed out from the circular hole on the brush roller 806 through the circular groove, so as to flush the inner wall of the dynamic sampling component 11. The rotary joint 805 is composed of a docking joint and a sealed bearing, which is installed on the inner wall of the docking joint, and the sealed bearing is installed on the outer wall of the connecting pipe 803. When the fifth gear 8014 rotates in the opposite direction, the pawl 8015 cannot engage with the ratchet 905, thereby failing to drive the impeller in the pump housing 901 to rotate, and thereby failing to extract the water in the water tank 5.

[0052] In this embodiment, Figure 1 and Fig. 9As shown, the moving assembly 10 includes a second mounting plate 1001 mounted on the outer wall of the supporting frame 1, a first rotating mounting seat 1002 and a second rotating mounting seat 1003 are sequentially mounted on the front end of the second mounting plate 1001 from top to bottom, a spring shock absorber 1004 is mounted on the front end of the second rotating mounting seat 1003, a third rotating mounting seat 1005 is mounted on the front end of the spring shock absorber 1004, a support plate 1006 is mounted on the bottom of the third rotating mounting seat 1005, a rear end of the support plate 1006 is connected to the second rotating mounting seat 1003, a first fixed shell 1007 is mounted on the bottom of the support plate 1006, a fourth reduction motor 1008 is installed through the bottom of the inner wall of the first fixed shell 1007, and a second fixed shell 1007 is mounted on the bottom of the fourth reduction motor 1008. 09. The fifth reduction motor 10010 is installed through the front end of the inner wall of the second fixed shell 1009, and a moving wheel is provided at the output end of the fifth reduction motor 10010; the size structure of the first rotating mount 1002, the second rotating mount 1003 and the third rotating mount 1005 are consistent, and the first rotating mount 1002 is composed of a U-shaped mount and a fixed block, and the fixed block is rotatably installed in the U-shaped mount. When the fourth reduction motor 1008 is started, the second fixed shell 1009, the fifth reduction motor 10010 and the moving wheel can be driven, and the angle of the moving wheel can be adjusted so that the sampling robot can move and turn in a narrow space. When the fifth reduction motor 10010 is started, the moving wheel is driven to rotate, and the sampling robot is driven to move.

[0053] In this embodiment, Figure 1 and Fig. 9 As shown, the outer walls of the first fixed shell 1007 and the second fixed shell 1009 are both provided with rectangular holes, and dustproof nets are provided in the rectangular holes. There are a number of movable components 10, and the movable components 10 are evenly and equidistantly distributed at the front and rear ends of the support frame 1; when the fifth reduction motor 10010 is controlled to start at the same time by a synchronizer, the sampling robot is driven to move by the number of movable components 10, so that the sampling robot can pass through more complex terrain to perform sampling work.

[0054] In this embodiment, Figure 3 and Fig.10As shown, the sampling assembly 11 includes a mounting cylinder 1101 mounted on the bottom of the second electric push rod 608, a fourth fixing rod 1102 is mounted on the outer wall of the mounting cylinder 1101, a second rack 1103 is mounted on the front end of the fourth fixing rod 1102, a first connecting plate 1104 is mounted on the inner wall of the mounting cylinder 1101, a third electric push rod 1105 is installed through the top of the first connecting plate 1104, a second connecting plate 1106 is installed on the bottom of the third electric push rod 1105, a first U-shaped block 1107 is mounted on the outer wall of the second connecting plate 1106, a push-pull rod 1108 is rotatably mounted on the inner wall of the first U-shaped block 1107, a second U-shaped block 1109 is rotatably mounted on the outer wall of the push-pull rod 1108 and near the bottom, a second material grabbing claw 11010 is mounted on one side of the second U-shaped block 1109, a rotating block 11011 is mounted on the top of the material grabbing claw 11010, and four ring-shaped blocks are provided at the bottom of the mounting cylinder 1101 The first U-shaped block 1107, the push-pull rod 1108, the second U-shaped block 1109, the material grabbing claw 11010 and the rotating block 11011 are set as a group, and there are four groups in total, and the four groups of the first U-shaped block 1107, the push-pull rod 1108, the second U-shaped block 1109, the material grabbing claw 11010 and the rotating block 11011 are arranged with the vertical center line of the second connecting plate 1106 as the The origins are distributed in a circular shape; when the third electric push rod 1105 is started, it drives the second connecting plate 1106 to move downward, and the second connecting plate 1106 drives the four grabbing claws 11010 to open outward through the corresponding first U-shaped block 1107, the push-pull rod 1108 and the second U-shaped block 1109. After grabbing the sample, the third electric push rod 1105 is started to move upward, driving the four grabbing claws 11010 to close, forming a conical cylinder for grabbing the sample.

[0055] The use method of the present invention: When the historical mine waste soil and water automatic sampling robot is used, the working process is as follows:

[0056] like Figures 1 to 10As shown, firstly, the fourth reduction motor 1008 and the fifth reduction motor 10010 are started respectively, and the sampling robot is moved by adjusting a plurality of moving components 10. When the sampling robot is moving, the sampling robot is controlled by a signal transmission device on the sampling robot. When the angle of the falling camera 707 is adjusted for observation during movement, the third reduction motor 701 is started, and the first bevel gear 705, the camera 707 and the T-shaped jet tube 708 are driven to rotate through the first fixed rod 704, and the angle of the camera 707 is adjusted. At the same time, the first bevel gear 705 drives the impeller at the output end of the first speed increaser 703 to rotate through the second bevel gear 706 and the first speed increaser 703, and draws in the outside air. The air enters the T-shaped The dust adhered to the protective glass at the front end of the camera 707 is blown off by the several nozzles on the jet pipe 708 and the jets are sprayed out. When the sampling point is reached, the third electric push rod 1105 is started, and the four grabbing claws 11010 are driven to open outward through the second connecting plate 1106, the first U-shaped block 1107, the push-pull rod 1108 and the second U-shaped block 1109. Then the second electric push rod 608 is started to drive the sampling assembly 11 to descend. Then the third electric push rod 1105 is started, and the four grabbing claws 11010 are driven to retract inward through the second connecting plate 1106, the first U-shaped block 1107, the push-pull rod 1108 and the second U-shaped block 1109, so that the four grabbing claws 11010 are closed, and soil samples or water samples can be grabbed. Then, the second electric push rod 608 is started to drive the sampling assembly 11 to move upward, and then the first electric push rod 303, the first reduction motor 604 and the second reduction motor 609 are started respectively. The first electric push rod 303 drives the cover plate 304 to move to the left, so that the cover plate 304 is opened. The first reduction motor 604 drives the first gear 605 to rotate and move on the first rack 603, driving the U-shaped frame 606, the moving block 607, the second electric push rod 608, the second reduction motor 609, the threaded rod 6010 and the sampling assembly 11 to move to the top of the collection box 301. The second reduction motor 609 threaded rod 6010 drives the moving block 607, the second electric push rod 608 and the sampling assembly 11 to move left and right, and moves the sampling assembly 11 to the collection box 301. The first gear 11010 is moved to the top of the corresponding storage bin, and then the third electric push rod 1105 is started to drive the four grabbing claws 11010 to open outward, so that the sample falls into the storage bin in the collection box 301. Then the first electric push rod 303 is started to make the cover plate 304 cover the collection box 301. When the inner wall of the four grabbing claws 11010 needs to be cleaned, the first reduction motor 604 and the second reduction motor 609 are started to drive the sampling assembly 11 to move to the top of the brush roller 806, and the four grabbing claws 11010 are in an open state. Then the second electric push rod 608 is started to drive the sampling assembly 11 to move up and down. When the sampling assembly 11 moves downward, the second rack 1103 is meshed with the fourth gear 8012, driving the fourth gear 8012 to rotate.When the fourth gear 8012 rotates, the brush roller 806 is driven to rotate through the third fixed rod 8011, the fourth bevel gear 8013, the fifth gear 8014, the third bevel gear 8010, the third gear 809, the first toothed belt 808, the second gear 807 and the connecting pipe 803. At the same time, the fifth gear 8014, through the pawl 8015, the ratchet 905, the first connecting rod 904, the sixth gear 906, the second toothed belt 907, the seventh gear 909, the second connecting rod 906, the second toothed belt 907, the seventh gear 909, the second connecting rod 906, the second toothed belt 908 ... fifth gear 8012 rotates. The connecting rod 908 and the second speed increaser 902 drive the impeller at the output end of the second speed increaser 902 to rotate, pumping the water in the water storage tank 5, and the water enters the circular groove at the bottom of the brush roller 806 through the pipeline, the rotary joint 805 and the connecting pipe 803, and is sprayed out from the circular hole on the brush roller 806 through the circular groove, cleaning the sampling component 11 for a period of time and then stopping, starting the first reduction motor 604, the second reduction motor 609 and the second electric push rod 608 to drive the sampling component 11 to reset.

[0057] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A robot for automatically sampling soil and water from historical mine waste, comprising a support frame (1), characterized in that: The inner wall of the support frame (1) is provided with a first support plate (2), a collecting assembly (3) and a second support plate (4) in sequence from left to right; a water storage tank (5), a cleaning assembly (8) and a spray assembly (9) are provided on the top of the second support plate (4); an adjusting assembly (6) is provided on the top of the support frame (1); a camera assembly (7) is provided on the top of the first support plate (2); moving assemblies (10) are provided at both the front and rear ends of the support frame (1); and a sampling assembly (11) is provided on the inner wall of the adjusting assembly (6); The camera assembly (7) comprises a third reduction motor (701) mounted at the bottom of the first support plate (2), a fan housing (702) and a first speed increaser (703) mounted on the top of the first support plate (2), a first fixing rod (704) mounted at the output end of the third reduction motor (701), a first bevel gear (705) mounted on the outer wall of the first fixing rod (704), a second bevel gear (706) mounted at the input end of the first speed increaser (703), a camera (707) mounted on the top of the first fixing rod (704), and a T-shaped jet pipe (708) mounted on the top of the camera (707); The cleaning assembly (8) comprises a first mounting plate (801) and a protective shell (802) mounted on the top of a second support plate (4); a connecting tube (803) and a second fixing rod (804) are rotatably mounted on the top of the protective shell (802) from right to left in sequence; a rotating joint (805) is mounted on the bottom of the connecting tube (803); a brush roller (806) is mounted on the top of the connecting tube (803); a second gear (807) is mounted on the outer wall of the connecting tube (803); a first toothed belt (808) is meshedly mounted on the outer wall of the second gear (807); a third gear (809) is meshedly mounted on the inner wall of the first toothed belt (808); The outer wall of the second fixed rod (804) is sequentially mounted with a third gear (809) and a third bevel gear (8010) from bottom to top; a third fixed rod (8011) is rotatably mounted through one side of the first mounting plate (801); a fourth gear (8012), a fourth bevel gear (8013) and a fifth gear (8014) are sequentially mounted on the outer wall of the third fixed rod (8011) from left to right; a ratchet (8015) is rotatably mounted on one side of the fifth gear (8014); a support block (8016) is mounted on one side of the fifth gear (8014); and a plurality of springs (8017) evenly and equidistantly distributed are mounted on the rear end of the support block (8016); The spray assembly (9) includes a pump housing (901) installed on the top of the second support plate (4), a second speed increaser (902) and a second fixed plate (903); a first connecting rod (904) and a second connecting rod (908) are rotatably installed on one side of the second fixed plate (903); a ratchet (905) and a sixth gear (906) are installed on the outer wall of the first connecting rod (904) from left to right in sequence; a second toothed belt (907) is meshedly installed on the outer wall of the sixth gear (906); and a seventh gear (909) is installed on the outer wall of the second connecting rod (908).

2. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: The collecting assembly (3) comprises a collecting box (301) installed on the inner wall of the supporting frame (1); an L-shaped plate (302) is installed on one side of the collecting box (301) and close to the bottom; a first electric push rod (303) is installed through one side of the L-shaped plate (302); a cover plate (304) is installed on one side of the first electric push rod (303); the inner wall of the collecting box (301) is provided with a plurality of partitions evenly and equidistantly distributed, a bottom slider of the cover plate (304); and a slide groove having an internal dimension structure consistent with an external dimension structure of the slider is opened on the top of the collecting box (301), and the slider is slidably installed in the slide groove.

3. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: The adjustment assembly (6) comprises a track (601) mounted on the top of the support frame (1); a sliding block (602) is slidably mounted on the outer wall of the track (601); a first rack (603) is mounted on the rear end of the sliding track (601); a first reduction motor (604) is mounted on the rear end of the sliding block (602); a first gear (605) is mounted on the output end of the first reduction motor (604); a U-shaped frame (606) is mounted on the top of the sliding block (602); a rectangular hole is formed on the top of the U-shaped frame (606); and a moving block (606) is slidably mounted on the inner wall of the rectangular hole. 7), a second electric push rod (608) is installed through the top of the moving block (607), a second reduction motor (609) is installed at the front end of the U-shaped frame (606), a threaded rod (6010) is installed at the output end of the second reduction motor (609), the outer wall of the threaded rod (6010) is threadedly installed with the moving block (607), the first rack (603) is meshed with the first gear (605), the track (601) and the sliding block (602) are symmetrically distributed about the vertical center line of the U-shaped frame (606), and limit blocks are provided on both sides of the top of the track (601).

4. The automatic sampling robot for waste soil and water from historical mines according to claim 3 is characterized by: Slide blocks are provided on both the left and right sides of the moving block (607), and slide grooves with inner wall heights consistent with the outer wall heights of the moving block (607) are provided on both the left and right sides of the inner wall of the rectangular hole of the U-shaped frame (606), and the slide blocks are slidably installed in the slide grooves. The moving block (607) forms a transmission mechanism with the second reduction motor (609) through the threaded rod (6010).

5. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: A plurality of nozzles evenly and equidistantly distributed are provided at the bottom of the T-shaped jet pipe (708); one side of the T-shaped jet pipe (708) is connected to the air outlet of the fan housing (702) via a telescopic hose; an impeller is provided at the output end of the first speed increaser (703); and the first bevel gear (705) is meshedly installed with the second bevel gear (706).

6. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: The third bevel gear (8010) is meshed with the fourth bevel gear (8013) and installed; one end of the spring (8017) is connected to the ratchet (8015); the third bevel gear (8010) is meshed with the fourth bevel gear (8013) and installed; the fourth gear (8012) and the third bevel gear (8010) form a transmission mechanism through a third fixed rod (8011) and the fourth bevel gear (8013); the third bevel gear (8010) and the brush roller (806) form a transmission mechanism through a third gear (809), a first toothed belt (808), a second gear (807) and a connecting pipe (803).

7. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: The inner wall of the second toothed belt (907) is meshed with the outer wall of the seventh gear (909), the sixth gear (906) forms a transmission mechanism with the seventh gear (909) through the second toothed belt (907), the second connecting rod (908) is connected to the input end of the second speed increaser (902), the output end of the second speed increaser (902) is provided with an impeller, the liquid inlet end of the pump housing (901) is connected to the water storage tank (5) through a pipeline, and the liquid outlet end of the pump housing (901) is connected to the rotary joint (805) through a pipeline.

8. The automatic sampling robot for waste soil and water from historical mines according to claim 1 is characterized by: The moving assembly (10) comprises a second mounting plate (1001) mounted on the outer wall of the supporting frame (1); a first rotating mounting seat (1002) and a second rotating mounting seat (1003) are mounted on the front end of the second mounting plate (1001) in order from top to bottom; a spring shock absorber (1004) is mounted on the front end of the second rotating mounting seat (1003); a third rotating mounting seat (1005) is mounted on the front end of the spring shock absorber (1004); a support plate (1006) is mounted on the bottom of the third rotating mounting seat (1005); The rear end of the support plate (1006) is connected to the second rotating mounting seat (1003); a first fixed shell (1007) is installed at the bottom of the support plate (1006); a fourth reduction motor (1008) is installed through the bottom of the inner wall of the first fixed shell (1007); a second fixed shell (1009) is installed at the bottom of the fourth reduction motor (1008); a fifth reduction motor (10010) is installed through the front end of the inner wall of the second fixed shell (1009); and a moving wheel is provided at the output end of the fifth reduction motor (10010).

9. The automatic sampling robot for waste soil and water from historical mines according to claim 8 is characterized by: The outer walls of the first fixed shell (1007) and the second fixed shell (1009) are both provided with rectangular holes, and dustproof nets are provided in the rectangular holes. A total of a plurality of movable components (10) are provided, and the plurality of movable components (10) are evenly and equidistantly distributed at the front and rear ends of the support frame (1).

10. The automatic sampling robot for waste soil and water from historical mines according to claim 1, characterized in that: The sampling assembly (11) includes a mounting tube (1101) mounted on the bottom of the second electric push rod (608), a fourth fixing rod (1102) being mounted on the outer wall of the mounting tube (1101), a second rack (1103) being mounted on the front end of the fourth fixing rod (1102), a first connecting plate (1104) being mounted on the inner wall of the mounting tube (1101), a third electric push rod (1105) being mounted through the top of the first connecting plate (1104), a second connecting plate (1106) being mounted on the bottom of the third electric push rod (1105), a first U-shaped block (1107) being mounted on the outer wall of the second connecting plate (1106), a push-pull rod (1108) being rotatably mounted on the inner wall of the first U-shaped block (1107), and a push-pull rod (1108) being rotatably mounted on the outer wall of the push-pull rod (1108) and near the bottom A second U-shaped block (1109), a second material grabbing claw (11010) is installed on one side of the second U-shaped block (1109), a rotating block (11011) is installed on the top of the material grabbing claw (11010), the bottom of the mounting tube (1101) is provided with four rectangular grooves distributed in a ring shape, and the rotating block (11011) is rotatably installed on the inner wall of the rectangular groove, the first U-shaped block (1107), the push-pull rod (1108), the second U-shaped block (1109), the material grabbing claw (11010) and the rotating block (11011) are set as a group, and there are four groups in total, and the four groups of the first U-shaped block (1107), the push-pull rod (1108), the second U-shaped block (1109), the material grabbing claw (11010) and the rotating block (11011) are distributed in a ring shape with the vertical center line of the second connecting plate (1106) as the origin.

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