Probe rod and robot for monitoring biological fermentation tank

Abstract

The invention discloses a feeler lever for monitoring a biological fermentation tank and a robot, and relates to the technical field of biological fermentation tank monitoring devices. The probe rod for monitoring the biological fermentation tank comprises an outer sleeve, an inner sleeve, a probe assembly, a probe propelling assembly and a probe protection assembly, the probe assembly has an initial position and a working position, the initial position is a conical protection cover closed state, and the probe assembly is located in an inner cavity of the conical protection cover; the working position is that the conical protective cover is in an open state, and the probe assembly extends out of the conical protective cover. The probe assembly is arranged in the openable conical protective cover, during monitoring, the whole probe rod can be smoothly inserted into a position to be monitored in a fermentation pile through the conical protective cover, and after the probe rod is in place, the probe propelling assembly is used for pushing the inner sleeve to open the conical protective cover and push out the probe assembly for monitoring. And the probe assembly is not polluted in the deep process and is not influenced by other materials, so that the monitoring accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of biological fermentation tank monitoring devices, and more particularly to a probe rod and a robot for biological fermentation tank monitoring. Background Art

[0002] One of the methods for disposing municipal sludge is aerobic fermentation. During the fermentation process, the oxygen content, moisture content and temperature of the fermented material need to be continuously tested to ensure the normal operation of the fermentation process. However, a large amount of irritating gases such as ammonia are produced during the fermentation process. Not only is the smell unpleasant, but it is also harmful to human health and affects the safety of workers. People cannot work for a long time in this environment. In addition, the existing monitoring devices all expose the probe to the outside. When in use, the probe is directly inserted into the fermentation pile for detection. Due to the length of the probe, it is only suitable for measurements at a shallow position and cannot be measured deep inside the fermentation pile. Moreover, the probe is exposed to the outside. When inserted into the fermentation pile for detection, the probe is easily contaminated by the upper material and affected by temperature and humidity, resulting in inaccurate test results.

[0003] Therefore, how to improve the safety and accuracy of detecting various indicators in a biological fermentation tank is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] In view of this, the present invention aims to provide a probe rod and a detection robot for monitoring a biological fermentation tank to at least to some extent solve the technical problems in the prior art that fermented products in biological fermentation tanks are difficult to monitor and the measurement results of existing monitoring devices are not accurate enough.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A probe for monitoring a biological fermentation tank, comprising:

[0007] outer sleeve;

[0008] an inner sleeve, the inner sleeve being slidably sleeved inside the outer sleeve along the axial direction of the outer sleeve;

[0009] A probe assembly is fixed to an end portion of one end of the inner sleeve;

[0010] A probe propulsion assembly, the probe propulsion assembly being fixed to an end of the outer sleeve away from the probe assembly and having an output end thereof being transmission-connected to the inner sleeve;

[0011] A probe protection assembly, comprising a plurality of connecting rod mechanisms and a plurality of fan-shaped arc-shaped covers, wherein the plurality of connecting rod mechanisms are evenly spaced circumferentially and one end of the connecting rod mechanisms is connected to the outer side wall of the inner sleeve near one end of the probe assembly, the plurality of fan-shaped arc-shaped covers correspond one-to-one to the plurality of connecting rod mechanisms, one end of each fan-shaped arc-shaped cover is connected to the other end of the corresponding connecting rod mechanism, and the plurality of fan-shaped arc-shaped covers can be folded together to form a conical protective cover;

[0012] The probe assembly has an initial position and a working position. The initial position is the closed state of the conical protective cover, and the probe assembly is located in the inner cavity of the conical protective cover; the working position is the open state of the conical protective cover, and the probe assembly is located at the front end of the conical protective cover.

[0013] The beneficial effects that can be achieved by the present invention are as follows: the probe assembly is arranged in an openable conical protective cover. During monitoring, the entire probe rod can be smoothly inserted into the position to be monitored in the fermentation pile through the conical protective cover. After the probe rod is in place, the inner sleeve is pushed by the probe pushing assembly to open the conical protective cover and push the probe assembly out for monitoring. Due to the protection of the conical protective cover, the probe assembly will not be contaminated during the deepening process and will not be affected by other materials, thereby improving the accuracy of monitoring.

[0014] Preferably, the probe propulsion assembly includes a drive motor, a transmission screw and a transmission nut. The outer sleeve is closed at one end away from the probe assembly, and the drive motor is fixed at the closed end of the outer sleeve. The transmission screw is placed in the inner cavity of the outer sleeve, and one end of the transmission screw passes through the end wall of the closed end of the outer sleeve and is transmission-connected to the output end of the drive motor. The transmission nut is fixed at one end of the inner sleeve away from the probe assembly and is transmission-connected to the transmission screw.

[0015] Preferably, the connecting rod mechanism includes a first slide rail, a first slider and a rotating connecting rod, the first slide rail is fixed to the outer side wall of the inner sleeve close to one end of the probe assembly, and its end away from the probe assembly is gradually away from the axis of the inner sleeve; the first slider is slidably connected to the corresponding first slide rail; the middle part of the rotating connecting rod is hinged to the end wall of the outer sleeve close to one end of the probe assembly through a hinge, and its two ends are respectively fixedly connected to the first slider and the large end wall of the fan-shaped arc cover.

[0016] Preferably, the inner sleeve includes a first sleeve, a second sleeve, a third sleeve and a fourth sleeve which are coaxially arranged and threadedly connected in sequence in a direction close to the probe assembly. The first sleeve is slidably connected to the inner wall of the outer sleeve, and the transmission nut is fixed to the end of the first sleeve away from the probe assembly; the first slide rail is fixed to the outer wall of the third sleeve, and the probe assembly is detachably mounted on the end of the fourth sleeve away from the third sleeve.

[0017] Preferably, the probe assembly includes any one or more of an oxygen content sensor, a humidity sensor and a temperature sensor.

[0018] A robot for monitoring a biological fermentation tank, comprising the above-mentioned probe for monitoring a biological fermentation tank, and

[0019] body;

[0020] A camera is fixed on the top of the rear end of the vehicle body;

[0021] A fixing frame, the fixing frame being fixed to the front end of the top of the vehicle body;

[0022] a turning frame, wherein the turning direction of the turning frame is arranged along the traveling direction of the vehicle body and the front end of the turning frame is hinged to the fixed frame via a second hinge; the probe rod is parallel to the turning surface of the turning frame and its probe assembly is arranged forward, and its outer sleeve is fixed to the turning frame;

[0023] A turning drive unit is installed on the fixing frame and an output end of the turning drive unit is connected to the turning frame to drive the turning frame to turn.

[0024] The present invention achieves the following beneficial effects: using a camera to monitor the vehicle's forward direction, the vehicle body drives the probe rod to the detection position for detection, resulting in convenient and safe operation. The provision of a flip frame allows the probe rod to be tilted at different angles for easier monitoring. Furthermore, the probe rod can be placed horizontally while the vehicle is moving, reducing overall height and preventing damage to the probe rod due to collisions.

[0025] Preferably, the flip driving unit includes a plurality of telescopic rods, which are arranged along the traveling direction of the vehicle body and have one end hinged to the rear end of the fixing frame and the other end extending forward and hinged to the flip frame.

[0026] Preferably, it also includes a probe rod propulsion assembly, which includes a probe rod propulsion mechanism, a plurality of guide rods, and a probe rod mounting frame. The probe rod propulsion mechanism is fixed to the rear end of the flip frame, and the plurality of guide rods are arranged parallel to the flip surface of the flip frame and fixed on the flip frame; the probe rod mounting frame is slidably installed on the plurality of guide rods; and the outer sleeve is fixed on the probe rod mounting frame.

[0027] Preferably, the probe rod propulsion assembly further comprises a stabilizing frame, which is fixed to the front end of the flip frame. A guide hole is correspondingly opened on the stabilizing frame, and the front end of the outer sleeve is slidably connected to the guide hole.

[0028] Preferably, laser rangefinders are installed on both sides of the vehicle body.

[0029] It can be seen from the above technical solutions that, compared with the prior art, the present invention provides a probe and robot for monitoring a biological fermentation tank, which have the following beneficial effects:

[0030] 1. An openable and closable conical protective cover is set at the front end of the probe rod, which is not only conducive to the smooth insertion of the probe rod into the fermentation pile, but also can protect the probe assembly. During monitoring, the probe assembly is not pushed out until the probe rod reaches the monitoring position, which can effectively prevent the probe from being contaminated and interfered by external factors, thereby improving the accuracy of monitoring.

[0031] 2. The conical protective cover is linked to the inner sleeve through a connecting rod mechanism, so that the conical protective cover is opened when the probe assembly is pushed out by the probe pushing assembly, and is closed when the probe assembly is retracted. The structure is simple, easy to operate and cost-effective.

[0032] 3. The probe rod is in a horizontal state during the movement of the robot and flips to a vertical state during the detection process. This can reduce the volume of the robot when it is stored or moving, and prevent collisions from causing damage to the probe rod.

[0033] 4. The probe rod can increase its stroke and expand the monitoring depth through the probe rod propulsion assembly. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0035] Figure 1 This is a schematic diagram of the three-dimensional structure of a probe rod for monitoring a biological fermentation tank provided by the present invention.

[0036] Figure 2 This is a schematic diagram of the cross-sectional structure of a probe rod for monitoring a biological fermentation tank provided by the present invention.

[0037] Figure 3 for Figure 2 A schematic diagram of the enlarged structure of part A.

[0038] Figure 4 This is a schematic diagram of the three-dimensional structure of the inner sleeve provided by the present invention.

[0039] Figure 5 Schematic diagram of the explosion structure of the first sleeve and probe propulsion assembly provided by the present invention.

[0040] Figure 6 This is a schematic diagram of the third sleeve structure provided by the present invention.

[0041] Figure 7 This is a schematic structural diagram of the conical protective cover provided by the present invention.

[0042] Figure 8 This is a schematic diagram of the three-dimensional structure of a robot for monitoring a biological fermentation tank provided by the present invention.

[0043] Figure 9 This is a schematic diagram of the main structure of a robot for monitoring a biological fermentation tank provided by the present invention.

[0044] Figure 10 This is a schematic structural diagram of a biological fermentation tank monitoring robot provided by the present invention with the body and camera removed.

[0045] Figure 11 This is a schematic diagram of the camera structure provided by the present invention.

[0046] In the figure: 1-probe rod, 11-outer sleeve, 111-second slide rail, 12-inner sleeve, 121-first sleeve, 1211-second slider, 122-second sleeve, 123-third sleeve, 124-fourth sleeve, 13-probe assembly, 14-probe propulsion assembly, 141-drive motor, 142-drive screw, 143-drive nut, 151-connecting rod mechanism, 1511-first slide rail, 1512-first slider, 1513-rotating connection Rod, 152-sector arc mask, 2-body, 3-camera, 4-fixed frame, 5-flip frame, 6-flip drive unit, 7-probe rod propulsion assembly, 71-probe rod propulsion mechanism, 711-probe rod propulsion motor, 712-probe rod propulsion screw, 72-guide rod, 73-probe rod mounting frame, 74-stabilizing frame, 8-lens cleaning mechanism, 81-cleaning motor, 82-first connecting rod, 83-second connecting rod, 84-spring, 85-scraper, 9-distance measuring sensor. DETAILED DESCRIPTION

[0047] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0048] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0049] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0050] Example 1:

[0051] See also Figure 1-Figure 7 , this embodiment discloses a probe rod for monitoring a biological fermentation tank, comprising: an outer sleeve 11, an inner sleeve 12, a probe assembly 13, a probe propulsion assembly 14 and a probe protection assembly 15; the inner sleeve 12 is slidably sleeved in the outer sleeve 11 along the axial direction of the outer sleeve 11; the probe assembly 13 is fixed to the end of one end of the inner sleeve 12; the probe propulsion assembly 14 is fixed to the end of the outer sleeve 11 away from the probe assembly and its output end is transmission-connected to the inner sleeve 12; the probe protection assembly 15 includes a plurality of connecting rod mechanisms 151 and a plurality of fan-shaped arc covers 152, the plurality of connecting rod mechanisms 151 are evenly spaced circumferentially and one end is connected to the outer side wall of the inner sleeve 12 near one end of the probe assembly 13, the plurality of fan-shaped arc covers 152 correspond to the plurality of connecting rod mechanisms 151 one by one, one end of each fan-shaped arc cover 152 is connected to the other end of the corresponding connecting rod mechanism 151, and the plurality of fan-shaped arc covers 152 can be folded to form a conical protective cover;

[0052] The probe assembly 13 has an initial position and a working position. The initial position is when the conical protective cover is closed and the probe assembly 13 is in the inner cavity of the conical protective cover. The working position is when the conical protective cover is open and the probe assembly 13 extends outside the conical protective cover.

[0053] The probe assembly 13 of the present invention is disposed within a conical protective cover that can be opened and closed. During monitoring, the entire probe rod 1 can be smoothly inserted into the position to be monitored in the fermentation pile through the closed conical protective cover. After the probe rod 1 is in place, the probe pushing assembly 14 is used to push the inner sleeve 12 to open the conical protective cover and push the probe assembly 13 out to insert it into the fermentation product to be tested for monitoring. Due to the protection of the conical protective cover, the probe assembly 13 will not be contaminated during the penetration process and will not be affected by other materials, thereby improving the accuracy of monitoring. In addition, in order to improve the accuracy of monitoring in the prior art, the probe needs to extend the detection time after reaching the detection position to reduce external interference. However, since the probe of the present invention is not subject to external interference during the insertion process, there is no need to extend the detection time, thereby improving the monitoring efficiency during use.

[0054] Specifically, such as Figure 5 The probe propulsion assembly 14 includes a drive motor 141, a transmission screw 142, and a transmission nut 143. The end of the outer sleeve 11 away from the probe assembly 13 is closed. The drive motor 141 is fixed to the closed end of the outer sleeve 11. The transmission screw 142 is placed in the inner cavity of the outer sleeve 11, and one end of the transmission screw 142 passes through the end wall of the closed end of the outer sleeve 11 and is transmission-connected to the output end of the drive motor 141. The transmission nut 143 is fixed to the end of the inner sleeve 12 away from the probe assembly 13 and is transmission-connected to the transmission screw 142. The drive motor 141 drives the transmission screw 142 to rotate, pushing the transmission nut 143 forward or backward, thereby driving the inner sleeve 12 to push out or retract the probe assembly 13. A second slide rail 111 is fixed to the rear end of the inner side wall of the outer sleeve 11, and a second slider 1211 is fixed to the outer side wall of the inner sleeve 12, which is slidably connected to the second slide rail 111, thereby constraining the inner sleeve 12 to slide only along the axial direction of the outer sleeve 11 and not rotate.

[0055] For details, see Figure 3-Figure 7 The connecting rod mechanism 151 includes a first slide rail 1511, a first slider 1512, and a rotating link 1513. The first slide rail 1511 is fixed to the outer wall of the inner sleeve 12 near the probe assembly 13, and its end away from the probe assembly 13 is arranged gradually away from the axis of the inner sleeve 12; the first slider 1512 is slidably connected to the corresponding first slide rail 1511; the middle part of the rotating link 1513 is hinged to the end wall of the outer sleeve 11 near the probe assembly 13, and its two ends are respectively fixedly connected to the first slider 1512 and the large end wall of the fan-shaped arc cover 152. The first slide rail 1511 is arranged at an angle, so when the first slider 1512 slides along the slide rail, it can drive the fan-shaped arc cover 152 to rotate around the hinge center under the pressure of the first slide rail 1511, thereby opening or closing the conical protective cover.

[0056] For details, see Figure 4The inner sleeve 12 comprises a first sleeve 121, a second sleeve 122, a third sleeve 123, and a fourth sleeve 124, which are coaxially arranged and sequentially threaded toward the probe assembly 13. The first sleeve 121 is slidably connected to the inner sidewall of the outer sleeve 11, and a drive nut 143 is fixed to the end of the first sleeve 121 away from the probe assembly 13. The first slide rail 1511 is fixed to the outer sidewall of the third sleeve 123, and the probe assembly 13 is removably mounted on the end of the fourth sleeve 124 away from the third sleeve 123. The multiple sleeve structures of the inner sleeve 12 facilitate assembly and maintenance.

[0057] Specifically, the probe assembly 13 includes one or more of an oxygen content sensor, a humidity sensor, and a temperature sensor to monitor the oxygen value, water content, and temperature value in the fermentation pile. In some other embodiments, if other indicators need to be monitored, corresponding monitoring sensors can also be provided.

[0058] Example 2:

[0059] See also Figures 8-11 This embodiment provides a biological fermentation tank monitoring robot, including a biological fermentation tank monitoring probe 1 in embodiment 1, and

[0060] Vehicle body 2; vehicle body 2 has a built-in controller and power supply, and vehicle body 2 can move on a road by remote control or autonomous planning; vehicle body 2 also has a built-in positioning system, and the wheels are tracked wheels to adapt to the complex road conditions in the fermentation tank.

[0061] Camera 3, two cameras 3 are fixed on the top stand at the rear end of the vehicle body 2 through a rotating pan-tilt head; Camera 3 uses a high-definition camera, which can shoot the situation in front of the vehicle body 2 and transmit the image back to the remote control or operating console through the local area network and software.

[0062] The fixing frame 4 is fixed to the front end of the top of the vehicle body 2 and is used for installing other components.

[0063] The flip frame 5 is arranged along the traveling direction of the vehicle body 2 and is installed on the fixed frame 4; the probe rod is parallel to the flip surface of the flip frame and its probe assembly is arranged forward, and a mounting flange is fixed on the outer wall of its outer sleeve 11, and the mounting flange is fixed to the flip frame 5 by bolts; the flip frame 5 drives the probe rod to flip to different angles.

[0064] The turning drive unit 6 is installed on the fixing frame 4 and the output end of the turning drive unit 6 is connected to the turning frame 5 to drive the turning frame 5 to turn.

[0065] This embodiment uses a camera 3 to monitor the direction of travel, and the vehicle body 2 drives the probe rod to the detection position for detection, which is convenient and safe. The provision of a tilting frame 5 allows the probe rod to be tilted at different angles for convenient monitoring. The probe rod can also be placed horizontally while the vehicle body 2 is moving, reducing the overall height and preventing the probe rod from being damaged by collisions.

[0066] Specifically, the flip drive unit 6 includes a plurality of telescopic rods arranged at intervals perpendicular to the direction of travel of the vehicle body 2. Each of the telescopic rods has one end hinged to the rear end of the fixed frame 4 and the other end extending forward and hinged to the flip frame 5. The plurality of telescopic rods can be a combination of one or more of an electric cylinder, a hydraulic cylinder, or a pneumatic cylinder.

[0067] An inclination sensor for measuring the rotation angle of the telescopic rod is also provided, and the extension stroke of the telescopic rod can be calculated by measuring the rotation angle of the telescopic rod.

[0068] Specifically, the probe rod propulsion assembly 7 includes a probe rod propulsion mechanism 71, multiple guide rods 72, and a probe rod mounting bracket 73. The probe rod propulsion mechanism 71 is fixed to the rear end of the turning frame 5. The multiple guide rods 72 are arranged parallel to the turning surface of the turning frame 5 and fixed to the turning frame 5. The probe rod mounting bracket 73 is slidably mounted on the multiple guide rods 72 and is transmission-connected to the output end of the probe rod propulsion mechanism 71. The mounting flange on the outer sleeve 11 is fixed to the probe rod mounting bracket 73. The probe rod propulsion mechanism 71 drives the probe rod mounting bracket 73 to slide along the guide rods 72, thereby driving the probe rod forward or backward.

[0069] Specifically, the probe rod propulsion assembly 7 further includes a stabilizing frame 74 , which is fixed to the front end of the flip frame 5 . A guide hole is correspondingly opened on the stabilizing frame 74 , and the front end of the outer sleeve 11 is slidably connected to the guide hole.

[0070] More specifically, the probe rod propulsion mechanism 71 may be an electric cylinder, a pneumatic cylinder or a hydraulic cylinder. In this embodiment, an electric cylinder is used, such as Figure 9 As shown, it includes a probe rod propulsion motor 711 and a probe rod propulsion screw 712. The probe rod propulsion motor 711 is fixed to the rear end of the flip frame 5. One end of the probe rod propulsion screw 712 is rotated to connect to the stabilizing frame 74, and the other end passes through the threaded hole on the probe rod mounting frame 73 to transmit and connect to the probe rod propulsion motor 711. The probe rod propulsion motor 711 drives the probe rod propulsion screw 712 to rotate, thereby driving the probe rod mounting frame 73 to slide along the guide rod 72, so that the probe rod 1 is pushed out or retracted.

[0071] Specifically, a distance sensor 9 is fixed to the rear end of the turning frame 5 to measure the sliding distance of the probe mounting frame 73 so that the probe 1 can be inserted into the fermented material to a specified depth. The distance sensor 9 can be a laser rangefinder.

[0072] Specifically, laser rangefinders are installed on both sides of the vehicle body 2. When the vehicle body 2 is moving, obstacle avoidance and centering of the moving route are performed based on real-time feedback data from the laser rangefinders.

[0073] For details, see Figure 10 , a lens cleaning mechanism 8 is also installed at the front end of the lens of the camera 3, and the lens cleaning mechanism includes a cleaning motor 81, a first connecting rod 82, a second connecting rod 83, a spring 84 and a scraper 85. The cleaning motor 81 is fixed in the protective cover of the camera 3, and the first connecting rod 82 is arranged perpendicular to the front end face of its lens and one end is fixedly connected to the output shaft of the cleaning motor 81. One end of the second connecting rod 83 is hinged to the first connecting rod 82, and the middle part is connected to the middle part of the first connecting rod 82 through a spring 84. The scraper 85 is fixed to the other end of the second connecting rod 83 and its scraping surface is slidably connected to the front end face of the lens. Under the elastic force of the spring 84, the scraper 85 is pressed against the front end face of the lens to ensure that cleaning can be performed. The scraper 85 rotates and scrapes the front end face of the camera 3 with the hinge point of the first connecting rod 82 and the second connecting rod 83 as the center under the rotation of the cleaning motor 81.

[0074] Working principle: The vehicle body 2 moves to the designated detection point by itself under the control of remote control or an internal pre-set program. According to the real-time data of the tilt sensor, the telescopic rod stroke is calculated to ensure that the probe rod 1 is flipped to a vertical position; then the probe rod propulsion mechanism 71 propels the probe rod 1 to the designated depth, and the drive motor 141 on the probe propulsion assembly 14 is started, pushing the inner sleeve 12 forward, so that each probe assembly 13 is pushed out and the conical protective cover is opened at the same time, so that the probes of the oxygen content and temperature and humidity sensors can be inserted into the fermentation product to be tested. The test data is transmitted back to the remote control and the center console. After the data stabilizes, the drive motor 141 reverses, and each sensor is retracted and the conical protective cover is closed.

[0075] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0076] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A probe for monitoring a biological fermentation tank, characterized in that: include Outer sleeve (11); an inner sleeve (12), wherein the inner sleeve (12) is slidably sleeved inside the outer sleeve (11) along the axial direction of the outer sleeve (11); A probe assembly (13), wherein the probe assembly (13) is fixed to an end portion of one end of the inner sleeve (12); A probe propulsion assembly (14), wherein the probe propulsion assembly (14) is fixed to an end of the outer sleeve (11) away from the probe assembly and an output end thereof is transmission-connected to the inner sleeve (12); A probe protection assembly (15), wherein the probe protection assembly (15) comprises a plurality of connecting rod mechanisms (151) and a plurality of fan-shaped arc-surface covers (152), wherein the plurality of connecting rod mechanisms (151) are evenly spaced in the circumferential direction and one end of the connecting rod mechanisms (151) is connected to the outer side wall of the inner sleeve (12) near one end of the probe assembly (13), the plurality of fan-shaped arc-surface covers (152) correspond one-to-one to the plurality of connecting rod mechanisms (151), one end of each fan-shaped arc-surface cover (152) is connected to the other end of the corresponding connecting rod mechanism (151), and the plurality of fan-shaped arc-surface covers (152) can be folded together to form a conical protective cover; The probe assembly (13) has an initial position and a working position, wherein the initial position is a closed state of the conical protective cover, and the probe assembly (13) is located in the inner cavity of the conical protective cover; and the working position is an open state of the conical protective cover, and the probe assembly (13) extends outside the conical protective cover.

2. A probe for monitoring a biological fermentation tank according to claim 1, characterized in that: The probe propulsion assembly (14) includes a drive motor (141), a transmission screw (142) and a transmission nut (143); the outer sleeve (11) is closed at one end away from the probe assembly (13); the drive motor (141) is fixed to the closed end of the outer sleeve (11); the transmission screw (142) is placed in the inner cavity of the outer sleeve (11), and one end thereof passes through the end wall of the closed end of the outer sleeve (11) and is transmission-connected to the output end of the drive motor (141); the transmission nut (143) is fixed to one end of the inner sleeve (12) away from the probe assembly (13) and is transmission-connected to the transmission screw (142).

3. A probe for monitoring a biological fermentation tank according to claim 2, characterized in that: The connecting rod mechanism (151) includes a first slide rail (1511), a first slider (1512) and a rotating connecting rod (1513), wherein the first slide rail (1511) is fixed to the outer wall of the inner sleeve (12) close to one end of the probe assembly (13), and the end thereof away from the probe assembly (13) is arranged gradually away from the axis of the inner sleeve (12); the first slider (1512) is slidably connected to the corresponding first slide rail (1511); the middle part of the rotating connecting rod (1513) is hinged to the end wall of the outer sleeve (11) close to one end of the probe assembly (13), and the two ends thereof are respectively fixedly connected to the first slider (1512) and the large end wall of the fan-shaped arc cover (152).

4. A probe for monitoring a biological fermentation tank according to claim 3, characterized in that: The inner sleeve (12) includes a first sleeve (121), a second sleeve (122), a third sleeve (123) and a fourth sleeve (124) which are coaxially arranged and threadedly connected in sequence in a direction close to the probe assembly (13); the first sleeve (121) is slidably connected to the inner wall of the outer sleeve (11); the transmission nut (143) is fixed to an end of the first sleeve (121) away from the probe assembly (13); the first slide rail (1511) is fixed to the outer wall of the third sleeve (123); and the probe assembly (13) is detachably mounted on an end of the fourth sleeve (124) away from the third sleeve (123).

5. A probe for monitoring a biological fermentation tank according to any one of claims 1 to 4, characterized in that: The probe assembly (13) includes any one or more of an oxygen content sensor, a humidity sensor, and a temperature sensor.

6. A robot for monitoring a biological fermentation tank, characterized in that: The invention comprises a plurality of probe rods (1) for monitoring a biological fermentation tank according to any one of claims 1 to 5, and Vehicle body (2); A camera (3), the camera (3) being fixed on the top of the rear end of the vehicle body (2); A fixing frame (4), the fixing frame (4) being fixed to the top front end of the vehicle body (2); A turning frame (5), wherein the turning direction of the turning frame (5) is arranged along the traveling direction of the vehicle body (2) and the front end of the turning frame is hinged to the fixing frame (4) via a second hinge; the probe rod is parallel to the turning surface of the turning frame and its probe assembly is arranged forward, and its outer sleeve (11) is fixed to the turning frame (5); A turning drive unit (6) is installed on the fixing frame (4) and an output end thereof is connected to the turning frame (5) for driving the turning frame (5) to turn over.

7. A biological fermentation tank monitoring robot according to claim 6, characterized in that: The flip drive unit (6) comprises a plurality of telescopic rods, which are arranged at intervals along a direction perpendicular to the travel direction of the vehicle body (2) and each of which has one end hinged to the rear end of the fixing frame (4) and the other end extending forward and hinged to the flip frame (5).

8. The biological fermentation tank monitoring robot according to claim 6, characterized in that: The invention also includes a probe rod propulsion assembly (7), wherein the probe rod propulsion assembly (7) includes a probe rod propulsion mechanism (71), a plurality of guide rods (72) and a probe rod mounting frame (73), wherein the probe rod propulsion mechanism (71) is fixed to the rear end of the flip frame (5), and the plurality of guide rods (72) are arranged parallel to the flip surface of the flip frame (5) and are fixed to the flip frame (5); the probe rod mounting frame (73) is slidably mounted on the plurality of guide rods (72) and is transmission-connected to the output end of the probe rod propulsion mechanism (71); and the outer sleeve (11) is fixed to the probe rod mounting frame (73).

9. The biological fermentation tank monitoring robot according to claim 8, characterized in that: The probe rod propulsion assembly (7) further comprises a stabilizing frame (74), which is fixed to the front end of the flip frame (5). A guide hole is correspondingly opened on the stabilizing frame (74), and the front end of the outer sleeve (11) is slidably connected to the guide hole.

10. A biological fermentation tank monitoring robot according to any one of claims 6 to 9, characterized in that: Laser rangefinders are installed on both sides of the vehicle body (2).

Images