A smart sampling robot for refining and chemical processing

Abstract

This invention relates to the field of robotics, specifically to an intelligent sampling robot for refining and chemical processing. The robot includes a mobile platform with a sampling manipulator fixedly mounted on its upper part. The mobile platform is equipped with a counterweight mechanism and a support mechanism via a rotating platform to maintain stability when the manipulator extends outwards. The invention employs a drive assembly capable of automatically switching between three working states—Mode 1, Mode 2, and Mode 3—based on three sampling environments: the support frame is obstructed alone, the sliding frame is obstructed alone, and neither the support frame nor the sliding frame is obstructed. This significantly improves the stability of the manipulator when grasping sampling bottles in complex sampling environments by balancing or offsetting the overturning torque generated when the manipulator extends. Furthermore, the rotating platform drives the load-bearing frame and ground contact assembly to always align with the direction of the manipulator's extension, thereby specifically offsetting or balancing the overturning torque generated during manipulator extension.

Description

Technical Field

[0001] This invention relates to the field of robotics, specifically to an intelligent sampling robot for refining and chemical processing. Background Technology

[0002] In the chemical industry, sampling is crucial for product quality control, process optimization, and safe production. To improve the safety, accuracy, and efficiency of sampling, intelligent robots are currently the primary means of sampling in the chemical industry. To prevent sampling bottles from shaking or tipping over, which could lead to sample leakage and safety and pollution risks, the stability of the intelligent robot during sampling is of paramount importance.

[0003] Existing intelligent sampling robots mainly consist of a mobile platform and a robotic arm. The mobile platform is usually loaded with several sampling bottles. During sampling, the mobile platform carries the robotic arm and sampling bottles to the vicinity of the predetermined sampling point. Then, the robotic arm grabs the sampling bottle and extends it outward to move the sampling bottle to the specific sampling location, thereby completing the sample acquisition. Considering the corrosiveness, volatility, or purity requirements of chemical samples, sampling bottles are usually made of corrosion-resistant and high-strength materials such as stainless steel to ensure the integrity of the sample and prevent leakage due to container breakage.

[0004] However, in real-world applications such as refineries, equipment and pipelines are densely arranged, and sampling points are often located in narrow spaces such as corners and pipe corridors, making it impossible for the mobile platform to directly reach the vicinity of the sampling point. In such cases, a robotic arm needs to extend a long distance to move the sampling bottle to the sampling point. However, the long extension of the robotic arm will cause its center of gravity to shift significantly, exceeding the support range of the mobile platform by too much, thereby generating a huge overturning moment. This moment can easily cause the entire robot system to become unstable, the load on each joint to be too high, and cause the end effector of the robotic arm to vibrate. This not only affects the sampling accuracy but also easily causes sample leakage, bringing safety and contamination risks. Summary of the Invention

[0005] To solve the above-mentioned technical problems, the technical solution adopted by the present invention is: an intelligent sampling robot for refining and chemical processing, including a mobile platform, a sampling manipulator fixedly installed on the upper part of the mobile platform, and a counterweight mechanism and a support mechanism provided on the mobile platform through a rotating platform to keep the mobile platform stable when the manipulator extends outward.

[0006] The counterweight mechanism includes a sliding frame that slides left and right on the left side of the rotating platform. The sliding frame is equipped with a weight-increasing component, which is used to increase the weight on the left side of the moving platform.

[0007] The support mechanism includes a support frame that slides left and right on the right side of the rotating platform, and a ground contact component is provided on the support frame for supporting the ground.

[0008] The rotating platform is equipped with a drive component that switches according to the sampling environment. The drive component has three working states: mode one, mode two, and mode three. If the support frame is obstructed during sampling, it is in mode one, and the drive component moves the weight-adding component in the opposite direction to the robot arm. If the sliding frame is obstructed, it is in mode two, and the drive component moves the ground contact component in the same direction to the robot arm. In mode three, the drive component extends the weight-adding component and the ground contact component simultaneously and without obstruction.

[0009] By automatically switching between three working states based on the sampling environment, the overturning torque generated by the extension of the robotic arm can be balanced or counteracted, thus enabling stable sampling operations.

[0010] Preferably, a support base is fixedly installed on the upper right side of the mobile platform. The upper part of the support base is platform-shaped and the lower part is column-shaped. The platform shape of the support base is fixedly connected to the base of the robot arm.

[0011] Preferably, the rotating platform is rotatably placed on the upper part of the mobile platform, and the rotating platform is rotatably connected to the columnar structure of the support base, so that the rotating platform rotates around the base of the robot arm.

[0012] Preferably, a fixed gear is fixedly installed on the outer side of the columnar structure of the support base, a drive gear that meshes with the fixed gear is rotatably arranged on the upper side of the rotating platform, and a reduction motor for driving the drive gear is fixedly installed on the lower side of the rotating platform.

[0013] Preferably, the weight-adding component includes a support frame fixedly installed on the upper left side of the sliding frame, and a number of sampling bottles are placed inside the support frame.

[0014] Preferably, the ground contact assembly includes a lifting frame that is slidably disposed on the lower right side of the support frame, and a number of omnidirectional wheels are rotatably disposed on the lower side of the lifting frame.

[0015] Preferably, a hydraulic cylinder is fixedly installed on the upper right side of the support frame, and the telescopic section of the hydraulic cylinder is fixedly connected to the lifting frame.

[0016] Preferably, the drive assembly includes two hydraulic cylinders 2 that are fixedly installed on the upper side of the support frame and arranged symmetrically front and back, and the telescopic sections of the two hydraulic cylinders 2 are fixedly connected to the sliding frame.

[0017] Preferably, a helical spring one is provided between the support frame and the rotating platform to push the support frame to the left, and a helical spring two is provided between the sliding frame and the rotating platform to push the sliding frame to the right.

[0018] Preferably, two guide columns are fixedly installed on the upper side of the rotating platform, arranged symmetrically front to back, and the guide columns are located on the coaxial position of the corresponding helical springs 2 and 1.

[0019] The beneficial effects of the present invention are as follows: First, the present invention uses a drive component that can automatically switch between three working states, namely mode one, mode two, and mode three, to handle three sampling environments: the support frame is blocked alone, the sliding frame is blocked alone, and neither the support frame nor the sliding frame is blocked. In this way, by balancing or offsetting the overturning torque generated when the robot extends, the stability of the robot grabbing the sampling bottle for sampling in complex sampling environments is greatly improved.

[0020] Second, the present invention uses a sliding frame to move the carrier frame and several sampling bottles away from the robot arm, so that the carrier frame and sampling bottles move out of the moving platform and are suspended in the air. This moves the center of gravity of the sampling robot back to the middle position of the moving platform, effectively balancing the torque generated when the robot arm extends, ensuring the stability of sampling. Moreover, the robot arm can be balanced by the original weight of the sampling bottles and carrier frame, without the need to add extra load to the moving platform.

[0021] Third, the present invention adopts a ground contact component that extends in the same direction as the extension direction of the robot arm, so that the ground contact component contacts the ground, thereby increasing the ground contact area of ​​the mobile platform in the extension direction of the robot arm. By adding additional support force, the overturning torque generated when the robot arm extends is effectively offset, thereby ensuring the stability of sampling.

[0022] Fourth, the present invention uses a geared motor to drive the active gear to rotate around the fixed gear, which enables the rotating platform to drive the load-bearing frame and the ground contact component to always correspond to the direction of the robot's extension, thereby specifically offsetting or balancing the overturning torque generated when the robot extends, significantly improving the adaptability to complex sampling scenarios. Attached Figure Description

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 This is a schematic diagram of the robotic arm in the present invention when it is not extended.

[0025] Figure 2 This is a schematic diagram of the structure of the present invention in its first working state.

[0026] Figure 3 This is a schematic diagram of the structure of the present invention in mode two working state.

[0027] Figure 4 This is a schematic diagram of the structure of the present invention in mode three working state.

[0028] Figure 5 This is a schematic diagram of the structure of the present invention in mode three working state and when the robotic arm is tilted and extended.

[0029] Figure 6This is a partial sectional view of the mobile platform, rotating platform, support base, and drive gear in this invention.

[0030] Figure 7 This is a schematic diagram of the structure of the rotating platform, guide column, helical spring one, and helical spring two in this invention.

[0031] In the diagram: 1. Mobile platform; 2. Robotic arm; 3. Rotating platform; 4. Counterweight mechanism; 5. Support mechanism; 11. Support base; 31. Drive assembly; 32. Drive gear; 33. Gear motor; 34. Fixed gear; 41. Sliding frame; 42. Weight-adding assembly; 51. Support frame; 52. Ground contact assembly; 311. Hydraulic cylinder II; 312. Helical spring I; 313. Helical spring II; 314. Guide column; 421. Bearing frame; 422. Sampling bottle; 521. Lifting frame; 522. Casters; 523. Hydraulic cylinder I. Detailed Implementation

[0032] The embodiments of the present invention are described in detail below. The embodiments described below are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention. Where specific techniques or conditions are not specified in the embodiments, they shall be performed in accordance with the techniques or conditions described in the literature in the art or in accordance with the product manual.

[0033] See Figure 1 A refining and chemical intelligent sampling robot includes a mobile platform 1, a sampling manipulator 2 fixedly installed on the upper part of the mobile platform 1, and a counterweight mechanism 4 and a support mechanism 5 provided on the mobile platform 1 via a rotating platform 3 to keep the mobile platform 1 stable when the manipulator 2 extends outward.

[0034] See Figure 1 , Figure 2 and Figure 7 The counterweight mechanism 4 includes a sliding frame 41 that is slidably disposed on the left side of the rotating platform 3. A weight-increasing component 42 is disposed on the sliding frame 41. The weight-increasing component 42 is used to increase the weight on the left side of the moving platform 1. The weight-increasing component 42 includes a support frame 421 that is fixedly installed on the upper left side of the sliding frame 41. Several sampling bottles 422 are placed inside the support frame 421. The sampling bottles 422 are made of stainless steel, which is commonly used in the prior art. The total mass of the combination of the several sampling bottles 422 and the support frame 421 is used to balance the torque generated when the robot arm 2 extends.

[0035] It is worth noting that, such as Figure 1 and Figure 2As shown, the mobile platform 1 in this embodiment adopts the AGV trolley commonly used in the prior art, which enables the mobile platform 1 to move between various sampling points in the factory area along a preset route, thereby retrieving samples from different locations at once. The robotic arm 2 in this embodiment includes a robotic arm and a gripper set on the execution end of the robotic arm. After the mobile platform 1 moves to the appropriate position closest to the sampling point, the robotic arm 2 moves to grab the sampling bottle 422, and then extends the robotic arm 2 to move the sampling bottle 422 to the sampling point position for sampling operation.

[0036] It should be noted that, in order to get the robotic arm 2 as close to the sampling point as possible and to prevent the robotic arm 2 from rotating as much as possible, the mobile platform 1 usually moves the robotic arm 2 directly to the sampling point. This allows the robotic arm 2 to move the sampling bottle 422 to the sampling point with only minimal extension, thereby minimizing the overturning moment caused by the extension of the robotic arm 2 and improving the stability during sampling. When the right side of the robotic arm 2 or the mobile platform 1 is blocked by obstacles such as pipes, the sampling operation can only be carried out by extending the robotic arm 2 as much as possible.

[0037] See Figure 1 , Figure 2 , Figure 3 , Figure 4 and Figure 6 The support mechanism 5 includes a support frame 51 that is slidably disposed on the right side of the rotating platform 3. The support frame 51 is provided with a ground contact component 52 for supporting the ground. The ground contact component 52 includes a lifting frame 521 that is slidably disposed on the lower right side of the support frame 51. Several universal wheels 522 are rotatably disposed on the lower side of the lifting frame 521. A hydraulic cylinder 523 is fixedly installed on the upper right side of the support frame 51. The telescopic section of the hydraulic cylinder 523 is fixedly connected to the lifting frame 521.

[0038] It is worth noting that, such as Figure 1 and Figure 2 As shown, when the mobile platform 1 is moving, the telescopic section of the hydraulic cylinder 523 is in a retracted state, so that the hydraulic cylinder 523 drives the caster 522 to be suspended in the air by lifting the lifting frame 521. Therefore, it can avoid the caster 522 from getting stuck due to the undulation of the factory ground, which would affect the movement of the mobile platform 1.

[0039] See Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7The rotating platform 3 is equipped with a drive assembly 31 that switches according to the sampling environment. The drive assembly 31 includes two hydraulic cylinders 311 that are fixedly installed on the upper side of the support frame 51 and arranged symmetrically front and back. The extension sections of the two hydraulic cylinders 311 are fixedly connected to the sliding frame 41. A helical spring 312 that pushes the support frame 51 to the left is provided between the support frame 51 and the rotating platform 3. A helical spring 313 that pushes the sliding frame 41 to the right is provided between the sliding frame 41 and the rotating platform 3. The helical spring 312 and the helical spring 313 are exactly the same. Two guide columns 314 that are arranged symmetrically front and back are fixedly installed on the upper side of the rotating platform 3. The guide columns 314 are located on the coaxial position of the corresponding helical spring 313 and helical spring 312.

[0040] The drive assembly 31 includes three working states: mode one, mode two, and mode three. If there is an obstacle on the right side of the support frame 51 during sampling, causing the support frame 51 to be blocked from extending to the right, it is in the working state of mode one. In this environment, the extension section of the hydraulic cylinder 2 311 extends. Since the support frame 51 is blocked and cannot move, the extension section of the hydraulic cylinder 2 311 pushes the sliding frame 41 to the left. The sliding frame 41 drives the carrier frame 421 and several sampling bottles 422 to move synchronously to the right, so that the carrier frame 421 and several sampling bottles 422 are suspended on the left side of the rotating platform 3. This applies an overturning torque opposite to that of the robot arm 2 to the rotating platform 3. Through the two opposite torques, the center of gravity of the sampling robot is moved back to the middle position of the moving platform 1, effectively balancing the torque generated when the robot arm 2 extends, ensuring the stability of sampling. Moreover, the original weight of the sampling bottles 422 and the carrier frame 421 is sufficient to balance the robot arm 2, without adding extra load to the moving platform 1.

[0041] If there is an obstacle on the left side of the sliding frame 41 during sampling, causing the sliding frame 41 to be blocked from extending to the left, it will be in the working state of mode two. In this environment, the extension section of the second hydraulic cylinder 311 extends. Since the sliding frame 41 is blocked and cannot move, the cylinder body of the second hydraulic cylinder 311 drives the sliding frame 41 to move to the right. At the same time, the extension section of the first hydraulic cylinder 523 extends and drives the lifting frame 521 to move down, so that the lifting frame 521 drives the universal wheel 522 to abut against the ground. Thus, the supporting force of the ground on the universal wheel 522 is transmitted to the right side of the rotating platform 3 through the lifting frame 521 and the sliding frame 41. Then, by using the connection between the rotating platform 3 and the moving platform 1, the grounding area of ​​the moving platform 1 is increased in the direction of the extension of the robot arm 2. By adding additional supporting force, the overturning moment generated when the robot arm 2 extends is effectively offset, thereby ensuring the stability of sampling.

[0042] If neither the sliding frame 41 nor the support frame 51 is obstructed during sampling, the system operates in Mode 3. In this mode, the extension section of the hydraulic cylinder 2 311 is extended, causing the hydraulic cylinder 2 311 to push the sliding frame 41 and the support frame 51 away from each other. This causes the support frame 51 to compress the first helical spring 312, and the sliding frame 41 to compress the second helical spring 313. Since the first helical spring 312 and the second helical spring 313 are identical, the rebound force of the first helical spring 312 on the support frame 51 is equal to the rebound force of the second helical spring 313 and the sliding frame 41. Therefore, the first helical spring 312 and the second helical spring 313 are compressed synchronously, causing the sliding frame 41 and the support frame 51 to move away from each other synchronously. Based on the above principle, the total mass of the bearing frame 421 and several sampling bottles 422, as well as the supporting force of the ground on the caster wheel 522, are used to balance and counteract the torque generated when the robot arm 2 extends, ensuring the stability of the sampling.

[0043] It should be noted that the obstacles in the chemical plant area are mostly pipelines arranged in a longitudinal and transverse manner, and most of the pipelines are suspended in the air. Therefore, the pipelines can only obstruct the robotic arm 2. In the working environment of Mode 1, although the mobile platform 1 cannot move the robotic arm 2 to a position closer to the sampling point, the support frame 51 can still pass through the lower part of the pipeline, so that the support frame 51 can extend normally and offset the overturning moment of the robotic arm 2 by supporting it.

[0044] It is worth noting that when both the sliding frame 41 and the support frame 51 are obstructed during sampling, the sliding frame 41 and the support frame 51 can be extended and pressed against the obstacle by extending the telescopic section of the hydraulic cylinder 311. The rotating platform 3 and the moving platform 1 are then clamped between the obstacles on both sides by the clamping force, thereby increasing the stability of the robotic arm 2 during sampling.

[0045] In summary, this invention utilizes three working states—Mode 1, Mode 2, and Mode 3—that automatically switch according to the sampling environment to balance or counteract the overturning torque generated by the extension of the robotic arm 2. This minimizes the shaking of the robotic arm 2 when it grasps the sampling bottle 422 to the sampling position for sampling, ensuring the stable operation of the sampling process.

[0046] When the mobile platform 1 is unable to move to the corresponding sampling point due to an obstacle, the sampling bottle 422 needs to be moved to the sampling position by adjusting the rotation of the robotic arm 2 as it extends. At this time, the extension direction of the robotic arm 2 forms an angle with the mobile platform 1. In this situation, the overturning torque exerted by the robotic arm 2 on the mobile platform 1 changes synchronously. To address the above situation, the present invention designs the following structure: (See attached diagram) Figure 1 , Figure 5 , Figure 6 and Figure 7A support base 11 is fixedly installed on the upper right side of the mobile platform 1. The upper part of the support base 11 is platform-shaped and the lower part is column-shaped. The platform shape of the support base 11 is fixedly connected to the base of the robot arm 2. The rotating platform 3 is rotatably placed on the upper part of the mobile platform 1, and the rotating platform 3 is rotatably connected to the column-shaped structure of the support base 11, so that the rotating platform 3 rotates around the base of the robot arm 2. A fixed gear 34 is fixedly installed on the outer side of the column-shaped structure of the support base 11. An active gear 32 that meshes with the fixed gear 34 is rotatably arranged on the upper side of the rotating platform 3. A reduction motor 33 for driving the active gear 32 is fixedly installed on the lower side of the rotating platform 3.

[0047] The drive gear 32 is rotated by the reduction motor 33, causing the drive gear 32 to move circumferentially around the fixed gear 34. This, in turn, causes the reduction motor 33 to push the rotating platform 3 to rotate, so that the rotating platform 3 rotates to correspond to the extension direction of the robot arm 2. The rotating platform 3 drives the sliding frame 41 and the support frame 51 to rotate synchronously, so that when the sliding frame 41 and the support frame 51 extend, they correspond to the extension direction of the robot arm 2, thereby ensuring the effect of balancing or counteracting the overturning torque generated by the extension of the robot arm 2.

[0048] It should be noted that the robotic arm 2 has a visual positioning function, which can take pictures and locate the sampling point, thereby accurately moving the sampling bottle 422 to the sampling point. The robotic arm 2 can also provide real-time feedback of the spatial position of its gripper to the host computer, so that the host computer can control the rotation angle of the reduction motor 33 through analysis and calculation, ensuring that the extension direction of the sliding frame 41 and the support frame 51 corresponds to the extension direction of the robotic arm 2. In addition, the host computer can also control the extension amount of the hydraulic cylinder 2 311 according to the extension distance of the gripper of the robotic arm 2, so that the horizontal extension length of the robotic arm 2 is equal to the combined extension amount of the sliding frame 41 and the support frame 51.

[0049] Although the present invention employs a series of structures such as a rotating platform 3, a sliding frame 41, a support frame 51, a hydraulic cylinder 2 311, and a reduction motor 33, which increases the complexity of the system, this mechanism enables three working modes to be automatically switched according to the sampling environment. It effectively achieves the core effect of precisely balancing the overturning torque generated when the robotic arm 2 extends, greatly ensuring the stability of sampling operations in complex environments, reducing the risk of sample leakage, and ensuring production safety.

[0050] This invention cleverly utilizes the existing stainless steel sampling bottle 422 within the support frame 421 as a counterweight mass. By driving the sliding frame 41 laterally through the hydraulic cylinder 311, the counterweight arm is changed, achieving adaptive counterweight balance without the need for additional weight. Simultaneously, the universal wheels 522 provide active support to the right side of the mobile platform 1 through contact with the ground, directly counteracting the tendency to tip over. More importantly, the reduction motor 33 drives the drive gear 32 to rotate along the fixed gear 34, causing the entire rotating platform 3 and its counterweight mechanism 4 and support mechanism 5 to follow and align with the extension direction of the robotic arm 2 in real time, ensuring the precise application of balancing and counteracting torques, and guaranteeing the effective stability and accuracy of the sampling operation.

[0051] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0052] Furthermore, the terms "first," "second," "number one," and "number two" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first," "second," "number one," or "number two" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0053] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0054] The embodiments described herein are preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Therefore, all equivalent changes made in accordance with the structure, shape, and principle of the present invention should be covered within the scope of protection of the present invention.

Claims

1. A refining and chemical intelligent sampling robot, comprising a mobile platform, wherein a sampling manipulator is fixedly mounted on the upper part of the mobile platform, characterized in that, The mobile platform is equipped with a counterweight mechanism and a support mechanism via a rotating platform to keep the mobile platform stable when the robotic arm extends outward; The counterweight mechanism includes a sliding frame that is slidably disposed on the left side of the rotating platform, and a weight-increasing component is provided on the sliding frame to increase the weight on the left side of the moving platform. The support mechanism includes a support frame that is slidably mounted on the right side of the rotating platform, and a ground contact component for supporting the ground is mounted on the support frame. The rotating platform is equipped with a drive component that switches according to the sampling environment. The drive component has three working states: mode one, mode two, and mode three. If the support frame is obstructed during sampling, it is in mode one, and the drive component moves the weight-adding component in the opposite direction to the robot arm. If the sliding frame is obstructed, it is in mode two, and the drive component moves the ground contact component in the same direction to the robot arm. In mode three, the drive component extends the weight-adding component and the ground contact component simultaneously and without obstruction. By automatically switching between three working states based on the sampling environment, the overturning torque generated by the extension of the robotic arm can be balanced or counteracted, thus enabling stable sampling operations.

2. The intelligent sampling robot for refining and chemical processing according to claim 1, characterized in that, A support base is fixedly installed on the upper right side of the mobile platform. The upper part of the support base is platform-shaped and the lower part is column-shaped. The platform shape of the support base is fixedly connected to the base of the robot arm.

3. The intelligent sampling robot for refining and chemical processing according to claim 2, characterized in that, The rotating platform is rotatably placed on top of the mobile platform, and the rotating platform is rotatably connected to the columnar structure of the support base, so that the rotating platform rotates around the base of the robot arm.

4. The intelligent sampling robot for refining and chemical processing according to claim 2, characterized in that, A fixed gear is fixedly installed on the outer side of the columnar structure of the support base, a drive gear that meshes with the fixed gear is rotatably arranged on the upper side of the rotating platform, and a reduction motor for driving the drive gear is fixedly installed on the lower side of the rotating platform.

5. The intelligent sampling robot for refining and chemical processing according to claim 1, characterized in that, The weight-adding component includes a support frame fixedly installed on the upper left side of the sliding frame, and several sampling bottles are placed inside the support frame.

6. The intelligent sampling robot for refining and chemical processing according to claim 1, characterized in that, The ground contact assembly includes a lifting frame that is slidably mounted on the lower right side of the support frame, and several casters are rotatably mounted on the lower side of the lifting frame.

7. The intelligent sampling robot for refining and chemical processing according to claim 6, characterized in that, A hydraulic cylinder is fixedly installed on the upper right side of the support frame, and the telescopic section of the hydraulic cylinder is fixedly connected to the lifting frame.

8. The intelligent sampling robot for refining and chemical processing according to claim 1, characterized in that, The drive assembly includes two hydraulic cylinders 2 that are fixedly installed on the upper side of the support frame and arranged symmetrically in front and behind. The telescopic sections of the two hydraulic cylinders 2 are fixedly connected to the sliding frame.

9. The intelligent sampling robot for refining and chemical processing according to claim 8, characterized in that, A helical spring one is provided between the support frame and the rotating platform to push the support frame to the left, and a helical spring two is provided between the sliding frame and the rotating platform to push the sliding frame to the right.

10. The intelligent sampling robot for refining and chemical processing according to claim 9, characterized in that, Two guide columns are fixedly installed on the upper side of the rotating platform, arranged symmetrically front to back. The guide columns are located on the same axis as the corresponding helical springs 2 and 1.

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