A smart live body captures a sampling robot with three-dimensional operation ability

Abstract

This application relates to an intelligent live tick-catching sampling robot with three-dimensional operation capabilities, belonging to the fields of public health and epidemic prevention and ecological environment monitoring technology. It includes a walking mechanism, a spatial position adjustment mechanism, a traction mechanism, a negative pressure adsorption collection mechanism, and a flag. The spatial position adjustment mechanism is mounted on the walking mechanism, and the traction mechanism is connected to it. The flag is mounted on the traction mechanism. The walking mechanism moves the flag within the sampling area, the spatial position adjustment mechanism adjusts the working height of the flag, and the traction mechanism supports the flag and drives its cyclical movement, allowing it to circulate through the adsorption end of the negative pressure adsorption collection mechanism. The negative pressure adsorption collection mechanism forms a negative pressure adsorption area on the surface of the flag to adsorb and collect ticks attached to it. This application, through a non-contact negative pressure adsorption method, can reduce the crushing damage to ticks during collection and improve the integrity of live samples.

Description

Technical Field

[0001] This application relates to the fields of public health and epidemic prevention and ecological environment monitoring technology, and in particular to an intelligent live tick-catching and sampling robot with three-dimensional operation capabilities. Background Technology

[0002] Ticks are vectors for many zoonotic diseases, including fever with thrombocytopenia syndrome and Lyme disease. For health and epidemic prevention agencies such as the Centers for Disease Control and Prevention (CDC) and customs, obtaining live tick samples from specific areas is crucial for pathogen isolation, population density monitoring, and epidemiological investigations.

[0003] Existing patent CN223403122U discloses a walking tick trap. This device uses a walking cart to carry a cloth flag to trap ticks. A reciprocating tick-scraping mechanism, consisting of a screw, a mother thread, a drive motor, and a scraper, is installed at the flag. The scraper physically scrapes the ticks adhering to the flag into a storage box for collection. While this device automates tick collection and avoids the safety risks of manual operation, in actual use, the scraper makes hard contact with the flag, which can easily squeeze and damage the tick's body, compromising sample integrity and hindering subsequent tick species identification and pathogen detection experiments.

[0004] How to reduce the squeezing and damage to ticks during the collection of ticks from cloth flags and improve the integrity of the samples has become an urgent problem to be solved by researchers in this field. Summary of the Invention

[0005] In order to reduce the squeezing and damage to ticks and improve the integrity of samples during the collection of ticks on cloth flags, this application provides an intelligent live tick-catching sampling robot with three-dimensional operation capabilities.

[0006] The intelligent live tick-catching and sampling robot with three-dimensional operation capability provided in this application adopts the following technical solution: An intelligent live tick-catching sampling robot with three-dimensional operation capabilities includes a walking mechanism, a spatial position adjustment mechanism, a traction mechanism, a negative pressure adsorption collection mechanism, and a cloth flag. The spatial position adjustment mechanism is disposed on the walking mechanism, the traction mechanism is connected to the spatial position adjustment mechanism, and the cloth flag is disposed on the traction mechanism. The walking mechanism is used to move the cloth flag within the sampling area, and the spatial position adjustment mechanism is used to adjust the working height of the traction mechanism and the cloth flag. The traction mechanism is used to support the cloth flag and drive the cloth flag to circulate, so that the cloth flag circulates past the adsorption end of the negative pressure adsorption collection mechanism. The adsorption end of the negative pressure adsorption collection mechanism is oriented towards the cloth flag and can form a negative pressure adsorption area on the surface of the cloth flag to adsorb and collect ticks attached to the cloth flag.

[0007] By adopting the above technical solution, the walking mechanism can move the banner within the sampling area, and the spatial position adjustment mechanism can change the working height of the banner, adapting it to sampling needs in different spatial locations such as the ground, grass, and low branches of shrubs. The traction mechanism can drive the banner in a cyclical motion, continuously transporting the ticks attached to the banner to the adsorption area of ​​the negative pressure adsorption collection mechanism. The negative pressure adsorption collection mechanism separates and collects the ticks from the banner using a non-contact negative pressure adsorption method, thereby reducing the risk of squeezing and damage to ticks caused by the traditional hard scraping method.

[0008] Preferably, the traction mechanism includes a traction frame, a drive roller, a driven roller, and a traction drive source. The traction frame is connected to the spatial position adjustment mechanism. The drive roller and the driven roller are parallel and spaced apart, and both are rotatably connected to the traction frame. The cloth flag is sleeved on the drive roller and the driven roller to form a ring conveying structure. The traction drive source is drive-connected to the drive roller.

[0009] By adopting the above technical solution, when collecting ticks, the traction drive source drives the drive roller to rotate, and the drive roller drives the driven roller to rotate through the cloth flag, so that the cloth flag can circulate between the drive roller and the driven roller, thereby realizing continuous sampling and continuous transportation.

[0010] Preferably, the traction frame is provided with a separation plate, the first end of the separation plate is located near the turning position of the cloth flag at the drive roller or the driven roller, and a screening channel is formed between the separation plate and the cloth flag; the adsorption end of the negative pressure adsorption collection mechanism is located downstream of the screening channel, the screening channel is used for ticks to pass through, and large-volume materials that cannot pass through the screening channel are guided to the separation plate.

[0011] By adopting the above technical solution, large-volume debris such as dead branches, fallen leaves, and soil clods carried by the cloth flag can be pre-separated by the separation plate, while small-volume materials such as ticks enter the negative pressure adsorption area through the screening channel, thereby reducing the probability of debris clogging the negative pressure adsorption collection mechanism.

[0012] Preferably, the traction frame is provided with a material discharge port at the second end of the separation plate, and the traction frame is provided with a toggle member, which can toggle large volume materials on the separation plate to the material discharge port.

[0013] By adopting the above technical solution, when large-volume debris is screened through the screening channel and moves to the separation plate, the actuating component can actively push the large-volume debris on the separation plate to the discharge port, so that the large-volume debris on the separation plate can be discharged in time and the accumulation of debris can be reduced.

[0014] Preferably, the actuating component includes a rotating shaft and a paddle. The rotating shaft is rotatably connected to the traction frame, and the paddle is fixedly mounted on the rotating shaft. When the rotating shaft rotates, it can drive the paddle to move along the separating plate, so as to push the large volume material on the separating plate toward the discharge port.

[0015] By adopting the above technical solution, while the rotating shaft rotates, it drives the paddle to repeatedly pass through the first end of the separating plate, so that the paddle can stably push the debris to move.

[0016] Preferably, the rotating shaft and the drive roller are connected by a transmission assembly so that the drive roller can drive the rotating shaft to rotate.

[0017] By adopting the above technical solution, the actuating component can work synchronously with the cyclical movement of the flag, eliminating the need for a separate additional drive source, reducing the number of drive sources, and improving the synchronization of rotation between the rotating shaft and the drive roller.

[0018] Preferably, the traction frame is provided with blocking parts on both sides perpendicular to the direction of movement of the cloth flag, and each blocking part slides and fits against the cloth flag to laterally block the internal space enclosed by the cloth flag.

[0019] By adopting the above technical solution, the sealing part seals the internal space of the cloth flag from both sides, preventing foreign objects from entering the internal space of the cloth flag, thereby preventing foreign objects from entering between the driven roller and the cloth flag, so as to ensure the stability of the cloth flag's cyclic rotation.

[0020] Preferably, the spatial position adjustment mechanism is connected to the traction frame via an elastic buffer; the elastic buffer includes a connecting frame and an elastic element, the connecting frame is connected to the spatial position adjustment mechanism and slidably connected to the traction frame, and the two ends of the elastic element act on the connecting frame and the traction frame respectively, so that the traction frame can move and reset relative to the connecting frame with a buffer.

[0021] By adopting the above technical solution, when the flag or traction frame comes into contact with complex terrain, rocks or branches, the traction frame can generate a buffer displacement and reset, reducing impact damage.

[0022] Preferably, the negative pressure adsorption and collection mechanism includes a negative pressure generating device, a collection device, and an end adsorption element connected in sequence. The end adsorption element is disposed opposite to the cloth flag. The negative pressure generating device and the collection device are both disposed on the walking mechanism. The negative pressure generating device can form a negative pressure adsorption area at the cloth flag through the end adsorption element and suck small volume materials passing through the screening channel into the collection device.

[0023] By adopting the above technical solution, ticks can detach from the cloth flag and enter the collection device under the action of negative pressure airflow, and be collected in the collection device, thereby reducing sample damage caused by mechanical scratching.

[0024] Preferably, the end adsorption component includes a main pipeline and a plurality of adsorption covers. The main pipeline is arranged along the width direction of the cloth flag, and the plurality of adsorption covers are spaced apart along the length direction of the main pipeline and are all connected to the main pipeline. The opening of the adsorption cover faces the cloth flag and forms a non-contact adsorption gap with the cloth flag.

[0025] By adopting the above technical solution, multiple adsorption hoods can cover different areas in the width direction of the cloth flag, thereby increasing the adsorption coverage; the non-contact adsorption gap can prevent the end adsorption components from scraping the cloth flag.

[0026] In summary, this application includes at least one of the following beneficial technical effects: 1. Replacing the hard scraping method with negative pressure adsorption can reduce the mechanical compression of tick bodies and help maintain the integrity of live samples; 2. The cloth flag moves in a cycle under the action of the traction mechanism, which can continuously complete the attachment, transportation and adsorption collection of ticks, and improve the continuity of sampling; 3. By adjusting the spatial position mechanism to change the height of the flag operation, the equipment can not only perform surface sampling, but also sample vegetation areas at different heights, thus enhancing its three-dimensional operation capabilities. 4. Pre-separation of large-volume debris such as dead branches, fallen leaves, and soil clods through separation plates and sieving channels can reduce the probability of debris entering the negative pressure adsorption collection mechanism, thereby improving collection efficiency and sample cleanliness. 5. The elastic buffer connects the traction mechanism and the spatial position adjustment mechanism, which can provide cushioning when the flag comes into contact with complex terrain or vegetation, reducing the risk of equipment jamming and flag damage. Attached Figure Description

[0027] Figure 1 This is a schematic diagram of the structure of an intelligent live tick-catching and sampling robot with three-dimensional operation capability according to an embodiment of this application.

[0028] Figure 2 It is a structural diagram used to illustrate the traction mechanism.

[0029] Figure 3 yes Figure 2 Top view of the structure.

[0030] Figure 4 It is along Figure 3 A cross-sectional view along line AA in the middle.

[0031] Figure 5 yes Figure 4 Enlarged view of section B in the middle.

[0032] Figure 6 It is a cross-sectional view used to show the positional relationship between the walking mechanism, the negative pressure generating device, and the collecting device.

[0033] Figure 7 yes Figure 4 Enlarged view of section C.

[0034] Explanation of reference numerals in the attached drawings: 1. Walking mechanism; 2. Spatial position adjustment mechanism; 21. Electric telescopic rod; 22. Rotating seat; 23. First linear hydraulic cylinder; 3. Traction mechanism; 31. Traction frame; 32. Drive roller; 33. Driven roller; 34. Traction drive source; 35. Sealing part; 4. Negative pressure adsorption and collection mechanism; 41. Negative pressure generating device; 42. Collection device; 421. Insect storage bin; 422. Low temperature control module; 43. End adsorption component; 431. Main pipeline; 432. Adsorption cover; 44. Telescopic hose; 45. Rewinding device; 5. Cloth flag 61. Separating plate; 611. First end; 612. Second end; 613. Screening channel; 614. Material discharge port; 615. Negative pressure hose; 62. Actuating component; 621. Rotating shaft; 622. Paddle; 63. Transmission assembly; 631. First spur gear; 632. Second spur gear; 7. Elastic buffer component; 71. Connecting frame; 711. Main body; 712. Dividing rod; 72. Elastic component; 73. Second linear hydraulic cylinder; 74. Spring cylinder; 75. Spring retaining plate; 76. Spring retaining screw cylinder; 77. First telescopic spring; 78. Second telescopic spring. Detailed Implementation

[0035] The following is in conjunction with the appendix Figure 1-7 This application will be described in further detail.

[0036] This application discloses an intelligent live tick-catching and sampling robot with three-dimensional operation capabilities.

[0037] Reference Figure 1 This application discloses an intelligent live tick-catching sampling robot with three-dimensional operation capabilities. The robot includes a walking mechanism 1, a spatial position adjustment mechanism 2, a traction mechanism 3, a negative pressure adsorption collection mechanism 4, and a cloth flag 5. The walking mechanism 1 serves as the mobile foundation of the entire machine, enabling the cloth flag 5 to move within the sampling area. The spatial position adjustment mechanism 2 is mounted on the walking mechanism 1, the traction mechanism 3 is connected to the spatial position adjustment mechanism 2, and the cloth flag 5 is mounted on the traction mechanism 3. The spatial position adjustment mechanism 2 can raise or lower the traction mechanism 3 and the cloth flag 5 or change their spatial posture, allowing the cloth flag 5 to adapt to sampling scenarios with different heights and vegetation morphologies.

[0038] The walking mechanism 1 can adopt a tracked chassis, a wheeled chassis, or a combined wheel-track chassis. In this embodiment, a tracked chassis is preferred. The main frame is made of 6061-T6 aluminum alloy through die casting, possessing high strength and resistance to deformation. The track assembly consists of a natural rubber body 711 and a polyester core, with a diamond-shaped anti-slip texture pressed onto the surface to ensure stable movement on gentle slopes of grass and gravel roads within a 20° angle. The outer shell is made of ABS+PC alloy material, combined with IP65-level sealing technology, allowing it to operate well within a wide temperature range of -10℃ to 45℃. The walking mechanism 1 is equipped with a power module, a control module, and a communication module to provide power for the entire machine and to achieve remote control or automatic path control. The walking mechanism 1 can move in outdoor environments such as grasslands, forest edges, shrub edges, and slopes, ensuring that the flag 5 continuously contacts the target sampling area.

[0039] The walking mechanism 1 is also equipped with a control module, a lidar sensor, an infrared biosensor, and a communication module. The lidar sensor is used to identify the height of vegetation ahead, the location of obstacles, and the work path. When the lidar sensor detects a continuous shrubbery or tall grass area ahead, the control module can control the spatial position adjustment mechanism 2 or the high-level acquisition mechanism to rise, so that the flag 5 reaches the corresponding height for sweeping sampling. When the robot is in a flat lawn or low grass area, the control module can control the low-level tick-catching mechanism to work close to the ground. The infrared biosensor is used to detect people or pets in the vicinity. When people or pets are detected entering within a safe distance, the control module can control the robot to stop moving or stop rotating and collecting data to improve operational safety.

[0040] The spatial positioning adjustment mechanism 2 includes an electric telescopic rod 21 and a rotating base 22. The electric telescopic rod 21 controls the height of the high-level acquisition module, with a maximum working height of 0.5 meters to 1.5 meters. The rotating base 22 is rotatably mounted on the frame of the walking mechanism 1 and is driven to rotate by a motor. One end of the electric telescopic rod 21 is hinged to the rotating base 22, and a first linear hydraulic cylinder 23 is hinged to the rotating base 22. The cylinder body of the first linear hydraulic cylinder 23 is hinged to the rotating base 22, and the piston rod end is hinged to the part of the electric telescopic rod 21 that connects to the rotating base 22. This allows the extension and retraction of the first linear hydraulic cylinder 23 to drive the electric telescopic rod 21 to rotate around the hinge point with the rotating base 22, thereby changing the tilt angle of the electric telescopic rod 21. Through the action of the spatial positioning adjustment mechanism 2, the flag 5 can move close to the ground surface or be raised to a certain height to contact the upper part of low shrubs, grass stems, or the sides of vegetation, thereby achieving tick sampling in the three-dimensional space of the ground and vegetation.

[0041] The cloth flag 5 can be made of white polyester fiber cloth, and its surface can be impregnated with a tick attractant to increase the probability of tick attachment. The tick attractant can be a plant-derived ingredient that has little impact on sample detection, allowing the cloth flag 5 to attract ticks on the ground surface through color, odor, and physical contact as it moves.

[0042] Reference Figure 2 , Figure 3 The traction mechanism 3 includes a traction frame 31, a drive roller 32, a driven roller 33, and a traction drive source 34. In this embodiment, the traction frame 31 is a rectangular frame structure. The driven roller 33 and the drive roller 32 are both rotatably mounted on the traction frame 31 via a circular shaft. The drive roller 32 and the driven roller 33 are arranged parallel and spaced apart. The driven roller 33 is located in the open area in front of the traction frame 31. The cloth flag 5 is connected end to end to form an annular strip structure and is sleeved on the drive roller 32 and the driven roller 33. The traction drive source 34 drives the drive roller 32 to rotate. In this embodiment, the traction drive source 34 is a rotary motor. The output shaft of the rotary motor is coaxially and fixedly connected to the drive roller 32, so that the rotary motor drives the drive roller 32 to rotate, and the drive roller 32 drives the cloth flag 5 to circulate. During the circulating movement, part of the cloth flag 5 is used to contact the ground, grass, or shrubs and adhere to ticks, while another part passes through the adsorption area of ​​the negative pressure adsorption collection mechanism 4.

[0043] The traction frame 31 has sealing parts 35 on both sides of the cloth flag 5. The sealing parts 35 also serve as part of the traction frame 31 to support the rotation of the drive roller 32 and the driven roller 33. The width of the sealing parts 35 is greater than the diameter of the drive roller 32 and the driven roller 33, so that the sealing parts 35 seal the space in the middle of the cloth flag 5, preventing impurities such as branches, leaves, and ticks from entering the internal space of the cloth flag 5, thereby preventing impurities from being squeezed by the driven roller 33. Since protruding impurities will affect the connection between the cloth flag 5 and the driven roller 33, and ticks and other impurities will adhere to the driven roller 33 and the cloth flag 5 when squeezed by the driven roller 33, thus contaminating the cloth flag 5 and the driven roller 33. By sealing the space in the middle of the cloth flag 5 with the blocking parts, impurities such as branches, leaves, and ticks are prevented from entering the internal space of the cloth flag 5, thereby preventing impurities from being squeezed by the driven roller 33. This not only improves the cleanliness of the surfaces of the driven roller 33 and the cloth flag 5, but also improves the stability of the connection between the driven roller 33 and the cloth flag 5.

[0044] Reference Figure 4 , Figure 5A separation plate 61 is fixedly installed on the traction frame 31 at a position behind the drive roller 32. The separation plate 61 is arranged along the axial direction of the drive roller 32 and has an arc-shaped cross-section. The separation plate 61 includes a first end 611 near the drive roller 32 and a second end 612 away from the drive roller 32. The first end 611 is flush with the cloth flag 5 on the drive roller 32, and a screening channel 613 is formed between the first end 611 and the cloth flag 5 on the drive roller 32. The width of the screening channel 613 is slightly larger than the size of the tick. When the cloth flag 5 carries ticks, grass clippings, dead branches, fallen leaves, or soil clods to this position, smaller ticks and small impurities can pass through the screening channel 613 with the cloth flag 5 and enter the negative pressure adsorption area; larger dead branches, fallen leaves, or soil clods are blocked by the separation plate 61 and guided to the discharge position. This structure can reduce the probability of large-volume impurities entering the negative pressure pipeline and reduce pipeline blockage.

[0045] A toggle member 62 is provided above the separation plate 61 on the traction frame 31. In this embodiment, the toggle member 62 includes a rotating shaft 621 and a toggle piece 622. The rotating shaft 621 is arranged along the length direction of the separation plate 61, and both ends of it are rotatably connected to the traction frame 31. One end of the rotating shaft 621 is connected to the rotating shaft 621 through a transmission assembly 63. Specifically, the transmission assembly 63 includes a first spur gear 631 and a second spur gear 632. The first spur gear 631 is mounted on the drive roller 32, and the second spur gear 632 is mounted on the rotating shaft 621. The first spur gear 631 meshes with the second spur gear 632, so that while the drive roller 32 rotates itself, it drives the rotating shaft 621 to rotate through the first spur gear 631 and the second spur gear 632, thereby reducing the number of power source components.

[0046] In this embodiment, the paddle 622 is made of rubber, allowing it to maintain its shape while undergoing a certain degree of deformation. Several paddles 622 are spaced circumferentially along the rotating shaft 621. The end of each paddle 622 away from the rotating shaft 621 is designed with an arc shape to reduce the friction range between the end of the paddle 622 and the separating plate 61. The traction frame 31 has a discharge port 614 at the second end 612 of the separating plate 61. The rotating shaft 621 drives the paddles 622 to rotate. When the paddles 622 pass the first end 611 of the separating plate 61, they push large debris on the first end 611 towards the discharge port 614, allowing large impurities to move along the separating plate 61 towards the discharge port 614 and fall off, thus ensuring timely discharge of large debris from the separating plate 61 and reducing debris accumulation.

[0047] Reference Figure 5 , Figure 6The negative pressure adsorption and collection mechanism 4 includes a negative pressure generating device 41, a collection device 42, and an end adsorption component 43 connected in sequence. Both the negative pressure generating device 41 and the collection device 42 are mounted on the main frame of the walking mechanism 1. The negative pressure generating device 41 is a negative pressure fan. The negative pressure end of the negative pressure generating device 41 is connected to the collection device 42 via a pipe. The suction end of the collection device 42 is connected to the end adsorption component 43 via a telescopic hose 44. The telescopic hose 44 is mounted on the electric telescopic rod 21 to provide support for the telescopic hose 44. The end adsorption component 43 is mounted on the traction frame 31 and located downstream of the separation plate 61. As the adsorption end of the negative pressure adsorption and collection mechanism 4, the end adsorption component 43 can create a negative pressure space on the cloth flag 5, allowing ticks on the surface of the cloth flag 5 to detach from the cloth flag 5 under negative pressure and be sucked into the pipe, then enter the collection device 42 for collection.

[0048] Reference Figure 6 In this embodiment, the collection device 42 includes an insect storage chamber 421 and a low-temperature control module 422. The insect storage chamber 421 is connected to a negative pressure pipeline and is used to receive the inhaled ticks. The insect storage chamber 421 can adopt a detachable sealed structure so that it can be removed and transported as a whole after sampling. A transparent observation window can be provided on the insect storage chamber 421, allowing staff to observe the number of samples and the condition inside the chamber without opening it. The insect storage chamber 421 can also be equipped with a microporous breathable filter, the pore size of which is smaller than the size of tick nymphs, allowing air to circulate inside the chamber while preventing ticks from escaping.

[0049] The cryogenic control module 422 can employ a semiconductor cooling structure. When operational, the semiconductor cooling structure cools the insect storage chamber 421, maintaining a cryogenic temporary storage environment within it. This low-temperature environment reduces tick metabolism, prolongs sample survival time, and minimizes sample spoilage and degradation, which is beneficial for subsequent pathogen detection, species identification, and in vivo experiments. The semiconductor cooling structure is characterized by its small size, low vibration, low noise, and high temperature control accuracy, making it suitable for installation inside mobile robots.

[0050] Reference Figure 2 , Figure 5In this embodiment, the end adsorption component 43 includes a main pipeline 431 and multiple adsorption covers 432. The main pipeline 431 is fixedly mounted on the traction frame 31 and arranged along the axial direction of the drive roller 32. The multiple adsorption covers 432 are arranged sequentially on the main pipeline 431 and located on the side of the main pipeline 431 facing the cloth flag 5. The internal space of each adsorption cover 432 is connected to the main pipeline 431 through a through hole, thereby creating a negative pressure space on the cloth flag 5 through the adsorption cover 432. A non-contact adsorption gap can be formed between the adsorption cover 432 and the cloth flag 5 to avoid crushing ticks by the hard structure. Negative pressure hoses 615 are provided on both sides of the main pipeline 431. The telescopic hose 44 on the electric telescopic rod 21 is connected to the two negative pressure hoses 615 through a three-way connector, realizing the connection between the telescopic hose 44 and the two negative pressure hoses 615.

[0051] Reference Figure 4 , Figure 7 An elastic buffer 7 is provided between the spatial position adjustment mechanism 2 and the traction frame 31. The elastic buffer 7 includes a connecting frame 71 and an elastic element 72. The connecting frame 71 includes a main body 711 and multiple branch rods 712. The main body 711 and the multiple branch rods 712 are integrally formed. The multiple branch rods 712 are arranged in parallel and spaced apart. The main body 711 is hinged to the end of the electric telescopic rod 21 away from the rotating seat 22. The electric telescopic rod 21 is provided with a second linear hydraulic cylinder 73 at this end. The cylinder body of the second linear hydraulic cylinder 73 is hinged to the electric telescopic rod 21. The piston rod of the second linear hydraulic cylinder 73 is hinged to the main body 711, so that the extension and retraction of the second linear hydraulic cylinder 73 can drive the connecting frame 71 to rotate around its hinge point with the electric telescopic rod 21, thereby changing the tilt relationship between the traction frame 31 and the electric telescopic rod 21.

[0052] Reference Figure 1 , Figure 6 The rotating base 22 is equipped with a winding device for winding the hydraulic lines of the second linear hydraulic cylinder 73. The winding device can be a hydraulic hose reel, which includes a reel frame, a drum rotatably mounted on the reel frame, and a reset member for driving the drum to return to its original rotation. The hydraulic lines of the second linear hydraulic cylinder 73 are wound on the drum. When the electric telescopic rod 21 extends or the traction frame 31 swings, causing the second linear hydraulic cylinder 73 to move away from the traveling mechanism 1, the hydraulic lines drive the drum to rotate and are released from the drum. When the electric telescopic rod 21 retracts or the traction frame 31 resets, the reset member drives the drum to rotate in the opposite direction to rewind the excess hydraulic lines onto the drum, thereby preventing the hydraulic lines from becoming scattered, tangled, or damaged by tension. The telescopic hose 44 uses a winding device 45 with the same structure as the winding device to realize the telescopic hose 44's extension and retraction process.

[0053] Reference Figure 4 , Figure 7The elastic element 72 includes a spring cylinder 74, a first telescopic spring 77, and a second telescopic spring 78. The spring cylinder 74 is fixedly mounted on the traction frame 31 and corresponds one-to-one with the branch rod 712. The branch rod 712 is inserted into the corresponding spring cylinder 74. The branch rod 712 has a retaining plate 75 on the part inserted into the spring cylinder 74, and a retaining screw 76 is provided at the opening of the spring cylinder 74. The retaining screw 76 is threadedly connected to the spring cylinder 74, so that the spring cylinder 74 and the retaining screw 76 can be detached. The first telescopic spring 77 and the second telescopic spring 78 are both disposed in the spring cylinder 74. The first telescopic spring 77 is located between the retaining plate 75 and the traction frame 31, and both ends of the first telescopic spring 77 abut against the retaining plate 75 and the traction frame 31, respectively. The second telescopic spring 78 is sleeved on the split rod 712 and located between the retaining spring plate 75 and the retaining spring screw 76. The two ends of the second telescopic spring 78 abut against the retaining spring plate 75 and the retaining spring screw 76, respectively. Through the first telescopic spring 77 and the second telescopic spring 78, the electric telescopic rod 21 and the traction frame 31 are elastically buffered together. This allows the traction frame 31 to move relative to the connecting frame 71 in a buffered manner when the flag 5 or the traction frame 31 encounters uneven ground, rocks, grass roots, or shrub branches, and then reset under the action of the elastic element 72. This reduces the impact on the flag 5, the traction frame 31, and the spatial position adjustment mechanism 2.

[0054] In use, the robot moves along the sampling route via the walking mechanism 1. The spatial position adjustment mechanism 2 drives the traction frame 31 to fall, so that when the robot is in the ground sampling state, the flag 5 of the low-position tick-catching mechanism contacts or is close to the grass, and ticks attach to the surface of the flag 5 under the action of physical contact and tick attractant.

[0055] When in high-level sampling mode, the electric telescopic rod 21 is raised according to the vegetation height, allowing the flexible flag 5 to enter the shrub and leaf layer or the upper area of ​​tall grass. The reciprocating extension and retraction of the second linear hydraulic cylinder 73 can drive the traction frame 31 to swing around its hinge point, causing the flexible flag 5 to rotate or swing, and the flexible flag 5 to complete sweeping contact sampling in accordance with the shape of branches and leaves.

[0056] The traction mechanism 3 drives the cloth flag 5 to circulate, during which the cloth flag 5 adheres to or carries ticks. When the cloth flag 5 moves to the vicinity of the separation plate 61, large debris is blocked and discharged by the separation plate 61, while ticks and small impurities enter the negative pressure adsorption area through the sieving channel 613. The negative pressure generating device 41 generates an adsorption airflow through the end adsorption element 43, which draws the ticks from the surface of the cloth flag 5 into the collection device 42. Since the ticks are mainly separated and collected by airflow, there is no need for a tick scraper to scrape the cloth flag 5 during the collection process, thus better maintaining the live state of the ticks and the integrity of the sample.

[0057] With the above structure, this application can simultaneously cover different sampling spaces such as surface lawns, low grasses, shrub foliage layers and tall grass vegetation, realizing three-dimensional sampling from low to high positions; at the same time, by combining negative pressure adsorption and low temperature temporary storage, it can improve sampling efficiency while reducing sample damage, meeting the requirements of disease control monitoring, ecological surveys, pathogen isolation and subsequent experimental analysis for live tick samples.

[0058] The implementation principle of an intelligent live tick-catching sampling robot with three-dimensional operation capability in this application embodiment is as follows: The walking mechanism 1 moves within the sampling area according to a preset route or a manually controlled route. The spatial position adjustment mechanism 2 adjusts the position of the cloth flag 5 according to the height of the sampling object, so that the cloth flag 5 contacts the target vegetation or ground surface. The traction mechanism 3 drives the cloth flag 5 to circulate, and the cloth flag 5 adheres to or carries ticks during the movement. When the cloth flag 5 moves to the vicinity of the separation plate 61, large-volume debris is blocked and discharged by the separation plate 61, and ticks and small debris enter the negative pressure adsorption area through the screening channel 613. During the rotation or circulation of the cloth flag 5, it passes through the negative pressure adsorption inlet, and the negative pressure airflow sucks the ticks into the insect storage chamber 421 in the collection device 42 through the telescopic hose 44. Since the ticks are mainly separated and collected by airflow, there is no need for a tick scraper to scrape the cloth flag 5 during the collection process, thus better maintaining the live state of the ticks and the integrity of the sample.

[0059] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A smart living body capturing and sampling robot with three-dimensional operation capability, characterized in that, It includes a walking mechanism (1), a spatial position adjustment mechanism (2), a traction mechanism (3), a negative pressure adsorption and collection mechanism (4), and a cloth flag (5); The spatial position adjustment mechanism (2) is mounted on the walking mechanism (1), the traction mechanism (3) is connected to the spatial position adjustment mechanism (2), and the cloth flag (5) is mounted on the traction mechanism (3). The walking mechanism (1) is used to drive the cloth flag (5) to move within the sampling area, and the spatial position adjustment mechanism (2) is used to adjust the working height of the traction mechanism (3) and the cloth flag (5); The traction mechanism (3) is used to support the cloth flag (5) and drive the cloth flag (5) to move in a circular motion, so that the cloth flag (5) passes through the adsorption end of the negative pressure adsorption collection mechanism (4) in a circular motion; The adsorption end of the negative pressure adsorption collection mechanism (4) is positioned facing the cloth flag (5) and can form a negative pressure adsorption area on the surface of the cloth flag (5) to adsorb and collect ticks attached to the cloth flag (5). 2.The intelligent live organism trapping and sampling robot with three-dimensional operation capability according to claim 1, wherein: The traction mechanism (3) includes a traction frame (31), a drive roller (32), a driven roller (33), and a traction drive source (34). The traction frame (31) is connected to the spatial position adjustment mechanism (2). The drive roller (32) and the driven roller (33) are parallel and spaced apart, and are rotatably connected to the traction frame (31). The cloth flag (5) is sleeved on the drive roller (32) and the driven roller (33) to form a ring conveying structure. The traction drive source (34) is connected to the drive roller (32) in a transmission manner. 3.The intelligent live organism capturing and sampling robot with three-dimensional operation capability according to claim 2, characterized in that: The traction frame (31) is provided with a separation plate (61). The first end (611) of the separation plate (61) is located near the cloth flag (5) at the turning position of the drive roller (32) or the driven roller (33). A screening channel (613) is formed between the separation plate (61) and the cloth flag (5). The adsorption end of the negative pressure adsorption collection mechanism (4) is located downstream of the screening channel (613). The screening channel (613) is used for ticks to pass through and to guide large-volume materials that cannot pass through the screening channel (613) to the separation plate (61). 4.The intelligent live organism capturing and sampling robot with three-dimensional operation capability according to claim 3, characterized in that: The traction frame (31) is provided with a discharge port (614) at the second end (612) of the separation plate (61), and the traction frame (31) is provided with a pusher (62), which can push large volume materials on the separation plate (61) to the discharge port (614).

5. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 4, characterized in that: The actuating component (62) includes a rotating shaft (621) and a paddle (622). The rotating shaft (621) is rotatably connected to the traction frame (31). The paddle (622) is fixedly mounted on the rotating shaft (621). When the rotating shaft (621) rotates, it can drive the paddle (622) to move along the separating plate (61) to push the large volume material on the separating plate (61) toward the discharge port (614).

6. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 5, characterized in that: The rotating shaft (621) is connected to the drive roller (32) via a transmission assembly (63) so that the drive roller (32) can drive the rotating shaft (621) to rotate.

7. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 2, characterized in that: The traction frame (31) is provided with sealing parts (35) on both sides perpendicular to the direction of movement of the cloth flag (5). Each sealing part (35) slides and fits against the cloth flag (5) to laterally seal the internal space enclosed by the cloth flag (5).

8. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 2, characterized in that: The spatial position adjustment mechanism (2) is connected to the traction frame (31) via an elastic buffer (7); The elastic buffer (7) includes a connecting frame (71) and an elastic element (72). The connecting frame (71) is connected to the spatial position adjustment mechanism (2) and slidably connected to the traction frame (31). The two ends of the elastic element (72) act on the connecting frame (71) and the traction frame (31) respectively, so that the traction frame (31) can move and reset relative to the connecting frame (71) with buffer.

9. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 3, characterized in that: The negative pressure adsorption and collection mechanism (4) includes a negative pressure generating device (41), a collection device (42), and an end adsorption member (43) connected in sequence. The end adsorption member (43) is arranged opposite to the cloth flag (5). The negative pressure generating device (41) and the collection device (42) are both arranged on the walking mechanism (1). The negative pressure generating device (41) can form a negative pressure adsorption area at the cloth flag (5) through the end adsorption member (43) and suck small volume materials passing through the screening channel (613) into the collection device (42).

10. The intelligent live tick-catching and sampling robot with three-dimensional operation capability according to claim 9, characterized in that: The end adsorption component (43) includes a main pipeline (431) and a plurality of adsorption covers (432). The main pipeline (431) is arranged along the width direction of the cloth flag (5), and the plurality of adsorption covers (432) are spaced apart along the length direction of the main pipeline (431) and are all connected to the main pipeline (431). The opening of the adsorption cover (432) faces the cloth flag (5) and forms a non-contact adsorption gap with the cloth flag (5).

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