Acquisition module and acquisition robot
By designing a collection module containing robotic arm and transmission components, the problems of low efficiency and safety hazards of environmental sample collection in disaster areas are solved, and automated collection and efficient sample transfer are realized.
Patent Information
- Application Number
- CN202421532373.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-06-28
- Publication Date
- 2025-06-20
- Estimated Expiration
- 2034-06-28
AI Technical Summary
In the prior art, environmental samples collected in the disaster area are inefficient and pose a threat to the health of the operators.
Design a collection module, including mounting parts, collectors, transmission components and acquisition components, the robotic arm drives the effector to collect environmental samples, and increase the sampling range through gear and rack transmission mechanisms, automatically transferring the samples to the collection.
It realizes automated environmental sample collection, reduces safety hazards for workers and improves sampling efficiency.
Smart Images
Figure CN223005740U_ABST
Abstract
Description
Technical Field
[0001] This application relates to the technical field of resource collection, and particularly to a collection module and a collection robot. Background Art
[0002] After a disaster, it is necessary to monitor the soil resources and water resources in the disaster area. Currently, the existing sampling methods usually involve operators wearing protective clothing and entering the disaster area for sampling. However, it is inconvenient for operators to move while wearing protective clothing, resulting in low sampling efficiency, and the environment in the disaster area poses a threat to the health of operators. Summary of the Utility Model
[0003] To overcome the deficiencies in the prior art, this application provides a collection module and a collection robot.
[0004] This application provides the following technical solutions:
[0005] In a first aspect, this application provides a collection module, which includes:
[0006] A mounting member;
[0007] A collection member disposed on the mounting member;
[0008] A transmission assembly, the transmission assembly includes a gear and two racks. The two racks are arranged in parallel on the mounting member, and there is a moving channel between the two racks. The gear is movably disposed in the moving channel and meshes with both racks simultaneously;
[0009] At least one set of collection components, the collection components include a robotic arm and an effector. One end of the robotic arm is connected to the gear, and the end of the robotic arm away from the gear is connected to the effector; the effector is used to collect environmental samples;
[0010] Wherein, the robotic arm can drive the effector to move, so that the environmental samples collected by the effector are transferred into the collection member.
[0011] In a possible implementation, at least one bearing portion is provided on the mounting member, and a placement cavity with an opening is formed on the bearing portion, and the collection member is disposed in the placement cavity.
[0012] In a possible implementation, a communication port is further formed on the bearing portion, and the communication port is communicated with the placement cavity.
[0013] In a possible implementation, the communication port is formed on a side of the bearing portion close to the robotic arm.
[0014] In a possible implementation, two of the bearing parts are provided on the mounting member, and the two bearing parts are respectively arranged at opposite ends of the mounting member. The collecting member includes a first collecting member and a second collecting member, and the first collecting member and the second collecting member are respectively arranged in the placing cavities of the corresponding bearing parts; the transmission assembly is arranged between the two bearing parts.
[0015] In a possible implementation, the mounting member has at least one mounting part for connecting the robotic dog.
[0016] In a possible implementation, the mounting member has two of the mounting parts, and the two mounting parts are respectively arranged at opposite ends of the mounting member.
[0017] In a possible implementation, the collecting member is detachably arranged on the mounting member.
[0018] In a possible implementation, the acquisition module includes two groups of the acquisition components, and the two effectors are used to respectively acquire different environmental samples.
[0019] In a second aspect, the present application also provides a collection robot, which includes a robotic dog and the above-mentioned acquisition module, and the mounting member is mounted on the robotic dog.
[0020] Compared with the prior art, the beneficial effects of the present application are as follows:
[0021] In the acquisition module provided by the present application, the robotic arm can drive the effector to move so that the effector acquires environmental samples; under the transmission of the gear and two racks, the robotic arm can move along the extension direction of the moving channel, thereby increasing the sampling range; the robotic arm can also drive the sampled effector to move to the collecting member and transfer the environmental samples collected by the effector into the collecting member. The acquisition module provided by the present application can automatically acquire environmental samples to reduce the safety hazards of operators collecting environmental samples.
[0022] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specific preferred embodiments are given in conjunction with the accompanying drawings and are described in detail as follows. Description of the Drawings
[0023] To more clearly illustrate the technical solutions of the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as limiting the scope. For those of ordinary skill in the art, other related drawings can be obtained based on these drawings without creative efforts.
[0024] Figure 1Shows a three-dimensional schematic diagram of the acquisition module according to an embodiment of the present application;
[0025] Figure 2 Shows a three-dimensional schematic diagram of the acquisition module from another angle according to an embodiment of the present application;
[0026] Figure 3 Shows a three-dimensional structural schematic diagram of the mounting member according to an embodiment of the present application.
[0027] Description of main component symbols:
[0028] 100 - Acquisition module; 110 - Mounting member; 111 - Fixed plate; 112 - Bearing part; 1121 - Communication port; 1122 - Placement cavity; 113 - Mounting part; 120 - Transmission component; 121 - Rack; 122 - Gear; 123 - Movement channel; 130 - Collection member; 140 - Robot arm; 150 - Effector;
[0029] X - First direction; Y - Second direction. Detailed description of the specific implementation
[0030] The embodiments of the present application will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present application and should not be construed as a limitation of the present application.
[0031] In the description of the present application, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present application.
[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present application, "a plurality" means two or more unless otherwise specifically defined.
[0033] In this application, unless otherwise clearly defined and limited, terms such as "installed", "connected", "linked", "fixed", etc. shall be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two components or the interaction relationship between two components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.
[0034] In this application, unless otherwise clearly defined and limited, the first feature being "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature can be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature can be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.
[0035] Embodiment 1
[0036] Please refer to Figure 1 and Figure 2 , an embodiment of the present application provides a collection module 100. The collection module 100 can automatically collect environmental samples.
[0037] The environmental samples collected by the collection module 100 in this embodiment are soil samples or water samples.
[0038] Please refer to Figure 1 , the collection module 100 includes a mounting member 110, a collection member 130, a transmission assembly 120 and at least one set of collection components.
[0039] Among them, the collection member 130 is arranged on the mounting member 110, and the collection member 130 is used to hold the collected environmental samples.
[0040] The transmission assembly 120 includes a gear 122 and two racks 121. The two racks 121 are arranged in parallel on the mounting member 110. The gear 122 is arranged between the two racks 121, and the gear 122 meshes with the two racks 121 at the same time; there is a moving channel 123 between the two racks 121, and the gear 122 can move in the moving channel 123 along the extension direction of the moving channel 123.
[0041] The acquisition component includes a robotic arm 140 and an effector 150. One end of the robotic arm 140 is connected to the gear 122, and the end of the robotic arm 140 away from the gear 122 is connected to the effector 150.
[0042] The robotic arm 140 can drive the effector 150 to move so that the effector 150 can collect environmental samples. Driven by the gear 122 and the two racks 121, the robotic arm 140 can move along the extension direction of the moving channel 123, thereby increasing the sampling range.
[0043] The robotic arm 140 can also drive the sampled effector 150 to move to the collection member 130 so that the environmental samples collected by the effector 150 are transferred into the collection member 130.
[0044] The acquisition module 100 of this embodiment can automatically collect environmental samples, thereby reducing the safety hazards of operators collecting environmental samples.
[0045] In some embodiments, refer to Figure 1 , the sides of the two racks 121 with teeth are arranged opposite to each other, and the extension directions of the two racks 121 are both the first direction X, that is, the extension direction of the moving channel 123 is the first direction X.
[0046] Furthermore, the length direction of the mounting member 110 is parallel to the first direction X.
[0047] In some embodiments, the transmission component 120 further includes a driving member (not shown in the figure). The output end of the driving member is connected to the gear 122. The output end of the driving member can drive the gear 122 to rotate in the moving channel 123. The gear 122 meshes with the two racks 121 so that the gear 122 moves along the extension direction of the moving channel 123 in the moving channel 123, that is, the gear 122 moves along the first direction X in the moving channel 123, thereby driving the robotic arm 140 to move along the first direction X.
[0048] In some embodiments, the driving member is arranged inside the mounting member 110.
[0049] Exemplarily, the driving member is a motor.
[0050] In some embodiments, refer to Figure 3 , one side of the body of the mounting member 110 is provided with a fixing plate 111, and the two racks 121 are arranged in parallel on the side of the fixing plate 111 away from the body.
[0051] Further, the fixing plate 111 and the body are detachably connected by a bolt structure to facilitate the replacement of the transmission assembly 120.
[0052] In some embodiments, the acquisition module 100 includes two sets of the acquisition components, and the two sets of the acquisition components are simultaneously arranged on one of the gears 122, so that the gear 122 drives two of the robotic arms 140 to move simultaneously.
[0053] In another embodiment, the acquisition module 100 includes two sets of the acquisition components, the transmission assembly 120 includes two of the gears 122, two of the robotic arms 140 are respectively arranged on the corresponding gears 122, and the gears 122 can drive the corresponding robotic arms 140 to move.
[0054] In some embodiments, the robotic arm 140 is a six-axis robotic arm, and the degrees of freedom of the robotic arm 140 include the rotation angle, the extension length, and the elbow joint angle.
[0055] In some embodiments, the effector 150 is a vacuum effector, and the effector 150 can collect soil samples or water samples through negative pressure.
[0056] In some embodiments, please refer to Figures 1 to 3 , at least one bearing portion 112 is provided on the mounting member 110, a placement cavity 1122 with an opening is formed on the bearing portion 112, and the collection member 130 is arranged in the placement cavity 1122.
[0057] An operator can set the collection member 130 in the placement cavity 1122 or take out the collection member 130 from the placement cavity 1122 through the opening of the placement cavity 1122.
[0058] In some embodiments, the collection member 130 is a box body with an inlet formed on one side.
[0059] In some embodiments, the collection member 130 is detachably arranged in the placement cavity 1122.
[0060] Exemplarily, the collection member 130 is detachably connected to the inner wall of the placement cavity 1122 through a bolt structure.
[0061] Exemplarily, a card slot is provided on the collection member 130, a clamping block matching the card slot is provided on the inner wall of the placement cavity 1122, and the clamping block is clamped in the card slot, so that the collection member 130 is detachably arranged in the placement cavity 1122.
[0062] In some embodiments, a communication port 1121 is further formed on the bearing part 112, and the communication port 1121 communicates with the placement cavity 1122. The robotic arm 140 can drive the effector 150 through the communication port 1121 so that the effector 150 transfers the collected environmental sample into the collection member 130.
[0063] In some embodiments, the communication port 1121 is formed on the side of the bearing part 112 close to the robotic arm 140.
[0064] Further, the opening of the placement cavity 1122 is formed on the side of the bearing part 112 away from the robotic arm 140 so that the communication port 1121 and the opening of the placement cavity 1122 are oppositely arranged.
[0065] In some embodiments, two bearing parts 112 are provided on the mounting member 110, and the two bearing parts 112 are respectively arranged at opposite ends of the mounting member 110. The collection member 130 includes a first collection member and a second collection member, and the first collection member and the second collection member are respectively arranged in the placement cavities 1122 of the corresponding bearing parts 112; the transmission assembly 120 is arranged between the two bearing parts 112.
[0066] Exemplarily, the two bearing parts 112 are arranged at two ends of the mounting member 110 along the first direction X.
[0067] In some embodiments, the collection module 100 includes two sets of collection components, and the two effectors 150 can collect different environmental samples. The first collection member and the second collection member are used to respectively accommodate different environmental samples.
[0068] In some embodiments, please refer to Figure 2 and Figure 3 , the mounting member 110 has at least one mounting part 113, and the mounting part 113 is used to connect to a robotic dog so that the robotic dog can drive the collection module 100 to move in a disaster area, thereby facilitating the collection of environmental samples.
[0069] In some embodiments, the mounting part 113 is arranged on the side of the mounting member 110 away from the transmission assembly 120, and the mounting part 113 is mounted on the abdomen of the robotic dog.
[0070] Exemplarily, the mounting part 113 is arranged on the abdomen of the robotic dog through a bolt structure.
[0071] In some embodiments, the mounting member 110 has two mounting portions 113, and the two mounting portions 113 are respectively disposed at opposite ends of the mounting member 110. The two mounting portions 113 can effectively improve the reliability of the connection between the mounting member 110 and the robotic dog.
[0072] In some embodiments, the two mounting portions 113 are disposed at both ends of the mounting member 110 along the second direction Y. The width direction of the mounting member 110 is parallel to the second direction Y.
[0073] Furthermore, the second direction Y is perpendicular to the first direction X.
[0074] Embodiment Two
[0075] The present application also provides a collection robot, which includes a robotic dog and the collection module 100 of any of the above embodiments, and the mounting member 110 is mounted on the robotic dog.
[0076] In some embodiments, the mounting portion 113 on the mounting member 110 is disposed on the abdomen of the robotic dog, so that the robotic dog can drive the collection module 100 to move in the disaster area. Furthermore, the robotic arm 140 can drive the effector 150 to move and collect environmental samples in the disaster area. After the effector 150 collects the environmental samples, the robotic arm 140 can drive the effector 150 to move to the collection member 130 and transfer the collected environmental samples into the collection member 130.
[0077] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, without conflict, those skilled in the art can combine and combine the different embodiments or examples described in this specification and the features of different embodiments or examples.
[0078] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present application. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present application.
Claims
1. A collection module, characterized in that: include: Mounting parts; A collecting member, wherein the collecting member is arranged on the mounting member; A transmission assembly, the transmission assembly comprising a gear and two racks, the two racks being arranged in parallel on the mounting member, a moving channel being provided between the two racks, the gear being movably arranged in the moving channel, and the gear being meshed with the two racks at the same time; At least one set of collection components, the collection components comprising a mechanical arm and an effector, one end of the mechanical arm is connected to the gear, and one end of the mechanical arm away from the gear is connected to the effector; the effector is used to collect environmental samples; Wherein, the mechanical arm can drive the effector to move so that the environmental sample collected by the effector is transferred to the collection member.
2. The acquisition module according to claim 1, characterized in that: At least one bearing portion is arranged on the mounting member, a placement cavity with an opening is opened on the bearing portion, and the collecting member is arranged in the placement cavity.
3. The acquisition module according to claim 2, characterized in that: The bearing portion is also provided with a communication port, and the communication port is communicated with the placement cavity.
4. The acquisition module according to claim 3, characterized in that: The communication port is disposed on a side of the carrying portion close to the mechanical arm.
5. The acquisition module according to claim 2, characterized in that: The mounting member is provided with two bearing parts, which are respectively arranged at two opposite ends of the mounting member; the collecting member comprises a first collecting member and a second collecting member, which are respectively arranged in the placement cavity of the corresponding bearing part; the transmission assembly is arranged between the two bearing parts.
6. The acquisition module according to any one of claims 1 to 5, characterized in that: The mounting member has at least one mounting portion, and the mounting portion is used to connect the mechanical dog.
7. The acquisition module according to claim 6, characterized in that: The mounting member has two mounting portions, and the two mounting portions are respectively arranged at two opposite ends of the mounting member.
8. The acquisition module according to any one of claims 1 to 5, characterized in that: The collecting component is detachably arranged on the mounting component.
9. The acquisition module according to any one of claims 1 to 5, characterized in that: The collection module includes two groups of collection components, and the two effectors are used to collect different environmental samples respectively.
10. A collection robot, characterized in that: It comprises a mechanical dog and the collection module according to any one of claims 1 to 9, wherein the mounting piece is mounted on the mechanical dog.