Airborne ground mobile sampling robot

Abstract

The utility model belongs to the technical field of sampling robot, concretely is an airborne ground mobile sampling robot, including track -type moving mechanism and sampling mechanism, track -type moving mechanism includes drive assembly and box, and the drive assembly is symmetrically installed to the both sides of box, sampling mechanism includes rotary mechanical arm, sampling module and mounting seat, and mounting seat is fixed on the box, and one end of rotary mechanical arm is fixedly connected on mounting seat, and sampling module is connected with the other end of rotary mechanical arm. The utility model's airborne ground mobile sampling robot can be carried on unmanned plane, and the sampling operation task is completed in extreme environment. The utility model has the characteristics such as wide application, strong adaptability etc.

Description

Technical Field

[0001] This utility model belongs to the field of sampling robot technology, specifically an airborne ground mobile sampling robot. Background Technology

[0002] With the development of scientific research in my country, sampling tasks are becoming increasingly frequent. Sampling in extreme environments is of great significance, but such tasks are also dangerous due to the influence of extreme environments (such as high temperatures and extreme cold). While unmanned aerial vehicles (UAVs) have a wide operating range, their operational capabilities are limited. Therefore, the development of an airborne, portable, ground-based mobile sampling robot is of great necessity. Utility Model Content

[0003] To meet the sampling needs of extreme environments, the purpose of this invention is to provide an airborne ground mobile sampling robot. This airborne ground mobile sampling robot can be mounted on a drone and released upon arrival in an extreme environment to complete sampling tasks.

[0004] The objective of this utility model is achieved through the following technical solution:

[0005] This utility model includes a tracked mobile mechanism and a sampling mechanism. The tracked mobile mechanism includes a drive assembly and a housing, with the drive assembly symmetrically mounted on the left and right sides of the housing. The sampling mechanism includes a rotating robotic arm, a sampling module, and a mounting base. The mounting base is fixed to the housing, one end of the rotating robotic arm is fixed to the mounting base, and the sampling module is connected to the other end of the rotating robotic arm. The sampling module includes a sampling motor, a sampling housing, a transmission mechanism, a linkage group, and a sampling box. The sampling housing is fixed to the other end of the rotating robotic arm, and the sampling motor is installed inside the sampling housing. A rotating shaft A and a rotating shaft B are symmetrically arranged on both sides between the sampling motor and the sampling box. Rotating shafts A and B are rotatably mounted inside the sampling housing. The output shaft of the sampling motor is connected to one end of rotating shaft A and one end of rotating shaft B via the transmission mechanism. One end of the rotating shaft A is connected to a connecting rod assembly. The connecting rod assembly connected to the other end of the rotating shaft A is divided into an outer connecting rod A and an inner connecting rod A. The connecting rod assembly connected to the other end of the rotating shaft B is divided into an outer connecting rod B and an inner connecting rod B. The sampling box is divided into a sampling box body A and a sampling box body B. One end of the outer connecting rod A is connected to one side of the sampling box body B and the other end is rotatably connected to the rotating shaft A. One end of the inner connecting rod A is connected to one side of the sampling box body A and the other end is fixedly connected to the rotating shaft A. One end of the outer connecting rod B is connected to the opposite side of the sampling box body A and the other end is rotatably connected to the rotating shaft B. One end of the inner connecting rod B is connected to the opposite side of the sampling box body B and the other end is fixedly connected to the rotating shaft B. The sampling motor drives the rotating shaft A and the rotating shaft B to rotate synchronously in opposite directions through a transmission mechanism. In turn, the outer connecting rod A, the inner connecting rod A, the outer connecting rod B, and the inner connecting rod B drive the sampling box body A and the sampling box body B to open and close, thereby completing the sampling.

[0006] Wherein: the transmission mechanism is a bevel gear transmission mechanism, including a driving bevel gear, a driven bevel gear A and a driven bevel gear B. The driving bevel gear is connected to the output shaft of the sampling motor. The driven bevel gear A and the driven bevel gear B are located on the left and right sides of the driving bevel gear and are respectively connected to one end of the rotating shaft A and the rotating shaft B. The driven bevel gear A and the driven bevel gear B mesh with the driving bevel gear for transmission.

[0007] The contact surfaces of sampling box A and / or sampling box B are provided with sealing rings.

[0008] A sampling cover is detachably installed on sampling box A and / or sampling box B.

[0009] The drive assembly includes a motor reducer, a gearbox, a side plate, a track, a drive track wheel, a driven shaft, a driven track wheel, and a gear set. One side of the side plate is fixed to the housing, and a gearbox is installed at one end of the other side of the side plate. The motor reducer is housed in the housing and fixed to the side plate. The drive shaft is rotatably installed inside the gearbox, and the driven shaft is rotatably installed at the other end of the other side of the side plate. The output shaft of the motor reducer extends into the gearbox and is connected to the drive shaft through the gear set. The end of the drive shaft extends out of the gearbox. The drive track wheel and the driven track wheel are respectively installed on the drive shaft and the driven track wheel, and are connected by a track.

[0010] A pressure roller mounted on the side plate is provided between the driving track wheel and the driven track wheel, and the pressure roller is always in contact with the track.

[0011] The rotating robotic arm includes a rotating joint module A and a rotating joint module B that are parallel to each other. The rotating joint module A is fixed on the mounting base, and the rotating joint module B is connected to the output end of the rotating joint module A. The output end of the rotating joint module B is connected to the sampling housing. Both the rotating joint module A and the rotating joint module B rotate and output.

[0012] The box is a flat cuboid shape.

[0013] The advantages and positive effects of this utility model are as follows:

[0014] 1. Wide range of applications; This utility model is lightweight and can be mounted on drones to complete sampling tasks in extreme environments; The tracked mobile mechanism can adapt to various terrains, and the tracks are easy to disassemble, allowing for timely cleaning of debris inside the tracks, thus improving the sustainability of the mobile mechanism.

[0015] 2. High adaptability; The sampling box of this utility model adopts a modular design, which can sample block objects and bulk objects, and can also achieve pollution-free sampling, making it highly adaptable. Attached Figure Description

[0016] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0017] Figure 2 This is a three-dimensional structural diagram of the tracked mobile mechanism of this utility model;

[0018] Figure 3 This is one of the three-dimensional structural schematic diagrams of the drive component of this utility model;

[0019] Figure 4 This is the second three-dimensional structural schematic diagram of the drive component of this utility model;

[0020] Figure 5 This is a schematic diagram of the internal structure of the gearbox of this utility model;

[0021] Figure 6 This is a three-dimensional structural diagram of the sampling mechanism of this utility model;

[0022] Figure 7 This is a front view of the sampling module of this utility model;

[0023] Figure 8 for Figure 7 Top sectional view;

[0024] Wherein: 1 is the tracked mobile mechanism, 11 is the drive assembly, 12 is the housing, 13 is the control assembly, 111 is the motor reducer, 112 is the gearbox, 113 is the side plate, 114 is the track, 115 is the driving track wheel, 116 is the pressure wheel, 117 is the driven shaft, 118 is the driving shaft, 119 is the driven track wheel, 120 is the driving gear, and 121 is the driven gear;

[0025] 2 is the sampling mechanism, 21 is the rotating robotic arm, 22 is the sampling module, 23 is the mounting base, 24 is the rotating joint module A, 25 is the rotating joint module B, 221 is the sampling motor, 222 is the sampling housing, 223 is the driving bevel gear, 224 is the driven bevel gear A, 225 is the driven bevel gear B, 226 is the rotating shaft A, 227 is the rotating shaft B, 228 is the outer connecting rod A, 229 is the inner connecting rod A, 230 is the outer connecting rod B, 231 is the inner connecting rod B, 232 is the sampling box body A, 233 is the sampling box body B, 234 is the sampling cover, and 235 is the sealing ring. Detailed Implementation

[0026] The preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the preferred embodiments described herein are for illustration and explanation only and are not intended to limit the present invention.

[0027] like Figure 1 , Figure 2 As shown, this utility model includes a tracked mobile mechanism 1 and a sampling mechanism 2. The tracked mobile mechanism 1 includes a drive assembly 11, a housing 12, a control assembly 13, and a battery. The housing 12 is a flat cuboid shape to ensure sufficient passability for the airborne ground mobile sampling robot. The drive assembly 11 is symmetrically installed on the left and right sides of the housing 12. The control assembly 13 is installed at the rear of the top surface of the housing 12, and the battery is located inside the housing 12. The sampling mechanism 2 is installed at the front of the top surface of the housing 12.

[0028] like Figures 1-5As shown, the drive assembly 11 in this embodiment includes a motor reducer 111, a gearbox 112, a side plate 113, a track 114, a drive track wheel 115, a driven shaft 117, a driven track wheel 119, and a gear set. One side of the side plate 113 is fixed to the housing 12, and the gearbox 112 is installed at one end of the other side of the side plate 113. The motor reducer 111 is housed inside the housing 12 and fixed to the side plate 113. A gear set is rotatably mounted inside the gearbox 112 via bearings. The drive shaft 118 and the driven shaft 117 are rotatably mounted on the other end of the side plate 113 via bearings; the output shaft of the motor reducer 111 extends into the gearbox 112 and is connected to the drive shaft 118 via a gear set; the end of the drive shaft 118 extends out of the gearbox 112; the drive track wheel 115 and the driven track wheel 119 are respectively mounted on the drive shaft 118 and the driven shaft 117; the drive track wheel 115 and the driven track wheel 119 are connected by a track 114.

[0029] The gear set in this embodiment includes a driving gear 120 and a driven gear 121. The driving gear 120 is keyed to the output shaft of the motor reducer 111, and the driven gear 121 is keyed to the driving shaft 118. The driving gear 120 and the driven gear 121 mesh and transmit power.

[0030] In this embodiment, three pressure rollers 116 are also provided between the active track roller 115 and the driven track roller 119. The three pressure rollers 116 are installed at the bottom center of the other side of the side plate 113, and each pressure roller 116 is always in contact with the track 114.

[0031] like Figure 1 and Figure 6 As shown, the sampling mechanism 2 in this embodiment includes a rotating robotic arm 21, a sampling module 22, and a mounting base 23. The mounting base 23 is fixed on the housing 12, one end of the rotating robotic arm 21 is fixedly connected to the mounting base 23, and the sampling module 22 is connected to the other end of the rotating robotic arm 21.

[0032] The rotating robotic arm 21 in this embodiment includes parallel rotating joint modules A24 and B25. Rotating joint module A24 is fixed on the mounting base 23, and rotating joint module B25 is connected to the output end of rotating joint module A24. The output end of rotating joint module B25 is connected to the sampling housing 222. Rotating joint modules A24 and B25 in this embodiment have the same structure and are existing technology. Both include a housing and a rotary motor installed inside the housing. The housing of rotating joint module A24 is fixed on the mounting base 23, the output shaft of the rotary motor of rotating joint module A24 is connected to the housing of rotating joint module B25, and the output shaft of the rotary motor of rotating joint module B25 is connected to the sampling housing 222.

[0033] like Figure 1 , Figures 6-8 As shown, the sampling module 22 in this embodiment includes a sampling motor 221, a sampling housing 222, a transmission mechanism, a linkage group, and a sampling box. The sampling housing 222 is connected to the output shaft of the rotary motor of the rotary joint module B in the rotary robotic arm 21. The sampling motor 221 is installed inside the sampling housing 222. Rotary shafts A226 and B227 are symmetrically arranged on both sides between the sampling motor 221 and the sampling box. Rotary shafts A226 and B227 are rotatably installed inside the sampling housing 222 through bearings, and their axial center lines are collinear and perpendicular to the axial center line of the output shaft of the sampling motor 221. The output shaft of the sampling motor 221 is connected to one end of the rotating shafts A226 and B227 through the transmission mechanism. The other end of the rotating shafts A226 and B227 is connected to the linkage group. The connecting rod assembly connected to the other end of the rotating shaft A226 is composed of an outer connecting rod A228 and an inner connecting rod A229, and the connecting rod assembly connected to the other end of the rotating shaft B227 is composed of an outer connecting rod B230 and an inner connecting rod B231; the sampling box is divided into two parts with the same shape and structure, namely sampling box body A232 and sampling box body B233, and the contact surface of sampling box body A232 and / or sampling box body B233 is provided with a sealing ring 235 (in this embodiment, the sealing ring 235 is provided on the contact surface of sampling box body A232). One end of the outer connecting rod A228 is connected to one side of the sampling box B233, and the other end is rotatably connected to the rotating shaft A226. One end of the inner connecting rod A229 is connected to one side of the sampling box A232, and the other end is fixedly connected to the rotating shaft A226. One end of the outer connecting rod B230 is connected to the opposite side of the sampling box A232, and the other end is rotatably connected to the rotating shaft B227. One end of the inner connecting rod B231 is connected to the opposite side of the sampling box B233, and the other end is fixedly connected to the rotating shaft B227. The sampling motor 221 drives the rotating shafts A226 and B227 to rotate synchronously in opposite directions through the transmission mechanism. In turn, the outer connecting rods A228, inner connecting rods A229, outer connecting rods B230, and inner connecting rods B231 drive the sampling boxes A232 and B233 to open and close, thus completing the sampling task.

[0034] The transmission mechanism in this embodiment is a bevel gear transmission mechanism, including a driving bevel gear 223, a driven bevel gear A224, and a driven bevel gear B225. The driving bevel gear 223 is connected to the output shaft of the sampling motor 221. The driven bevel gear A224 and the driven bevel gear B225 are located on the left and right sides of the driving bevel gear 223, and are respectively connected to one end of the rotating shaft A226 and the rotating shaft B227. The driven bevel gear A224 and the driven bevel gear B225 mesh with the driving bevel gear 223 for transmission.

[0035] In this embodiment, a sampling cover 234 is detachably installed on the sampling box body A232 and / or sampling box body B233. After the sampling task is completed, the sampling cover 234 can be removed to take out the sample from the sampling box.

[0036] The control component 13 in this embodiment is the prior art. The motor reducer 111, the rotary motor and the sampling motor 221 are respectively connected to the control component 13.

[0037] The airborne ground mobile sampling robot of this embodiment weighs less than 25 kg, is less than 50 cm long, less than 40 cm wide, and less than 40 cm high, and can be mounted on a drone.

[0038] The working principle of this utility model is as follows:

[0039] The UAV carries an onboard ground mobile sampling robot to the designated sampling area. The motor reducer 111 in the tracked mobile mechanism 1 operates, driving the onboard ground mobile sampling robot to the sampling location either remotely or autonomously via the meshing transmission of the drive gear 120 and driven gear 121, and the connection between the drive track wheel 115 and driven track wheel 119 via the track. The rotating robotic arm 21 in the sampling mechanism 2 operates, causing the sampling module 22 to rotate to the outside of the tracked mobile mechanism 1. The sampling motor 221 in the sampling module 22 operates, driving the connecting rods on both sides through the bevel gear set, rotating shaft A226, and rotating shaft B227. The outer connecting rod A228 and the inner connecting rod B231 rotate synchronously in the same direction, and the inner connecting rod A229 and the outer connecting rod B230 rotate synchronously in the same direction, but in opposite directions, thus opening and closing the sampling box A232 and the sampling box B233, completing the sampling process.

[0040] Then, after rotating the robotic arm 21 to retract the sampling module 22 to its original position, the airborne ground mobile sampling robot moves to the drone. The drone carries the airborne ground mobile sampling robot away from the designated area of ​​the sampling task, realizing unmanned sampling in extreme environments.

[0041] The driven shaft 117 is located on the outside of the housing 12, facilitating the disassembly of the track 114 and driven track wheel 119. This allows for the timely removal of objects that have entered the inside of the track 114, enabling the airborne ground mobile sampling robot to adapt to a wider range of ground environments. The sampling box adopts a modular design, and can be designed in various forms to suit different sampling tasks, such as sampling blocky objects and bulk objects. By selecting suitable materials and sealing methods, pollution-free sampling can also be achieved.

[0042] Obviously, those skilled in the art can make various modifications and variations to this utility model without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this utility model and their equivalents, this utility model also intends to include these modifications and variations.

Claims

1. An airborne ground mobile sampling robot, characterized in that: The system includes a tracked mobile mechanism (1) and a sampling mechanism (2). The tracked mobile mechanism (1) includes a drive assembly (11) and a housing (12). The drive assembly (11) is symmetrically installed on the left and right sides of the housing (12). The sampling mechanism (2) includes a rotating robotic arm (21), a sampling module (22), and a mounting base (23). The mounting base (23) is fixed on the housing (12). One end of the rotating robotic arm (21) is fixed to the mounting base (23), and the sampling module (22) is connected to the other end of the rotating robotic arm (21). The sampling module (22) includes a sampling motor (221) and a sampling housing (222). 22) Transmission mechanism, linkage group and sampling box. The sampling housing (222) is fixed to the other end of the rotating mechanical arm (21). The sampling motor (221) is installed inside the sampling housing (222). Rotating shafts A (226) and B (227) are symmetrically arranged on both sides between the sampling motor (221) and the sampling box. Rotating shafts A (226) and B (227) are rotatably installed inside the sampling housing (222). The output shaft of the sampling motor (221) is connected to one end of rotating shaft A (226) and rotating shaft B (227) respectively through the transmission mechanism. The rotating shafts A (226) and B (227) The other end is connected to a connecting rod assembly. The connecting rod assembly connected to the other end of the rotating shaft A (226) is divided into an outer connecting rod A (228) and an inner connecting rod A (229). The connecting rod assembly connected to the other end of the rotating shaft B (227) is divided into an outer connecting rod B (230) and an inner connecting rod B (231). The sampling box is divided into a sampling box body A (232) and a sampling box body B (233). One end of the outer connecting rod A (228) is connected to one side of the sampling box body B (233), and the other end is rotatably connected to the rotating shaft A (226). One end of the inner connecting rod A (229) is connected to one side of the sampling box body A (232), and the other end is fixedly connected to the rotating shaft A (226). One end of the outer connecting rod B (230) is connected to the other side of the sampling box A (232), and the other end is rotatably connected to the rotating shaft B (227). One end of the inner connecting rod B (231) is connected to the other side of the sampling box B (233), and the other end is fixedly connected to the rotating shaft B (227). The sampling motor (221) drives the rotating shaft A (226) and the rotating shaft B (227) to rotate synchronously in opposite directions through the transmission mechanism. Then, the outer connecting rod A (228), the inner connecting rod A (229), the outer connecting rod B (230) and the inner connecting rod B (231) drive the sampling box A (232) and the sampling box B (233) to open and close, thereby completing the sampling.

2. The airborne ground mobile sampling robot according to claim 1, characterized in that: The transmission mechanism is a bevel gear transmission mechanism, including a driving bevel gear (223), a driven bevel gear A (224) and a driven bevel gear B (225). The driving bevel gear (223) is connected to the output shaft of the sampling motor (221). The driven bevel gear A (224) and the driven bevel gear B (225) are located on the left and right sides of the driving bevel gear (223) and are respectively connected to one end of the rotating shaft A (226) and the rotating shaft B (227). The driven bevel gear A (224) and the driven bevel gear B (225) mesh with the driving bevel gear (223) for transmission.

3. The airborne ground mobile sampling robot according to claim 1, characterized in that: The contact surfaces of the sampling box A (232) and / or sampling box B (233) are provided with sealing rings (235).

4. The airborne ground mobile sampling robot according to claim 1, characterized in that: A sampling cover (234) is detachably installed on the sampling box A (232) and / or sampling box B (233).

5. The airborne ground mobile sampling robot according to claim 1, characterized in that: The drive assembly (11) includes a motor reducer (111), a gearbox (112), a side plate (113), a track (114), a drive track wheel (115), a driven shaft (117), a driven track wheel (119), and a gear set. One side of the side plate (113) is fixed to the housing (12), and the gearbox (112) is installed at one end of the other side of the side plate (113). The motor reducer (111) is housed in the housing (12) and fixed to the side plate (113). The drive shaft is rotatably mounted inside the gearbox (112). (118), the driven shaft (117) is rotatably mounted on the other end of the other side of the side plate (113); the output shaft of the motor reducer (111) extends into the gearbox (112) and is connected to the drive shaft (118) through the gear set; the end of the drive shaft (118) extends out of the gearbox (112); the drive track wheel (115) and the driven track wheel (119) are respectively mounted on the drive shaft (118) and the driven shaft (117); the drive track wheel (115) and the driven track wheel (119) are connected by a track (114).

6. The airborne ground mobile sampling robot according to claim 5, characterized in that: Between the active track wheel (115) and the driven track wheel (119), there is a pressure wheel (116) mounted on the side plate (113), and the pressure wheel (116) is always in contact with the track (114).

7. The airborne ground mobile sampling robot according to claim 1, characterized in that: The rotating robotic arm (21) includes a rotating joint module A (24) and a rotating joint module B (25) that are parallel to each other. The rotating joint module A (24) is fixed on the mounting base (23). The rotating joint module B (25) is connected to the output end of the rotating joint module A (24). The output end of the rotating joint module B (25) is connected to the sampling housing (222). Both the rotating joint module A (24) and the rotating joint module B (25) rotate and output.

8. The airborne ground mobile sampling robot according to claim 1, characterized in that: The box (12) is a flat cuboid shape.

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