Sampling device for mobile manipulation

Abstract

Sampling device (100) for use in mobile manipulation, comprising - a container (2) with a container opening (2.2), - a sampling unit (1) with a sampler (1.5) and a closure element (1.6) for closing the container opening (2.2) and - a container support (3), wherein - the closure element (1.6) has a conical element (1.4) designed for insertion into the container opening (2.2), wherein the sampler (1.5) is attached to the conical element (1.4), - the locking element (1.6) has a first magnetic component (1.2) and the container (2) has a second magnetic component (2.1) which generate a first attractive magnetic force between each other and - the container (2) has a third magnetic component (2.4) and the container holder (3) has a fourth magnetic component (3.2) which generate a second attractive magnetic force between each other, wherein the container (2) can be fixed to the container holder (3).

Description

[0001] The invention relates to a sampling device for use in mobile manipulation.

[0002] Mobile manipulators, which typically feature a self-propelled base or chassis and at least one gripper arm, are used by, for example, bomb disposal teams, fire departments, the armed forces, and police to avoid endangering people during operations in potentially dangerous areas. To do so, these manipulators must be capable of operating in impassable and / or unfamiliar terrain, where the high levels of repeatability typically achievable in industrial environments, such as manufacturing, are not available. Furthermore, such manipulators are often equipped with grippers that are intended to be as universally applicable as possible and are not designed for handling specific tools.

[0003] In some such applications, not only measurement values ​​must be collected, but samples must also be taken, returned, and analyzed. For this purpose, a suitable sampler must be handled by the manipulator without human intervention. For example, a wipe sampler must be moved over a surface, and then the sampler and sample must be inserted into a container for holding and storing the sampler and sample. This results in specific requirements for the sampler and container. Conventional sampling devices intended for human use cannot be used here.

[0004] Sampling devices are known from the prior art which comprise a vessel and a sampler, for example a spoon, which is attached to a vessel closure or lid. The sampler is inserted into the vessel after use and remains in the vessel after the vessel has been closed by the vessel closure. The document US 5 149 506 A describes such a sampling device. Screw caps with a thread or bayonet caps are used as closures for such sampling devices. Screw caps and bayonet caps are disadvantageous for use in mobile manipulation because they require precise positioning of the closure on the vessel in order to close it, for example to prevent it from jamming. Such precise positioning is difficult or even impossible to ensure, particularly when used in difficult terrain.Furthermore, closing requires a twisting motion, which is also undesirable. Furthermore, over the lifetime of such a closure, the thread or bayonet will wear out, making permanent sealing difficult or even impossible.

[0005] Another closure that is easier to handle is disclosed in DE 42 34 558 A1. There, a truncated cone-shaped plug is magnetically fixed to a complementary opening of a sample container by incorporating permanent magnets or iron inlets into the plug and the container.

[0006] The document DE 200 17 462 U1 shows a transport container for sample carriers - in particular for titer plates - with a base body with opposing horizontal side walls, supports provided on the side walls for receiving sample carriers in a horizontal position between the side walls and a closure part arranged between the side walls to prevent sample carriers from falling out.

[0007] Document DE 10 2013 012 020 A1 relates to a centering mechanism for precisely attaching a rotationally symmetrical container to a support surface. A first element is arranged in the center of the outer surface of the container, which is to be aligned with the support surface, and a second element is arranged at or below the support surface. One of the elements is a magnet, and the other element is made of a ferromagnetic material or is another magnet. After the container is attached to the support surface, the first and second elements are positioned opposite each other without contact.

[0008] From the utility model DE 20 2017 004 878 U1, a closure, in particular for a tubular container, is known which is characterized by the interaction of the following components: a) In the closure / lid there are two or more axially guided magnets which repel each other in such a way that they can lock into a circumferential inner groove of a container, in particular a round tube. b) Between the lid and the container rim there is an elastic sealing ring which is pressed into the lid by pressure. Once the lid has reached the required immersion depth, the locking magnets described in a) lock into place. The sealing ring is thus held in its pressed and sealing shape. At the same time, it clamps the locking magnets in the groove.c) The locking mechanism can be released by a (key) magnet, which is placed between the repelling locking magnets in such a way that the appropriate magnetic pole draws the locking magnets toward the center of the lid and thus out of the container's groove. The locking magnets are released, as with locking, by briefly pressing the lid / plug.

[0009] DE 18 03 879 U proposes closing a container using a permanent magnet. This can be mounted either inside or outside the container's base. It is also possible to attach it to the lid and position it so that, when the container is closed, it contacts an iron armature. The magnet is preferably designed as a pot magnet, but bar magnets can also be used if they are mounted in an appropriately insulated manner—in the case of iron or tinplate containers.

[0010] Document KR 10 1 753 326 B1 describes an automatic water sampler comprising a main body immersed in water for sampling seawater or freshwater, and containing an inlet and a sampling chamber. It further comprises an opening / closing cap for opening / closing the inlet, a control rod coupled to one side of the main body for reciprocating movement, and a first wire connecting one end to one side of the opening / closing cap and locking the other end to one side of the control rod, opening / closing the inlet through the opening / closing cap while the first wire is released by the control rod.

[0011] AU 2016 325 253 A1 describes a container closure system comprising: a container without a screw thread; a custom wiper seated in the neck of the container; a magnetic ring surrounding the neck of the container; a custom closure comprising a handle, a conical section, a rod, and an application surface depending from the distal end of the rod; and an overshell that fits over the handle and supports a metal ring. The strength of the magnetic ring for the metal ring is sufficient to create a tight seal in two sealing zones: between the conical section of the closure and the beveled surface of the wiper, and between the underside of the handle and the custom sealing lip on the top of the wiper.

[0012] The purpose of the application is to propose a sampling device that is suitable for use in mobile manipulation, for example in NBC hazardous environments and in difficult terrain, which is particularly easy to handle and enables safe taking and transport of even dangerous samples.

[0013] This object is achieved by the features of independent patent claim 1. Advantageous embodiments emerge from the subclaims as well as from the figures and the description.

[0014] The proposed sampling device comprises a sampling unit, a container and a container holder.

[0015] The container has a container opening and the sampling unit has a sampler and a closure element for closing the container opening.

[0016] Furthermore, the closure element comprises a conical element which can be inserted into the container opening.

[0017] The sampler is attached to the conical element.

[0018] The sampling unit also has a first magnetic component, and the container has a second magnetic component. The first and second magnetic components generate a first attractive magnetic force between them.

[0019] The container has a third magnetic component, and the container holder has a fourth magnetic component. The third and fourth magnetic components generate a second attractive magnetic force between them to secure the container to the container holder.

[0020] Such an arrangement enables use by a mobile manipulator. For this purpose, the container holder is preferably attached to the mobile manipulator. For example, the container holder is attached to the base of the mobile manipulator, such as a chassis or a usable surface where additional functional parts can also be provided. This determines the position of the container holder with respect to the mobile manipulator and its components, thus simplifying handling by the mobile manipulator or by a gripper, such as a universal gripper, of the mobile manipulator.The use of the sampling device by the mobile manipulator is also made possible in difficult environments, for example in unfamiliar or impassable terrain, as the conical element acts as an insertion aid and ensures that the sampling unit can be reliably inserted into the container and the closure element securely closes the container, even when placed at an angle. The sampling unit is inserted into the container opening with the sampler first. When the sampling unit is lowered into the interior of a container, the conical element is also inserted into the container opening and acts as an insertion aid, ensuring that the closure element can be correctly positioned on the container opening. This means that the opening is securely closed and the sampler, along with any sample it may contain, can be safely stowed in the container.The design of the sampling unit proposed here also makes it possible to insert the sampling unit or sampler only partially into the container opening and then drop it. The conical element and the first magnetic force ensure that the closure element reliably closes the container opening. For this purpose, the sampler is preferably arranged at a tapered end of the conical element facing away from a base surface of the conical element.

[0021] The described arrangement increases the tolerance in handling the sampling unit, allowing the use of universal grippers, which do not need to be specifically designed for the proposed sampling device. Furthermore, the two magnetic forces enable the mobile manipulator to easily connect and disconnect both the sampling unit and the container, and the container and the container holder. The first magnetic force further simplifies the insertion and correct positioning of the sampling unit in the container and ensures a tight closure of the container opening. The second magnetic force allows the container to be easily and securely fixed to the container holder.In contrast to screw connections or bayonet locks, the magnetic connections do not require any turning or precise positioning of both parts, thus further simplifying handling and increasing tolerance.

[0022] To use the conical element as an insertion aid, the container opening can be circular, for example. The conical element is designed, for example, as a truncated cone and tapers from the base to its tapered end, which can be inserted into the container opening and guides the sampling unit as it is lowered into the container opening and into the interior space below, so that the closure element reaches its intended closing position. The conical element can prevent tilting and enables the sampling unit to be guided even if it is inserted at an angle or from any direction. This is particularly advantageous in difficult terrain and / or when the mobile manipulator is, for example, positioned at an angle. The conical element can also serve as an opening aid, for example by enabling the container to be opened by horizontally moving the sampling unit.

[0023] An inner wall of the cavity adjacent to the container opening or a region of this inner wall, such as a wall surrounding the container opening, can also be conical in shape, complementary to the conical element, but the inner wall can also have a different shape, such as a cylinder. The conical element can serve merely as an insertion aid or, for example, when closed, can be in contact with the wall of the interior of the container or with the wall surrounding the container opening. In designs in which it is in contact with the inner wall, the conical element can also serve to prevent the sampling unit from slipping sideways relative to the container.

[0024] The first attractive magnetic force acts between the sampling unit and the container as a closure force to close the container opening. This magnetic closure force eliminates the need for an additional closure mechanism, such as a screw cap or bayonet lock. This eliminates the need for a rotating movement for closure. Furthermore, the magnetic closure is resistant to mechanical wear and vibration.

[0025] To close the container, the closure element is pressed against the container opening by the first magnetic force. The first magnetic component can, for example, form a lid, be part of a lid, or be contained within a lid.

[0026] The first magnetic component can be designed as a ring magnet which is arranged at the end of the base surface of the conical element.

[0027] In one embodiment, the first and second magnetic components lie flat against one another. In this embodiment, secure closure of the container can be ensured even if the closure element is not positioned concentrically on the container opening. Rather, the closure element can securely close the container opening even if it is placed slightly offset or displaced. Preferably, however, the sampling unit and the closure element are guided to their intended position by the conical element. Precise positioning simplifies handling by a mobile manipulator.

[0028] The closure element and / or the container can have a seal for gas- and / or liquid-tight closure of the container. An annular seal can, for example, be arranged beneath the first magnetic component, which is designed as a ring magnet, and lie flat against the ring magnet. A flat seal is simpler, safer, and more durable than a seal that is, for example, conical and arranged on the conical element.

[0029] The second magnetic component can, for example, be a component provided separately on the container, such as a plate or an insert. However, the second magnetic component can also be the container itself or a part of the container, for example, if the container is made of a ferromagnetic material and additional attachment of another component to create a magnetic force as described above is not necessary.

[0030] The second attractive magnetic force between the container and the container holder serves to fix the container in or on the container holder. As in the case of the first and second magnetic components, the third and fourth magnetic components generating the second magnetic force can be provided separately and attached to the container or the container holder, or they can be the container or the container holder itself or parts thereof. In particular, the second and third magnetic components can be the container itself, or an upper and a lower part of the container, each of which is configured to be able to magnetically interact with the first and fourth magnetic components.

[0031] The container holder can, for example, have an opening into which the container can be inserted. The opening can, for example, be round. The container holder can then have the shape of a hollow cylinder. The container can have a cylindrical part that is designed to be inserted into the round opening of the container holder, so that the container can be rotated at least while it is being inserted or pushed into the opening. The opening in the container holder and the part of the container intended for insertion into the opening can, however, also have a different shape. For the sampling device presented here to function, it is not necessary for the container and the container holder to fit together exactly.For example, the container may have smaller dimensions than the opening of the container holder, so that at least the container that is only partially inserted into the opening of the container holder can be rotated in order to achieve a higher tolerance when inserting the container into the opening of the container holder.

[0032] In one embodiment, the first and / or second magnetic component are designed as permanent magnets, and the third and / or fourth magnetic component are designed as permanent magnets. Magnetic components not designed as permanent magnets can then be formed from a ferromagnetic material. It is also conceivable to use electromagnets instead of permanent magnets. Electromagnets are a possible alternative, particularly for establishing the second magnetic force between the container holder and the container, so that in some embodiments, the fourth magnetic component, in particular, is designed as an electromagnet.In some designs, this allows, for example, the second magnetic force to be switched on and off as required and can further simplify the handling of the sampling device shown, for example when the container is to be removed from the container holder by the mobile manipulator.

[0033] In one embodiment, the first and fourth magnetic components are permanent magnets and the second and third magnetic components are ferromagnetic surfaces of the container, for example made of iron.

[0034] In one embodiment of the sampling device, the first attractive magnetic force is weaker than the second attractive magnetic force. This configuration simplifies handling of the sampling device by the mobile manipulator, since pulling on the sampling unit separates it from the container, but the container does not separate from the holder.

[0035] In one embodiment, identical components are used to generate the first magnetic force and the second magnetic force. For example, a ferrite ring magnet and a ferromagnetic support, which are identical ferrite ring magnets, can be provided to generate each of the magnetic forces. A spacer between the first and second magnetic components can then ensure that the first magnetic force is weaker than the second magnetic force if no spacer or a thinner spacer is provided between the third and fourth magnetic components. In a preferred embodiment, the seal, which can be designed as a sealing ring, acts as a spacer between the first and second magnetic components.The fourth magnetic component can, for example, also be a base plate of the container holder or part of a base plate of the container holder.

[0036] The fourth magnetic component can also be integrated into a base plate of the container holder. Such a design or arrangement of the fourth magnetic component can, for example, ensure that the second magnetic force is at its maximum when the container is fully inserted into the container holder.

[0037] The container and the container holder can have complementary structures that can enable positioning of the container in the container holder and / or removal of the container. The container can have first structures, and the container holder can have second structures that are complementary to the first structures. The first structures and the second structures can interlock or snap into each other, preventing rotation of the fully inserted container relative to the container holder.

[0038] The complementary structures determine the position of the inserted container relative to the container holder. If the container holder is itself attached to the mobile manipulator, for example, to a base or chassis of the mobile manipulator, the position of the container relative to the mobile manipulator is also determined. This results in improved handling of the container. By firmly defining the positioning of the container in the holder and thus relative to a base or chassis of the mobile manipulator, the container can be gripped and manipulated reliably and with good repeatability by the universal gripper of the mobile manipulator.

[0039] The first and / or second structures can have a shape with elevations and / or depressions, for example, a wave or zigzag shape, at least in some regions. The structures can then interlock by the first and / or second structures sliding into the depressions of the other structures when the container is inserted, so that the structures fully interlock. In one embodiment, the distance between the third magnetic component and the fourth magnetic component is minimal, and the second magnetic force is thus maximal, when the structures fully interlock.

[0040] If the structures do not interlock, for example, if the container is not in its fully inserted position, the container is preferably rotatable and / or movable within the container holder, allowing the container to rotate or slide into a designated end position upon insertion. This ensures that even a twisted or tilted container reliably reaches the designated end position.

[0041] Preferably, the container can be removed simply by pulling. Particularly if the container is to be removed by the universal gripper of the mobile manipulator, a design that allows the container to be separated from the container holder simply by pulling is advantageous. In one embodiment, the second magnetic force is preferably so strong that the connection it creates between the container and the container holder can just barely be separated by pulling on the mobile manipulator.

[0042] The described embodiment also enables the container to be removed or replaced using the complementary structures in the following way: If the fully inserted container is rotated in the opening of the container holder relative to the container holder, the interlocking structures are released from one another by the structures of the container or the container holder sliding out of the recesses and onto the elevations of the other structures. The container is thereby lifted and the distance between the third magnetic component of the container and the fourth magnetic component of the container holder increases and the second magnetic force becomes weaker. For this functionality, it is necessary that the container can be rotated in the container holder as described above, as long as the structures are not fully interlocked.Removing the container in this way can be helpful when the container is to be removed by people, but such removal can also be carried out by the universal gripper of the mobile manipulator.

[0043] The container can have one or more support surfaces as first structures. The one or more support surfaces are surfaces facing downward, i.e., in the direction opposite the container opening. The one or more support surfaces are designed as first structures to come into contact with the container holder or with structures of the container holder that are complementary to the support surfaces when the container is placed on the container holder.

[0044] For example, the container can have an upper part that is, for example, cube-shaped or cuboid-shaped. The support surface or surfaces can be the lower surface of this upper part. A cuboid-shaped or cube-shaped design of the upper part has the advantage that the part can be easily gripped and / or rotated by the mobile manipulator. Surfaces of the upper cuboid-shaped or cube-shaped part then represent gripping surfaces that can be gripped by the universal gripper of the mobile manipulator, for example, to remove the container. The correct positioning of the gripping surfaces is achieved by the complementary structures described above, so that the universal gripper can grip the gripping surfaces particularly reliably.

[0045] A lower part may be located below the upper part. The lower part may, for example, be the cylindrical part described above, which is designed to be inserted into the container holder. For example, a volume for accommodating the sampler and the sample may extend within an interior of the upper and lower parts.

[0046] An upper edge of the container holder can have elevations and depressions as structures complementary to the support surfaces of the container. The elevations can, for example, be wave-shaped or zigzag-shaped and are provided at least in regions on the upper edge of the container holder. The one or more support surfaces of the container can be designed to be positioned in the depressions of the upper edge. For this purpose, the depressions are, for example, flattened. The second magnetic force between the container and the container holder, for example between the container and the base plate of the container holder, acts at least when the one or more support surfaces are located in the flattened depressions, i.e., when the container is fixed in the holder.Slipping of the fully inserted container can be prevented by positioning the support surfaces in the flattened recesses and / or by the second magnetic force and / or by precisely fitting the container into the container holder. Correct positioning is therefore preferably not achieved by the lower, preferably cylindrical, part of the container and the opening of the container holder, but rather solely by the mutually complementary structures. As mentioned, the lower part preferably has smaller dimensions than the container holder to simplify insertion of the container into the container holder; fixation is then achieved solely by the first and second structures and / or by the second magnetic force.

[0047] Instead of support surfaces, the container can also have projections or pins as first structures that fit into corresponding recesses in the container holder, for example, the upper edge of the container holder. Conversely, pins or projections can be provided as second structures on the container holder, and elevations and recesses on the container.

[0048] The sampler of the sampling device can, for example, be designed as a wipe sampler or comprise a wipe sampler. However, other types of samplers are also possible, such as spatulas, spoons, scoops, scrapers, tweezers, drills, or pipettes, as well as devices for taking soil samples. The sampler is preferably arranged at the tapered end of the conical element. In advantageous embodiments, the samplers can be operated by the universal gripper of the mobile manipulator. In some embodiments, the mobile manipulator can, in addition to the universal gripper, also comprise a second arm or gripper specially designed for handling a complex sampler, such as a drill. In the latter case, one arm or gripper can then be used to handle the sampling unit and one arm or gripper to handle the container.

[0049] The sampling unit can have a handle on the side of the closure element facing away from the conical element. This handle is preferably designed so that it can be handled by a mobile manipulator. For this purpose, the handle preferably has at least two opposing gripping surfaces with borders. In one embodiment, the handle is essentially cuboid-shaped, so that it has four gripping surfaces, two of which are arranged opposite one another in pairs. Each of the gripping surfaces preferably has a border. The gripping surfaces can be gripped by a universal gripper, and the border prevents lateral slipping or slipping out upwards or downwards in relation to the universal gripper. This allows the sampling unit to be securely gripped and moved by the universal gripper. The gripping surfaces orThe size and shape of the edges of the gripping surfaces can be adapted to the gripping jaws of the universal gripper so that the gripping jaws fit as precisely as possible into the edge and onto the gripping surfaces, whereby the size and design of the gripping surfaces and the edge preferably ensure that there is an error tolerance against inaccurate gripping. The edge preferably does not form a right angle to the gripping surface, but is designed at an angle to the gripping surface, for example in a funnel shape. This enables the universal gripper to grip the sampling unit regardless of how the sampling unit is arranged or positioned on the container. If the universal gripper grips the handle of the sampling unit, the sampling unit slides into a stable position relative to the gripping jaws of the universal gripper, guided by the beveled edges of the gripping surfaces.This function is supported by the exclusively magnetic connection between the container and the sampling unit, since the magnetic connection, in contrast to a bayonet lock, for example, allows the sampling unit attached to the container to tilt during gripping.

[0050] The sampling unit may further comprise buttons, levers or other operating elements for operating the sampler, for example tweezers, by the mobile manipulator.

[0051] The application also relates to a system comprising a mobile manipulator with one or more grippers or arms and a sampling device as described above.

[0052] In such a system, the container holder is attached to the mobile manipulator, preferably to the base, for example, the chassis or the work surface of the mobile manipulator. For this purpose, the container holder can have holes, for example in the base plate, for the insertion of fastening devices, so that the container holder can be screwed to the work surface or the chassis, for example. Other fastening mechanisms, such as plug-in connections, but also welding or gluing, are also conceivable in principle.

[0053] According to the application, the sampling device described here can be operated by the one or more grippers or arms of the mobile manipulator.

[0054] The mobile manipulator can take samples using the sampling device described here, for example in difficult terrain and in NBC hazardous areas.

[0055] The handling of the sampler and the removal or replacement of the container can be carried out using the universal gripper of the mobile manipulator.

[0056] Exemplary embodiments of the proposed sampling device are shown in the drawings and are described in more detail below.

[0057] They show: Fig. 1 a mobile manipulator with a sampling device attached to it, Fig. 2 a sampling device in a view obliquely from above with a sampling unit and a container positioned in a container holder and Fig. 3 the sampling device Fig. 2 in a view from below, and Fig. 4 a construction of the handle of the sampler in a view obliquely from above.

[0058] Fig. 1 shows a mobile manipulator A to which a sampling device 100 is attached. The mobile manipulator A has a gripper arm B equipped with a universal gripper C. The gripper arm B is rotatably mounted on a base that is self-propelled. The base, in turn, comprises a chassis D and a tracked drive E, as well as a working surface F. The working surface F represents a portion of an upper surface of the base, to which the gripper arm B is also mounted. The sampling device 100 is screwed onto this working surface F.

[0059] The gripper arm B has multiple joints, thus achieving the greatest possible degree of freedom of movement. This allows the universal gripper C mounted on the gripper arm B to easily reach areas in the vicinity of the mobile manipulator A, as well as areas of the base. In particular, the usable surface F can be easily reached by the gripper C, so that objects located there, in particular the sampling device 100, can be reliably manipulated by the universal gripper C.

[0060] The universal gripper C is designed like a pair of pliers and comprises two opposing gripping jaws C.1, which can be used in a variety of ways. Using the gripper C or its gripping jaws, objects can be gripped and various tasks can be performed. Furthermore, the sampling device 100 can also be used, as described in connection with the Fig. 2 to 4 below. The sampling device 100 is thus designed so that a universal gripper C as shown here, which has no additional special features, can handle it.

[0061] In some embodiments, several sampling devices 100 of the same or different design are provided on the mobile manipulator, for example next to each other on the usable area F, so that, for example, several samples can be taken during one operation.

[0062] In other embodiments, the sampling devices 100 can also be designed to be screwed laterally to the mobile manipulator 100, for example to the chassis D.

[0063] The depicted design as a tracked vehicle is typical for use in rough terrain or hazardous areas, but other drive systems, such as wheels, particularly with independent wheel suspension, and even legs, are also used and can also be used in the context of the present invention. Likewise, in other embodiments, the mobile manipulator A can comprise several arms B, which can be of the same or different designs and can at least partially have additional functions or special tools.

[0064] In the Fig. 2 and Fig. 3 shows a possible embodiment of a sampling device 100. In the following description of the figures, reference is made to both figures, with some components in the Fig. 2 and others in the Fig. 3 are easier to recognize.

[0065] The sampling device 100 comprises a sampling unit 1, a container 2 and a container holder 3.

[0066] The sampling unit 1 comprises a closure element 1.6, a handle 1.1 attached to the closure element 1.6, and a sampler 1.5. The closure element has a conical element 1.4 in the shape of a truncated cone, with the sampler 1.5 designed as a wipe sampler being attached to the tapered end of the truncated cone. Connected to the end of the base surface of the conical element 1.4 are a first magnetic component 1.2 designed as a ring magnet and a handle 1.1 suitable for handling by the gripper C of the mobile manipulator A. An annular seal 1.3 is arranged below the ring magnet or the first magnetic component 1.2, i.e. facing the sampler 1.5.

[0067] The container 2 for accommodating the sampling unit 1 is provided with a container opening 2.2 into which the sampling unit 1 can be inserted and which can be closed by means of the closure element 1.6 of the sampling unit 1. On an upper side of the container 2 facing the closure element 1.6, in which the container opening is located, a ferromagnetic plate is attached. This plate represents a second magnetic component 2.1 and can magnetically interact with the first magnetic component 1.2 to create an attractive first magnetic force that serves as a closing force. In the example shown, the ferromagnetic plate has four holes into which screws, for example, are inserted to fasten the plate to the container 2. However, the ferromagnetic plate can also be fastened by means other than screws. In the closed state, the first magnetic component 1 lies.2 lies flat on the second magnetic component 2.1, i.e. on the ferromagnetic plate, with the seal 1.3 designed as a sealing ring being located between the ring magnet 1.2 and the plate 2.1.

[0068] The container 2 has a two-part outer shape. An upper part 2.6 of the container 2 is cuboid-shaped, and a lower part 2.5 of the container 2 is cylindrical. A third magnetic component 2.4 is provided at the bottom of the lower part 2.5, which is designed as a round ferromagnetic plate that closes off the cylindrical lower part 2.5 at the bottom.

[0069] In the illustrated embodiment, one side length of the cuboid upper part 2.6 corresponds to the diameter of the cylindrical lower part 2.5. As a result, the corners of the upper part 2.6 project beyond the cylindrical lower part 2.6 in a contact plane where the upper part 2.6 and the lower part 2.5 are joined. The projecting corners of the upper part 2.6 thus form a support surface 2.3, which is referred to as the first structure in the claims.

[0070] The container holder 3 is essentially designed as a hollow cylinder closed on one side, which is delimited at the bottom by a base plate 3.3. The base plate 3.3 comprises a fourth magnetic component 3.2, which is designed to enter into magnetic interaction with the third magnetic component 2.4 and to generate a second attractive magnetic force. In the embodiment shown, the fourth magnetic component 3.2 is a ring magnet integrated into the base plate of the container holder. This is preferably the same ring magnet as the first magnetic component 1.2. Furthermore, four fastening holes 3.4 are made in the base plate 3.3, which allow the container holder 3 to be screwed to the mobile manipulator A, in particular to its usable surface F. An upper edge 3.1 at the open end of the container holder 3 has wave-shaped elevations 3.1.1 and flattened depressions 3.1 as second structures.2, whereby the corners or the support surface 2.3 of the upper part 2.6 of the container 2 come to rest in the flattened recesses 3.1.2 between the wave-shaped elevations 3.1.1 when the container 2 is inserted into the container holder 3. When the container 2 is inserted into the container holder 3, or when the lower part 2.5 of the container 2 is inserted into the container holder 3, the support surfaces slide into the flattened recesses 3.1.2 of the upper edge 3.1 of the container holder due to the wave shape of the upper edge 3.1. This makes it possible to reproducibly position the container 2 in the container holder 3 in the correct position. By means of a fixed positioning within the container holder 3, it is possible to increase the repeatability of gripping the container 2, in particular in an automatic process carried out by a mobile manipulator.

[0071] To use the sampling device, the container 2 can be used, for example as shown in Fig. 1, be positioned in the container holder 3 attached to the mobile manipulator A. Using the universal gripper C of the mobile manipulator A, the sampling unit 1 can be grasped by its handle 1.1 and the wipe sampler 1.5 can be guided over a surface to be examined. In other embodiments, other samplers 1.5 can also be used.

[0072] After taking a sample using sampler 1.5, the sample should be safely stowed in container 2 for transport. For this purpose, sampler 1.5, on which the sample is located, is inserted from above into the container opening 2.2, which in this case is circular. The conical element 1.4 serves as an insertion aid by guiding the sampling unit 1 centrally or approximately centrally over the container opening 2.2 as the sampling unit 1 is lowered into the container opening 2.2. The sampling unit 1 can be lowered until the support surface under the ring magnet makes contact with the container 2 and seals it via the seal 1.3. However, it is also possible to insert the sampling unit 1 not until the closure element 1.6 makes contact with the container 2, but rather to insert the sampling unit 1 or sampler 1.5 only partially, for example, only 1 to 2 cm, into the container opening 2.2 and release. Due to its weight and the conical shape of the conical element 1.4, the sampling unit 1 automatically falls or slides into its intended position and closes the container by means of the closure element 1.6. In the embodiment shown, this is facilitated by the fact that the center of gravity of the sampling unit 1 is low due to the ring magnet, which represents the first magnetic component 1.2 and is heavy relative to the handle 1.1. This further simplifies the handling of the sampling device 100 and optimizes it for mobile manipulation.

[0073] The ring magnet, the first magnetic component 1.2, and the seal 1.3 can be placed flat on the upper surface of the container 2, formed as the second magnetic component 2.1. The first magnetic force between the first magnetic component 1.2 and the second magnetic component 2.1 creates a closing force that enables safe transport, for example, of hazardous samples. The seal 1.3 ensures a gas- and / or liquid-tight closure of the container opening 2.2.

[0074] During sampling, the container 2 rests in the container holder 3 provided for it. The cylindrical lower part 2.5 of the container holder 3 is inserted into the cavity of the container holder 3. The support surface 2.3 or the corners of the container lie on the flattened recesses 3.1.2. This prevents the container 2 from accidentally slipping or turning when inserted in this way. The distance between the third magnetic component 2.4, i.e. the base which closes off the cylindrical lower part 2.5 of the container 2, and the fourth magnetic component 3.2, which in this case is the ring magnet integrated into the base plate 3.3 of the container holder 3, should be as small as possible so that the second magnetic force for fixing the container 2 in the container holder 3 is maximum. In one embodiment, the third magnetic component 2.4 and the fourth magnetic component 3.2 Contact when the container 2 is fully inserted into the holder.

[0075] The cuboidal design of the upper part 2.5 of the container 2 enables gripping and manipulating the container 2, for example, by means of the universal gripper C of the mobile manipulator A. Opposite sides of the container 2 represent gripping surfaces that can be gripped by the universal gripper C. Preferably, the container 2 can be separated from the container holder 3 by pulling it using the universal gripper C.

[0076] It is also possible to separate the container 2 from the container holder 3 by rotating it. If the container 2 is rotated relative to the container holder 3, the support surface 2.3 of the container 2 slides out of the flattened recesses 3.1.2 and onto the elevations 3.1.1 of the upper edge 3.1 of the container holder 3, and the container is lifted. The distance between the third magnetic component 2.4 and the fourth magnetic component 3.2 thereby increases, and the container 2 can be removed from the container holder 3. The connection between the container 2 and the container holder 3 can be separated by the described rotating or pulling movement, and the container 2 can be removed.

[0077] The second magnetic force is preferably greater than the first magnetic force between sampling unit 1 and container 2. This enables opening and closing of the container as well as handling of the sampling unit 1 by the mobile manipulator A, whereby the container 2 remains securely in the container holder 3.

[0078] In the Fig. 2 and Fig. In the example shown in Figure 3, this is achieved by using two identical ring magnets as the first magnetic component 1.2 and as the fourth magnetic component 3.2, and by using the seal 1.3 as a spacer between the first and second magnetic components 1.2, 2.1 in order to reduce the first magnetic force by the additional distance compared to the second magnetic force.

[0079] Fig. Figure 4 shows an enlarged view of the handle 1.1 of the sampling unit 1. It is cuboid-shaped and has four gripping surfaces 1.1.1, each of which is arranged in pairs opposite one another. Each of the gripping surfaces 1.1.1 has a border 1.1.2 that is formed at an angle to the respective gripping surface 1.1.1. Two opposing gripping surfaces 1.1.1 can be gripped by the universal gripper C of the mobile manipulator A. During a gripping action, the respective borders 1.1.2 ensure that the universal gripper C and the gripping surfaces 1.1.1 are correctly aligned to enable gripping. When gripping, the sampling unit 1, guided by the bevelled edges 1.1.2 of the gripping surfaces 1.1.1, slides into a stable position in relation to the universal gripper C, so that the gripping jaws C.1 of the universal gripper C come into contact with the gripping surfaces 1.1.1 within the edges 1.1.2. Preferably, the Fig. 1 trained universal gripper C the handle 1.1 from above.

[0080] If the universal gripper C has gripped the handle 1.1 accordingly, the borders 1.1.2 prevent the handle 1.1 from slipping relative to the universal gripper C or the gripping jaws C.1 from slipping off the gripping surfaces 1.1.1. List of reference symbols 100 sampling device 1 sampling unit 1.1 Handle 1.1.1 Gripping surface of the handle 1.1.2 Border of the gripping surface 1.2 First magnetic component 1.3 Seal 1.4 Conical element 1.5 Sampler 1.6 Closure element 2 containers 2.1 Second magnetic component 2.2 Container opening 2.3 Support surface 2.4 Third magnetic component 2.5 Lower part 2.6 Upper part 3 Container holder 3.1 Top edge of the container holder 3.1.1 Raising the upper edge 3.1.2 Flattened recess of the upper edge 3.2 Fourth magnetic component 3.3 Base plate 3.4 Mounting holes A Mobile Manipulator B gripper arm C Universal gripper C.1 Gripping jaws D chassis E crawler track F Usable area

Claims

[1] Sampling device (100) for use in mobile manipulation, comprising - a container (2) with a container opening (2.2), - a sampling unit (1) with a sampler (1.5) and a closure element (1.6) for closing the container opening (2.2) and - a container holder (3), wherein - the closure element (1.6) comprises a conical element (1.4) adapted to be inserted into the container opening (2.2), the sampler (1.5) being attached to the conical element (1.4), - the closure element (1.6) has a first magnetic component (1.2) and the container (2) has a second magnetic component (2.1), which generate a first attractive magnetic force between each other and - the container (2) has a third magnetic component (2.4) and the container holder (3) has a fourth magnetic component (3.2), which generate a second attractive magnetic force between each other, wherein the container (2) can be fixed to the container holder (3). [2] Sampling device (100) according to claim 1, characterized by that the first attractive magnetic force is weaker than the second attractive magnetic force. [3] Sampling device (100) according to one of the preceding claims, characterized by that the first magnetic component (1.2) and / or the second magnetic component (2.1) are designed as permanent magnets and the third magnetic component (2.4) and / or the fourth magnetic component (3.2) are designed as permanent magnets or electromagnets. [4] Sampling device (100) according to one of the preceding claims, characterized by that the container opening (2.2) is circular. [5] Sampling device (100) according to one of the preceding claims, characterized by that the closure element (1.6) has a seal (1.3) for gas-tight and / or liquid-tight closure of the container (2). [6] Sampling device (100) according to one of the preceding claims, characterized by that the first magnetic component (1.2) is designed as a ring magnet, which is preferably arranged at the end of the base surface of the conical element (1.4). [7] Sampling device (100) according to one of the preceding claims, characterized by that the container holder (3) has an opening and a cavity for inserting and receiving at least part of the container (2). [8] Sampling device (100) according to one of the preceding claims, characterized bythat an upper part (2.6) of the container (2) is cuboid or cube-shaped and / or a lower part (2.5) of the container (2) is cylindrical, wherein the lower part of the container (2) can be inserted into the opening of the container holder (3). [9] Sampling device (100) according to one of the preceding claims, characterized by that the fourth magnetic component (3.2) is a base plate (3.3) of the container holder (3) or is part of a base plate (3.3) of the container holder (3) or is integrated into a base plate (3.3) of the container holder (3). [10] Sampling device (100) according to one of the preceding claims, characterized by that the container (2) has first structures (2.3) and the container holder (3) has second structures (3.1.1, 3.1.2) complementary to the first structures (2.3), wherein the first structures (2.3) and the second structures (3.1.1, 3.1.2) are designed to engage with one another. [11] Sampling device (100) according to claim 10, characterized by that the first structures (2.3) and / or the second structures (3.1.1, 3.1.2) have depressions and / or have a wave or zigzag shape at least in some areas. [12] Sampling device (100) according to one of claims 10 or 11, characterized by that the first structures (2.3) are designed as one or more support surfaces (2.3) and / or the second structures (3.1.1, 3.1.2) are designed as elevations (3.1.1) and depressions (3.1.2) of an upper edge (3.1) of the container holder (3). [13] Sampling device (100) according to one of the preceding claims, characterized by that the sampler (1.5) is connected to the closure element (1.6) and is selected at least from a wipe sampler, a spatula, a spoon, a scoop, a scraper, tweezers, a drill and a pipette or a combination thereof. [14] Sampling device (100) according to one of the preceding claims, characterized by that the sampling unit (1) has a handle (1.1) on the side of the closure element (1.6) facing away from the conical element (1.3). [15] System comprising a mobile manipulator (A) and a sampling device (100) according to any one of the preceding claims. [16] System according to claim 15, wherein the container holder (3) is attached to a usable surface (F) or to a chassis (D) of the mobile manipulator (A).

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