CN112045657A

CN112045657A - A robot for wetland mud appearance is gathered

Info

Publication number: CN112045657A
Application number: CN202011021423.3A
Authority: CN
Inventors: 高奇石; 丁涛; 汪超强
Original assignee: China Jiliang University
Current assignee: China Jiliang University
Priority date: 2020-09-25
Filing date: 2020-09-25
Publication date: 2020-12-08

Abstract

The invention provides a robot for collecting wetland mud samples, which can be used for collecting mud and soil of estuary wetland. The device is characterized by comprising a base, a bucket, a motor, a storage box and a floating box. The base is provided with a fixed seat, two collecting boxes can be placed in the base, and the bottom of each collecting box is provided with an L-shaped bent pipe which can be taken out of the fixed seat through a tool; the motor is installed to the fixing base side, and motor drive baffle rotates, and after a sample collection completed, this collection box will be covered to the baffle, prevents that the sample from being contaminated. Two mechanical arms are installed on the fixing seat and connected with the bucket, and the collection action is realized through the cooperation of the two motors. The connecting seat is installed to the base side, is equipped with action wheel and supporting wheel on the connecting seat, and the motor drives the action wheel and makes the track of robot remove. The lower part of the base is provided with a telescopic floating box, and when tide rises, the floating box extends downwards to enable the robot to float on the water surface. The robot is equipped with front and back camera, and operating personnel observes the surrounding situation through the video.

Description

A robot for wetland mud appearance is gathered

Technical Field

The invention belongs to the technical field of robot equipment, and relates to a wetland mud sample collection robot.

Technical Field

When the wetland gathered earth sample adopted traditional artificial mode, had a great deal of inconvenience: the silt of wetland hinders people's motion, and can rise tide at any time, and the environment is comparatively abominable. This robot fungible manual work goes to the wetland depths and carries out the mud appearance and gather, and through operator's remote control, the robot can go to two different positions of department and gather the sample respectively.

Disclosure of Invention

In order to solve the problems, the invention provides a wetland mud sample collection robot which replaces manual work to collect mud samples.

The invention adopts the following technical scheme:

the utility model provides a robot for wetland earth is gathered which characterized in that: including base, control panel, battery, fixing base, bin A, the baffle, bin B, the arm, the scraper bowl, motor A, motor B, motor C, the supporting wheel, the track, the action wheel floats the case, camera A, the connecting seat, motor D, motor E, the connecting rod, camera B.

In order to collect a plurality of samples, a fixed seat is arranged on the base, the front part and the rear part of the fixed seat can be respectively placed into the storage box A and the storage box B, an L-shaped bent pipe is welded inside the storage box, and the whole storage box can be conveniently taken out through the bent pipe; the fixing base side-mounting has motor C, and the motor is connected with the baffle, and its effect covers bin B for when first earth sample gathers, through motor upset baffle after finishing gathering, covers bin A and prevents that it from receiving the pollution, until returning.

In order to realize automatic excavation, two mechanical arms are mounted on the fixed seat, and the mechanical arms are driven to rotate by a motor B. The mechanical arm is provided with a bucket and a motor, and the bucket is rotated by the motor A on the mechanical arm to realize the digging action. The programs of the digging action and the recycling action are stored in the single chip microcomputer of the control panel, after an operator sends an instruction, the bucket and the mechanical arm can act according to a preset program, and the two motors can cooperate with each other to rotate by a preset angle in each action, so that the mud sample can be collected and recycled. If special conditions are encountered, the operator can switch to a manual mode of operation to control the digging action.

In order to realize the motion under the complicated topography, install action wheel, motor D and supporting wheel on the connecting seat, the action wheel passes through motor D and realizes rotating, drives the track and rotates to make the removal of robot on the wetland. Two connecting rods are installed below the base, and the other side of each connecting rod is connected with the floating box through a pin. When the tide rises, the ground personnel give an instruction to the robot, the motor drives the other end of the connecting rod to rotate downwards when rotating, and the floating box moves downwards along with the rotation of the connecting rod, so that the robot can float on the water surface.

Has the advantages that: the manual mud sample collection is inconvenient and unsafe, and the invention provides the wetland mud sample collection robot which is used for replacing manual collection operation and improving the collection efficiency.

Drawings

Fig. 1 is a main structural schematic diagram of a wetland sludge sample collection robot in the embodiment of the invention.

Fig. 2 is a schematic side structure diagram of the wetland sludge sample collection robot in the embodiment of the invention.

In the figure: 1-a base; 2-a control panel; 3-a battery; 4-fixing the base; 5-bin a; 6-a baffle plate; 7-storage tank B; 8, a mechanical arm; 9-a bucket; 10-motor a; 11-motor B; 12-motor C; 13-a support wheel; 14-a track; 15-driving wheel; 16-a floating box; 17-camera a; 18-a connecting socket; 19-motor D; 20-motor E; 21-a connecting rod; 22-camera B.

Fig. 3 is a block diagram of the collecting process of the wetland sludge sample collecting robot in the embodiment of the invention.

Detailed Description

Referring to fig. 3, the wetland sludge sample collection robot provided by the invention has the following specific implementation mode.

The utility model provides a robot for wetland earth is gathered which characterized in that: the automatic control device comprises a base 1, a control panel 2, a battery 3, a fixing seat 4, a storage box A5, a baffle 6, a storage box B7, a mechanical arm 8, a bucket 9, a motor A10, a motor B11, a motor C12, a supporting wheel 13, a crawler 14, a driving wheel 15, a floating box 16, a camera A17, a connecting seat 18, a motor D19, a motor E20, a connecting rod 21 and a camera B22.

Step 1: and the sampling robot is self-calibrated to ensure the normal operation of the acquisition device and the ground control platform.

Step 2: the robot is placed on a wet ground, and ground personnel send motion instructions to the robot through the controller to enable the robot to go to a collection place A. When the site A is collected, excavation is started according to a preset excavation action, the motor A10 and the motor B11 rotate by a specified angle, collected mud samples are conveyed to the upper part of the storage box A through the bucket 9, and the motor A drives the bucket 9 to overturn so as to place the mud samples in the storage box A5.

And step 3: the motor C12 rotates to drive the baffle 6 to rotate, and the baffle covers the storage box A5, so that the samples are prevented from being polluted in the next collection process. The operator continues to give instructions and the trolley proceeds to the next collection site B.

And 4, step 4: when the mining machine arrives at the collecting place B, the mining machine begins to excavate according to the preset excavating action, the motor A10 and the motor B11 rotate by a specified angle, collected mud samples are conveyed to the upper part of the storage box B through the bucket 9, and the motor A10 drives the bucket 9 to overturn so as to place the mud samples in the storage box B7.

And 5: and after the collection is finished, the robot returns to bring back two soil samples.

Step 6: ground personnel monitor the surrounding situation of the robot in real time through the camera A17 and the camera B22 in the operation process, and if the situation meets the flood tide, the floating box 16 is put down.

Claims

1. The utility model provides a robot for wetland earth is gathered which characterized in that: the multifunctional electric vehicle comprises a base (1), a control panel (2), a battery (3), a fixing seat (4), a storage box A (5), a baffle (6), a storage box B (7), a mechanical arm (8), a bucket (9), a motor A (10), a motor B (11), a motor C (12), a supporting wheel (13), a crawler belt (14), a driving wheel (15), a floating box (16), a camera A (17), a connecting seat (18), a motor D (19), a motor E (20), a connecting rod (21) and a camera B (22).

2. The robot for collecting soil in the wetland according to claim 1, wherein the base (1) is provided with a fixed seat (4), the front part and the rear part of the fixed seat (4) can be respectively placed into the storage tank A (5) and the storage tank B (7), an L-shaped bent pipe is welded inside the storage tank, and the whole storage tank can be taken out through the bent pipe; the fixing base side-mounting has motor C (12), and the motor is connected with baffle (6), and its effect covers bin B (7) for when first earth sample gathers, through motor upset baffle (6) after the collection finishes, covers bin A (5) and prevents that it from receiving the pollution.

3. The robot for wetland soil collection according to claim 1, characterized in that two mechanical arms (8) are mounted on the fixed base (4), and the mechanical arms (8) are driven to rotate by a motor B (11); a bucket (9) is installed on the mechanical arm, and the bucket (9) is rotated through a motor A (10) on the mechanical arm (8) to realize excavating action.

4. The robot for collecting soil of the wetland according to claim 1, wherein programs of digging action and recovering action are stored in a single chip microcomputer of the control panel (2), after an operator gives an instruction, the bucket (9) and the mechanical arm (8) can act according to a preset program, and two motors are mutually matched to rotate by a preset angle in each action, so that the collection and recovery of a soil sample are realized.

5. The robot for wetland soil collection according to claim 1, wherein the base (1) is provided with a camera A (17), and the fixed base is provided with a camera B (22) which are used for transmitting real-time images for operators.

6. The robot for wetland soil collection according to claim 1, characterized in that two connecting rods (21) are installed below the base (1), and the other side of the connecting rods (21) is connected with the floating box (16) through pins. When the motor E (20) rotates, the other end of the connecting rod is driven to rotate downwards, the floating box (16) moves downwards along with the rotating rod, and the floating box is lower than the crawler belt walking mechanism, so that the robot can float on the water surface when the rising tide does not reach the return journey.

7. The robot for collecting soil in the wetland according to claim 1, wherein the connecting base (18) is provided with a driving wheel (15), a motor D (19) and a supporting wheel (13), the driving wheel (15) rotates through the motor D (19) to drive the track (14) to rotate, so that the robot moves on the wetland.