CN113109094B - Sampling manipulator for environmental monitoring and use method thereof - Google Patents
Sampling manipulator for environmental monitoring and use method thereof Download PDFInfo
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- CN113109094B CN113109094B CN202110662523.2A CN202110662523A CN113109094B CN 113109094 B CN113109094 B CN 113109094B CN 202110662523 A CN202110662523 A CN 202110662523A CN 113109094 B CN113109094 B CN 113109094B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
- G01N35/0099—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor comprising robots or similar manipulators
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/10—Devices for withdrawing samples in the liquid or fluent state
- G01N1/14—Suction devices, e.g. pumps; Ejector devices
- G01N2001/1418—Depression, aspiration
- G01N2001/1427—Positive displacement, piston, peristaltic
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Abstract
The sampling mechanical arm for environment monitoring comprises a sampling mechanical arm, wherein one end of the sampling mechanical arm is connected with a circulating cleaning type shunt injection mechanism through a suction pump, one side of the circulating cleaning type shunt injection mechanism is provided with a separable sample rack in a matching mode, and the separable sample rack, the circulating cleaning type shunt injection mechanism and the sampling mechanical arm are all arranged on a movable mechanical arm seat. According to the invention, automatic suction sampling can be realized through the matching of the sampling mechanical arm and the suction pump, the sample is injected into the separable sample rack through the circulating cleaning type flow-dividing injection mechanism, the transfer process is carried out in a relatively closed environment, secondary pollution is avoided, the circulating cleaning type flow-dividing injection mechanism has a self-cleaning function, the samples can be prevented from being polluted mutually, the circulating cleaning type flow-dividing injection mechanism can classify the samples and inject the samples into the separable sample rack one by one, the large-batch automatic classified storage of the samples is realized, and the environmental monitoring and sampling work is greatly facilitated.
Description
Technical Field
The invention relates to the technical field of environment monitoring manipulators, in particular to a sampling manipulator for environment monitoring.
Background
The environmental monitoring is a process for observing, measuring and analyzing the change and the influence on the environment of one or more environmental elements or indexes intermittently or continuously by using a method for collecting environmental information and data which can be compared according to the pre-designed time and space for specific purposes; the manipulator is the earliest occurring industrial robot and the earliest occurring modern robot, which can replace the heavy labor of people to realize the mechanization and automation of production, can operate under harmful environment to protect personal safety, and is widely applied to mechanical manufacturing, metallurgy, electronics, light industry, atomic energy and other departments.
In the process of implementing the embodiment of the invention, the inventor finds that at least the following defects exist in the prior art:
first, complicated composition detects must go on in the laboratory, so need the sampling to collect, because water quality environment is changing always, only lasts monitoring timing sampling and can obtain accurate monitoring data, and the current mode is to need the staff to squat for a long time and watch, timing sampling, very consumption time.
Second, in the conventional monitoring device, when a sample is taken, the sample is transported through the same pipeline, and residues in the pipeline can cause mutual contamination among samples at different periods.
Third, in the sampling process of the existing monitoring device, the sample is transferred and exposed to the outside, so that the sample is at risk of being contaminated by a third party.
Fourth, the existing monitoring devices cannot automatically collect and store samples in a large batch classification manner.
Fifthly, the existing monitoring equipment is troublesome to install, inconvenient to move and poor in flexibility.
Disclosure of Invention
The present invention is directed to a sampling manipulator for environmental monitoring and a method for using the same, which solve the problems set forth in the background art.
The technical scheme of the invention is as follows: the utility model provides a sampling manipulator for environmental monitoring, includes the sampling arm, the one end of sampling arm is connected with circulation washing formula reposition of redundant personnel injection mechanism through the suction pump, and one side matching of circulation washing formula reposition of redundant personnel injection mechanism is provided with separable sample frame, and separable sample frame, circulation washing formula reposition of redundant personnel injection mechanism and sampling arm all set up on portable arm seat.
As a further optimization of the technical scheme, the circulation cleaning type shunt injection mechanism comprises a main pipe shaft, a main arm support, an injection tube head and a sliding seat, wherein the middle part of the main pipe shaft penetrates through the side wall of one side of the movable mechanical arm support, one end, away from the separable sample support, of the main pipe shaft is connected with an outlet of a suction pump through an inlet pipe, the other end of the main pipe shaft is fixedly connected with one end of the main arm support, the sliding seat is arranged on the main arm support in a sliding mode, the injection tube head penetrates through the middle of the sliding seat in a sliding mode, one end of the injection tube head is communicated with the main pipe shaft through an input pipe, the outer wall of the injection tube head is fixedly connected with one end of a sliding block, a lead screw penetrates through the middle of the sliding block, one end of the lead screw is connected with a push-pull control motor, the push-pull control motor is fixedly arranged on the L-shaped support, and the L-shaped support is fixedly arranged on one side of the sliding seat;
the middle part cover of being responsible for the axle is equipped with driven gear, and driven gear's one side meshing is connected with the driving gear, and one side of driving gear is connected with main motor.
As the further optimization of the technical scheme, one side of the L-shaped frame is rotatably connected with one end of the rotating rod, the other end of the rotating rod is provided with 2 limiting pulleys and 2 limiting pulleys, a guide track is movably connected between the limiting pulleys and is arranged on one side wall of the movable mechanical arm seat, the guide track is of a spiral structure, a plurality of injection holes are formed in one side wall of the movable mechanical arm seat corresponding to the guide track, and the distribution mode of the injection holes is matched with the structure of the guide track.
As a further optimization of the technical scheme, the middle of the syringe head is separated by two channels along the length direction through a strip-shaped spacer, the two channels are respectively communicated with an input pipe and an output pipe, two channels are arranged in the main pipe shaft and are respectively communicated with the input pipe and the output pipe, the two channels in the main pipe shaft are respectively communicated with a discharge pipe and an inlet pipe through a double-channel rotary joint, a top-opening type automatic valve is arranged in an inner cavity at one end of the syringe head close to the separable sample rack and comprises a top push rod, a return spring, a fixed valve block and a movable valve block, the top push rod is slidably arranged in the middle of the fixed valve block, the peripheral side wall of the fixed valve block is fixedly connected with the inner wall of the syringe head, a circulation hole is formed in the middle of the fixed valve block, and one end of the top push rod close to the strip-shaped spacer is fixedly connected with the movable valve block, the diameter of the movable valve plate is smaller than that of the injection tube head, the structure of the movable valve plate is matched with that of the circulation hole, and the outer wall of the ejector rod is connected with the fixed valve plate through a return spring.
As a further optimization of the technical scheme, the separable sample rack is arranged in a rectangular groove on one side of the movable mechanical arm seat, a threaded pull handle penetrates through the middle of the separable sample rack, one end of the threaded pull handle is connected with a threaded hole in the middle of the rectangular groove, a plurality of clamping grooves are arranged on one side of the separable sample rack, the distribution structures of the clamping grooves correspond to the distribution structures of the injection holes, one end of a sample tank is inserted into the clamping grooves, a piston is slidably arranged in the sample tank, a one-way valve is arranged in the middle of the piston, one side of the piston is connected with one end of a piston rod, the other end of the piston rod penetrates through the side wall of one end of the sample tank and is connected with one end of a screw rod, the other end of the screw rod penetrates through the outer wall of the sample tank, a discharge hole is arranged on the side wall of one end of the sample tank, which is far away from the piston, and a cap is sleeved on the end of the discharge hole;
the check valve comprises a valve casing, a compression spring, a valve ball and a piston, wherein the valve ball is movably arranged in the valve casing, and one side of the valve ball is elastically connected with one end of the valve casing through the compression spring.
As a further optimization of the technical scheme, the sampling mechanical arm comprises a cross arm, a sliding table, a rotary seat, a sampling pipe and a conveying pipe, wherein one end of the cross arm is hinged to a movable mechanical arm seat, one end of the cross arm, which is close to the movable mechanical arm seat, is connected with the outer wall of the movable mechanical arm seat through a folding and unfolding control telescopic cylinder, the sliding table is arranged on the cross arm in a sliding fit manner through a roller, the roller is connected with a movement control motor on the sliding table, a buffer seat plate is arranged on one side of the sliding table, the rotary seat is rotatably connected to one side of the buffer seat plate and is connected with a rotation control motor on the buffer seat plate, the sampling pipe is arranged on the rotary seat in a sliding manner, convex teeth are uniformly distributed on one side of the sampling pipe, a lifting driving gear is meshed with one side of the sampling pipe, and the lifting driving gear is connected with a lifting control motor on the rotary seat;
the upper end of the sampling pipe is connected with an inlet of a suction pump through a conveying pipe, and the conveying pipe is of a spiral structure.
As the further optimization of this technical scheme, the buffering bedplate is articulated with the slip table, and the upside of buffering bedplate is provided with the extension board, and one side of this extension board is passed through buffer spring and is connected with one side of slip table.
As a further optimization of this technical scheme, but portable mechanical arm seat includes wheel body and support positioning mechanism, supports positioning mechanism and wheel body and staggers to set up in portable mechanical arm seat bottom, support positioning mechanism includes the support, props the arm and pushes up and draws control telescoping cylinder, props the arm symmetry and sets up in portable mechanical arm seat bottom both sides, and the middle part of propping the arm is articulated with the support to the one end of propping the arm is passed through the transfer line and is pulled the lower extreme of control telescoping cylinder articulated with the top, and the top is drawn control telescoping cylinder and is fixed to be set up in portable mechanical arm seat bottom.
As a further optimization of the technical scheme, a solar photovoltaic power generation system and an intelligent camera are arranged on the movable mechanical arm seat, the solar photovoltaic power generation system comprises a photovoltaic cell panel, and the intelligent camera is fixedly arranged at the top of the movable mechanical arm seat through a vertical frame.
The invention also discloses a use method of the sampling manipulator for environment monitoring, which comprises the following steps:
s1: the manipulator moves to the vicinity of the area to be monitored;
s2: the sampling mechanical arm is unfolded, the suction pump is matched with suction sampling, and meanwhile, the circulating cleaning type shunt injection mechanism is matched with the suction pump to convey the sample into the separable sample rack;
s3: before and after single sampling, the suction pump is matched with a circulating cleaning type flow-dividing injection mechanism to carry out self-cleaning;
s4: after sampling is completed, the worker takes out the sample tank in which the sample is stored in the separable sample holder and replaces the empty sample tank of the new batch.
The invention provides a sampling manipulator for environment monitoring through improvement, compared with the prior art, the sampling manipulator has the following improvements and advantages:
firstly, automatic suction and sampling can be realized through the matching of the sampling mechanical arm and the suction pump, a sample is injected into the separable sample rack through the circulating cleaning type shunting injection mechanism, the whole transfer process is completely in a relatively closed environment, secondary pollution is avoided, the circulating cleaning type shunting injection mechanism has a self-cleaning function, mutual pollution among the samples can be prevented, the circulating cleaning type shunting injection mechanism can classify the samples and inject the samples into the separable sample rack one by one, large-batch automatic classified storage of the samples is realized, and the environmental monitoring and sampling work is greatly facilitated.
Secondly, in the invention, after the suction pump operates, a sample can be conveyed to the main pipe shaft from the inlet pipe, the sample in the main pipe shaft flows into the injection pipe head through the input pipe, the push-pull control motor can drive the injection pipe head to move back and forth through the driving lead screw, so that the injection pipe head can extend forwards to the separable sample rack, and the injection pipe head is tightly connected with the separable sample rack, thereby realizing automatic and sealed collection and sampling.
Thirdly, in the invention, 2 limiting pulleys can move along the guide rail of the spiral structure, and the sliding seat can synchronously move along the guide rail due to the fixed connection of the L-shaped frame and the sliding seat, so that the injection tube heads in the middle of the sliding seat can move to the distribution positions of all injection holes one by one, and then samples can be classified and injected into the separable sample frame one by one, thereby realizing the automatic classification and storage of the samples in large batches, and greatly facilitating the work of environment monitoring and sampling.
Fourthly, in the invention, one of the two channels of the injection tube head and the main tube shaft is used for inputting a sample, and the other channel is used for discharging the sample and exhausting gas, when the end head of the injection tube head is in abutting connection with the sample tank of the separable sample frame, the ejector rod can push the movable valve plate to move backwards to be separated from the fixed valve plate, so that the flow hole in the middle of the fixed valve plate is opened, and meanwhile, the movable valve plate moves backwards to be abutted against the end part of the strip-shaped spacer plate to separate the two channels of the injection tube head, thereby playing the roles of limiting and guiding the flow of the sample and promoting the sample to flow into the sample tank of the separable sample frame, and when the end head of the injection tube head is separated from the sample tank of the separable sample frame, the movable valve plate can be automatically ejected back to the original position under the elastic force of the return spring to block the flow hole in the middle of the fixed, the pollution that external environment and sample contact and lead to has been prevented, and the structural design of two passageways not only can exhaust in the injection sample, improves the smoothness nature of injection sample, and can let the liquid circulation circulate, utilizes the circulation of liquid to take away the residue, realizes the automatically cleaning effect.
Fifthly, according to the invention, the plurality of sample tanks are distributed on one side of the separable sample rack in a honeycomb manner, an operator can integrally take out all the sample tanks or integrally arrange the sample tanks by pulling and pushing the separable sample rack, so that batch operation of a large number of samples is realized, the operation is very convenient, and the operator only needs to screw and loosen the screw rod by screwing and then pull the piston rod, so that the piston can be pulled to push out the samples in the sample tanks, and the operation is more convenient.
According to the sampling tube, the lifting control motor drives the lifting drive gear to rotate, the sampling tube can be pushed up and down, the rotating seat is driven to rotate through the rotation control motor, the sampling tube can be subjected to angle adjustment or rotary folding, the sampling tube can be linearly displaced along the cross arm through the movement control motor, and the sampling tube can reach different positions, so that sampling can be flexibly performed.
Seventhly, flexible connection can be formed between the buffer seat plate and the sliding table through elastic support of the buffer spring, and the sampling pipe needs to extend into water flow for sampling, so that the fast flowing water flow can impact the joint of the sampling pipe to enable the sampling pipe to be loose.
According to the invention, the manipulator can move conveniently through the design of the wheel body, and the two sides of the manipulator can be supported in a reinforced manner through the structure of the supporting arm, so that the manipulator can be stopped and positioned quickly, and is convenient to fix and high in flexibility.
Drawings
The invention is further explained below with reference to the figures and examples:
FIG. 1 is a side view of the present invention;
FIG. 2 is an enlarged schematic view of the structure at A in FIG. 1 according to the present invention;
FIG. 3 is an enlarged view of the structure of FIG. 1 at B according to the present invention;
FIG. 4 is a sectional view showing a state where a sample tank and a syringe tip according to the present invention are connected;
FIG. 5 is a front view of the stationary valve plate of the present invention;
FIG. 6 is a side view of the check valve of the present invention in a closed state;
FIG. 7 is a side view of the closed state of the automatic valve of the top-open type of the present invention;
FIG. 8 is a sectional view of the main tube shaft of the present invention;
FIG. 9 is a front view of the guide track of the present invention;
FIG. 10 is a cross-sectional view of a main arm frame of the present invention;
FIG. 11 is a right side view of the detachable sample holder of FIG. 1 according to the present invention;
FIG. 12 is a left side view of the detachable sample holder of FIG. 1 according to the present invention;
FIG. 13 is a right side view of the sampling arm of FIG. 1 of the present invention;
FIG. 14 is a top view of the turret of FIG. 1 in accordance with the present invention;
fig. 15 is a folded view of the sampling arm of the present invention.
Description of reference numerals:
1. a sampling mechanical arm, 11, a folding and unfolding control telescopic cylinder, 12, a cross arm, 13, a sliding table, 131, a movement control motor, 132, a buffer seat plate, 133, a buffer spring, 134, a roller, 14, a swivel base, 141, a lifting driving gear, 142, a lifting control motor, 15, a sampling tube, 16, a conveying tube, 2, a suction pump, 3, a movable mechanical arm base, 31, a guide rail, 32, a wheel body, 33, a supporting and positioning mechanism, 331, a bracket, 332, a supporting arm, 333, a transmission rod, 334, a top pulling control telescopic cylinder, 4, a circulating cleaning type split injection mechanism, 41, a main tube shaft, 42, a main arm frame, 43, a driven gear, 44, a driving gear, 45, a discharge tube, 46, a main motor, 47, an inlet tube, 48, a double-channel rotary joint, 49, an injection tube head, 491, a top opening type automatic valve, 4911, a top push rod, 4912, a return spring, 4913 and a fixed valve plate, 4914. the solar photovoltaic power generation system comprises a movable valve plate 492, a strip-shaped spacer, 410, a sliding seat 4101, a rotating rod 4102, an L-shaped frame 411, a screw rod 412, a sliding block 413, a push-pull control motor 414, an input pipe 415, an output pipe 416, a limiting pulley 5, a separable sample frame 51, a sample tank 511, a screw rod 512, a cover cap 513, a piston rod 514, a piston 515, a one-way valve 5151, a valve shell 5152, a compression spring 5153, a valve ball 514, a piston 52, a threaded pull handle 6, a solar photovoltaic power generation system 61, a photovoltaic cell panel 7, an intelligent camera 71 and a vertical frame.
Detailed Description
The present invention will be described in detail with reference to fig. 1 to 15, and the technical solutions in the embodiments of the present invention will be clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example 1:
the invention provides a sampling manipulator for environmental monitoring through improvement, as shown in fig. 1-15, the sampling manipulator for environmental monitoring comprises a sampling mechanical arm 1, one end of the sampling mechanical arm 1 is connected with a circulating cleaning type shunt injection mechanism 4 through a suction pump 2, one side of the circulating cleaning type shunt injection mechanism 4 is provided with a separable sample rack 5 in a matching way, and the separable sample rack 5, the circulating cleaning type shunt injection mechanism 4 and the sampling mechanical arm 1 are all arranged on a movable mechanical arm seat 3.
Through the cooperation of sampling arm 1 and suction pump 2, can realize automatic suction sampling, the sample washs 4 injections entering separable sample frame 5 of formula reposition of redundant personnel injection mechanism through the circulation again, whole transfer process is in relative confined environment completely, secondary pollution has been avoided, and circulation washs formula reposition of redundant personnel injection mechanism 4 and possesses the self-cleaning function, can prevent to pollute each other between the sample, and circulation washing formula reposition of redundant personnel injection mechanism 4 can be categorised and inject the sample to separable sample frame 5 in one by one, the big automatic classification storage to the sample has been realized, very big environmental monitoring and sampling work have been made things convenient for.
The circulation cleaning type shunting injection mechanism 4 comprises a main pipe shaft 41, a main arm support 42, an injection tube head 49 and a sliding seat 410, wherein the middle part of the main pipe shaft 41 penetrates through one side wall of a movable arm support 3, the main pipe shaft 41 is rotatably connected with the movable arm support 3 through a bearing, one end of the main pipe shaft 41, which is far away from a separable sample rack 5, is connected with an outlet of a suction pump 2 through an inlet pipe 47, the other end of the main pipe shaft 41 is fixedly connected with one end of the main arm support 42, the sliding seat 410 is slidably arranged on the main arm support 42, the injection tube head 49 is slidably arranged in the middle of the sliding seat 410, one end of the injection tube head 49 is communicated with the main pipe shaft 41 through an input pipe 414, one end of a sliding block 412 is fixedly connected with the outer wall of the injection tube head 49, a lead screw 411 is arranged in the middle of the sliding block 412, the sliding block 412 is matched with the lead screw 411 through the lead screw, one end of the lead screw 411 is connected with a push-pull control motor 413, and the push-pull control motor 413 is coaxially and fixedly connected with the lead screw 411, the push-pull control motor 413 is fixedly arranged on the L-shaped frame 4102, and the L-shaped frame 4102 is fixedly arranged at one side of the sliding seat 410; after the suction pump 2 operates, a sample can be conveyed from the inlet pipe 47 to the main pipe shaft 41, the sample in the main pipe shaft 41 flows into the injection pipe head 49 through the input pipe 414, the push-pull control motor 413 can drive the sliding block 412 to drive the injection pipe head 49 to move back and forth through the driving lead screw 411, so that the injection pipe head 49 can extend forwards to the separable sample rack 5, and the injection pipe head 49 is tightly connected with the separable sample rack 5, thereby realizing automatic and sealed collection and sampling;
a driven gear 43 is sleeved in the middle of the main pipe shaft 41, one side of the driven gear 43 is engaged with a driving gear 44, one side of the driving gear 44 is connected with a main motor 46, and the main motor 46 is fixedly arranged on the movable mechanical arm seat 3; the main motor 46 drives the driving gear 44 and the driven gear 43 to rotate, so that the main shaft 41 can automatically rotate.
One side of the L-shaped frame 4102 is rotatably connected with one end of a rotating rod 4101, the rotating rod 4101 is rotatably connected with the L-shaped frame 4102 through a bearing, the other end of the rotating rod 4101 is provided with 2 limit pulleys 416 side by side, a guide track 31 is movably connected between the 2 limit pulleys 416, the limit pulleys 416 are in rolling connection with the guide track 31, the guide track 31 is arranged on one side wall of the movable arm seat 3, the guide track 31 is connected with the movable arm seat 3 through screws or welded and fixed, and the guide track 31 is of a spiral structure, as shown in fig. 9, one side wall of the movable arm seat 3 corresponding to the guide track 31 is provided with a plurality of injection holes, and the distribution mode of the injection holes is matched with the structure of the guide track 31; 2 spacing pulley 416 can remove along spiral structure's guide rail 31, because "L" shape frame 4102 and slide 410 fixed connection for slide 410 can be synchronous along guide rail 31 activity, lets the injection tube head 49 in the middle of the slide 410 can remove the distribution position to all injection orifices one by one, and then can classify and inject the sample one by one to separable sample frame 5 in, realized the big automatic classification of sample and stored, very big environmental monitoring and sampling work of having made things convenient for.
The middle of the syringe head 49 is divided into two channels along the length direction by a strip-shaped spacer 492, the two channels are respectively communicated with an input pipe 414 and an output pipe 415, two channels are arranged in the main pipe shaft 41, the two channels in the main pipe shaft 41 are respectively communicated with the input pipe 414 and the output pipe 415, the two channels in the main pipe shaft 41 are respectively communicated with a discharge pipe 45 and an inlet pipe 47 by a double-channel rotary joint 48, a top-open type automatic valve 491 is arranged in an inner cavity at one end of the syringe head 49 close to the separable sample holder 5, the top-open type automatic valve 491 comprises a top push rod 4911, a return spring 4912, a fixed valve plate 4913 and a movable valve plate 4914, the top push rod 4911 is slidably arranged in the middle of the fixed valve plate 4913, the peripheral side wall of the fixed valve plate 4913 is fixedly connected with the inner wall of the syringe head 49, and a flow hole is arranged in the middle of the fixed valve plate 4913, and can flow samples and exhaust, one end of the ejector 4911 close to the strip-shaped spacer 492 is fixedly connected with a movable valve plate 4914, the diameter of the movable valve plate 4914 is smaller than that of the syringe head 49, the function is to form a gap between the periphery of the movable valve plate 4914 and the inner wall of the syringe head 49 for sample or air circulation, the structure of the movable valve plate 4914 is matched with that of a circulation hole, the function is to enable the movable valve plate 4914 to block the circulation hole, the outer wall of the ejector 4911 is connected with a fixed valve plate 4913 through a return spring 4912, an annular convex edge is arranged on the outer wall of the ejector 4911, one end of the return spring 4912 abuts against one side of the fixed valve plate 4913, and the other end abuts against one side of the annular convex edge; one of the two paths of the syringe head 49 is used for inputting a sample, the other path is used for discharging a sample and exhausting gas, the two paths in the main tube shaft 41 are the same as the two paths of the syringe head 49, when the end of the syringe head 49 is in pressing connection with the sample tank 51 of the detachable sample holder 5, the ejector 4911 can be pushed to move backward, the movable valve plate 4914 is moved backward to be separated from the fixed valve plate 4913, the circulation hole in the middle of the fixed valve plate 4913 is opened, and the movable valve plate 4914 is moved backward to abut against the end of the strip-shaped spacer 492 to separate the two paths of the syringe head 49, the flow of the sample is restricted and guided, the flow of the sample into the sample tank 51 of the detachable sample holder 5 is promoted, and when the end of the syringe head 49 is separated from the sample tank 51 of the detachable sample holder 5, the movable valve plate 4914 can be automatically pushed back to the original position under the elastic force of the return spring 4912, let the opening in the middle of the fixed valve piece 4913 blockked up and seal, this structure realizes that the automation of whole injection route is opened and is sealed, has prevented external environment and sample contact and the pollution that leads to, and the structural design of two routes, not only can exhaust in the time of injecting the sample, improves the smoothness nature of injecting the sample, and can let the liquid circulation circulate, utilizes the circulation of liquid to take away the residue, realizes automatically cleaning effect.
The separable sample rack 5 is arranged in a rectangular groove on one side of the movable mechanical arm seat 3, the separable sample rack 5 can be drawn out from the rectangular groove, a thread pull handle 52 penetrates through the middle of the separable sample rack 5, the thread pull handle 52 is rotatably connected with the separable sample rack 5, one end of the thread pull handle 52 is connected with a threaded hole in the middle of the rectangular groove, the two are in threaded connection, the separable sample rack 5 can be tensioned and fixed through the connection of the thread pull handle 52 and the separable sample rack 5, one side of the separable sample rack 5 is provided with a plurality of clamping grooves, the distribution structure of the clamping grooves corresponds to the distribution structure of injection holes, one end of a sample tank 51 is inserted in the clamping grooves, the sample tank 51 and the clamping grooves form temporary fixation through clamping connection, a piston 514 is arranged in the sample tank 51 in a sliding manner, a one-way valve 515 is arranged in the middle of the piston 514, and one side of the piston 514 is connected with one end of a piston rod 513, the other end of the piston rod 513 penetrates through the side wall of one end of the sample tank 51 and is connected with one end of the screw 511, the piston rod 513 is connected with the sample tank 51 in a sliding manner, the piston rod 513 is fixedly connected with the screw 511, the other end of the screw 511 penetrates through the outer wall of the sample tank 51, the screw 511 is in threaded connection with the sample tank 51, a discharge hole is formed in the side wall of one end, away from the piston 514, of the sample tank 51, a cover cap 512 is sleeved at the end part of the discharge hole, and the cover cap 512 is fixedly connected with the sample tank 51 in a clamping manner or threaded connection manner; the plurality of sample tanks 51 are distributed on one side of the separable sample rack 5 in a honeycomb manner, an operator can integrally take out or integrally arrange all the sample tanks 51 by pulling and pushing the separable sample rack 5, so that batch operation of a large number of samples is realized, and the operator is very convenient to operate, and only by screwing and loosening the screw 511 and pulling the piston rod 513, the operator can pull the piston 514 to push out the samples in the sample tanks 51, so that the operation is more convenient;
the check valve 515 includes a valve housing 5151, a compression spring 5152, a ball 5153 and a piston 514, wherein the ball 5153 is movably disposed in the valve housing 5151, and one side of the ball 5153 is elastically connected with one end of the valve housing 5151 through the compression spring 5152; this structure enables only one-way gas-liquid communication into the sample tank 51.
Example 2:
the invention provides a sampling manipulator for environmental monitoring through improvement, as shown in fig. 1-15, the sampling manipulator for environmental monitoring comprises a sampling mechanical arm 1, one end of the sampling mechanical arm 1 is connected with a circulating cleaning type shunt injection mechanism 4 through a suction pump 2, one side of the circulating cleaning type shunt injection mechanism 4 is provided with a separable sample rack 5 in a matching way, and the separable sample rack 5, the circulating cleaning type shunt injection mechanism 4 and the sampling mechanical arm 1 are all arranged on a movable mechanical arm seat 3.
The movable mechanical arm seat 3 is provided with a solar photovoltaic power generation system 6 and an intelligent camera 7, the solar photovoltaic power generation system 6 comprises a photovoltaic cell panel 61, the solar photovoltaic power generation system 6 comprises a solar cell square matrix, a storage battery pack, a charge-discharge controller, an inverter, an alternating current power distribution cabinet, an automatic solar tracking system, an automatic solar component dust removal system and other equipment, the intelligent camera 7 is fixedly arranged at the top of the movable mechanical arm seat 3 through a vertical frame 71, the intelligent camera 7 can be a remote monitoring camera with image recognition and is connected with control equipment through 4G, 5G or a limited network; the self-power supply of the manipulator can be realized through the solar photovoltaic power generation system 6, and an operator can remotely monitor and operate through the intelligent camera 7.
The difference between the embodiment 2 and the embodiment 1 is only that the solar photovoltaic power generation system 6 and the intelligent camera 7 are additionally arranged, so that self-power supply and remote monitoring operation can be realized.
Example 3:
the invention provides a sampling manipulator for environmental monitoring through improvement, as shown in fig. 1-15, the sampling manipulator for environmental monitoring comprises a sampling mechanical arm 1, one end of the sampling mechanical arm 1 is connected with a circulating cleaning type shunt injection mechanism 4 through a suction pump 2, one side of the circulating cleaning type shunt injection mechanism 4 is provided with a separable sample rack 5 in a matching way, and the separable sample rack 5, the circulating cleaning type shunt injection mechanism 4 and the sampling mechanical arm 1 are all arranged on a movable mechanical arm seat 3.
The sampling mechanical arm 1 comprises a cross arm 12, a sliding table 13, a rotary seat 14, a sampling tube 15 and a delivery pipe 16, wherein one end of the cross arm 12 is hinged with a movable mechanical arm seat 3, one end of the cross arm 12 close to the movable mechanical arm seat 3 is connected with the outer wall of the movable mechanical arm seat 3 through a folding and unfolding control telescopic cylinder 11, the folding and unfolding control telescopic cylinder 11 can be a hydraulic cylinder or an air cylinder or an electric cylinder, two ends of the folding and unfolding control telescopic cylinder 11 are hinged, the sliding table 13 is matched on the cross arm 12 in a sliding way through a roller 134, the roller 134 is rotatably connected with the sliding table 13, the roller 134 is rotatably connected with the cross arm 12, the roller 134 is connected with a movement control motor 131 on the sliding table 13, a buffer seat plate 132 is arranged on one side of the sliding table 13, the rotary seat plate 132 is rotatably connected with one side of the buffer seat plate 132, the rotary seat 14 is rotatably connected with a rotation control motor 143 on the buffer seat plate 132, the rotary seat 14 is provided with the sampling tube 15 in a sliding way, convex teeth are uniformly distributed on one side of the sampling tube 15, a lifting driving gear 141 is meshed and connected with one side of the sampling tube 15, and the lifting driving gear 141 is connected with a lifting control motor 142 on the rotary base 14; the lifting control motor 142 drives the lifting driving gear 141 to rotate, so that the sampling tube 15 can be pushed up and down, the rotating seat 14 is driven to rotate by the rotation control motor 143, the sampling tube 15 can be subjected to angle adjustment or rotary folding, the sampling tube 15 can be linearly displaced along the cross arm 12 by the movement control motor 131, and the sampling tube 15 can reach different positions, so that sampling can be flexibly performed;
the upper end of the sampling pipe 15 is connected with the inlet of the suction pump 2 through a conveying pipe 16, and the conveying pipe 16 is of a spiral structure; the helical configuration allows for automatic telescopic adjustment of the delivery tube 16 as the position of the sampling tube 15 changes.
The buffer base plate 132 is hinged with the sliding table 13, an extension plate is arranged on the upper side of the buffer base plate 132, one side of the extension plate is connected with one side of the sliding table 13 through a buffer spring 133, and two ends of the buffer spring 133 are connected through a clamping hoop; through buffer spring 133's elastic support, can let and form the flexonics between buffer seat board 132 and the slip table 13, because sampling pipe 15 need extend to sampling in the rivers, the rivers that flow fast can be strikeed to the junction output of sampling pipe 15, cause sampling pipe 15 not hard up, and this flexonics's mode can prevent the rivers impact, prevents that the junction of sampling pipe 15 from being strikeed and not hard up.
The movable mechanical arm seat 3 comprises a wheel body 32 and a supporting and positioning mechanism 33, the wheel body 32 can be an electric wheel, the supporting and positioning mechanism 33 and the wheel body 32 are arranged at the bottom of the movable mechanical arm seat 3 in a staggered mode, the supporting and positioning mechanism 33 comprises a support 331, a support arm 332 and a top pulling control telescopic cylinder 334, the support arm 332 is symmetrically arranged at two sides of the bottom of the movable mechanical arm seat 3, the middle of the support arm 332 is hinged with the support 331, the top of the support 331 is welded with the movable mechanical arm seat 3, one end of the support arm 332 is hinged with the lower end of the top pulling control telescopic cylinder 334 through a transmission rod 333, the top pulling control telescopic cylinder 334 is fixedly arranged at the bottom of the movable mechanical arm seat 3, and the top pulling control telescopic cylinder 334 can be a hydraulic cylinder, an air cylinder or an electric cylinder; through the design of wheel body 32, let this manipulator can conveniently remove, and through the structure of brace 332, let the both sides of this manipulator can be strengthened supporting, quick stopping and location to let this manipulator fixed convenient, and remove in a flexible way.
The difference between the embodiment 3 and the embodiment 1 lies in that the sampling mechanical arm 1 can be flexibly unfolded or folded through the structures of the cross arm 12, the sliding table 13, the rotary seat 14, the sampling pipe 15, the conveying pipe 16 and the like, the mechanical arm can be moved and positioned more conveniently through the wheel body 32 and the supporting and positioning mechanism 33, and the flexibility is improved
The invention also discloses a use method of the sampling manipulator for environment monitoring, which comprises the following steps:
s1: the manipulator moves to the vicinity of the area to be monitored;
s2: the sampling mechanical arm 1 is unfolded, the suction pump 2 is matched with suction sampling, and the circulating cleaning type shunt injection mechanism 4 is matched with the sample conveying mechanism to convey the sample into the separable sample rack 5;
s3: before and after single sampling, the suction pump 2 is matched with the circulating cleaning type flow-dividing injection mechanism 4 to carry out self cleaning;
s4: after the sampling is completed, the worker takes out the sample tank 51 in which the sample has been stored in the detachable sample holder 5, and replaces the new batch of empty sample tanks 51.
The working principle or the using method of the invention is as follows: the manipulator moves to the vicinity of the area to be monitored, the wheel body 32 is arranged at the bottom of the movable manipulator arm seat 3, so that the manipulator can move conveniently, and after the manipulator moves to a target area, the jacking and pulling control telescopic cylinder 334 contracts, and the supporting arm 332 is pushed down to be supported on the ground, so that the manipulator keeps stable and is positioned;
when sampling is started, the sampling mechanical arm 1 is started to be opened, the lifting drive gear 141 is driven to rotate by the lifting control motor 142, the sampling tube 15 can be pushed up and down, the rotating seat 14 is driven to rotate by the rotation control motor 143, the angle of the sampling tube 15 can be adjusted, the sampling tube 15 can be linearly displaced along the cross arm 12 by moving the control motor 131, the sampling tube 15 can reach different positions, and therefore sampling can be flexibly carried out;
the suction pump 2 provides suction force, so that the lower end of the sampling tube 15 can suck and collect a sample, the sample is conveyed into the circulating cleaning type shunt injection mechanism 4 by the suction pump 2 after being sucked, the sample in the main tube shaft 41 flows into the injection tube head 49 through the input tube 414, the slide block 412 can drive the injection tube head 49 to move back and forth by the push-pull control motor 413 through the driving lead screw 411, the injection tube head 49 can extend forwards to the separable sample rack 5, and the injection tube head 49 is tightly connected with the separable sample rack 5, so that automatic and sealed collection and sampling can be realized;
during sampling, since one of the two paths of the syringe head 49 and the main tube shaft 41 is used for inputting a sample and the other path is used for discharging a sample and exhausting air, when the tip of the syringe head 49 is pressed against and connected to the sample tank 51 of the separable sample holder 5, the push-push rod 4911 can push the movable valve plate 4914 to move backward to be separated from the fixed valve plate 4913, so that the flow hole in the middle of the fixed valve plate 4913 is opened, and the movable valve plate 4914 moves backward to abut against the end of the strip-shaped spacer 492 to separate the two paths of the syringe head 49, thereby limiting and guiding the flow of the sample, facilitating the inflow of the sample into the sample tank 51 of the separable sample holder 5, and when the tip of the syringe head 49 is separated from the sample tank 51 of the separable sample holder 5, the movable valve plate 4914 can be automatically pushed back to the original position under the elastic force of the return spring 4912 to block the flow hole in the middle of the fixed valve plate 4913, the structure realizes the automatic opening and closing of the whole injection passage, prevents the pollution caused by the contact of the external environment and the sample, and the structural design of the two passages can exhaust gas when the sample is injected, improve the smoothness of the injected sample, circulate the liquid, take away the residues by utilizing the circulation of the liquid and realize the self-cleaning effect;
when a single sample tank 51 on the separable sample rack 5 is filled, the main motor 46 drives the driving gear 44 and the driven gear 43 to rotate, the main pipe shaft 41 is rotated to drive the main arm support 42 to rotate by a certain angle, and the 2 limiting pulleys 416 can move along the guide rail 31 in a spiral structure;
moreover, the plurality of sample tanks 51 on one side of the separable sample rack 5 are distributed on one side of the separable sample rack 5 in a honeycomb manner, so that an operator can integrally take out or integrally arrange all the sample tanks 51 by pulling and pushing the separable sample rack 5, thereby realizing batch operation of a large number of samples, and being very convenient, and the operator only needs to screw and loosen the screw 511 and pull the piston rod 513 to pull the piston 514 to push out the samples in the sample tanks 51, thereby being more convenient;
sampling arm 1 and circulation washing formula reposition of redundant personnel injection mechanism 4's function passes through PLC control, and the program has set for in advance, and the automatic sampling of interval period can be stored the sample in sample jar 51 respectively with the sample in different periods to need not artifical long-time guard of squatting, it is more convenient.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. The utility model provides a sampling manipulator for environmental monitoring which characterized in that: the device comprises a sampling mechanical arm (1), wherein one end of the sampling mechanical arm (1) is connected with a circulating cleaning type shunt injection mechanism (4) through a suction pump (2), one side of the circulating cleaning type shunt injection mechanism (4) is provided with a separable sample rack (5) in a matching way, the separable sample rack (5), the circulating cleaning type shunt injection mechanism (4) and the sampling mechanical arm (1) are all arranged on a movable mechanical arm seat (3), the circulating cleaning type shunt injection mechanism (4) comprises a main pipe shaft (41), a main arm rack (42), an injection pipe head (49) and a sliding seat (410), the middle part of the main pipe shaft (41) penetrates through one side wall of the movable mechanical arm seat (3), one end, far away from the separable sample rack (5), of the main pipe shaft (41) is connected with an outlet of the suction pump (2) through an inlet pipe (47), and the other end of the main pipe shaft (41) is fixedly connected with one end of the main arm rack (, the injection device is characterized in that a sliding seat (410) is arranged on a main arm support (42) in a sliding mode, an injection tube head (49) penetrates through the middle of the sliding seat (410) in a sliding mode, one end of the injection tube head (49) is communicated with a main tube shaft (41) through an input tube (414), one end of a sliding block (412) is fixedly connected to the outer wall of the injection tube head (49), a lead screw (411) penetrates through the middle of the sliding block (412), one end of the lead screw (411) is connected with a push-pull control motor (413), the push-pull control motor (413) is fixedly installed on an L-shaped frame (4102), the L-shaped frame (4102) is fixedly arranged on one side of the sliding seat (410), a driven gear (43) is sleeved in the middle of the main tube shaft (41), one side of the driven gear (43) is connected with a driving gear (44) in a meshing mode, and one side of the driving gear (44) is connected with a main motor (46).
2. The sampling manipulator for environmental monitoring as set forth in claim 1, wherein: one side of the L-shaped frame (4102) is rotatably connected with one end of a rotating rod (4101), the other end of the rotating rod (4101) is provided with 2 limiting pulleys (416) side by side, a guide track (31) is movably connected between the 2 limiting pulleys (416), the guide track (31) is arranged on one side wall of a movable mechanical arm seat (3), the guide track (31) is of a spiral structure, a plurality of injection holes are formed in one side wall of the movable mechanical arm seat (3) corresponding to the guide track (31), and the distribution mode of the injection holes is matched with the structure of the guide track (31).
3. The sampling manipulator for environmental monitoring as set forth in claim 1, wherein: the middle of the injection tube head (49) is divided into two channels along the length direction by a strip-shaped spacer (492), the two channels are respectively communicated with an input tube (414) and an output tube (415), two channels are arranged in the main tube shaft (41), the two channels in the main tube shaft (41) are respectively communicated with the input tube (414) and the output tube (415), the two channels in the main tube shaft (41) are respectively communicated with a discharge tube (45) and an inlet tube (47) by a double-channel rotary joint (48), an open-top automatic valve (491) is arranged in an inner cavity at one end of the injection tube head (49) close to the separable sample rack (5), the open-top automatic valve (491) comprises an open-top push rod (4911), a return spring (4912), a fixed valve plate (4913) and a movable valve plate (4914), the open-top push rod (11) is slidably arranged in the middle of the fixed valve plate (4913), the utility model discloses a syringe, including fixed valve block (4913), ejector pin (4911), the one end fixedly connected with activity valve block (4914) that ejector pin (4911) is close to bar spacer (492), and the diameter of activity valve block (4914) is less than the diameter of syringe head (49), and the structure of activity valve block (4914) with the structure phase-match of circulation hole, the outer wall of ejector pin (4911) passes through return spring (4912) and is connected with fixed valve block (4913).
4. The sampling manipulator for environmental monitoring as set forth in claim 2, wherein: the separable sample rack (5) is arranged in a rectangular groove on one side of the movable mechanical arm seat (3), a thread pull handle (52) penetrates through the middle of the separable sample rack (5), one end of the thread pull handle (52) is connected with a threaded hole in the middle of the rectangular groove, one side of the separable sample rack (5) is provided with a plurality of clamping grooves, the distribution structure of the clamping grooves corresponds to the distribution structure of the injection holes, one end of a sample tank (51) is inserted into the clamping grooves, a piston (514) is arranged in the sample tank (51) in a sliding manner, a check valve (515) is arranged in the middle of the piston (514), one side of the piston (514) is connected with one end of a piston rod (513), the other end of the piston rod (513) penetrates into one end side wall of the sample tank (51) and is connected with one end of a screw rod (511), and the other end of the screw rod (511) penetrates out of the outer wall of the sample tank (51), a discharge hole is formed in the side wall of one end, far away from the piston (514), of the sample tank (51), and a cover cap (512) is sleeved at the end of the discharge hole;
the check valve (515) comprises a valve shell (5151), a compression spring (5152), a valve ball (5153) and a piston (514), wherein the valve ball (5153) is movably arranged in the valve shell (5151), and one side of the valve ball (5153) is elastically connected with one end of the valve shell (5151) through the compression spring (5152).
5. The sampling manipulator for environmental monitoring as set forth in claim 1, wherein: the sampling mechanical arm (1) comprises a cross arm (12), a sliding table (13), a rotary seat (14), a sampling tube (15) and a conveying pipe (16), one end of the cross arm (12) is hinged to a movable mechanical arm seat (3), one end, close to the movable mechanical arm seat (3), of the cross arm (12) is connected with the outer wall of the movable mechanical arm seat (3) through a folding and unfolding control telescopic cylinder (11), the sliding table (13) is arranged on the cross arm (12) in a sliding fit mode through a roller (134), the roller (134) is connected with a movement control motor (131) on the sliding table (13), a buffering seat plate (132) is arranged on one side of the sliding table (13), the rotary seat (14) is rotatably connected to one side of the buffering seat plate (132), the rotary seat (14) is connected with a rotation control motor (143) on the buffering seat plate (132), and the sampling tube (15) is slidably arranged on the rotary seat (14), convex teeth are uniformly distributed on one side of the sampling pipe (15), a lifting driving gear (141) is meshed and connected with one side of the sampling pipe (15), and the lifting driving gear (141) is connected with a lifting control motor (142) on the rotary seat (14);
the upper end of the sampling pipe (15) is connected with an inlet of a suction pump (2) through a delivery pipe (16), and the delivery pipe (16) is of a spiral structure.
6. The sampling manipulator for environmental monitoring as set forth in claim 5, wherein: the buffer seat plate (132) is hinged with the sliding table (13), an extension plate is arranged on the upper side of the buffer seat plate (132), and one side of the extension plate is connected with one side of the sliding table (13) through a buffer spring (133).
7. The sampling manipulator for environmental monitoring as set forth in claim 1, wherein: but movable mechanical arm seat (3) include wheel body (32) and support positioning mechanism (33), support positioning mechanism (33) and wheel body (32) and stagger and set up in movable mechanical arm seat (3) bottom, support positioning mechanism (33) including support (331), prop arm (332) and top and draw control telescoping cylinder (334), prop arm (332) symmetry and set up in movable mechanical arm seat (3) bottom both sides, and prop the middle part of arm (332) and articulate with support (331) to the one end of propping arm (332) is passed through transfer line (333) and is drawn the lower extreme of control telescoping cylinder (334) articulated with the top, and top is drawn control telescoping cylinder (334) and fixed the setting in movable mechanical arm seat (3) bottom.
8. The sampling manipulator for environmental monitoring as set forth in claim 1, wherein: the solar photovoltaic power generation system (6) and the intelligent camera (7) are arranged on the movable mechanical arm seat (3), the solar photovoltaic power generation system (6) comprises a photovoltaic cell panel (61), and the intelligent camera (7) is fixedly arranged at the top of the movable mechanical arm seat (3) through a vertical frame (71).
9. The method of using a sampling manipulator for environmental monitoring as claimed in any one of claims 1-8, wherein the method comprises the steps of:
s1: the manipulator moves to the vicinity of the area to be monitored;
s2: the sampling mechanical arm (1) is unfolded, the suction pump (2) is matched with suction sampling, and the circulating cleaning type shunt injection mechanism (4) is matched with the suction sampling to convey a sample into the separable sample rack (5);
s3: before and after single sampling, the suction pump (2) is matched with the circulating cleaning type flow-dividing injection mechanism (4) to carry out self-cleaning;
s4: after sampling is completed, the worker takes out the sample tank (51) in which the sample is already stored in the detachable sample holder (5), and replaces the empty sample tank (51) of a new lot.
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