Robotic sampler for remote sampling of liquids in a process stream

• US 6,079,285 A
• Filed: 05/18/1999
• Issued: 06/27/2000
• Est. Priority Date: 10/01/1997
• Status: Expired due to Fees

• Current Assignee: Aries Industries Incorporated
• Original Assignee: Jack T. Baker, Myles Miller
• Inventors: Baker, Jack T., Miller, Myles
• Primary Examiner(s): RAEVIS, ROBERT R
• Application Number:
  US09/313,621
• Time in Patent Office: 406 Days
• Field of Search: 73/865.8, 73/863.81-863.85, 73/864.34, 73/864.35, 73/864.73, 73/864.44, 73/864.45
• US Class Current: 73/865.8
• CPC Class Codes: G01N 1/10 in the liquid or fluent state burettes, pipettes B01L3/02; sampling of ground water E02D1/06; metering by volume of fluids or fluent solid material G01F11/00, G01F13/00
• CPC Class Codes: G01N 1/18 with provision for splitting samples into portions G01N1/12, G01N1/14 take precedence; fraction-collection apparatus for chromatography B01D15/08
• CPC Class Codes: G01N 2001/1043 from sewers
• CPC Class Codes: G01N 33/18 Water

Abstract

A robotic sampling device has a maneuverable, telescoping sample collector comprising a sample collecting arm and a propulsion module containing means for supporting and facilitating movement. Most preferably, the means for supporting and facilitating movement are wheels. The robotic sampling device also contains means for increasing traction for the propulsion module. The sampling device is remotely controlled. The sampling device contains at least one light source and a viewer that provides information for navigation and sample collection. The wheels of the propulsion module contain extendable pins which promote increased traction. The telescoping sample collector may also be rotated or tilted through a 180 degree arc relative to the axis of the pipe. The robotic sampling device also provides a means for collecting, labelling, and storing a sample, as well as cleaning the sample collector in preparation of another sampling event.

Claims

1. A robotic sampling device for collecting samples from process streams in piping networks, comprising:

a. a front end and a back end, and a propulsion module and a sample collecting module intermediate the front and back ends;

b. a maneuverable, telescoping sample collector supported by said sample collecting module, comprising a telescopic sampling housing;

a telescoping sampling arm;

means for extending the sample collecting arm;

means for rotating the sampling collecting arm through a 180°

arc relative to the axis of the pipe;

means for retracting the sample collecting arm;

a pump providing suction;

a sampling line connecting the sample collecting arm to the pump;

means for identifying and storing a sample collected by the sample collecting arm; and

means for flushing the sample collector;

c. the propulsion module containing means for supporting movement and facilitating movement of the robotic sampling device;

d. means for increasing traction for the propulsion module with respect to a supporting surface exterior to the robotic sampling device connected to the propulsion module;

e. at least one light source on said front end;

f. viewer connected to the robotic sampling device for providing information for navigation and sample collection; and

g. means for remotely controlling the robotic sampling device.

2. The robotic sampling device as in claim 1, wherein the means for supporting movement and facilitating movement comprises wheels.

3. A robotic sampling device as in claim 2, wherein the propulsion module comprises:

a. a motor, and

b. means for coupling the motor to the wheels.

4. A robotic sampling device as in claim 3, wherein the means for coupling the motor to the wheels comprises:

a. at least one drive shaft attached to said wheels;

b. a chain connecting the motor to a sprocket on each drive shaft.

5. A robotic sampling device as in claim 1, wherein the means for extending the telescopic sampling arm comprise a piston operatively connected to the telescoping sampling arm.

6. A robotic sampling device as in claim 3, wherein the operative connection is a clamp connecting the piston to the telescopic sampling arm.

7. A robotic sampling device as in claim 6, wherein the means for extending the telescopic sampling arm further comprises a supply of compressed air, wherein the compressed air forces the movement of the piston.

8. A robotic sampling device as in claim 1, wherein the means for retracting the telescopic arm comprises a spring for applying a retracting force.

9. A robotic sampling device as in claim 8, wherein the spring attaches to a clamp, the clamp attached to the telescopic arm, and the spring further attached to the telescopic sampling housing where the spring pulls the telescopic sampling arm.

10. A robotic sampling device as in claim 1, wherein the means for flushing the sample collection system comprise:

a. a supply of distilled water;

b. a solenoid valve; and

c. a pump, wherein the pump flushes distilled water, directed by the solenoid valve, through the sampling line and the telescopic sampling arm.

11. A robotic sampling device as in claim 1, wherein the means for rotating the telescopic sampling arm through a 180°

arc relative to the axis of the pipe comprises a means for tilting the telescopic sampling housing.

12. A robotic sampling device as in claim 11, wherein the means for tilting the telescopic sampling housing comprises:

a. a motor;

b. a drive shaft attached to the motor;

c. a rotating assembly connecting the drive shaft to the telescopic sampling housing; and

d. a telescopic sampling housing mounting assembly.

13. A robotic sampling device as in claim 12, wherein the rotating assembly further comprises:

a. a mounting bracket connected to the drive shaft;

b. a coupling attached to the mounting bracket;

c. a connecting rod connected to the coupling; and

d. a shaft on the telescopic sampling housing secured to the connecting rod.

14. A robotic sampling device as in claim 12, wherein the telescopic sampling housing assembly comprises:

a. a mounting shaft on the telescopic sampling housing;

b. the mounting shaft connected to a mounting bracket; and

c. the mounting bracket secured to a platform.

15. A robotic sampling device as in claim 1, wherein the propulsion module comprises:

a. a motor, and

b. means for coupling the motor to the means for supporting and facilitating movement.

16. A robotic sampling device as in claim 15, wherein the means for coupling the motor to the means for supporting and facilitating movement comprises:

a. at least one drive shaft;

b. a chain connecting the motor to a sprocket on each drive shaft; and

c. means for supporting and facilitating movement attached to opposite ends of each drive shaft.

17. A robotic sampling device as in claim 1, wherein the means for increasing traction for the propulsion module comprises a plurality of extendable pins.

18. A robotic sampling device as in claim 17, wherein the extendable pins are located within pin assemblies positioned within the means for supporting and facilitating movement of the propulsion module.

19. A robotic sampling device as in claim 18, wherein the means for supporting and facilitating movement are wheels.

20. A robotic sampling device as in claim 18, wherein the pins may be extended beyond the outer surface of the means for supporting and facilitating movement under the force of compressed air and retracted in the absence of the force of compressed air.

21. A robotic sampling device as in claim 20, wherein the means for supporting and facilitating movement are wheels.

22. A robotic sampling device as in claim 21, wherein the wheels further comprise an inner diameter and outer diameter wherein the inner diameter of the wheel is larger than the outer diameter of the wheel.

23. A robotic sampling device as in claim 18, wherein the pin assemblies further comprise:

a. a cylindrical piston containing an integral, cylindrical pin projecting from a top surface of the piston;

b. a cylindrical guide plug having a top section and a bottom section wherein the top section has a circumference equivalent to the circumference of the piston and the bottom section having a smaller circumference;

c. the guide plug containing a central bore having a diameter chosen to accommodate the pin therethrough;

d. the pin assembly located in a cylindrical cavity in the wheel having a diameter accommodating the guide plug and piston;

e. a spring located between the top surface of the piston and the guide plug, wherein the spring envelopes the bottom section of the guide plug, occupying the space between the cavity and the guide plug; and

f. the piston adapted to receive and o-ring to form a seal between the cavity and the piston.

24. A robotic sampling device as in claim 1, wherein said at least one light source is located in the proximity of the telescoping sampling collection system and further comprising at least one light source located on the front end of the robotic sampling device.

25. A robotic sampling device as in claim 1, wherein the viewer for providing information comprises at least one video camera.

26. A robotic sampling device as in claim 25, wherein said at least one video camera is on the sample collector and further comprising at least one camera located on the front end of the robotic sampling device.

27. A robotic sampling device as in claim 1, wherein the means for remotely controlling the robotic sampling device comprised of an umbilical cord connected to the removable telescoping sample collection system and the mobilizing drive module to a central command console, the umbilical cord containing a plurality of cords having a smaller diameter than the umbilical cord wherein at least one cord is adapted to deliver compressed air and at least one cord is adapted to deliver electrical power.

28. A remote-controlled sampling module for collecting samples from process streams in piping networks, comprising:

a. a housing;

b. a maneuverable, extendable, retractable telescoping sample collecting arm supported by the housing and rotatable through a 180°

arc relative to the axis of the pipe;

c. a remotely-controlled pump within the housing and connected to the sample collecting arm via a sampling line, the pump alternately providing suction for sample collection and pressure for sampling line flushing;

d. a remotely-controlled switch valve positioned within a solenoid valve in the sampling line to regulate fluid flow therein;

e. sample collection containers located inside the housing to receive sampled analyte from the sample collecting arm;

f. means within the housing for labeling the sample collection containers; and

g. means for flushing the sampling line with distilled water, said means connected to the pump and a source of distilled water external to and separate from the sampling module.