CN113654834A - Automatic soil sample collecting device mounted on unmanned platform and collecting method - Google Patents
Automatic soil sample collecting device mounted on unmanned platform and collecting method Download PDFInfo
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- CN113654834A CN113654834A CN202111126696.9A CN202111126696A CN113654834A CN 113654834 A CN113654834 A CN 113654834A CN 202111126696 A CN202111126696 A CN 202111126696A CN 113654834 A CN113654834 A CN 113654834A
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- 239000002689 soil Substances 0.000 title claims abstract description 86
- 238000000034 method Methods 0.000 title claims description 9
- 238000005070 sampling Methods 0.000 claims abstract description 118
- 230000007246 mechanism Effects 0.000 claims abstract description 51
- 230000017105 transposition Effects 0.000 claims abstract description 29
- 229910000831 Steel Inorganic materials 0.000 claims description 32
- 239000010959 steel Substances 0.000 claims description 32
- 230000009467 reduction Effects 0.000 claims description 21
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000004804 winding Methods 0.000 claims description 12
- 239000000758 substrate Substances 0.000 claims description 8
- 238000009434 installation Methods 0.000 claims description 6
- 230000017525 heat dissipation Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 3
- 230000008602 contraction Effects 0.000 claims description 2
- 208000027418 Wounds and injury Diseases 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000010146 3D printing Methods 0.000 description 1
- 241000282414 Homo sapiens Species 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
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- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 229920006351 engineering plastic Polymers 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000006698 induction Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- -1 polytetrafluoroethylene Polymers 0.000 description 1
- 229920001343 polytetrafluoroethylene Polymers 0.000 description 1
- 239000004810 polytetrafluoroethylene Substances 0.000 description 1
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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
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
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Abstract
The invention discloses an automatic soil sample collecting device, which comprises a sampling storage bin and a plurality of sampling columns stored in the sampling storage bin; the sampling storage bin is hollow to form a sampling cavity; the inner wall of the sampling storage bin is provided with a groove body for storing the sampling column; the bottom of the sampling storage bin is provided with a transposition mechanism; a positioning guide lifting mechanism is arranged in the sampling cavity; a column replacing mechanism is also arranged above the sampling storage bin; a heavy hammer mechanism is arranged right above the positioning guide lifting mechanism. According to the invention, the transposition mechanism, the positioning and guiding lifting mechanism, the column changing mechanism and the heavy hammer mechanism are combined with the sampling and storing bin, so that the collecting device capable of automatically collecting multiple soil samples is obtained, the automation of soil sample collection is realized, the use is convenient, the cost is low, the adaptability is wide, and the collecting device can be combined with an unmanned platform, so that the collecting efficiency and the precision of the soil samples can be effectively improved, and meanwhile, the risk of soil sample pollution can be reduced.
Description
Technical Field
The invention relates to the technical field of soil sample collection, in particular to an automatic soil sample collection device and a collection method.
Background
With the attention of human beings on the fields of soil environment, scientific agriculture and the like, the demands of analysis and research work on soil are gradually increased. Therefore, the sampling work is increasing continuously as the basis of the analysis and research work of the soil, which is not only increasing in quantity, but also increasing in accuracy and complexity of the sampling work.
Currently, collection of soil samples relies mostly on manual collection. Under the conditions of small collection quantity of soil samples, close distance intervals, low collection accuracy requirement and relatively simple geological environment, the requirement of soil sample collection work can be met to a certain extent.
For the soil sample collection work with large quantity, long spacing distance and high collection precision, a large amount of manpower is needed to ensure the collection efficiency and quality. For soil sample collection work in geological environment complex areas (such as rivers, canyons, cliffs, deep pits, swamp barriers and the like), not only a large amount of manpower and material resources are needed, but also the risks of property loss and personal injury are caused.
Therefore, under the condition that the manual collection is limited at present, a soil sample collecting device which can be used for efficiently, safely and accurately is designed.
Disclosure of Invention
The invention provides an automatic soil sample collecting device and a soil sample collecting method.
The specific technical scheme is as follows:
the invention provides a soil sample automatic acquisition device mounted on an unmanned platform, which comprises a sampling storage bin and a plurality of sampling columns stored in the sampling storage bin;
the sampling storage bin is hollow to form a sampling cavity; the inner wall of the sampling storage bin is provided with a groove body for storing the sampling column, and the opening of the sampling column is arranged in the groove body in a downward inverted mode; the top of the sampling storage bin is provided with a control box for automatic control, a heat dissipation component and a power supply component, and the top of the sampling storage bin is provided with a transposition mechanism for the sampling column in the groove body to automatically rotate and change positions;
a positioning guide lifting mechanism for guiding the sampling column to vertically move and pulling out the sampling column from the soil is arranged in the sampling cavity; a column changing mechanism used for clamping the sampling column to enable the sampling column to alternately change positions between the groove body and the positioning guide lifting mechanism is also arranged above the sampling storage bin; and a heavy hammer mechanism for hammering the sampling column to insert the sampling column into the soil is arranged right above the positioning guide lifting mechanism.
Furthermore, the transposition mechanism comprises a transposition disc, a bearing disc and a transposition motor; the transposition plate is provided with a plurality of positioning columns, and the bottom of the transposition plate is provided with an annular groove for mounting the bearing plate; the bottom of the bin body is provided with a plurality of positioning holes matched with the positioning columns, and the positioning holes are arranged between every two trough bodies.
Furthermore, the upper surface of the bin body is provided with a plurality of mounting deep grooves, and the mounting deep grooves correspond to the slot bodies one to one; the bin body is also provided with a clamping fixing piece, and the clamping fixing piece comprises a first clamping arm, a screw rod for connecting and controlling the first clamping arm and a clamping motor for driving the screw rod to rotate; the screw rod and the clamping motor are placed in the installation deep groove, and the first clamping arm is placed on the top surface of the groove body; and a first annular clamping groove for clamping the first clamping arm is formed in the upper part of the column body of the sampling column.
Further, the sampling storage bin comprises a bin body and an outer shell sleeved outside the bin body; the shell body is provided with a through hole, the top of the shell body is provided with a cover plate, the cover plate is provided with a control box and a power supply box, a control panel with a single chip microcomputer as a core is placed in the control box, the box is provided with a heat dissipation water tank, and the cover plate is further provided with a through hole.
Furthermore, the weight mechanism comprises a weight frame, a weight and a first winding component;
the hammer frame is fixed on the outer shell or the cover plate;
the first hoisting assembly is fixed on the hammer frame and comprises a hoisting motor, a reduction box, a hoisting wheel, a guide wheel and a steel rope; the hoisting motor is arranged on the reduction gearbox, and a hoisting wheel which is used for winding the steel rope and transmitting power and a guide wheel which is used for guiding the steel rope to move are arranged on the side wall of the reduction gearbox; the weight is hung at the tail end of the steel rope.
Further, the hammer frame consists of a support frame and a central storage barrel which is fixed by the support frame in a surrounding mode;
the supporting frame is fixed on the outer shell or the cover plate; the first winding assembly is fixed to the top of the central storage barrel, and the heavy hammer is located in the central storage barrel when the steel rope is in a contraction state.
Further, the positioning guide lifting mechanism comprises a lifting platform, a guide rod and a second hoisting component;
the lifting platform mainly comprises a substrate, a pair of linear bearings, a pair of pull rings, a locking rod and a motor, wherein the linear bearings, the pull rings, the locking rod and the motor are arranged on the substrate; a bayonet for clamping the sampling column is formed in the substrate, and a locking rod is arranged at an opening of the bayonet; the linear bearing and the pull ring are arranged at two ends of the substrate, and the linear bearing is sleeved on the guide rod;
the second hoisting assembly is fixed on the cover plate and consists of two hoisting units, and each hoisting unit comprises a hoisting motor, a reduction box, a hoisting wheel, a guide wheel and a steel rope; the hoisting motor is arranged on the reduction gearbox, and a hoisting wheel which is used for winding the steel rope and transmitting power and a guide wheel which is used for guiding the steel rope to move are arranged on the side wall of the reduction gearbox; the tail end of the steel rope is connected with the pull ring.
Further, the column replacing mechanism comprises a clamping head and a pushing assembly;
the clamping head mainly comprises a base, a driving motor and a second clamping arm, wherein the driving motor and the second clamping arm are arranged on the base;
the pushing assembly comprises a support, a pushing block fixed on the support, a main driving roller for driving the pushing block to move, two auxiliary rollers and two transmission rollers; one end of the push block close to the main driving roller is a working end, and the other end of the push block is an extension end; the base is fixed at the working end, the extending end penetrates through the through hole, the main driving roller penetrates through the through hole, and the support is fixed on the cover plate.
Furthermore, a first annular clamping groove for clamping the first clamping arm and a second annular clamping groove for clamping the second clamping arm are formed in the upper portion of the column body of the sampling column.
The invention also provides a soil sample collection method, which comprises the following steps:
(1) selecting a point to be sampled, and importing point location data into the unmanned platform;
(2) carrying the soil sample automatic acquisition device to the sampling point through the unmanned platform, starting the soil sample automatic acquisition device, and taking the device away to the next sampling point after the device collects the soil sample until the sampling is completed.
Compared with the prior art, the invention has the following beneficial effects:
(1) according to the invention, the transposition mechanism, the positioning and guiding lifting mechanism, the column changing mechanism and the heavy hammer mechanism are combined with the sampling and storing bin, so that a device capable of automatically collecting multiple soil samples is obtained, the automation of soil sample collection is realized, the use is convenient, the cost is low, the adaptability is wide, and the device can be combined with an unmanned platform, so that the collection efficiency of the soil samples can be effectively improved, and the risk of soil sample pollution can be reduced.
(2) The invention provides a device which can be hung on an unmanned platform and can meet the requirements of collecting different soil samples; the device can be used as automatic collection equipment for soil samples in a large batch, at a long interval and in complex geological and topographic environments in the soil sample collection process.
(3) The device provided by the invention can improve the efficiency and accuracy of soil sample collection and can also ensure the personal safety of soil sample collection personnel in complex geological environment.
Drawings
Fig. 1 is a schematic perspective view of an automatic soil sample collection device according to the present invention.
Fig. 2 is a schematic structural view of the automatic soil sample collecting device according to the present invention.
Fig. 3 is a schematic sectional view of the soil sample automatic collection device shown in fig. 2 at a-a.
Fig. 4 is a schematic sectional structure view at B-B of the automatic soil sample collecting device shown in fig. 2.
Fig. 5 is a schematic sectional structure view at C-C of the automatic soil sample collecting device shown in fig. 2.
Fig. 6 is a schematic view of a disassembled structure of the sampling storage bin 100 of the automatic soil sample collecting device according to the present invention.
Fig. 7 is an enlarged schematic structural view of a sampling column 500 in the automatic soil sample collecting device according to the present invention.
Fig. 8 is an enlarged schematic structural view of the first rolling component 230 in the automatic soil sample collecting device according to the present invention.
Fig. 9 is an enlarged view of the holding fixture 510 of the automatic soil sample collecting device according to the present invention.
Fig. 10 is an enlarged schematic view of the second hoisting assembly 430 of the automatic soil sample collecting device according to the present invention.
Fig. 11 is an enlarged schematic structural diagram of a lifting platform 410 in the automatic soil sample collecting device according to the present invention.
Fig. 12 is an enlarged schematic structural view of the column changing mechanism 300 (the holding head 310 and the pushing assembly 320) in the automatic soil sample collecting device according to the present invention.
Fig. 13 is a schematic view of the automatic soil sample collector in the state of soil sample collection.
FIG. 14 is a schematic structural view at D-D of the automatic soil sample collecting device shown in FIG. 13.
Fig. 15 is a schematic view of the automatic soil sample collecting device shown in fig. 13 at the position E-E (this view is a view of the device in a soil sample collecting state).
Fig. 16 is a schematic view of the structure of the column changing mechanism 300 at E-E shown in fig. 15 in a grasping state (i.e., a state in which the sampling column is taken out from the housing).
FIG. 17 is a schematic view of the column changing mechanism 300 shown at E-E in FIG. 15 in a set state (i.e., a sample column taken out is inserted into the bayonet 416).
The parts and numbering referred to in the above figures are:
the sampling storage bin 100, the bin body 110, the outer shell 120, the slot body 111, the installation deep slot 112, the positioning hole 113, the transposition plate 114, the transposition motor 115, the positioning column 116, the bearing plate 117, the perforation 121, the cover plate 122, the perforation 123 and the collection cavity 130; the hammer mechanism 200, the hammer frame 210, the heavy hammer 220, the first hoisting component 230, the support frame 211, the central storage barrel 212, the hoisting motor 231, the reduction box 232, the hoisting wheel 233, the guide wheel 234 and the steel rope 235; the column changing mechanism 300, the clamping head 310, the pushing assembly 320, the base 311, the driving motor 312, the second clamping arm 313, the bracket 321, the pushing block 322, the main driving roller 323, the first auxiliary roller 324, the second auxiliary roller 325, the first transmission roller 326, the second transmission roller 327, the working end 3221 of the pushing block 322, and the extending end 3222 of the pushing block 322; the device comprises a positioning guide lifting mechanism 400, a lifting platform 410, a guide rod 420, a second hoisting component 430, a base plate 411, a linear bearing 412, a pull rod 413, a locking rod 414, a motor 415, a bayonet 416, a hoisting motor 431, a reduction gearbox 432, a hoisting wheel 433, a guide wheel 434 and a steel rope 435; the sampling column 500, a first annular clamping groove 501, a second annular clamping groove 502, a clamping fixing piece 510, a first clamping arm 511, a screw rod 512 and a clamping motor 513.
Detailed Description
The present invention will be further described with reference to the following specific examples, which are only illustrative of the present invention, but the scope of the present invention is not limited thereto.
Example 1
As shown in fig. 1 to 17, the present invention provides an automatic soil sample collecting device, which mainly comprises: a sampling storage bin 100 with a plurality of sampling pillars 500, and a hammering mechanism 200, a pillar changing mechanism 300, and a positioning guide lifting mechanism 400 that cooperate with the sampling storage bin 100.
Wherein the sample storage cartridge 100 comprises a cartridge body 110 and an outer housing 120. The bin body 110 is a cylinder with a hollow inner part, and the hollow inner part is a collection cavity 130 for collecting soil samples; the outer shell 120 is cylindrical and is sleeved outside the cartridge body 110. The shell wall of the outer shell 120 is provided with a through hole 121, the top of the outer shell is provided with a cover plate 122, the cover plate is provided with a control box 124 and a power supply box 125, a control panel with a half chip machine as a core is placed in the control box 124, the motor is connected to a driving circuit controlled by a single chip machine through a lead embedded in each part of the device, the box is provided with a heat radiation water tank 126, and the cover plate is also provided with a through hole 123.
The inner wall of the bin body 110 is provided with a groove body 111 for inserting and taking a plurality of sampling columns 500. The bin body 110 adopted in the embodiment is provided with 10 trough bodies; from the overlooking perspective, each trough body 111 is U-shaped, and the opening faces the collection cavity 130, and is petal-shaped around the inner wall of the bin body 110.
The upper top surface of the bin body 110 is provided with a plurality of mounting deep grooves 112, and the mounting deep grooves 112 correspond to the trough bodies 111 one by one; in this embodiment, the installation deep groove 112 is located at the periphery of the groove body 111. The bin body 110 is further provided with a clamping and fixing member 510, and the clamping and fixing member 510 mainly comprises a screw 512, a clamping motor 513 and a first clamping arm 511 for clamping the sampling column 500; the first clamping arm 511 is formed by combining two semicircular half clamping arms with fixing holes, one end of the screw rod 512 is connected with the clamping motor 513, and the other end of the screw rod passes through the fixing hole of the first clamping arm 511 to be connected with the first clamping arm 511. The screw 512 and the clamping motor 513 are both disposed in the installation deep slot 112, and the diameter of the first clamping arm 511 is larger than that of the slot body 111, so that the first clamping arm is disposed at the top of the slot body 111 to assist the sampling column 500 to be suspended in the slot body 111.
The sampling column 500 is cylindrical, the opening of the sampling column is downward and is inversely arranged in the groove body, the top of the sampling column is sealed, and the bottom of the sampling column is opened; in order to facilitate the insertion and grasping of the sampling column, the upper part of the column body of the sampling column 500 is provided with a first annular clamping groove 501 and a second annular clamping groove 502 which are arranged up and down; the first ring-shaped slot 501 is matched with the column changing mechanism 300, and the second ring-shaped slot 502 is matched with the first clamping arm 511. When the sampling column 500 is installed, the clamping motor 513 drives the screw 512 to rotate, so that the first clamping arm 511 is separated, and the first clamping arm 511 is located at an installation position (i.e., the clamping arm is in an open state); after the sampling column 500 is placed in the slot 111, the clamping motor 513 is operated in a reverse direction, and the first clamping arm 511 is operated to a clamping fixing position (i.e., the clamping arm is in a closed state) and clamped into the second annular clamping groove 502.
The lower bottom surface of the bin body 110 is also provided with a positioning hole 113, and the positioning hole 113 is positioned between every two groove bodies 111. The bottom of the bin body 110 is provided with a transposition mechanism 600 for the sampling columns 500 in the groove body 111 to automatically rotate and transpose. The transposition mechanism 600 comprises a transposition disc 114, a transposition motor 115 and a bearing disc 117 which is arranged below the outer shell 120 and matched with the transposition disc 114; the main body of the transposition plate 114 is a circular thin plate, a positioning column 116 matched with the positioning hole 113 is arranged on the plate surface, a sliding groove 118 matched with the bearing plate 117 is arranged at the plate bottom, a transposition motor 115 is arranged on the inner side of the circular ring of the transposition plate 114, the transposition motor 115 drives the transposition plate 114 to rotate, the positioning column 116 is driven to rotate, and then the bin body 110 is driven to rotate, so that the rotation and position replacement of the sampling column 500 are realized.
The column changing mechanism 300 is installed on the cover plate of the outer shell 120, and is used for grabbing and transferring the sampling column, moving the sampling column originally placed in the trough body 111 into the collection cavity 130, and transferring the sampling column 500 which has collected the soil sample back to the trough body 111. The column changing mechanism 300 comprises a clamping head 310 and a pushing assembly 320; the clamping head 310 mainly comprises a base 311, a driving motor 312 and a second clamping arm 313, wherein the driving motor 312 and the second clamping arm are installed on the base 311; the second clamping arm 313 is matched with the first annular clamping groove 501 of the collecting column 500, when the second clamping arm grabs and transfers the sampling column, the second clamping arm 313 is firstly clamped into the first annular clamping groove 501, and then the sampling column is moved. The pushing assembly 320 mainly comprises a bracket 321, a pushing block 322 fixed on the bracket 321, a main driving roller 323 for driving the pushing block to move, a first auxiliary roller 324 and a second auxiliary roller 325 for supporting and guiding the pushing block to move, and a first transmission roller 326 and a second transmission roller 327. The pushing block 322 has a working end 3221 and an extending end 3222, the base 311 is fixed to the working end 3221 of the pushing block, the extending end 3222 extends outwards through the through hole 121 of the outer shell 120, and the working end 3221 pushes the base 311 to move towards the sampling cavity 130. The bracket 321 is fixed to the cover plate 122, and the main driving roller 323 passes through the penetration opening 123. The main driving roller 323 drives the first transmission roller 326 to rotate, the first transmission roller 326 drives the second transmission roller 327 to rotate, the second transmission roller 327 drives the push block 322 to move, and the push block 322 moves under the push of the second transmission roller 327, the first auxiliary roller 324 and the second auxiliary roller 325. The length of the push block 322 is set to ensure that the clamping head 320 can move freely between the trough body 111 and the collection cavity 130.
The hammer mechanism 200 is located above the cartridge body 110 for hammering the sampling column gripped by the gripping head 320 and moved to the collection chamber 130 inside the cartridge body 110. The hammering mechanism 200 is mainly composed of a hammer frame 210, a hammer 220 and a first winding assembly 230. The hammer frame 210 is composed of a support frame 211 and a central receiving cylinder 212 fixed around the support frame 211; the support frame 211 is fixed on the outer casing 120, and may be fixed on the cover plate 122 of the outer casing 120 or fixed on the outer wall of the outer casing 120; the top of the central receiving tube 212 is sealed and fixed with a first winding member 230, and the weight 220 is suspended inside the central receiving tube 212 by the first winding member 230, and the bottom of the central receiving tube 212 is open. The first hoisting component 230 mainly comprises a hoisting motor 231, a reduction box 232, a hoisting wheel 233, a guide wheel 234 and a steel rope 235; the hoisting motor 231 is arranged above the reduction gearbox 232, and the side wall of the reduction gearbox 232 is provided with a hoisting wheel 233 which winds the steel rope 235 and transmits power and a guide wheel 234 which guides the steel rope to move. The top of the central receiving tube 212 is also provided with a small hole for the steel cable 235 of the hoisting assembly 230 to pass through, and the other end of the steel cable 235 passing through the small hole is hung with the weight 220. The hoisting motor 231 drives the hoisting wheel 233 to rotate, so as to drive the guide wheel 234 to rotate, so that the steel rope wound around the guide wheel 234 rotates, the heavy hammer moves up and down, and the sampling column is hammered; the hammering force of the weight can be changed by changing the falling height and speed of the weight.
The positioning guide lifting mechanism 400 is disposed in the collection cavity 130 of the bin body 110, and is used for fixing and guiding the sampling column, and lifting the sampling column inserted into the sampling soil to the same height as the sampling column in the trough body 111. The positioning and guiding lifting mechanism 400 mainly comprises a lifting platform 410, two guide rods 420 and a second hoisting assembly 430; the lifting platform 410 comprises a base plate 411, and a linear bearing 412, a pull ring 413, a locking rod 414 and a motor 415 which are respectively arranged at two ends of the base plate; the base plate 411 is provided with a bayonet 416 for clamping the sampling column, the bayonet 416 is U-shaped, the opening is provided with a locking rod 414, and the locking rod 414 is driven by a motor 415 to close the opening of the bayonet 416. The notch of the bayonet 416 is directed away from the through-hole 121. The linear bearing 412 is sleeved on the guide rod 420 and limited by the guide rod 420; the second hoisting assembly 430 is composed of a left hoisting assembly unit and a right hoisting assembly unit, and the two hoisting assembly units mainly comprise a hoisting motor 431, a reduction box 432, a hoisting wheel 433, a guide wheel 434 and a steel rope 435; the hoisting motor 431 is arranged above the reduction gearbox 432, and a hoisting wheel 433 which is used for winding a steel rope 435 and transmitting power and a guide wheel 434 which guides the steel rope to move are arranged on the side wall of the reduction gearbox 432. The two hoisting assembly units are fixed on the cover plate 122, small holes for steel ropes of the two hoisting assembly units to pass through are formed in the cover plate 122, and the steel ropes are connected with the pull ring 413 after passing through the small holes. The second hoist subassembly drive steel cable contracts for lifting platform 410 upward movement, thereby the sampling post rebound of joint on the drive lifting platform, thereby the messenger originally inserts the sampling post rebound in the sample soil. The motor is driven by the drive plate and is controlled by the singlechip.
When designing the bin body 110, the height of the column body may be substantially the same as that of the sampling column, or may be slightly higher than that of the sampling column. The main parts adopted by the device are all made of wear-resistant antistatic engineering plastics. The device quality can be reduced while the strength is ensured, and the useless energy consumption of the unmanned platform is reduced. The large-volume parts of the device can be manufactured by using a 3D printing technology; the 50% honeycomb filling structure is used inside, so that the overall quality of the device can be reduced while the strength is ensured. All the screw connections related to the device adopt countersunk head inner hexagonal screws, so that the reliable connection between each part and each component is ensured, the generation of gaps is reduced as much as possible, and the loss and the pollution of soil samples are reduced. The motor related to the device adopts a low-voltage direct-current speed reduction motor; the device has the advantages that the size and the mass of the device are reduced, the required torque is guaranteed, the safety of a user is guaranteed, and the device is suitable for the characteristic of unmanned platform storage battery power supply.
The upper part of the sampling column related to the device uses titanium alloy material with higher hardness; the weight of the device is reduced while the hammering energy transmission efficiency is high. The inner wall of the sampling column is attached with a polytetrafluoroethylene lining, so that the sample is prevented from being polluted by metal elements; the lower opening of the sampling column is provided with a 30-degree chamfer, so that the sampling column can effectively go deep into the soil layer. The device is also provided with an induction device, and the power supply is cut off and fed back in time when the part is blocked or damaged, so that the operation safety of the device is ensured.
The operation flow of the automatic soil sample collecting device is as follows:
(1) after the automatic soil sample collecting device moves to a collecting point, the clamping head 310 clamps up the sampling column 500-1 adjacent to the clamping head 310 in the groove body 111-1 and pushes the sampling column into the hollow collecting cavity 130 in the bin body 110, the sampling column is clamped at the bayonet 316 of the lifting platform 310, and the motor 315 drives the locking rod 314 to lock;
(2) the holding head 310 returns to the initial bit;
(3) the heavy hammer 220 is driven by the first hoisting component 230 to repeatedly move up and down, the collecting column 510 in the collecting cavity 130 is hammered, and the collecting column 510 is hammered by the heavy hammer 220 and then inserted into the collected soil for soil collection;
(4) after collection, the lifting platform 310 is lifted by the second hoisting component 330 and moves upwards, so that the collection column 510 originally in the soil leaves the collected soil and moves upwards to finally reach the condition that the collection cavity 130 is flush with the collection column in the trough body 111;
(5) the clamping head 310 clamps the collection column 510 in the collection cavity 130 again, the motor 315 drives the locking rod 314 to open, and the clamping head 310 pushes forward into the originally empty slot body 111-1;
(6) returning the holding head to the initial position;
(7) under the rotation of the transposition disk 114, the bin body 110 rotates, so that the groove body 111-2 is positioned on the extension line of the clamping head 310;
(8) a device transfer position;
(9) the clamping head 310 clamps up the sampling column 500-2 in the trough body 111-2, pushes the sampling column into the hollow collecting cavity 130 in the bin body 110, is clamped at the bayonet 316 of the lifting platform 310, and is locked by the locking rod 314 driven by the motor 315; then, repeating the steps (2) - (4), and returning the sampling column 500-2 to the originally empty tank body 111-2;
(10) returning the holding head to the initial position;
(11) the automatic soil sample collecting device can repeat the process until the sampling is completed.
(12) And returning to the set position.
On the basis, the embodiment also provides a soil sample collecting method, which comprises the following specific steps:
(1) selecting a point to be sampled, and importing point location data into the unmanned platform;
(2) carrying the soil sample automatic acquisition device to the sampling point through the unmanned platform, starting the soil sample automatic acquisition device, and taking the device away to the next sampling point after the device collects the soil sample until the sampling is completed.
Claims (10)
1. A soil sample automatic acquisition device mounted on an unmanned platform is characterized by comprising a sampling storage bin and a plurality of sampling columns stored in the sampling storage bin;
the sampling storage bin is hollow to form a sampling cavity; the inner wall of the sampling storage bin is provided with a groove body for storing the sampling column, and the opening of the sampling column is arranged in the groove body in a downward inverted mode; the top of the sampling storage bin is provided with a control box for automatic control, a heat dissipation component and a power supply component, and the bottom of the sampling storage bin is provided with a transposition mechanism for automatically rotating and transposition the sampling column in the groove body;
a positioning guide lifting mechanism for guiding the sampling column to vertically move and pulling out the sampling column from the soil is arranged in the sampling cavity; a column changing mechanism used for clamping the sampling column to enable the sampling column to alternately change positions between the groove body and the positioning guide lifting mechanism is also arranged above the sampling storage bin; and a heavy hammer mechanism for hammering the sampling column to insert the sampling column into the soil is arranged right above the positioning guide lifting mechanism.
2. The automatic soil sample collection device mounted on the unmanned platform of claim 1, wherein the transposition mechanism comprises a transposition disk, a bearing disk and a transposition motor; the transposition plate is provided with a plurality of positioning columns, and the bottom of the transposition plate is provided with an annular groove for mounting the bearing plate; the bottom of the bin body is provided with a plurality of positioning holes matched with the positioning columns, and the positioning holes are arranged between every two trough bodies.
3. The automatic soil sample collecting device mounted on the unmanned platform as claimed in claim 1, wherein the upper surface of the bin body is provided with a plurality of mounting deep grooves, and the mounting deep grooves are in one-to-one correspondence with the slot bodies; the bin body is also provided with a clamping fixing piece, and the clamping fixing piece comprises a first clamping arm, a screw rod for connecting and controlling the first clamping arm and a clamping motor for driving the screw rod to rotate; the screw rod and the clamping motor are placed in the installation deep groove, and the first clamping arm is placed on the top surface of the groove body; and a first annular clamping groove for clamping the first clamping arm is formed in the upper part of the column body of the sampling column.
4. The automatic soil sample collection device mounted on the unmanned platform of claim 3, wherein the sampling storage bin comprises a bin body and an outer shell sleeved outside the bin body; the shell body is provided with a through hole, the top of the shell body is provided with a cover plate, the cover plate is provided with a control box and a power supply box, a control panel with a single chip microcomputer as a core is placed in the control box, the box is provided with a heat dissipation water tank, and the cover plate is further provided with a through hole.
5. The device for automatically collecting soil samples mounted on an unmanned platform as claimed in claim 4, wherein the weight mechanism comprises a weight frame, a weight and a first winding component;
the hammer frame is fixed on the outer shell or the cover plate;
the first hoisting assembly is fixed on the hammer frame and comprises a hoisting motor, a reduction box, a hoisting wheel, a guide wheel and a steel rope; the hoisting motor is arranged on the reduction gearbox, and a hoisting wheel which is used for winding the steel rope and transmitting power and a guide wheel which is used for guiding the steel rope to move are arranged on the side wall of the reduction gearbox; the weight is hung at the tail end of the steel rope.
6. The automatic soil sample collecting device mounted on the unmanned platform as claimed in claim 5, wherein the hammer frame is composed of a support frame and a central receiving barrel fixed around through the support frame;
the supporting frame is fixed on the outer shell or the cover plate; the first winding assembly is fixed to the top of the central storage barrel, and the heavy hammer is located in the central storage barrel when the steel rope is in a contraction state.
7. The automatic soil sample collection device mounted on an unmanned platform of claim 4, wherein the positioning guide lifting mechanism comprises a lifting platform, a guide rod and a second hoisting assembly;
the lifting platform mainly comprises a substrate, a pair of linear bearings, a pair of pull rings, a locking rod and a motor, wherein the linear bearings, the pull rings, the locking rod and the motor are arranged on the substrate; a bayonet for clamping the sampling column is formed in the substrate, and a locking rod is arranged at an opening of the bayonet; the linear bearing and the pull ring are arranged at two ends of the substrate, and the linear bearing is sleeved on the guide rod;
the second hoisting assembly is fixed on the cover plate and consists of two hoisting units, and each hoisting unit comprises a hoisting motor, a reduction box, a hoisting wheel, a guide wheel and a steel rope; the hoisting motor is arranged on the reduction gearbox, and a hoisting wheel which is used for winding the steel rope and transmitting power and a guide wheel which is used for guiding the steel rope to move are arranged on the side wall of the reduction gearbox; the tail end of the steel rope is connected with the pull ring.
8. The automatic soil sample collection device mounted on an unmanned platform of claim 5, wherein the column changing mechanism comprises a clamping head and a pushing assembly;
the clamping head mainly comprises a base, a driving motor and a second clamping arm, wherein the driving motor and the second clamping arm are arranged on the base;
the pushing assembly comprises a support, a pushing block fixed on the support, a main driving roller for driving the pushing block to move, two auxiliary rollers and two transmission rollers; one end of the push block close to the main driving roller is a working end, and the other end of the push block is an extension end; the base is fixed at the working end, the extending end penetrates through the through hole, the main driving roller penetrates through the through hole, and the support is fixed on the cover plate.
9. The automatic soil sample collecting device mounted on the unmanned platform as claimed in claim 8, wherein the upper portion of the column body of the sampling column is provided with a first annular clamping groove for clamping the first clamping arm and a second annular clamping groove for clamping the second clamping arm.
10. A soil sample collection method is characterized by comprising the following steps:
(1) selecting a point to be sampled, and importing point location data into the unmanned platform;
(2) carrying the soil sample automatic acquisition device of any one of claims 1 to 9 to a sampling point through an unmanned platform, starting the soil sample automatic acquisition device, and taking the device away to the next sampling point after the device finishes collecting the soil sample until the sampling is finished completely.
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| CN117129260A (en) * | 2023-08-16 | 2023-11-28 | 西藏博源环境检测有限公司 | Soil sampling device |
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