Monitoring and sampling system for basic grassland ecological data

Abstract

According to the basic grassland ecological data monitoring and sampling system disclosed by the invention, in the sampling operation, cutting rings can be automatically taken out and stored through rotation of a turntable, rotation of a butt-clamping mechanical claw and lifting of a butt-clamping sliding block, so that an unmanned vehicle can carry a plurality of cutting rings for sampling work, the sampling work efficiency is improved, and the sampling time is shortened. The cutting ring inserting work can be automatically completed through cooperation of the butt-clamping mechanical claw and the pressing head, soil around the cutting ring can be automatically excavated through the hollow drill, the labor intensity of an operator is relieved, the automation level is improved, the butt-clamping mechanical claw can enter an annular groove excavated by the hollow drill, the cutting ring is taken out by clamping the side face of the cutting ring, and the cutting ring inserting efficiency is improved. The cutting ring does not need to be additionally transformed, the universality of the cutting ring is improved, and the sheath is pressed outside the cutting ring before the soil around the cutting ring is dug out, so that the situation that the accuracy of an analysis result is reduced due to soil disturbance in the cutting ring caused by displacement of the cutting ring is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of detection, and specifically to a monitoring and sampling system for basic grassland ecological data. Background Art

[0002] The monitoring of basic grassland ecological data is the work of collecting and recording information on various ecological elements such as the vegetation, soil, and meteorology of the grassland. Among them, grassland soil sampling is of great significance in the monitoring of basic grassland ecological data. Soil sampling can obtain the soil bulk density, thereby reflecting the compactness of the soil, and further evaluating the impact of the soil on plant roots. By monitoring the change in bulk density, the potential impact of the change in grassland soil on grassland plant roots can be detected in a timely manner.

[0003] In the prior art, soil sampling is mainly carried out by a core sampler. The operator needs to first knock the core sampler into the soil, then dig out the soil around the core sampler, and then carefully take out the core sampler. The labor intensity of knocking the core sampler and digging out the soil around the core sampler is relatively large. Therefore, it is necessary to design a monitoring and sampling system for basic grassland ecological data with a relatively high degree of automation. Summary of the Invention

[0004] The purpose of the present invention is to provide a monitoring and sampling system for basic grassland ecological data to solve the problems raised in the above background art.

[0005] To achieve the above purpose, the present invention provides the following technical solution: A monitoring and sampling system for basic grassland ecological data, including an unmanned vehicle. A turntable is rotatably arranged inside the unmanned vehicle. A plurality of sampling cells are provided on the turntable, and a core sampler can be placed in each sampling cell. A clamping slider is arranged to move up and down inside the unmanned vehicle. A clamping mechanical claw is rotatably arranged on the clamping slider. The clamping mechanical claw is in an arc shape in the initial state. A pressing column is rotatably arranged inside the unmanned vehicle, and a pressing head is arranged to move up and down on the pressing column. A protection column is fixed inside the unmanned vehicle behind the pressing column. A connecting head is arranged to move up and down on the protection column, and a sheath is detachably connected to the connecting head. A hollow drill is arranged to move up and down inside the unmanned vehicle behind the protection column. The hollow drill can scrape out a circular groove, and the circular groove can accommodate the clamping mechanical claw. A protrusion is fixed on the bottom plate of the protection column. A single-action ratchet mechanism is arranged inside the connecting head. Each time the single-action ratchet mechanism contacts the protrusion, it can output a step angle. A connecting groove is provided inside the sheath. A locking tongue is arranged to telescopically move inside the connecting head, and the locking tongue is driven by a switching mechanism arranged inside the connecting head. Each step angle can change the telescopic state of the locking tongue through the switching mechanism.

[0006] Preferably, the connector includes a connecting slider which is arranged on the protective column in a lifting manner. One end of an extension pipe is fixed under the connecting slider, and the other end of the extension pipe is fixed with a connecting plate. A single-action ratchet mechanism is arranged in the connecting slider, and a locking tongue is arranged in the connecting plate in a telescopic manner. A switching mechanism is arranged in the connecting plate, and the single-action ratchet mechanism and the switching mechanism are connected by a transmission shaft.

[0007] Preferably, the single-action ratchet mechanism includes a four-pawl ratchet which is rotatably arranged in the connecting slider. The four-pawl ratchet is coaxially fixed with a transmission shaft. The four-pawl ratchet is driven by an A driving pawl which is rotatably arranged on an A rocker. The A rocker is rotatably arranged in the connecting slider. A return torsion spring is fixed between the A rocker and the connecting slider. A return torsion spring is fixed between the A driving pawl and the A rocker. The reverse rotation of the four-pawl ratchet is blocked by an A anti-reverse pawl which is rotatably arranged in the connecting slider. A return torsion spring is fixed between the A anti-reverse pawl and the connecting slider. An AA gear is coaxially fixed on the A rocker. The AA gear is meshed with an AB gear. The AB gear is coaxially fixed with an AC gear. The AC gear is meshed with an A rack. The A rack is slidably arranged in the connecting slider. One end of an A transmission rod is fixed on the A rack, and the other end of the A transmission rod can contact with a protrusion.

[0008] Preferably, an elliptical cam is rotatably arranged in the connecting plate. The elliptical cam is fixed under the transmission shaft. A cam ridge is fixed on the elliptical cam. Two cam push rods are in contact connection with the cam ridge. The two cam push rods are symmetrically arranged. The cam push rods are slidably arranged in the connecting plate. A locking tongue is fixed on the cam push rods.

[0009] Preferably, the single-action ratchet mechanism includes a multi-pawl ratchet. The number of the ratchet teeth of the multi-pawl ratchet is more than four. The multi-pawl ratchet is rotatably arranged in the connecting slider. The multi-pawl ratchet is coaxially fixed with a transmission shaft. The multi-pawl ratchet is driven by a B driving pawl which is rotatably arranged on a B rocker. The B rocker is rotatably arranged in the connecting slider. A return torsion spring is fixed between the B rocker and the connecting slider. A return torsion spring is fixed between the B driving pawl and the B rocker. The reverse rotation of the multi-pawl ratchet is blocked by a B anti-reverse pawl which is rotatably arranged in the connecting slider. A return torsion spring is fixed between the B anti-reverse pawl and the connecting slider. A BA gear is coaxially fixed on the B rocker. The BA gear is meshed with a BB gear. The BB gear is coaxially fixed with a BC gear. The BC gear is meshed with a B rack. The B rack is slidably arranged in the connecting slider. One end of a B transmission rod is fixed on the B rack, and the other end of the B transmission rod can contact with a protrusion.

[0010] Preferably, a driven wheel is rotatably arranged inside the connecting disc. The driven wheel is fixed under the transmission shaft. A plurality of pits are formed in the driven wheel. The number of pits is half of the number of ratchet teeth of the multi-claw ratchet. One end of a driven rod is fixed on the locking tongue, and the other end of the driven rod can contact the pits. The driven rod is slidably arranged on the connecting disc. One end of a return spring is fixed on the driven rod, and the other end of the return spring is fixed on the connecting disc. The return spring can keep the driven rod in contact with the driven wheel.

[0011] Preferably, each sampling cell is fan-shaped, and a counterbore is formed at the bottom of the sampling cell, and a core cutter can be accommodated in the counterbore.

[0012] Preferably, the clamping mechanical claw includes two clamping half claws. Each clamping half claw is rotatably arranged on the clamping bracket. A clamping gear is fixed at the rotation center of each clamping half claw. The two clamping gears are meshed with each other. The clamping bracket is rotatably arranged under the clamping slider. A clamping motor is fixed on the clamping bracket, and the clamping motor can drive one of the clamping gears.

[0013] Preferably, the hollow drill includes a drill bit. The drill bit is rotatably arranged under the trenching slider. A driving motor is fixed inside the trenching slider. The trenching slider is arranged to be lifted and lowered in the unmanned vehicle.

[0014] Preferably, the sheath includes a connecting ring. A connecting groove is formed inside the connecting ring, and a plurality of spikes are fixed under the connecting ring.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: In the sampling operation, through the rotation of the turntable, the rotation of the clamping mechanical claw and the lifting and lowering of the clamping slider, the work of taking out and storing the core cutter can be automatically completed, so that the unmanned vehicle can carry a plurality of core cutters for sampling work, improving the sampling work efficiency.

[0016] Through the cooperation of the clamping mechanical claw and the pressing head, the work of inserting the core cutter into the soil can be automatically completed. Through the hollow drill, the soil around the core cutter can be automatically dug out, reducing the labor intensity of the operator and improving the automation level.

[0017] The clamping mechanical claw can enter the annular groove dug by the hollow drill and take out the core cutter by clamping the side of the core cutter, without the need for additional modification of the core cutter, improving the versatility of the core cutter.

[0018] When the hollow drill trenches, it can squeeze the soil. In order to prevent the squeezed soil from squeezing the core cutter and causing the core cutter to shift, a sheath is pressed outside the core cutter before digging out the soil around the core cutter, avoiding the disturbance of the soil in the core cutter caused by the shift of the core cutter, and further reducing the accuracy of the analysis result.

[0019] Through the cooperation of the single-acting ratchet mechanism, the switching mechanism and the locking tongue, when the connector descends to the bottom plate of the protection column each time, the locking tongue can be alternately retracted and extended, realizing the automatic separation and engagement of the connector and the sheath, which is convenient for the driving and control of the sheath. Description of the Drawings

[0020] Figure 1 Isometric view of the present invention; Figure 2 Another angle isometric view of the present invention; Figure 3 Cross-sectional view of the present invention in the side view direction; Figure 4 Isometric view of the connector, protection column and protrusion of the present invention, where only the bottom plate of the outer shell of the protection column is retained; Figure 5 Isometric view of the sheath of the present invention; Figure 6 Isometric view of the single-acting ratchet mechanism and the switching mechanism of Embodiment 1 of the present invention, with the extension tube removed; Figure 7 Of the present invention Figure 6 Partial enlarged view at A; Figure 8 Isometric view of the clamping mechanical claw of the present invention; Figure 9 Isometric view of the single-acting ratchet mechanism and the switching mechanism of Embodiment 2 of the present invention, where the dotted line represents the BB gear; Figure 10 Of the present invention Figure 9 Partial enlarged view at B, where the dotted line represents the BB gear.

[0021] In the figure: 101, unmanned vehicle; 102, ring cutter; 103, clamping column; 104, clamping slider; 105, turntable; 106, sampling cell; 107, indexing motor; 108, pressing column; 109, pressure head; 110, pressing motor; 111, trenching column; 112, annular groove; 113, hollow drill; 114, drill bit; 115, trenching slider; 116, opening; 201, protection column; 202, connector; 203, sheath; 204, protrusion; 205, locking tongue; 206, connecting slider; 207, extension tube; 208, connecting plate; 209, transmission shaft; 210, connecting groove; 211, connecting ring; 212, spike; 300, clamping mechanical claw; 301, clamping half claw; 302, clamping bracket; 303, clamping motor; 400, single-acting ratchet mechanism; 401, four-jaw ratchet; 402, A drive pawl; 403, A rocker; 404, A anti-reverse pawl; 405, AA gear; 406, AB gear; 407, AC gear; 408, A rack; 409, A transmission rod; 451, multi-jaw ratchet; 452, B drive pawl; 453, B rocker; 454, B anti-reverse pawl; 455, BA gear; 456, BB gear; 457, BC gear; 458, B rack; 459, B transmission rod; 500, switching mechanism; 501, elliptical cam; 502, cam ridge; 503, cam push rod; 551, driven wheel; 552, pit; 553, driven rod; 554, return spring. Detailed implementation mode

[0022] The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] Embodiment 1: The present invention provides a technical solution: A monitoring and sampling system for basic grassland ecological data, as Figure 1 , 2 shown, includes an unmanned vehicle 101. A turntable 105 is rotatably arranged in the unmanned vehicle 101. A plurality of sampling cells 106 are opened on the turntable 105. A ring cutter 102 can be placed in each sampling cell 106. In this embodiment, the turntable 105 is driven by an indexing motor 107 (shown in Figure 2 ). The indexing motor 107 is fixed in the unmanned vehicle 101. The indexing motor 107 and the rotation of the turntable 105 driven by the indexing motor 107 both belong to the prior art, so details are not described herein. By opening a plurality of sampling cells 106 on the turntable 105, the unmanned vehicle 101 can carry a plurality of ring cutters 102.

[0024] To access the core cutter 102, as shown in Figure 1 , 2 illustrated, a clamping slider 104 is arranged to be lifted and lowered inside the unmanned vehicle 101. In this embodiment, the lifting and lowering of the clamping slider 104 is realized by an existing column lifting type slide table. The column lifting type slide table is a common device in which the slide table lifts along the column. In this embodiment, the slide table (the slide table is not shown in the attached drawings) of the column lifting type slide table is fixed to the clamping slider 104, and the column of the column lifting type slide table is fixed inside the unmanned vehicle 101. This column is the clamping column 103. A clamping mechanical claw 300 is rotatably arranged on the clamping slider 104. The clamping mechanical claw 300 is in an arc shape in the initial state.

[0025] During the sampling operation, through the rotation of the turntable 105, the rotation of the clamping mechanical claw 300, and the lifting and lowering of the clamping slider 104, the work of taking out and storing the core cutter 102 can be automatically completed, enabling the unmanned vehicle 101 to carry multiple core cutters 102 for sampling work and improving the sampling work efficiency.

[0026] To press the core cutter 102 into the soil, as shown in Figure 1 , 2 illustrated, a pressing column 108 is rotatably arranged inside the unmanned vehicle 101. In this embodiment, the pressing column 108 is driven to rotate by a pressing motor 110 (shown in Figure 2 ), and the pressing motor 110 is fixed inside the unmanned vehicle 101. The pressing motor 110 and the driving of the pressing column 108 to rotate by the pressing motor 110 both belong to the prior art, so details are not described here. A pressure head 109 is arranged to be lifted and lowered on the pressing column 108. The lifting and lowering of the pressure head 109 also adopts an existing column lifting type slide table. The slide table (the slide table is not shown in the attached drawings) of the column lifting type slide table is fixed to the pressure head 109, and the column (the column is not shown in the attached drawings) of the column lifting type slide table is fixed to the pressing column 108. An opening 116 for the clamping mechanical claw 300 and the pressure head 109 to pass through is provided on the bottom plate of the unmanned vehicle 101.

[0027] Through the cooperation of the clamping mechanical claw 300 and the pressure head 109, the work of inserting the core cutter 102 into the soil can be automatically completed, reducing the labor intensity of the operator and improving the automation level.

[0028] When the hollow drill 113 is trenching, it can extrude the soil. To prevent the extruded soil from squeezing the core cutter 102 and causing the core cutter 102 to shift, a sheath 203 is pressed into the outside of the core cutter 102 before digging the soil around the core cutter 102, as shown in Figure 1As shown in the figure, a protection column 201 is fixed inside the driverless vehicle 101 behind the pressing column 108. A connector 202 is arranged on the protection column 201 for lifting and lowering. The lifting and lowering of the connector 202 also adopts the existing column lifting type slide table. The slide table of the column lifting type slide table (the slide table is not shown in the attached drawings) is fixed on the connector 202, and the column of the column lifting type slide table (the column is not shown in the attached drawings) is fixed on the protection column 201. A sheath 203 is detachably connected to the connector 202.

[0029] After the sheath 203 is inserted into the soil, it is fixed to the underlying soil. The ring cutter 102 is wrapped inside the sheath 203, preventing the soil squeezed by the hollow drill 113 from squeezing the ring cutter 102, thereby preventing the ring cutter 102 from moving and avoiding the disturbance of the soil inside the ring cutter 102 caused by the displacement of the ring cutter 102, and thus improving the accuracy of the analysis results.

[0030] In order to dig out the soil around the ring cutter 102 to facilitate the removal of the ring cutter 102 from the soil, as Figure 1 、 3 shown, a hollow drill 113 (shown in Figure 3 ) is arranged for lifting and lowering inside the driverless vehicle 101 behind the protection column 201. The lifting and lowering of the hollow drill 113 also adopts the existing column lifting type slide table. The slide table of the column lifting type slide table is fixed on the hollow drill 113, and the column of the column lifting type slide table is fixed inside the driverless vehicle 101. This column is the trenching column 111.

[0031] The hollow drill 113 can scrape out a circular groove 112 around the ring cutter 102 inserted into the soil, and the circular groove 112 can accommodate the clamping mechanical claw 300.

[0032] The hollow drill 113 can automatically complete the excavation of the soil around the ring cutter 102, reducing the labor intensity of the operator and improving the automation level. The clamping mechanical claw 300 can enter the circular groove 112 dug by the hollow drill 113 and take out the ring cutter 102 by clamping the side of the ring cutter 102, without the need for additional modification of the ring cutter 102, improving the versatility of the ring cutter 102.

[0033] In order to enable the automatic separation and engagement of the connector 202 and the sheath 203, as Figure 4 、 5 shown, a protrusion 204 is fixed on the bottom plate of the protection column 201. A single-action ratchet mechanism 400 is arranged inside the connector 202. The single-action ratchet mechanism 400 can output a step angle every time it contacts the protrusion 204. A connection groove 210 is opened inside the sheath 203. A locking tongue 205 is arranged for telescoping inside the connector 202. The locking tongue 205 is driven by a switching mechanism 500 arranged inside the connector 202. Each step angle can change the telescoping state of the locking tongue 205 through the switching mechanism 500.

[0034] Before inserting the sheath 203 into the soil, the locking tongue 205 in the connector 202 extends and inserts into the connection groove 210 of the sheath 203, fixing the connector 202 and the sheath 203 to each other. When inserting the sheath 203 into the soil, the downward movement of the connector 202 along the protection column 201 can drive the sheath 203 to descend. When the connector 202 first descends to the bottom of the protection column 201, the connector 202 can insert the sheath 203 into the soil. At the same time, the single-acting ratchet mechanism 400 in the connector 202 contacts the protrusion 204 on the bottom plate of the protection column 201. The single-acting ratchet mechanism 400 outputs a step angle, and then changes the telescopic state of the locking tongue 205 once through the switching mechanism 500, causing the locking tongue 205 to retract and separate from the connection groove 210 of the sheath 203, thereby separating the connector 202 from the sheath 203. Subsequently, the connector 202 rises, and the sheath 203 remains in the soil. When retrieving the sheath 203 from the soil, the connector 202 descends again to the bottom plate of the protection column 201. At this time, the lower end of the connector 202 descends to the position of the sheath 203. The single-acting ratchet mechanism 400 in the connector 202 contacts the protrusion 204 on the bottom plate of the protection column 201. The single-acting ratchet mechanism 400 outputs a step angle, and then changes the telescopic state of the locking tongue 205 once through the switching mechanism 500, so as to insert into the connection groove 210 of the sheath 203, thereby connecting and fixing the connector 202 and the sheath 203 to each other. Subsequently, the connector 202 rises, and then retrieves the sheath 203.

[0035] Through the cooperation of the single-acting ratchet mechanism 400, the switching mechanism 500 and the locking tongue 205, each time the connector 202 descends to the bottom plate of the protection column 201, the telescopic state of the locking tongue 205 can be alternately retracted and extended, realizing the automatic separation and engagement of the connector 202 and the sheath 203, which is convenient for the driving and control of the sheath 203.

[0036] During operation, the unmanned vehicle 101 first moves to the sampling location, and then the clamping slider 104 and the clamping mechanical claw 300 cooperate to take out the core cutter 102 from the turntable 105, place the core cutter 102 above the opening 116 of the vehicle bottom plate of the unmanned vehicle 101, and place the core cutter 102 on the soil surface through the opening 116. Then, the core cutter 102 is positioned. Subsequently, the pressing column 108 rotates to drive the pressing head 109 to rotate and move the pressing head 109 above the core cutter 102. Then, the pressing head 109 presses the core cutter 102 into the soil. Subsequently, the unmanned vehicle 101 moves forward, so that the sheath 203 fixed to the connector 202 moves above the core cutter 102 pressed into the soil. Then, the connector 202 inserts the sheath 203 into the soil outside the core cutter 102. Subsequently, the unmanned vehicle 101 moves forward again, so that the hollow drill 113 moves above the core cutter 102 pressed into the soil. Then, the hollow drill 113 descends and rotates, scraping out a circular groove 112 around the core cutter 102 (shown in Figure 3In the middle), then the unmanned vehicle 101 moves backward, causing the connector 202 to move above the sheath 203 and the core cutter 102. Subsequently, the connector 202 retracts into the sheath 203. Then, the unmanned vehicle 101 retreats again, returning the unmanned vehicle 101 to the position when sampling started. Subsequently, the clamping slider 104 and the clamping mechanical claw 300 cooperate to retrieve the core cutter 102 and the soil sample collected by the core cutter 102 from the soil through the opening 116, and place the core cutter 102 in the rotary disk 105. Subsequently, the rotary disk 105 rotates a new core cutter 102 under the clamping mechanical claw 300. The detailed working process is as follows: When removing the core cutter 102 from the rotary disk 105, the clamping slider 104 first rises to the upper limit position, thereby driving the clamping mechanical claw 300 to rise. Subsequently, the clamping mechanical claw 300 rotates to the front of the unmanned vehicle 101. Then, the clamping slider 104 descends, causing the clamping mechanical claw 300 to descend to the rotary disk 105. Subsequently, the clamping mechanical claw 300 clamps the core cutter 102. Then, the clamping slider 104 rises, thereby driving the clamping mechanical claw 300 to rise, and thus removing the core cutter 102 from the rotary disk 105. Subsequently, the clamping mechanical claw 300 rotates to the rear (as Figure 1 shown), then the clamping slider 104 descends, thereby driving the clamping mechanical claw 300 to descend, and thus placing the core cutter 102 on the soil surface through the opening 116, completing the work of removing the core cutter 102.

[0037] When positioning the core cutter 102, the clamping slider 104 continues to descend, thereby driving the clamping mechanical claw 300 to descend, and thus inserting part of the core cutter 102 into the soil until the clamping mechanical claw 300 contacts the ground, completing the positioning work of the core cutter 102. Subsequently, the clamping mechanical claw 300 releases the core cutter 102. Then, the clamping slider 104 rises to the upper limit position, thereby driving the clamping mechanical claw 300 to rise. Subsequently, the clamping mechanical claw 300 rotates to the front, making way for the lifting and lowering of the pressure head 109.

[0038] When using the pressure head 109 to fully press the core cutter 102 into the soil, the pressing column 108 first rotates, thereby causing the pressure head 109 to rotate above the core cutter 102. Then, the pressure head 109 descends, thereby causing the pressure head 109 to contact the upper end face of the core cutter 102. Subsequently, the pressure head 109 continues to descend, fully pressing the core cutter 102 into the soil, completing the pressing work of the core cutter 102. Then, the pressure head 109 rises back into the unmanned vehicle 101. Subsequently, the pressing column 108 rotates in reverse, making way for the next lifting and lowering of the clamping mechanical claw 300.

[0039] When inserting the sheath 203, the driverless vehicle 101 moves forward first, so that the sheath 203 installed on the connector 202 moves above the core cutter 102. Subsequently, the connector 202 descends to insert the sheath 203 outside the core cutter 102, completing the work of inserting the sheath 203. Subsequently, the locking tongue 205 retracts, and then the connector 202 rises back into the driverless vehicle 101.

[0040] When trenching, the driverless vehicle 101 moves forward again, so that the hollow drill 113 moves above the core cutter 102. Subsequently, the hollow drill 113 descends and rotates to scrape off the soil around the sheath 203 to form a circular groove 112, completing the trenching work. Subsequently, the hollow drill 113 rises (as Figure 3 shown).

[0041] When retracting the sheath 203, the driverless vehicle 101 moves backward first, so that the connector 202 moves above the sheath 203. Subsequently, the lower end of the connector 202 descends into the sheath 203. Subsequently, the locking tongue 205 extends, and then the connector 202 rises to bring the sheath 203 back into the driverless vehicle 101, completing the work of retracting the sheath 203.

[0042] When retrieving the sample, the driverless vehicle 101 moves backward again to return the driverless vehicle 101 to the position at the start of sampling. Subsequently, the clamping jaw 300 rotates to the rear. Subsequently, the clamping slider 104 descends, causing the clamping jaw 300 to descend to the bottom inside the circular groove 112. Subsequently, the clamping jaw 300 clamps the core cutter 102. Subsequently, the clamping jaw 300 rotates slightly to make the core cutter 102 shake, thereby separating the soil sample in the core cutter 102 from the soil at the bottom of the core cutter 102. Subsequently, the clamping slider 104 rises, which in turn drives the clamping jaw 300 to rise, which in turn drives the core cutter 102 and the soil collected by the core cutter 102 back into the driverless vehicle 101, completing the work of retrieving the sample.

[0043] When storing the core cutter 102, the clamping slider 104 rises first, which in turn drives the clamping jaw 300 to rise, which in turn drives the core cutter 102 to rise. Subsequently, the clamping jaw 300 rotates to the front, causing the core cutter 102 to rotate above the turntable 105. Subsequently, the clamping jaw 300 releases the core cutter 102, allowing the core cutter 102 to return to the turntable 105. Subsequently, the clamping slider 104 rises to the upper limit position, which in turn drives the clamping jaw 300 to rise, completing the work of storing the core cutter 102. Subsequently, the turntable 105 rotates a new core cutter 102 below the clamping jaw 300.

[0044] As Figure 4 、 6, as shown in Figures 6 and 7, the connector 202 includes a connecting slider 206 which is arranged on the protective column 201 in a liftable manner. The lift of the connecting slider 206 also adopts an existing column lift type slide table. The slide table of the column lift type slide table is fixed on the connecting slider 206, and the column of the column lift type slide table is fixed on the protective column 201. One end of an extension pipe 207 is fixed under the connecting slider 206, and the other end of the extension pipe 207 is fixed with a connecting disc 208. A single-action ratchet mechanism 400 is arranged inside the connecting slider 206, and a locking tongue 205 is arranged in the connecting disc 208 in a telescopic manner. A switching mechanism 500 is arranged in the connecting disc 208. The single-action ratchet mechanism 400 and the switching mechanism 500 are connected by a transmission shaft 209, and the transmission shaft 209 is located inside the extension pipe 207.

[0045] As Figure 6 , 7 shown, the single-action ratchet mechanism 400 includes a four-claw ratchet 401 which is rotatably arranged inside the connecting slider 206 ( Figure 6 the upper cover of the connecting slider 206 is removed), the four-claw ratchet 401 is coaxially fixed with the transmission shaft 209, the four-claw ratchet 401 is driven by a driving pawl 402A, the driving pawl 402A is rotatably arranged on a rocker 403A, a return torsion spring is fixed between the rocker 403A and the connecting slider 206, the rocker 403A is rotatably arranged inside the connecting slider 206, a return torsion spring is fixed between the driving pawl 402A and the rocker 403A, and the return torsion spring between the driving pawl 402A and the rocker 403A can keep the driving pawl 402A in contact with the four-claw ratchet 401. The reverse rotation of the four-claw ratchet 401 is blocked by a stop pawl 404A, the stop pawl 404A is rotatably arranged inside the connecting slider 206, and a return torsion spring is fixed between the stop pawl 404A and the connecting slider 206.

[0046] As Figure 6 , 7 shown, a gear 405AA is coaxially fixed on the rocker 403A, the gear 405AA is meshed with a gear 406AB, the gear 406AB is coaxially fixed with a gear 407AC, the gear 407AC is meshed with a rack 408A, the rack 408A is slidably arranged inside the connecting slider 206, one end of a transmission rod 409A is fixed on the rack 408A, and the other end of the transmission rod 409A can contact with a protrusion 204. In this example, the protrusion 204 has an inclined surface.

[0047] When the connecting slider 206 descends to the protrusion 204, the contact between the A transmission rod 409 and the inclined surface of the protrusion 204 can drive the movement of the A transmission rod 409, and then drive the movement of the A rack 408, and then drive the rotation of the AC gear 407, and then drive the rotation of the AB gear 406, and then drive the rotation of the AA gear 405, and then drive the rotation of the A rocker 403, and then drive the A drive pawl 402 to push the four-pawl ratchet 401 to rotate by one tooth, outputting a step angle of 90 degrees. Then, the switching mechanism 500 is driven through the transmission shaft 209. When the connecting slider 206 ascends and separates from the protrusion 204, the A rocker 403 reversely resets under the action of the return torsion spring, and then drives the reverse rotation of the AA gear 405, and then drives the reverse rotation of the AB gear 406, and then drives the reverse rotation of the AC gear 407, and then drives the reverse movement of the A rack 408, and then drives the reverse movement and reset of the A transmission rod 409. The four-pawl ratchet 401 remains stationary under the action of the A anti-reverse pawl 404.

[0048] As Figure 6 , 7 shown, an elliptical cam 501 is rotatably arranged inside the connecting disk 208 ( Figure 6 the upper cover of the connecting disk 208 is removed in the figure), the elliptical cam 501 is fixed under the transmission shaft 209, a cam ridge 502 is fixed on the elliptical cam 501, and two cam push rods 503 are in contact connection with the cam ridge 502. The two cam push rods 503 are symmetrically arranged, and the cam push rods 503 are slidably arranged inside the connecting disk 208. A locking tongue 205 is fixed on the cam push rod 503.

[0049] The single-acting ratchet mechanism 400 outputs a step angle of 90 degrees, which can drive the rotation of the transmission shaft 209, and then drive the rotation of the elliptical cam 501. When the cam push rod 503 is on the major axis of the elliptical cam 501, the locking tongue 205 remains extended. After the elliptical cam 501 rotates 90 degrees, when the cam push rod 503 is on the minor axis of the elliptical cam 501, the locking tongue 205 remains retracted.

[0050] The four-pawl ratchet 401 has fewer teeth, and each tooth has a larger size and higher strength.

[0051] As Figure 1 shown, since the outer surface of the recovered core cutter 102 is attached with soil, in order to facilitate storing the recovered core cutter 102 in the turntable 105, each sampling grid 106 is fan-shaped. In order to facilitate fixing the position of the new core cutter 102, a counterbore is opened at the bottom of the sampling grid 106, and the core cutter 102 can be accommodated in the counterbore.

[0052] As Figure 8As shown in the figure, in order to facilitate the clamping and removal of the sampling ring cutter 102, the clamping mechanical claw 300 includes two clamping half claws 301. Each clamping half claw 301 is rotatably arranged on the clamping support 302. A clamping gear is fixed at the rotation center of each clamping half claw 301. The two clamping gears are meshed with each other. The clamping support 302 is rotatably arranged under the clamping slider 104. In this embodiment, a rotating motor is fixed inside the clamping slider 104. The rotating motor can drive the clamping support 302 to rotate, and further drive the whole clamping mechanical claw 300 to rotate. A clamping motor 303 is fixed on the clamping support 302. The clamping motor 303 can drive one of the clamping gears.

[0053] The clamping motor 303 can drive one clamping gear to rotate, and then drive the other clamping gear to rotate. The rotation of each clamping gear can drive the corresponding clamping half claw 301 to rotate, so as to make the clamping mechanical claw 300 clamp or release the sampling ring cutter 102.

[0054] As shown in FIGS. 1 and 2, the hollow drill 113 includes a drill bit 114. The drill bit 114 (shown in Figure 1 it) is rotatably arranged under the trenching slider 115 (shown in Figure 1 it). A driving motor is fixed inside the trenching slider 115. The trenching slider 115 is arranged to move up and down inside the unmanned vehicle 101. The up and down movement of the trenching slider 115 also adopts the existing column lifting type slide table. The slide table of the column lifting type slide table is fixed on the hollow drill 113, and the column of the column lifting type slide table is fixed on the trenching column 111.

[0055] As Figure 5 shown, in order to reduce the resistance of the sheath 203 inserted into the soil, the sheath 203 includes a connecting ring 211. A connecting groove 210 is formed inside the connecting ring 211. A plurality of spikes 212 are fixed under the connecting ring 211. Working process: The unmanned vehicle 101 first moves to the sampling location, and then the clamping slider 104 and the clamping mechanical claw 300 cooperate to take out the sampling ring cutter 102 and position the sampling ring cutter 102. Then, the pressing head 109 presses the sampling ring cutter 102 tightly. Then, the unmanned vehicle 101 moves forward, so that the sheath 203 moves above the sampling ring cutter 102. Then, the connecting head 202 inserts the sheath 203 outside the sampling ring cutter 102. Then, the unmanned vehicle 101 moves forward again, so that the hollow drill 113 moves above the sampling ring cutter 102. Then, the hollow drill 113 descends and rotates to scrape out a circular groove 112. Then, the unmanned vehicle 101 moves backward, so that the sheath 203 moves above the sampling ring cutter 102. Then, the connecting head 202 retracts the sheath 203. Then, the unmanned vehicle 101 moves backward again, so that the unmanned vehicle 101 returns to the position when sampling starts. Then, the clamping slider 104 and the clamping mechanical claw 300 cooperate to retrieve the sampling ring cutter 102 and the soil sample, and store the sampling ring cutter 102 in the rotary disk 105. Then, the rotary disk 105 rotates a new sampling ring cutter 102 under the clamping mechanical claw 300.

[0056] Working process: The driverless vehicle 101 first moves to the sampling location, and then the clamping slider 104 and the clamping mechanical claw 300 cooperate to take out the ring knife 102 from the turntable 105, place the ring knife 102 above the opening 116 on the vehicle floor of the driverless vehicle 101, and pass through the opening 116 and place the ring knife 102 on the soil surface. After that, the ring knife 102 is positioned. Then, the pressing column 108 rotates to drive the pressing head 109 to rotate and move the pressing head 109 above the ring knife 102. Then, the pressing head 109 presses the ring knife 102 into the soil through the opening 116. Subsequently, the driverless vehicle 101 moves forward, so that the sheath 203 fixed to the connector 202 moves above the ring knife 102 pressed into the soil. Then, the connector 202 inserts the sheath 203 into the soil outside the ring knife 102. Subsequently, the driverless vehicle 101 moves forward again, so that the hollow drill 113 moves above the ring knife 102 pressed into the soil. Then, the hollow drill 113 descends and rotates to scrape out a circular groove 112 around the ring knife 102 (shown in Figure 3 ). Then, the driverless vehicle 101 moves backward, so that the connector 202 moves above the sheath 203 and the ring knife 102. Then, the connector 202 retracts the sheath 203. Subsequently, the driverless vehicle 101 retreats again, so that the driverless vehicle 101 returns to the position at the start of sampling. Then, the clamping slider 104 and the clamping mechanical claw 300 cooperate to retrieve the ring knife 102 and the soil sample collected by the ring knife 102 from the soil through the opening 116, and store the ring knife 102 in the turntable 105. Then, the turntable 105 rotates a new ring knife 102 under the clamping mechanical claw 300.

[0057] Embodiment 2: As Figure 9 、 10 shown, the single-acting ratchet mechanism 400 includes a multi-pawl ratchet 451. The number of ratchet teeth of the multi-pawl ratchet 451 is greater than four. The multi-pawl ratchet 451 is rotatably arranged in the connecting slider 206 ( Figure 9 the upper cover of the connecting slider 206 is removed in the figure), the multi-pawl ratchet 451 is coaxially fixed with a transmission shaft 209, the multi-pawl ratchet 451 is driven by a B driving pawl 452, the B driving pawl 452 is rotatably arranged on a B rocker 453, the B rocker 453 is rotatably arranged in the connecting slider 206, a return torsion spring is fixed between the B rocker 453 and the connecting slider 206, a return torsion spring is fixed between the B driving pawl 452 and the B rocker 453, and the return torsion spring between the B driving pawl 452 and the B rocker 453 can keep the B driving pawl 452 between the B rocker 453. The reverse rotation of the multi-pawl ratchet 451 is blocked by a B anti-reverse pawl 454. The B anti-reverse pawl 454 is rotatably arranged in the connecting slider 206, and a return torsion spring is fixed between the B anti-reverse pawl 454 and the connecting slider 206.

[0058] A rocker 453 is coaxially fixed with a BA gear 455. The BA gear 455 is meshed and connected with a BB gear 456. The BB gear 456 is coaxially fixed with a BC gear 457. The BC gear 457 is meshed and connected with a B rack 458. The B rack 458 is slidably arranged in the connecting slider 206. One end of a B transmission rod 459 is fixed on the B rack 458, and the other end of the B transmission rod 459 can contact the protrusion 204. In this embodiment, the protrusion 204 has an inclined surface.

[0059] When the connecting slider 206 descends to the protrusion 204, the contact between the B transmission rod 459 and the inclined surface of the protrusion 204 can drive the B transmission rod 459 to move, thereby driving the B rack 458 to move, thereby driving the BC gear 457 to rotate, thereby driving the BB gear 456 to rotate, thereby driving the BA gear 455 to rotate, thereby driving the B rocker 453 to rotate, thereby driving the B driving pawl 452 to push the multi-pawl ratchet 451 to rotate through one ratchet tooth, outputting a step angle, and thereby driving the switching mechanism 500 through the transmission shaft 209. When the connecting slider 206 rises and separates from the protrusion 204, the B rocker 453 reversely resets under the action of the reset torsion spring, thereby driving the BA gear 455 to reverse, thereby driving the BB gear 456 to reverse, thereby driving the BC gear 457 to reverse, thereby driving the B rack 458 to move in the reverse direction, thereby driving the B transmission rod 459 to move in the reverse direction and reset. The multi-pawl ratchet 451 remains stationary under the action of the B anti-reverse pawl 454.

[0060] As Figure 9 shown, a driven wheel 551 is rotatably arranged in the connecting disk 208 ( Figure 9 the upper cover of the connecting disk 208 is removed in the figure). The driven wheel 551 is fixed under the transmission shaft 209. A plurality of pits 552 are formed on the driven wheel 551. The number of pits 552 is half of the number of ratchet teeth of the multi-pawl ratchet 451. One end of a driven rod 553 is fixed on the locking tongue 205, and the other end of the driven rod 553 can contact the pits 552. The driven rod 553 is slidably arranged on the connecting disk 208. One end of a return spring 554 is fixed on the driven rod 553, and the other end of the return spring 554 is fixed on the connecting disk 208. The return spring 554 can keep the driven rod 553 in contact with the driven wheel 551.

[0061] The output of a step angle by the single-action ratchet mechanism 400 can drive the transmission shaft 209 to rotate, thereby driving the driven wheel 551 to rotate. When the driven rod 553 is at the edge of the driven wheel 551, the locking tongue 205 remains extended. After the driven wheel 551 rotates through a step angle, the driven rod 553 enters the pits 552 of the driven wheel 551 under the action of the return spring 554, and the locking tongue 205 remains retracted.

[0062] The multi-pawl ratchet 451 has a relatively large number of ratchet teeth, and the amplitude of each rotation through a step angle is relatively small, with less impact and vibration.

[0063] The other parts of the second embodiment are the same as those of the first embodiment.

[0064] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A monitoring and sampling system for basic grassland ecological data, characterized by: The unmanned vehicle (101) comprises a rotating disk (105) disposed inside the unmanned vehicle (101), a plurality of sampling grids (106) being provided on the rotating disk (105), and a ring knife (102) can be placed in each sampling grid (106); A clamping slider (104) is provided in the unmanned vehicle (101) for lifting and lowering, and a clamping mechanical claw (300) is provided on the clamping slider (104) for rotating, and the clamping mechanical claw (300) is in an arc shape in an initial state; A pressing column (108) is provided in a rotating manner inside the unmanned vehicle (101), and a pressing head (109) is provided on the pressing column (108) so as to be lifted and lowered; A protective column (201) is fixed inside the unmanned vehicle (101) behind the pressing column (108), a connecting head (202) is provided on the protective column (201) in a lifting manner, and a protective sleeve (203) is detachably connected to the connecting head (202); A hollow drill (113) is provided in the unmanned vehicle (101) behind the protective column (201) for lifting, and the hollow drill (113) can scrape out a circle of annular grooves (112), and the annular grooves (112) can accommodate the clamping mechanical claws (300); A protrusion (204) is fixed to the bottom plate of the protection column (201), a single-action ratchet mechanism (400) is arranged in the connector (202), and the single-action ratchet mechanism (400) can output a step angle each time it contacts the protrusion (204), a connecting groove (210) is provided in the sheath (203), a locking tongue (205) is telescopically arranged in the connector (202), and the locking tongue (205) is driven by a switching mechanism (500) arranged in the connector (202), and each step angle can change the telescopic state of the locking tongue (205) once through the switching mechanism (500).

2. A monitoring and sampling system for basic grassland ecological data according to claim 1, characterized in that: The connecting head (202) comprises a connecting slider (206), the connecting slider (206) being arranged on the protective column (201) in a lifting manner, one end of an extension tube (207) being fixed under the connecting slider (206), a connecting disk (208) being fixed to the other end of the extension tube (207), a single-acting ratchet mechanism (400) being arranged in the connecting slider (206), a locking tongue (205) being arranged in a telescopic manner in the connecting disk (208), a switching mechanism (500) being arranged in the connecting disk (208), and the single-acting ratchet mechanism (400) and the switching mechanism (500) being connected via a transmission shaft (209).

3. A monitoring and sampling system for basic grassland ecological data according to claim 2, characterized in that: The single-acting ratchet mechanism (400) comprises a four-pawl ratchet (401), the four-pawl ratchet (401) is rotatably arranged in a connecting slider (206), a transmission shaft (209) is coaxially fixed to the four-pawl ratchet (401), the four-pawl ratchet (401) is driven by an A driving pawl (402), the A driving pawl (402) is rotatably arranged on an A rocking rod (403), the A rocking rod (403) is rotatably arranged in a connecting slider (206), a reset torsion spring is fixed between the A rocking rod (403) and the connecting slider (206), a reset torsion spring is fixed between the A driving pawl (402) and the A rocking rod (403), the reverse rotation of the four-pawl ratchet (401) is prevented by an A non-return pawl (404), the A non-return pawl (404) is rotatably arranged in a connecting slider (206), and a reset torsion spring is fixed between the A non-return pawl (404) and the connecting slider (206); An AA gear (405) is coaxially fixed to the A rocker (403), the AA gear (405) is meshedly connected to the AB gear (406), the AB gear (406) is coaxially fixed to the AC gear (407), the AC gear (407) is meshedly connected to the A rack (408), the A rack (408) is slidably arranged in the connecting slider (206), one end of an A transmission rod (409) is fixed to the A rack (408), and the other end of the A transmission rod (409) can contact the protrusion (204).

4. A monitoring and sampling system for basic grassland ecological data according to claim 3, characterized in that: An elliptical cam (501) is rotatably arranged in the connection disk (208), the elliptical cam (501) is fixed under the transmission shaft (209), a cam ridge (502) is fixed on the elliptical cam (501), two cam push rods (503) are contact-connected on the cam ridge (502), the two cam push rods (503) are symmetrically arranged, the cam push rods (503) are slidably arranged in the connection disk (208), and a locking tongue (205) is fixed on the cam push rod (503).

5. The basic grassland ecological data monitoring and sampling system according to claim 2 is characterized by: The single-acting ratchet mechanism (400) comprises a multi-pawl ratchet (451), the number of ratchet teeth of the multi-pawl ratchet (451) being greater than four, the multi-pawl ratchet (451) being rotatably arranged in a connecting slider (206), the multi-pawl ratchet (451) being coaxially fixed with a transmission shaft (209), the multi-pawl ratchet (451) being driven by a B driving pawl (452), the B driving pawl (452) being rotatably arranged on a B rocker (453), and the B rocker (453) being rotatably arranged The B rocker (453) is disposed in the connecting slider (206), a reset torsion spring is fixed between the B rocker (453) and the connecting slider (206), a reset torsion spring is fixed between the B driving pawl (452) and the B rocker (453), the reverse rotation of the multi-pawl ratchet (451) is prevented by the B non-return pawl (454), the B non-return pawl (454) is rotatably disposed in the connecting slider (206), and a reset torsion spring is fixed between the B non-return pawl (454) and the connecting slider (206); A BA gear (455) is coaxially fixed to the B rocker (453), the BA gear (455) is meshingly connected to a BB gear (456), a BC gear (457) is coaxially fixed to the BB gear (456), the BC gear (457) is meshingly connected to a B rack (458), the B rack (458) is slidably arranged in the connecting slider (206), one end of a B transmission rod (459) is fixed to the B rack (458), and the other end of the B transmission rod (459) can contact the protrusion (204).

6. A basic grassland ecological data monitoring and sampling system according to claim 5, characterized in that: A driven wheel (551) is rotatably arranged in the connecting disk (208), the driven wheel (551) is fixed under the transmission shaft (209), a plurality of recesses (552) are provided on the driven wheel (551), the number of the recesses (552) is half the number of ratchet teeth of the multi-pawl ratchet (451), one end of a driven rod (553) is fixed on the lock tongue (205), the other end of the driven rod (553) can contact the recesses (552), the driven rod (553) is slidably arranged on the connecting disk (208), one end of a return spring (554) is fixed on the driven rod (553), the other end of the return spring (554) is fixed on the connecting disk (208), and the return spring (554) can keep the driven rod (553) and the driven wheel (551) in contact.

7. The basic grassland ecological data monitoring and sampling system according to claim 1 is characterized by: Each sampling grid (106) is fan-shaped, and a countersunk hole is provided at the bottom of the sampling grid (106), and the ring knife (102) can be accommodated in the countersunk hole.

8. The basic grassland ecological data monitoring and sampling system according to claim 1 is characterized by: The clamping mechanical claw (300) comprises two clamping half claws (301), each clamping half claw (301) is rotatably arranged on a clamping bracket (302), a clamping gear is fixed at the rotation center of each clamping half claw (301), the two clamping gears are meshed with each other, the clamping bracket (302) is rotatably arranged under the clamping slider (104), a clamping motor (303) is fixed on the clamping bracket (302), and the clamping motor (303) can drive one of the clamping gears.

9. The basic grassland ecological data monitoring and sampling system according to claim 1 is characterized by: The hollow drill (113) comprises a drill bit (114), the drill bit (114) is rotatably arranged under a trenching slider (115), a driving motor is fixed inside the trenching slider (115), and the trenching slider (115) is lifted and lowered and arranged inside the unmanned vehicle (101).

10. A basic grassland ecological data monitoring and sampling system according to claim 1, characterized in that: The sheath (203) comprises a connecting ring (211), a connecting groove (210) is provided in the connecting ring (211), and a plurality of long spikes (212) are fixed under the connecting ring (211).

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