A soil sampling terminal and soil sampling equipment

Abstract

The present invention discloses a soil sampling terminal, a soil sampling terminal comprising a sampling tube for collecting soil and a soil pushing mechanism arranged on the sampling tube; the soil pushing mechanism comprises a piston arranged inside the sampling tube and slidingly matched with the inner wall of the sampling tube, a pushing driving mechanism for driving the piston to move in the sampling tube and a locking mechanism for locking the piston; the pushing driving mechanism comprises at least two groups of pushing driving components; the pushing driving component comprises a first push rod located at the top, a third push rod located at the bottom, a second push rod arranged between the first push rod and the third push rod, a first pushing spring and a second pushing spring for driving the second push rod and the third push rod to move; the soil sampling terminal can not only realize direct soil sampling with high sampling efficiency, but also realize automatic soil taking after collecting the soil, so that soil collection is simple and convenient.

Description

Technical Field

[0001] The invention relates to soil sampling equipment, in particular to a soil sampling terminal and soil sampling equipment. Background Art

[0002] With the development of our society, people are paying close attention to food safety, and ensuring food safety is particularly important. As soil pollution in our country is becoming increasingly serious, in farmlands or orchards, if the soil is polluted, the harmful substances in the soil will be absorbed by crops and fruit trees, and finally affect human health. Therefore, soil sampling and analysis is extremely important.

[0003] At present, the method of soil sampling has gradually transitioned from manual sampling to mechanical sampling. For example, the utility model patent with the authorization announcement number CN202837025U discloses a non-compression soil collection device, which mainly drives the twist drill to rotate by a drilling hydraulic motor, and drives the twist drill to move toward the soil by a feeding hydraulic motor. Under the joint action of the drilling hydraulic motor and the feeding hydraulic motor, the light hole drilling is completed; after the drilling is completed, the twist drill is replaced with a sampling tube. There are two upright blades with a certain angle in the direction of the external tangent of the sampling tube. When the sampling tube is fed axially, a triangular soil column can be cut on the wall of the light hole to complete the soil sampling.

[0004] However, there are the following shortcomings:

[0005] 1. The device needs to drill a hole and then collect soil through a sampling tube. The operation process of collecting soil is complicated and the sampling efficiency is low.

[0006] 2. After the device completes soil collection, it is not easy for the staff to take the soil out from the two upright blades when obtaining the soil sample. Summary of the invention

[0007] The purpose of the present invention is to overcome the above-mentioned problems and provide a soil sampling terminal, which can not only directly sample the soil with high sampling efficiency, but also can automatically take the soil after collecting the soil, making soil collection simple and convenient.

[0008] Another object of the present invention is to provide a soil sampling device.

[0009] The purpose of the present invention is achieved through the following technical solutions:

[0010] A soil sampling terminal comprises a sampling tube for collecting soil and a soil pushing mechanism arranged on the sampling tube for pushing out the sampled soil; wherein the soil pushing mechanism comprises a piston arranged inside the sampling tube and slidingly matched with the inner wall of the sampling tube, a pushing driving mechanism for driving the piston to move in the sampling tube, and a locking mechanism for locking the piston after the sampling tube collects soil; wherein,

[0011] The push drive mechanism includes at least two groups of push drive components arranged outside the sampling tube; the push drive component includes a first push rod located at the top, a third push rod located at the bottom, a second push rod arranged between the first push rod and the third push rod, a first push spring and a second push spring for driving the second push rod and the third push rod to move; wherein, the first push rod and the second push rod are connected by a first telescopic structure, the second push rod and the third push rod are connected by a second telescopic structure, the telescopic direction of the first telescopic structure is inclined downward toward the direction away from the axis of the sampling tube, and the telescopic direction of the second telescopic structure is inclined upward toward the direction away from the axis of the sampling tube; one end of the first push spring acts on the lower end of the first push rod, and the other end acts on the upper end of the second push rod; one end of the second push spring acts on the lower end of the second push rod, and the other end acts on the upper end of the third push rod; the upper end of the first push rod is connected to the upper end of the sampling tube by a connecting structure, and the connecting structure enables the first push rod and the sampling tube to maintain a relatively static state; the lower end of the third push rod passes through the sampling tube and is fixedly connected to the piston.

[0012] The working principle of the above-mentioned soil sampling terminal is:

[0013] When working, the sampling tube is first extended into the soil. During the process of extending into the soil, the soil enters the sampling tube from the lower entrance of the sampling tube. As the sampling tube continues to extend downward into the soil, the soil moves upward relative to the sampling tube and pushes the piston to move upward. While the piston moves upward, it drives the third push rod to move obliquely upward along the extension direction of the second telescopic structure and compresses the second push spring. Under the action of the third push rod, the second push rod also moves obliquely upward along the extension direction of the first telescopic structure and compresses the first push spring. When the sampling tube is extended to a specified depth, the piston reaches a predetermined position. At this time, the locking mechanism locks the piston so that the piston is The sampling tube is fixed in place, and then the sampling tube gradually leaves the soil, and the sample soil leaves the soil together with the sampling tube in the sampling tube, and then the sampling tube is moved to a designated location to take out the sample soil in the sampling tube; when taking out, the locking mechanism releases the piston, and the first push spring and the second push spring are restored, and the elastic force of the first push spring drives the second push rod to move obliquely downward along the telescopic direction of the first telescopic structure, and the elastic force of the second push spring drives the third push rod to move obliquely downward along the telescopic direction of the second telescopic structure, thereby driving the piston to move downward and pushing the soil in the sampling tube to be discharged from the sampling tube, thereby completing the automatic removal of the soil.

[0014] Preferably, the first telescopic structure includes a first guide hole provided at the lower end of the first push rod and slidably matched with the upper end of the second push rod, and the first guide hole extends obliquely upward along the axis of the first push rod; the second telescopic structure includes a second guide hole provided at the lower end of the second push rod and slidably matched with the upper end of the third push rod, and the second guide hole extends obliquely upward along the second telescopic rod. With the above structure, by providing the guide holes, the stability of the movement between the first push rod, the second push rod and the third push rod can be ensured.

[0015] In a preferred embodiment of the present invention, the push drive assembly further comprises a slider disposed at the lower end of the third push rod and slidingly matched with the outer wall of the sampling tube; the slider, the piston and the third push rod move synchronously. By providing the slider, the stability of the piston movement can be further ensured. In addition, during the soil collection process, the slider, the piston and the third push rod move downward together, and the slider can scrape off the soil sticking to the outer wall of the sampling tube, thereby cleaning the sampling tube.

[0016] Preferably, the sampling tube is provided with an escape groove for evading the third push rod at the connection between the piston and the third push rod, and the escape groove extends along the direction of movement of the piston. By providing the escape groove, the third push rod can pass through the escape groove and connect with the piston.

[0017] Preferably, the push drive assembly is in three groups, and the three groups of push drive assemblies are arranged in a circular array around the axis of the sampling tube. The three groups of push drive assemblies can make the piston force more uniform and improve the stability of the piston movement.

[0018] Preferably, the locking mechanism is an electromagnetic device, including an electromagnetic coil arranged inside the piston. By connecting current to the electromagnetic coil, the electromagnetic coil generates a magnetic field, and then the piston and the sampling tube generate magnetic force, so that the piston is adsorbed on the inner wall of the sampling tube; therefore, after the sampling tube collects soil, the piston is locked on the inner wall of the sampling tube by the electromagnetic device until the sampling soil needs to be collected, the current of the electromagnetic coil is disconnected, the piston loses its magnetism, and the piston is driven by the push drive assembly to push the soil downward to achieve automatic soil collection.

[0019] A soil sampling device comprises a walking chassis, a soil sampling terminal, an adjusting driving mechanism arranged between the soil sampling terminal and the walking chassis for adjusting the soil sampling terminal to perform multi-dimensional movement, a soil detection device for detecting soil, a control device and a power supply device; wherein,

[0020] The adjustment drive mechanism includes a base arranged on the walking chassis, a swing arm connected between the base and the soil sampling terminal, a vertical drive mechanism for driving the swing arm to swing in the vertical direction, a horizontal drive mechanism for driving the base to rotate in the horizontal direction, and a power mechanism for driving the soil sampling terminal to insert into the soil;

[0021] The soil detection device comprises a soil sampling box arranged on the walking chassis, a plurality of soil centrifuges arranged in the soil sampling box, and a pH value sensor arranged on the soil centrifuge for detecting the pH value of the sampled soil.

[0022] In a preferred embodiment of the present invention, the swing arm is a two-stage swing arm, which is composed of a swing arm and a movable arm; wherein the swing arm is arranged between the base and the movable arm, one end of the swing arm is hinged to the base, and the other end is hinged to the movable arm, and the sampling tube is arranged at the end of the movable arm. By providing a two-stage swing arm, multi-stage movement of the sampling tube can be achieved, thereby improving the flexibility of the movement of the sampling tube.

[0023] Preferably, the vertical drive mechanism includes a swing arm cylinder for driving the swing arm to swing around the base and a boom cylinder for driving the movable arm to swing around the swing arm; wherein one end of the swing arm cylinder is hinged to the base, and the other end is hinged to the middle of the swing arm; one end of the boom cylinder is hinged to the middle of the swing arm, and the other end is hinged to the middle of the movable arm. By arranging the swing arm cylinder and the boom cylinder, the swing arm can be swung around the hinge point on the base, and the movable arm can be swung around the hinge point of the swing arm, thereby realizing multi-stage movement of the sampling tube.

[0024] Preferably, the power mechanism comprises a telescopic cylinder disposed between the movable arm and the sampling tube, the cylinder body of the telescopic cylinder being connected to the end of the movable arm, and the telescopic rod of the telescopic cylinder being connected to the upper end of the sampling tube. The telescopic cylinder drives the telescopic rod to perform telescopic movement, so that the sampling tube can be extended into or pulled out of the soil.

[0025] Preferably, a rotary motor is provided between the sampling tube and the telescopic rod of the telescopic cylinder, the rotating shaft of the rotary motor is connected to the lower end of the sampling tube, and the body of the rotary motor is connected to the telescopic rod. By providing the rotary motor, the sampling tube can be driven to rotate, and when the sampling tube enters the soil, the sampling tube can be more easily entered into the soil through rapid rotation.

[0026] Furthermore, a connecting frame is provided around the rotating motor, the lower end of the connecting frame is fixedly connected to the upper end of the fixing frame, and the upper end is rotatably connected to the telescopic rod of the telescopic cylinder. By setting the above structure, the soil sampling device is more stable when rotating, and the rigid connection between the structures is ensured.

[0027] Preferably, a bearing is provided on the telescopic rod of the telescopic cylinder, the inner ring of the bearing is fixedly connected to the telescopic rod of the telescopic cylinder, and the outer ring is connected to the upper end of the first push rod; the connection relationship between the bearing, the telescopic rod of the telescopic cylinder, the rotating motor and the first push rod constitutes the connection structure. By providing the bearing, on the one hand, when the rotating motor drives the sampling tube to rotate, it also drives the push drive assembly to rotate, and the sampling tube and the push drive assembly can be rotated synchronously through the bearing; on the other hand, the push drive assembly can make full use of the space, making the structure more compact, which can shorten the length of the sampling tube and reduce the manufacturing cost.

[0028] Preferably, a cutter head is provided at the lower end of the sampling tube, the cutter head is composed of three inwardly biased fan-shaped blades, and the cutter head is detachably connected to the sampling tube. By providing the cutter head, the soil can be loosened by driving the cutter head to rotate during the rotation of the sampling tube, thereby facilitating the sampling tube to better extend into the soil.

[0029] Preferably, a first hinge rod is rotatably provided at the bottom of the base; the swing arm comprises two first wall panels arranged parallel to each other, a second hinge rod, a third hinge rod, a fourth hinge rod, a fifth hinge rod, and a first fixing plate arranged at the front and rear ends of the first wall panels for fixing the two first wall panels; the movable arm comprises two second wall panels arranged parallel to each other, a sixth hinge rod, a seventh hinge rod, an eighth hinge rod, and a second fixing plate arranged at the front and rear ends of the second wall panels for fixing the two second wall panels; wherein, the swing arm is connected to the base. The swing arm and the movable arm are hinged through the second hinged rod, and the swing arm and the movable arm are hinged through the fifth hinged rod; one end of the swing arm cylinder is fixedly connected to the first hinged rod, and the other end is fixedly connected to the third hinged rod; one end of the movable arm cylinder is fixedly connected to the fourth hinged rod, and the other end is fixedly connected to the sixth hinged rod; the cylinder body of the telescopic cylinder is connected to the eighth hinged rod, and a driving cylinder for driving the telescopic cylinder to rotate around the eighth hinged rod is provided between the telescopic cylinder and the seventh hinged rod, one end of the driving cylinder is fixedly connected to the cylinder body of the telescopic cylinder, and the other end is fixedly connected to the seventh hinged rod. By setting the hinged rod, the hinge function between the first wall panel and the base, the first wall panel and the second wall panel can be realized, which is also beneficial to the hinge function of the swing arm cylinder and the movable arm cylinder, and also makes the structure more compact; by setting the driving cylinder, the three-level swing function of the sampling tube is realized, and the flexibility of the sampling tube movement is further improved.

[0030] Preferably, the horizontal drive mechanism comprises a horizontal cylinder arranged horizontally, one end of the horizontal cylinder is hinged to the chassis frame, and the other end is hinged to the outer end of the base. By arranging the horizontal cylinder, the base can be rotated, thereby realizing the rotation of the adjustment drive mechanism.

[0031] A preferred solution of the present invention, wherein the control device is a wireless control device, including a mobile workstation for sending command signals, a control panel set on the walking chassis for sending and receiving commands, a driver and relay for executing commands, and an electromagnetic valve group for controlling the cylinder; the power supply device includes a generator and a lithium battery; the generator is used to charge the lithium battery, and the lithium battery provides voltage to the control panel and the relay, and the relay is connected to the electromagnetic valve group. With the above structure, the sampling operation of the soil sampling device is realized through the mobile workstation, the control panel and the driver; the electromagnetic valve group changes the direction of the airflow by receiving the on-off command of the relay to realize the telescopic movement of different cylinders.

[0032] In a preferred embodiment of the present invention, the walking chassis is a wheeled walking chassis, including a chassis frame, walking wheels arranged on both sides of the chassis frame, anti-collision beams arranged at the front and rear ends of the chassis frame, and a drive motor for controlling the forward and backward movement and steering of the walking wheels; the adjustment drive mechanism, the soil detection device, the control device, and the power supply device are all arranged on the chassis frame. The wheeled walking chassis is more suitable for work sites with harder surfaces and less surface undulations.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] 1. The soil sampling terminal of the present invention is provided with multiple groups of push drive components. During the sampling process, the sampling tube continuously extends downward into the soil, and the soil in the sampling tube pushes the piston to move upward. While the piston moves upward, it drives the third push rod to move obliquely upward along the telescopic direction of the second telescopic structure, and compresses the second push spring, driving the second push rod to also move obliquely upward along the telescopic direction of the first telescopic structure, and compresses the first push spring. After the soil is collected, the locking mechanism locks the piston. When it is necessary to take out the collected soil, the locking mechanism releases the piston, and the first push spring and the second push spring are restored. The elastic force of the first push spring drives the second push rod to move obliquely downward along the telescopic direction of the first telescopic structure, and the elastic force of the second push spring drives the third push rod to move obliquely downward along the telescopic direction of the second telescopic structure, thereby driving the piston to move downward and pushing the soil in the sampling tube to be discharged from the sampling tube. After the soil is collected, the soil sampling terminal can realize automatic soil collection, and soil collection is simple and convenient.

[0035] 2. The soil sampling terminal of the present invention can automatically collect soil and automatically take out soil from the sampling tube, and the soil collection efficiency is higher. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1-Figure 3 This is a schematic diagram of the structure of a first specific implementation of a soil sampling terminal in the present invention, wherein: Figure 1 is a top view, Figure 2 For the main view, Figure 3 It is a three-dimensional picture.

[0037] Figure 4-Figure 7 It is a structural schematic diagram of a first specific implementation mode of a soil sampling device in the present invention, wherein: Figure 4 For a stereogram, Figure 5 is a stereogram from another viewing direction, Figure 6 is a top view, Figure 7 This is a bottom view.

[0038] Figure 8-Figure 10It is a schematic diagram of the structure of the adjustment drive mechanism of a soil sampling device in the present invention, wherein: Figure 8 For the main view, Fig. 9 For a stereogram, Fig.10 A stereogram from another viewing direction.

[0039] Fig.11 It is a schematic diagram of the three-dimensional structure of the connection between the soil sampling terminal and the telescopic cylinder in the present invention.

[0040] Fig.12 It is a schematic diagram of the three-dimensional structure of the connection structure of the second specific implementation mode of a soil sampling terminal in the present invention.

[0041] Fig.13 FIG. 4 is a schematic diagram of the three-dimensional structure of a locking mechanism of a third specific implementation manner of a soil sampling terminal.

[0042] Fig.14 It is a schematic diagram of the three-dimensional structure of a walking chassis of a fourth specific implementation manner of a soil sampling device in the present invention.

[0043] Fig.15 It is a schematic diagram of the three-dimensional structure of a control device of a fifth specific implementation manner of a soil sampling device in the present invention. DETAILED DESCRIPTION

[0044] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described below in conjunction with embodiments and drawings, but the embodiments of the present invention are not limited thereto.

[0045] Example 1

[0046] See also Figure 1-Figure 3 A soil sampling terminal disclosed in this embodiment includes a sampling tube 1 for collecting soil and a soil pushing mechanism arranged on the sampling tube 1 for pushing out the sampled soil; wherein the soil pushing mechanism includes a piston 2 arranged inside the sampling tube 1 and slidingly matched with the inner wall of the sampling tube 1, a pushing driving mechanism for driving the piston 2 to move in the sampling tube 1, and a locking mechanism for locking the piston 2 after the sampling tube 1 collects soil.

[0047] See also Figure 1-Figure 3The push drive mechanism includes three groups of push drive components 3 arranged outside the sampling tube 1, and the three groups of push drive components 3 are arranged in a circular array around the axis of the sampling tube 1; each group of the push drive components 3 includes a first push rod 3-1 located at the top, a third push rod 3-3 located at the bottom, a second push rod 3-2 arranged between the first push rod 3-1 and the third push rod 3-3, a first push spring 3-4 for driving the second push rod 3-2 and the third push rod 3-3 to move, a second push spring 3-5, and a sliding spring 3-6 arranged at the lower end of the third push rod 3-3. 14. The folding mechanism of claim 13 wherein the first push rod 3-1 and the second push rod 3-2 are connected via a first telescopic structure, the second push rod 3-2 and the third push rod 3-3 are connected via a second telescopic structure, the telescopic direction of the first telescopic structure being inclined downwardly in a direction away from the axis of the sampling tube 1, and the telescopic direction of the second telescopic structure being inclined upwardly in a direction away from the axis of the sampling tube 1; the first telescopic structure comprising a first guide hole 3-7 arranged at the lower end of the first push rod 3-1 and slidingly matched with the upper end of the second push rod 3-2, the first guide hole 3-7 extending upwardly in a tilted manner along the axis of the first push rod 3-1; the second telescopic structure comprising a second guide hole 3-8 arranged at the lower end of the second push rod 3-2 and slidingly matched with the upper end of the third push rod 3-3, the second guide hole 3-8 extending upwardly in a tilted manner along the axis of the second telescopic rod; a fixed block 4 is arranged at the lower end of the first push rod 3-1, one end of the first push spring 3-4 acts on the fixed block 4, and the other end acts on the upper end of the second push rod 3-2; the second push spring 3-5 is sleeved on the third push rod 3-3, One end of the second push spring 3-5 acts on the lower end of the second push rod 3-2, and the other end acts on the upper end of the third push rod 3-3; the upper end of the first push rod 3-1 is connected to the upper end of the sampling tube 1 through a connecting structure, and the connecting structure enables the first push rod 3-1 and the sampling tube 1 to maintain a relatively static state; the lower end of the third push rod 3-3 passes through the sampling tube 1 and is fixedly connected to the piston 2; the slider 3-6 slides with the outer wall of the sampling tube 1, and the slider 3-6, the piston 2 and the third push rod 3-3 move synchronously. By setting three groups of pushing drive components 3, the force on the piston 2 can be made more uniform, and the stability of the movement of the piston 2 can be improved; by setting the slider 3-6, the stability of the movement of the piston 2 can be further guaranteed. In addition, in the process of taking soil, the slider 3-6, the piston 2 and the third push rod 3-3 move downward together, and the slider 3-6 can scrape off the soil sticking on the outer wall of the sampling tube 1, so as to clean the sampling tube 1; by setting the guide hole, the stability of the movement between the first push rod 3-1, the second push rod 3-2 and the third push rod 3-3 can be guaranteed.

[0048] Specifically, the sampling tube 1 is provided with an avoidance groove 5 for avoiding the third push rod 3-3 at the connection between the piston 2 and the third push rod 3-3, and the avoidance groove 5 extends along the movement direction of the piston 2. By providing the avoidance groove 5, the third push rod 3-3 can pass through the avoidance groove 5 and connect with the piston 2.

[0049] Specifically, the locking mechanism is an electromagnetic device, including an electromagnetic coil arranged inside the piston 2. By connecting current to the electromagnetic coil, the electromagnetic coil generates a magnetic field, and then the piston 2 and the sampling tube 1 generate magnetic force, so that the piston 2 is adsorbed on the inner wall of the sampling tube 1; therefore, after the sampling tube 1 collects soil, the piston 2 is locked on the inner wall of the sampling tube 1 by the electromagnetic device until the sampling soil needs to be collected, the current of the electromagnetic coil is disconnected, the piston 2 loses its magnetism, and the piston 2 pushes the soil downward under the drive of the driving assembly 3, so as to realize automatic soil collection; specifically, the battery device provides current to the electromagnetic device according to the accurate value calculated by the computer to realize the locking of the piston.

[0050] See also Figure 4-Figure 7 A soil sampling device disclosed in this embodiment includes a walking chassis 6, a soil sampling terminal, an adjustment drive mechanism 7 arranged between the soil sampling terminal and the walking chassis 6 for adjusting the soil sampling terminal to perform multi-dimensional movement, a soil detection device 8 for detecting soil, a control device 9 and a power supply device 10.

[0051] See also Figure 4-Figure 7 The walking chassis 6 is a wheeled walking chassis, including a chassis frame 6-1, walking wheels 6-2 arranged on both sides of the chassis frame 6-1, anti-collision beams 6-3 arranged at the front and rear ends of the chassis frame 6-1, and a driving motor 6-4 for controlling the forward and backward movement and steering of the walking wheels 6-2; the adjusting driving mechanism 7, the soil detection device 8, the control device 9 and the power supply device 10 are all arranged on the chassis frame 6-1. The wheeled walking chassis 6 is more suitable for a hard workplace with a small surface undulation.

[0052] See also Figure 4-Figure 10 The adjusting driving mechanism 7 includes a base 7-1 arranged on the walking chassis 6, a swing arm connected between the base 7-1 and the soil sampling terminal, a vertical driving mechanism for driving the swing arm to swing in the vertical direction, a horizontal driving mechanism for driving the base 7-1 to rotate in the horizontal direction, and a power mechanism for driving the soil sampling terminal to insert into the soil;

[0053] See also Figure 4-Figure 10The swing arm is a two-stage swing arm, which is composed of a swing arm 7-2 and a movable arm 7-3; wherein the swing arm 7-2 is arranged between the base 7-1 and the movable arm 7-3, one end of the swing arm 7-2 is hinged to the base 7-1, and the other end is hinged to the movable arm 7-3, and the sampling tube 1 is arranged at the end of the movable arm 7-3. By setting a two-stage swing arm, the multi-stage movement of the sampling tube 1 can be realized, and the flexibility of the movement of the sampling tube 1 is improved.

[0054] See also Figure 4-Figure 10 The vertical drive mechanism includes a swing arm cylinder 7-4 for driving the swing arm 7-2 to swing around the base 7-1 and a boom cylinder 7-5 for driving the movable arm 7-3 to swing around the swing arm 7-2; wherein one end of the swing arm cylinder 7-4 is hinged to the base 7-1, and the other end is hinged to the middle of the swing arm 7-2; one end of the movable arm cylinder 7-5 is hinged to the middle of the swing arm 7-2, and the other end is hinged to the middle of the movable arm 7-3. By setting the swing arm cylinder 7-4 and the boom cylinder 7-5, the swing arm 7-2 can be swung around the hinge point on the base 7-1, and the movable arm 7-3 can be swung around the hinge point of the swing arm 7-2, thereby realizing the multi-stage movement of the sampling tube 1.

[0055] See also Figure 4-Figure 10 The power mechanism includes a telescopic cylinder 7-6 disposed between the movable arm 7-3 and the sampling tube 1, the cylinder body of the telescopic cylinder 7-6 is connected to the end of the movable arm 7-3, and the telescopic rod of the telescopic cylinder 7-6 is connected to the upper end of the sampling tube 1. The sampling tube 1 can be extended into or out of the soil by driving the telescopic rod to perform telescopic movement through the telescopic cylinder 7-6.

[0056] See also Figure 1-3 and Fig.11 A rotary motor 7-7 is provided between the sampling tube 1 and the telescopic rod of the telescopic cylinder 7-6, the rotating shaft of the rotary motor 7-7 is connected to the lower end of the sampling tube 1, and the body of the rotary motor 7-7 is connected to the telescopic rod. By providing the rotary motor 7-7, the sampling tube 1 can be driven to rotate, and when the sampling tube 1 enters the soil, the sampling tube 1 can be more easily entered into the soil by rapid rotation.

[0057] See also Figure 1-3 and Fig.11A connecting frame 11 is arranged around the rotating motor 7-7. The connecting frame 11 includes a connecting plate 11-1 at the upper end and four connecting rods 11-2 at the lower end. The four connecting rods 11-2 are arranged in a circular array along the axis of the sampling tube 1. The upper ends of the four connecting rods 11-2 are fixedly connected to the connecting plate 11-1, and the lower ends are fixedly connected to the fixing block 4. The connecting plate 11-1 is rotatably connected to the telescopic rod of the telescopic cylinder 7-6. By setting the above structure, the soil sampling terminal is more stable when rotating, and the rigid connection between the structures is ensured.

[0058] See also Figure 1-3 and Fig.11 The telescopic rod of the telescopic cylinder 7-6 is provided with a bearing 12, the inner ring of the bearing 12 is fixedly connected to the telescopic rod of the telescopic cylinder 7-6, and the outer ring is connected to the upper end of the first push rod 3-1; the connection relationship between the bearing 12, the telescopic rod of the telescopic cylinder 7-6, the rotating motor 7-7 and the first push rod 3-1 constitutes the connection structure. By providing the bearing 12, on the one hand, when the rotating motor 7-7 drives the sampling tube 1 to rotate, it also drives the push drive assembly 3 to rotate, and the sampling tube 1 and the push drive assembly 3 can be synchronously rotated through the bearing 12; on the other hand, the push drive assembly 3 can make full use of the space, making the structure more compact, which can shorten the length of the sampling tube 1 and reduce the manufacturing cost.

[0059] See also Fig.11 The lower end of the sampling tube 1 is provided with a cutter head 13, which is composed of three inwardly biased fan-shaped blades, and the cutter head 13 is detachably connected to the sampling tube 1. By providing the cutter head 13, during the rotation of the sampling tube 1, the cutter head 13 is driven to rotate, and the soil can be loosened, so that the sampling tube 1 can be better inserted into the soil.

[0060] See also Figure 8-Figure 10The bottom of the base 7-1 is rotatably provided with a first hinge rod 7-11; the swing arm 7-2 includes two first wall panels 7-21 arranged in parallel and opposite to each other, a second hinge rod 7-22, a third hinge rod 7-23, a fourth hinge rod 7-24, a fifth hinge rod 7-25 and a first fixed plate 7-26 arranged at the front and rear ends of the first wall panel 7-21 for fixing the two first wall panels 7-21; the movable arm 7-3 includes two second wall panels 7-31 arranged in parallel and opposite to each other, a sixth hinge rod 7-32, a seventh hinge rod 7-33, an eighth hinge rod 7-34 and a second fixed plate 7-35 arranged at the front and rear ends of the second wall panel 7-31 for fixing the two second wall panels 7-31; wherein, the swing arm 7-2 and the The base 7-1 is hinged by the second articulated rod 7-22, and the swing arm 7-2 and the movable arm 7-3 are hinged by the fifth articulated rod 7-25; one end of the swing arm cylinder 7-4 is fixedly connected to the first articulated rod 7-11, and the other end is fixedly connected to the third articulated rod 7-23; one end of the movable arm cylinder 7-5 is fixedly connected to the fourth articulated rod 7-24, and the other end is fixedly connected to the sixth articulated rod 7-32; the cylinder body of the telescopic cylinder 7-6 is connected to the eighth articulated rod 7-34, and a driving cylinder 7-8 for driving the telescopic cylinder 7-6 to rotate around the eighth articulated rod 7-34 is provided between the telescopic cylinder 7-6 and the seventh articulated rod 7-33, one end of the driving cylinder 7-8 is fixedly connected to the cylinder body of the telescopic cylinder 7-6, and the other end is fixedly connected to the seventh articulated rod 7-33. By setting a hinged rod, the hinge function between the first wall panel 7-21 and the base 7-1, and the first wall panel 7-21 and the second wall panel 7-31 can be realized, which is also beneficial to the hinge function of the swing arm cylinder 7-4 and the boom cylinder 7-5, and also makes the structure more compact; by setting a driving cylinder 7-8, the three-level swing function of the sampling tube 1 is realized, and the flexibility of the movement of the sampling tube 1 is further improved.

[0061] See also Figure 4-Figure 7 The horizontal drive mechanism includes a horizontal cylinder 7-9 arranged horizontally, one end of the horizontal cylinder 7-9 is hinged to the chassis frame 6-1, and the other end is hinged to the outer end of the base 7-1. By setting the horizontal cylinder 7-9, the base 7-1 can be rotated, thereby realizing the rotation of the adjustment drive mechanism 7.

[0062] See also Figure 4-Figure 7The soil detection device 8 includes a soil sampling box 8-1 arranged on the walking chassis 6, a plurality of soil centrifuges 8-2 arranged in the soil sampling box 8-1, and a pH sensor arranged on the soil centrifuge 8-2 for detecting the pH value of the sampled soil. By setting the above structure, when the soil sampling terminal collects soil, the soil is put into the soil centrifuge 8-2, and the soil centrifuge 8-2 rotates at a set speed difference. The sampled soil is screened and mixed under the action of the soil centrifuge 8-2. Finally, the pH sensor measures the soil acidity and alkalinity, and the data obtained by the pH sensor is transmitted back to the control device 9 for integrated analysis.

[0063] See also Figure 4-Figure 7The control device 9 is a wireless control device 9, including a mobile workstation for sending command signals, a control panel 9-1 set on the walking chassis 6 for sending and receiving commands, a driver 9-2 and a relay for executing commands, and an electromagnetic valve group 9-3 for controlling the cylinder; the power supply device 10 includes a generator 10-1 and a lithium battery 10-2; the generator 10-1 is used to charge the lithium battery 10-2, and the lithium battery 10-2 provides voltage for the control panel 9-1 and the relay, and the relay is connected to the electromagnetic valve group 9-3. With the above structure, the sampling operation of the soil sampling terminal is realized through the mobile workstation, the control panel 9-1 and the driver 9-2; the electromagnetic valve group 9-3 changes the direction of the airflow by receiving the relay power on and off command to realize the telescopic movement of different cylinders. Specifically, first open the interface of the mobile workstation and start the generator 10-1. The generator 10-1 charges the lithium battery 10-2. The lithium battery 10-2 provides voltage to the control panel 9-1 and the relay. The sampling personnel control the forward and backward movement and the steering of the sampling vehicle through the mobile workstation. After the driving motor 6-4 drives the sampling vehicle to the designated location, the horizontal cylinder 7-9 drives the acquisition module to rotate horizontally, so that the swing arm and the adjustment drive mechanism 7 move in the designated direction; then the swing arm cylinder 7-4 and the movable arm cylinder 7-5 respectively drive the swing arm 7-2 and the movable arm 7-3 to swing downward until the soil sampling terminal is perpendicular to the ground. Subsequently, the telescopic cylinder 7-6 drives the soil sampling terminal to move toward the soil. At the same time, the rotating motor 7-7 drives the soil sampling terminal to rotate. The soil sampling terminal gradually extends into the soil. When the soil sampling terminal collects the sampled soil, the power mechanism drives the soil sampling terminal to be pulled out of the soil. The swing arm cylinder 7-4 and the movable arm cylinder 7-5 drive the swing arm 7-2 and the movable arm 7-3 to swing upward respectively. Driven by the horizontal cylinder 7-9, the soil sampling terminal moves to the top of the soil sampling box 8-1 until the soil sampling terminal is aligned with the entrance of the soil centrifuge 8-2. The sample soil in the soil sampling terminal is put into the soil centrifuge 8-2, and the soil centrifuge 8-2 rotates at a set speed difference. The sampled soil is screened and mixed under the action of the soil centrifuge 8-2. Finally, the pH sensor measures the soil acidity and alkalinity. The data obtained by the pH sensor is transmitted back to the control device 9 for integration and analysis. According to the planned route, the sampling vehicle continues to move to the next location and completes the soil sampling operation in sequence according to the above steps.

[0064] See also Figure 1-Figure 3 The working principle of the above-mentioned soil sampling terminal is:

[0065] During operation, the sampling tube 1 is first extended into the soil. During the process of extending into the soil, the soil enters the sampling tube 1 from the lower entrance of the sampling tube 1. As the sampling tube 1 continues to extend downward into the soil, the soil moves upward relative to the sampling tube 1 and pushes the piston 2 to move upward. While the piston 2 moves upward, it drives the third push rod 3-3 to move obliquely upward along the telescopic direction of the second telescopic structure and compresses the second push spring 3-5. Under the action of the third push rod 3-3, the second push rod 3-2 also moves obliquely upward along the telescopic direction of the first telescopic structure and compresses the first push spring 3-4. When the sampling tube 1 is extended to the specified depth, the piston 2 reaches the predetermined position. At this time, the locking mechanism locks the piston 2 so that the piston 2 The sampling tube 1 is fixed in place, and then the sampling tube 1 gradually leaves the soil, and the sample soil leaves the soil together with the sampling tube 1 in the sampling tube 1, and then the sampling tube 1 is moved to a designated location to take out the sample soil in the sampling tube 1; when taking it out, the locking mechanism releases the piston 2, and the first push spring 3-4 and the second push spring 3-5 are restored, and the elastic force of the first push spring 3-4 drives the second push rod 3-2 to move obliquely downward along the telescopic direction of the first telescopic structure, and the elastic force of the second push spring 3-5 drives the third push rod to move obliquely downward along the telescopic direction of the second telescopic structure, thereby driving the piston 2 to move downward, and pushing the soil in the sampling tube 1 to be discharged from the sampling tube 1, thereby completing the automatic removal of the soil.

[0066] Example 2

[0067] See also Fig.12 , the other structures in this embodiment are the same as those in the first embodiment, except that the upper end of the first push rod 3-1 is fixedly connected to the upper outer wall of the sampling tube 1, and the fixed connection constitutes the connection structure. The above structure can realize that the sampling tube 1 and the first push rod 3-1 and the sampling tube 1 remain relatively still; when the sampling tube 1 is driven to rotate, the driving assembly 3 and the sampling tube 1 remain relatively still in the rotation direction, so that the sampling tube 1 rotates without affecting the movement of the driving assembly 3.

[0068] Example 3

[0069] See also Fig.13, the other structures in this embodiment are the same as those in the embodiment 1, except that: the locking mechanism includes three groups of locking components arranged at the upper end of the sampling tube 1, the three groups of locking components are arranged in a circular array along the axis of the sampling tube 1, and each group of locking components includes a locking member 14 passing through the sampling tube 1 and extending toward the center of the circular array, and a locking driving mechanism 15 driving the locking member 14 to extend into the sampling tube 1 or extend out of the sampling tube 2. With the above structure, when the sampling tube 1 is extended into the soil, the piston 2 moves upward under the push of the soil, and when the piston 2 moves to a height exceeding the locking member 14, the locking driving mechanism 15 drives the locking member 14 to extend into the sampling tube 1 at the same time, and the piston 2 is pressed against the sampling tube 1; when the soil in the sampling tube 1 needs to be taken out, the locking driving mechanism 15 drives the locking member 14 to extend out of the sampling tube, and the piston 2 moves downward under the drive of the pushing driving assembly 3, and the soil in the sampling tube 1 is pushed out.

[0070] Example 4

[0071] See also Fig.14 , the other structures in this embodiment are the same as those in the embodiment 1, except that: the walking chassis 6 is a crawler-type walking chassis, including a chassis frame 6-1, crawlers 6-5 arranged on both sides of the chassis frame 6-1, anti-collision beams 6-3 arranged at the front and rear ends of the chassis frame 6-1, and a control drive motor 6-4 for controlling the forward and backward movement and steering of the walking wheel 6-2; the adjustment drive mechanism 7, the soil detection device 8, the control device 9 and the power supply device 10 are all arranged on the chassis frame 6-16-1. The crawler 6-5 walking chassis 6 has good gripping ability, strong climbing ability, large contact area with the ground, and is more suitable for work sites with softer and more complex terrain.

[0072] Example 5

[0073] See also Fig.15 The other structures in this embodiment are the same as those in the embodiment, except that: the control device 9 includes a cab 9-4 arranged on the chassis frame 6-1, a steering rod 9-5 arranged in the cab 9-4, a control console 9-6 and a driver 9-2; the steering rod 9-5 is used to issue a command signal, and control the control drive motor 6-4 through the driver 9-2 to realize the forward, backward and steering of the sampling vehicle; the control console 9-6 controls the adjustment drive mechanism 7, the soil sampling terminal, and the soil detection device 8 through the driver 9-2 to realize soil collection and detection.

[0074] Example 6

[0075] The other structures in this embodiment are the same as those in the first embodiment, except that: the power mechanism includes an electric push rod disposed between the movable arm 7-3 and the sampling tube 1, the housing of the electric push rod is connected to the end of the movable arm 7-3, and the telescopic rod of the electric push rod is fixedly connected to the upper end of the sampling tube. The electric push rod drives the telescopic movement of the telescopic rod, thereby realizing the extension or extraction of the soil sampling terminal into or out of the soil.

[0076] Example 7

[0077] The other structures in this embodiment are the same as those in embodiment 1, except that the horizontal driving mechanism includes a horizontal motor disposed at the bottom of the chassis frame 6-1 and a transmission mechanism disposed between the horizontal motor and the base 7-1 to transmit the power of the horizontal motor to the base 7-1. By providing a horizontal motor, the base 7-1 can also be rotated, thereby driving the horizontal rotation of the adjustment driving mechanism 7.

[0078] The above is a preferred embodiment of the present invention, but the embodiment of the present invention is not limited to the above content. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principles of the present invention should be equivalent replacement methods and are included in the protection scope of the present invention.

Claims

1. A soil sampling terminal, comprising a sampling tube for collecting soil and a soil pushing mechanism arranged on the sampling tube for pushing out the sampled soil; wherein: The soil pushing mechanism comprises a piston arranged inside the sampling tube and slidingly matched with the inner wall of the sampling tube, a pushing driving mechanism for driving the piston to move in the sampling tube, and a locking mechanism for locking the piston after the sampling tube collects soil; characterized in that: The push drive mechanism includes at least two groups of push drive components arranged outside the sampling tube; the push drive component includes a first push rod located at the top, a third push rod located at the bottom, a second push rod arranged between the first push rod and the third push rod, a first push spring and a second push spring for driving the second push rod and the third push rod to move; wherein the first push rod and the second push rod are connected by a first telescopic structure, the second push rod and the third push rod are connected by a second telescopic structure, the telescopic direction of the first telescopic structure is inclined downward toward the direction away from the axis of the sampling tube, and the telescopic direction of the second telescopic structure is inclined upward toward the direction away from the axis of the sampling tube; one end of the first push spring acts on the lower end of the first push rod, and the other end acts on the upper end of the second push rod; one end of the second push spring acts on the lower end of the second push rod, and the other end acts on the upper end of the third push rod; the upper end of the first push rod is connected to the upper end of the sampling tube by a connecting structure, and the connecting structure enables the first push rod and the sampling tube to maintain a relatively static state; the lower end of the third push rod passes through the sampling tube and is fixedly connected to the piston; The first telescopic structure includes a first guide hole provided at the lower end of the first push rod and slidably matched with the upper end of the second push rod, and the first guide hole extends obliquely upward along the axis of the first push rod; the second telescopic structure includes a second guide hole provided at the lower end of the second push rod and slidably matched with the upper end of the third push rod, and the second guide hole extends obliquely upward along the second telescopic rod; The locking mechanism is an electromagnetic device, including an electromagnetic coil arranged inside the piston.

2. A soil sampling terminal according to claim 1, characterized in that: The push drive assembly further comprises a slider which is arranged at the lower end of the third push rod and slidably cooperates with the outer wall of the sampling tube; the slider, the piston and the third push rod move synchronously.

3. A soil sampling terminal according to any one of claims 1-2, characterized in that: A cutter head is provided at the lower end of the sampling tube. The cutter head is composed of three inwardly biased fan-shaped blades. The cutter head is detachably connected to the sampling tube.

4. A soil sampling device, characterized in that: It comprises a walking chassis, a soil sampling terminal according to any one of claims 1 to 3, an adjusting drive mechanism arranged between the soil sampling terminal and the walking chassis for adjusting the soil sampling terminal to perform multi-dimensional movement, a soil detection device for detecting soil, a control device and a power supply device; wherein, The walking chassis is a wheeled walking chassis, including a chassis frame, walking wheels arranged on both sides of the chassis frame, anti-collision beams arranged at the front and rear ends of the chassis frame, and a driving motor for controlling the forward and backward movement and steering of the walking wheels; the adjusting driving mechanism, the soil detection device, the control device and the power supply device are all arranged on the chassis frame; The adjustment drive mechanism includes a base arranged on the walking chassis, a swing arm connected between the base and the soil sampling terminal, a vertical drive mechanism for driving the swing arm to swing in the vertical direction, a horizontal drive mechanism for driving the base to rotate in the horizontal direction, and a power mechanism for driving the soil sampling terminal to insert into the soil; The soil detection device comprises a soil sampling box arranged on the walking chassis, a plurality of soil centrifuges arranged in the soil sampling box, and a pH value sensor arranged on the soil centrifuge for detecting the pH value of the sampled soil; The control device is a wireless control device, including a mobile workstation for sending command signals, a control panel arranged on the walking chassis for sending and receiving commands, a driver and relay for executing commands, and a solenoid valve group for controlling the cylinder; The power supply device includes a generator and a lithium battery; the generator is used to charge the lithium battery, and the lithium battery provides voltage to the control board and the relay, and the relay is connected to the solenoid valve group.

5. A soil sampling device according to claim 4, characterized in that: The swing arm is a two-stage swing arm, which is composed of a swing arm and a movable arm; wherein the swing arm is arranged between the base and the movable arm, one end of the swing arm is hinged to the base, and the other end is hinged to the movable arm, and the sampling tube is arranged at the end of the movable arm.

6. A soil sampling device according to claim 5, characterized in that: The vertical drive mechanism comprises a swing arm cylinder for driving the swing arm to swing around the base and a boom cylinder for driving the boom to swing around the swing arm; wherein one end of the swing arm cylinder is hinged to the base, and the other end is hinged to the middle of the swing arm; one end of the boom cylinder is hinged to the middle of the swing arm, and the other end is hinged to the middle of the boom; The power mechanism comprises a telescopic cylinder disposed between the boom and the sampling tube, the cylinder body of the telescopic cylinder being connected to the end of the boom, and the telescopic rod of the telescopic cylinder being connected to the upper end of the sampling tube; The horizontal driving mechanism comprises a horizontal cylinder arranged horizontally, one end of the horizontal cylinder is hinged to the chassis frame, and the other end of the horizontal cylinder is hinged to the outer end of the base.

7. A soil sampling device according to claim 6, characterized in that: A rotating motor is provided between the sampling tube and the telescopic rod of the telescopic cylinder, the rotating shaft of the rotating motor is connected to the lower end of the sampling tube, and the body of the rotating motor is connected to the telescopic rod; A connecting frame is arranged around the rotating motor, the lower end of the connecting frame is fixedly connected to the upper end of the fixing frame, and the upper end is rotatably connected to the telescopic rod of the telescopic cylinder.

8. A soil sampling device according to claim 7, characterized in that: A bearing is provided on the telescopic rod of the telescopic cylinder, the inner ring of the bearing is fixedly connected to the telescopic rod of the telescopic cylinder, and the outer ring is connected to the upper end of the first push rod; the connection relationship between the bearing, the telescopic rod of the telescopic cylinder, the rotating motor and the first push rod constitutes the connection structure.

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