A fully automatic soil collection and storage system

Abstract

The present invention relates to the field of mechanical arm technology, and in particular to a fully automatic soil collection and storage system. The system includes a mechanical arm base and a mechanical arm connected to the mechanical arm base; the mechanical arm includes a connecting rod I, a connecting rod II, a sampler and a storage device, wherein one end of the connecting rod I is connected to the mechanical arm base through a joint I, the other end of the connecting rod I is connected to one end of the connecting rod II through a joint II, the other end of the connecting rod II is connected to the sampler through a joint III, and the storage device is arranged on the sampler for storing soil samples collected by the sampler. The present invention has a simple structure, high flexibility and high work efficiency, improves the flexibility and remote operation capability of the sampling device, and achieves the purpose of improving the application and operation capability of soil sampling.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sampling, and in particular to a fully automatic soil collection and storage system. Background Art

[0002] As global temperatures continue to rise, people are paying more and more attention to the climate, and the plateau environment is a weather vane for climate observation. The study of plateau soil can reflect the changes in the global climate, which provides a benchmark for people to understand the climate and intervene, and is of great significance. Due to the harsh plateau environment and the wide variety of soils, manual sampling is difficult and complicated. With the development of DSP, MEMS sensors, brushless motors and lithium battery technology, it has become possible for drones to automatically take soil samples by mounting a robotic arm. The sampling efficiency of drone-mounted robotic arms is high and the damage to samples is minimal. At the same time, drones and robotic arms can cope with more complex environments with their high flexibility and intelligence. However, the existing robotic arm-carrying sampling devices have problems such as overly complex structures, poor flexibility, and low efficiency. At present, most plateau soil sampling is manual sampling, which is seriously affected by the physical fitness of the sampling personnel and the plateau environment. For some areas with harsh environments, it is difficult for personnel to enter. Summary of the invention

[0003] In view of the deficiencies in the prior art, the object of the present invention is to provide a fully automatic soil collection and storage system to solve the problems of the existing sampling devices being too complex in structure, poor in flexibility, and low in efficiency.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] The present invention provides a fully automatic soil collection and storage system, comprising a mechanical arm base and a mechanical arm connected to the mechanical arm base;

[0006] The robotic arm includes a connecting rod I, a connecting rod II, a sampler and a storage device, wherein one end of the connecting rod I is connected to the robotic arm base through a joint I, the other end of the connecting rod I is connected to one end of the connecting rod II through a joint II, the other end of the connecting rod II is connected to the sampler through a joint III, and the storage device is arranged on the sampler for storing soil samples collected by the sampler.

[0007] The sampler comprises a sampler probe and an inner spiral drill bit, wherein the sampler probe is a hollow tubular structure, and the rear end of the sampler probe is connected to the outer shell of the joint III;

[0008] The inner spiral drill bit is accommodated in the sampler probe, and the rear end is connected to the output end of the joint III, and the front end of the inner spiral drill bit is exposed outside the sampler probe.

[0009] The front end of the sampler probe is an inclined structure.

[0010] A sample outlet is provided on the side wall of the sampler probe close to the rear end, and the sample outlet is connected to the storage device.

[0011] The storage device comprises a storage cavity, and the end surface of the storage cavity is connected to the sample outlet flange.

[0012] The joint III includes a shell and a servo motor arranged in the shell, and the output shaft of the servo motor is connected to the rear end of the inner spiral drill bit.

[0013] The length of the connecting rod II is smaller than the length of the connecting rod I.

[0014] The joint I and the joint II both include a housing and a steering gear arranged in the housing, and an output end of the steering gear is connected to the connecting rod I or the connecting rod II.

[0015] When the mechanical arm is in a folded state, the connecting rod I is parallel to the connecting rod II and the sampler. The base of the mechanical arm is connected to the belly of the quad-rotor drone.

[0016] The advantages and beneficial effects of the present invention are: the present invention has a simple structure, high flexibility and high working efficiency, improves the flexibility and remote operation capability of the sampling device, and achieves the purpose of improving the application operation capability of soil sampling.

[0017] In the multi-rotor flight mode, the present invention has the mechanical arm and the sampling device in a folded state to reduce the wind resistance of the drone. When the drone arrives at the sampling point, the mechanical arm unfolds to a corresponding posture according to the terrain and soil conditions, and then the drone moves to insert the sampling device into the soil for transfer, and the sample soil is squeezed into the storage device. After the sampling is completed, the mechanical arm returns to the folded state, and the drone returns after ensuring that there is no error. At the same time, the staff can also remotely control the mechanical arm to complete specific sampling tasks. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a fully automatic soil collection and storage system of the present invention in an unfolded state;

[0019] Figure 2 It is a structural schematic diagram of a fully automatic soil collection and storage system of the present invention in a folded state;

[0020] Figure 3 It is a structural schematic diagram of the sampler in the present invention;

[0021] Figure 4 for Figure 3 AA section view;

[0022] Figure 5 A schematic diagram of a fully automatic soil collection and storage system of the present invention during sampling;

[0023] In the figure: 1. Robot arm base; 2. Joint I; 3. Connecting rod I; 4. Joint II; 5. Connecting rod II; 6. Joint III; 7. Sampler probe; 8. Storage device; 9. Internal spiral drill bit; 10. Quad-rotor drone. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solutions and advantages of the present invention more clear, the present invention is described in detail below with reference to the accompanying drawings and specific embodiments.

[0025] like Figure 1-2 As shown, the present invention provides a fully automatic soil collection and storage system, including a robotic arm base 1 and a robotic arm connected to the robotic arm base 1; the robotic arm includes a connecting rod Ⅰ3, a connecting rod Ⅱ5, a sampler and a storage device 8, wherein one end of the connecting rod Ⅰ3 is connected to the robotic arm base 1 through a joint Ⅰ2, the other end of the connecting rod Ⅰ3 is connected to one end of the connecting rod Ⅱ5 through a joint Ⅱ4, the other end of the connecting rod Ⅱ5 is connected to the sampler through a joint Ⅲ6, and the storage device 8 is arranged on the sampler for storing soil samples collected by the sampler.

[0026] like Figure 3-4 As shown, in an embodiment of the present invention, the sampler includes a sampler probe 7 and an inner spiral drill bit 9, wherein the sampler probe 7 is a hollow tubular structure, and the rear end of the sampler probe 7 is connected to the outer shell of the joint III 6; the inner spiral drill bit 9 is accommodated in the sampler probe 7, and the rear end is connected to the output end of the joint III 6, and the front end of the inner spiral drill bit 9 is exposed on the outside of the sampler probe 7.

[0027] Furthermore, the front end of the sampler probe 7 is an inclined structure, which exposes the front end of the inner spiral drill bit 9 to facilitate soil drilling.

[0028] In the embodiment of the present invention, the joint III 6 includes a housing and a servo motor disposed in the housing, and the output shaft of the servo motor is connected to the rear end of the inner spiral drill bit 9. The servo motor drives the inner spiral drill bit 9 to rotate to achieve soil drilling.

[0029] Furthermore, a sample outlet is provided on the side wall of the sampler probe 7 close to the rear end, and the sample outlet is connected to the storage device 8 .

[0030] In an embodiment of the present invention, the storage device 8 includes a storage cavity, and the end surface of the storage cavity is detachably connected to the sample outlet through a flange, which is convenient for collecting soil samples. Specifically, the storage cavity adopts an arc-shaped design, so that the soil sample can be more easily squeezed into the storage cavity.

[0031] Furthermore, the length of the connecting rod II5 is smaller than the length of the connecting rod I3, so as to improve the center of gravity stability of the entire system.

[0032] In the embodiment of the present invention, both joint I2 and joint II4 include a housing and a steering gear disposed in the housing, the output end of the steering gear is connected to the connecting rod I3 or the connecting rod II5, and the steering gears in joint I2 and joint II4 respectively drive the connecting rod I3 and the connecting rod II5 to rotate, thereby realizing the extension or folding of the mechanical arm. In this embodiment, when the mechanical arm is in the folded state, the connecting rod I3 is parallel to the connecting rod II5 and the sampler, and the connecting rod II5 and the sampler are stored on one side of the connecting rod I3.

[0033] like Figure 5 As shown, the present invention provides a fully automatic soil collection and storage system, wherein the mechanical arm base 1 is connected to the belly of the quad-rotor drone 10, the center of gravity remains stable, and the interference to the control system is minimized. Joints I2 and II4 complete the positioning of the sampler at the end of the mechanical arm, and joints III6 drive the inner spiral drill bit 9 to rotate to drill the soil, and squeeze the soil entering the sampler probe 7 into the storage device 8.

[0034] In the embodiment of the present invention, considering the center of gravity stability of the entire system after the mechanical arm is folded, the connecting rod II5 is slightly shorter than the connecting rod I3. When the mechanical arm is in the folded state, the sampler probe 7, the connecting rod II5 and the connecting rod I3 are parallel to each other and in the same plane. Figure 2 shown.

[0035] like Figure 1 As shown, the mechanical arm is in the unfolded state, and the driving mechanism of the mechanical arm, namely joint I2 and joint II4, are composed of small rudders of suitable size. Joint I2 and joint II4 have limit protection function to prevent excessive movement from colliding with other systems. Joint III6 has the function of returning to the origin to ensure that the storage device 8 is directly below when sampling is completed to avoid side leakage of soil samples.

[0036] like Figure 2 As shown, a fully automatic soil collection and storage system provided by the present invention is in a reset state. Viewed from the side, the joints on the same straight line are joint I2, joint III6, and joint II4, and there are corresponding protective shells outside the three joints to prevent mechanical interference.

[0037] Furthermore, a rubber pad is attached to the bottom of the robot arm base 1 to minimize the collision that may be caused to the base when the robot arm is reset. In this embodiment, the robot arm is foldable and has three degrees of freedom. The connecting rod I3 mainly completes the action of unfolding the robot arm, and the connecting rod II5 mainly completes the action of advancing the sampler. The robot arm base 1 and the two connecting rods of the robot arm are made of high-hardness, high-strength, and lightweight aluminum alloy materials to minimize the load of the drone, while minimizing the system mass, the friction between the connecting rods, and the interference to the entire circuit system. The tubular sampler probe 7 at the end of the robot arm is made of high-strength aluminum alloy. When the robot arm is fully unfolded, the collector probe 7, joint III6 and connecting rod II5 are on the same straight line; joint I2 and connecting rod I3 realize the front and rear distance control, and the end joint II4 of connecting rod I3 is connected to connecting rod II5 to realize the position control of the collection device. Joint III6 is installed at the end of connecting rod II5, and is mainly used to pierce the inner spiral drill bit 9 into the soil under the action of rotation, and squeeze the drilled soil into the storage device 8.

[0038] The present invention provides a fully automatic soil collection and storage system, the working principle of which is:

[0039] In the multi-rotor flight mode of the present invention, the mechanical arm and the sampler are both in a folded state to reduce the wind resistance of the drone. The mechanical arm can be folded at the bottom of the quad-rotor drone 10 to minimize the impact of external factors on the sample, and the mechanical arm can still perform corresponding actions during the flight. During operation, after the drone arrives at the sampling point, the mechanical arm performs trajectory planning according to the terrain and soil conditions and unfolds to the corresponding posture to deliver the sampler probe 7 to the sampling point. Joint II4 first moves according to the position of the sampling point to determine the insertion direction of the sampler probe 7. Then, joint I2 moves to pierce the sampler probe 7 into the soil. After the sampler probe 7 is in place, the servo motor of joint III6 works to drive the sampler probe 7 and the inner spiral drill bit 9 inside it to work, and at the same time, joint I2 reduces the thrust to assist the inner spiral drill bit 9 to drill downward. Under the rotation of the inner spiral drill bit 9, the soil sample will enter the sample storage device 8 along the sampler probe 7. After completing the sample sampling, joint III6 performs the return to origin operation to ensure that the storage device 8 is directly below. Finally, joints I2 and II4 move in the opposite direction according to the previous action sequence to complete the reset action. Specifically, joint I2 first moves in the opposite direction to the position before the push, and then joint II4 pulls up and returns to the position directly below the robotic arm base 1. The robotic arm returns to the folded state, and after ensuring that there is no error, the quadcopter 10 returns. At the same time, the staff can also remotely control the robotic arm to complete specific sampling tasks.

[0040] The present invention improves the autonomous sampling capability of complex samples by UAVs, as well as the weight and quality of single-sample sampling, thereby achieving the purpose of improving the application and operation capabilities of UAVs. It can overcome the impact of the plateau environment to the greatest extent, complete difficult operation tasks, and protect the lives and safety of staff.

[0041] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A fully automatic soil collection and storage system, characterized in that: It comprises a mechanical arm base (1) and a mechanical arm connected to the mechanical arm base (1); The mechanical arm comprises a connecting rod I (3), a connecting rod II (5), a sampler and a storage device (8), wherein one end of the connecting rod I (3) is connected to the mechanical arm base (1) via a joint I (2), the other end of the connecting rod I (3) is connected to one end of the connecting rod II (5) via a joint II (4), the other end of the connecting rod II (5) is connected to the sampler via a joint III (6), and the storage device (8) is arranged on the sampler and is used to store soil samples collected by the sampler; The sampler comprises a sampler probe (7) and an inner spiral drill bit (9), wherein the sampler probe (7) is a hollow tubular structure, and the rear end of the sampler probe (7) is connected to the outer shell of the joint III (6); The inner spiral drill bit (9) is accommodated in the sampler probe (7), and the rear end is connected to the output end of the joint III (6), and the front end of the inner spiral drill bit (9) is exposed outside the sampler probe (7); The front end of the sampler probe (7) is an inclined structure, so that the front end of the inner spiral drill bit (9) is exposed, which is convenient for drilling soil; The joint III (6) comprises a housing and a servo motor disposed in the housing, wherein an output shaft of the servo motor is connected to a rear end of the inner spiral drill bit (9), and the servo motor drives the inner spiral drill bit (9) to rotate, thereby achieving soil drilling; The joint III (6) has a return-to-origin function to ensure that the storage device (8) is directly below when sampling is completed, thereby preventing the soil sample from leaking sideways; The length of the connecting rod II (5) is smaller than the length of the connecting rod I (3).

2. The fully automatic soil collection and storage system according to claim 1, characterized in that: A sample outlet is provided on the side wall of the sampler probe (7) close to the rear end, and the sample outlet is connected to the storage device (8).

3. The fully automatic soil collection and storage system according to claim 2, characterized in that: The storage device (8) comprises a storage cavity, and the end surface of the storage cavity is connected to the sample outlet flange.

4. The fully automatic soil collection and storage system according to claim 1, characterized in that: The joint III (6) comprises a housing and a servo motor arranged in the housing, and the output shaft of the servo motor is connected to the rear end of the inner spiral drill bit (9).

5. The fully automatic soil collection and storage system according to claim 1, characterized in that: The joint I (2) and the joint II (4) both include a housing and a steering gear arranged in the housing, and the output end of the steering gear is connected to the connecting rod I (3) or the connecting rod II (5).

6. The fully automatic soil collection and storage system according to claim 1, characterized in that: When the mechanical arm is in a folded state, the connecting rod I (3) is parallel to the connecting rod II (5) and the sampler.

7. The fully automatic soil collection and storage system according to claim 1, characterized in that: The mechanical arm base (1) is connected to the belly of the quad-rotor drone (10).

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