A monitoring and sampling system for basic grassland ecological data

Abstract

The present invention discloses a monitoring and sampling system for basic grassland ecological data. During the sampling operation, the ring cutters can be automatically taken out and stored by rotating the turntable, rotating the clamping mechanical claws and lifting the clamping slider, so that the unmanned vehicle can carry multiple ring cutters for sampling, thereby improving the sampling efficiency. The ring cutters can be automatically inserted through the cooperation of the clamping mechanical claws and the pressure head, and the soil around the ring cutters can be automatically dug out through the hollow drill, which reduces the labor intensity of the operator and improves the automation level. The clamping mechanical claws can enter the annular groove dug by the hollow drill and take out the ring cutter by clamping the side of the ring cutter. No additional modification of the ring cutter is required, thereby improving the versatility of the ring cutter. Before digging out the soil around the ring cutter, a sheath is pressed into the outside of the ring cutter to avoid soil disturbance inside the ring cutter caused by displacement of the ring cutter, thereby reducing the accuracy of the analysis result.

Description

Technical Field

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

[0002] Basic grassland ecological data monitoring involves collecting and recording information on various ecological factors, including grassland vegetation, soil, and meteorology. Soil sampling plays a crucial role in this process. Soil sampling measures soil bulk density, which in turn reflects soil compaction and, in turn, assesses soil impacts on plant roots. By monitoring bulk density changes, potential impacts of grassland soil changes on plant roots can be detected promptly.

[0003] In the existing technology, soil sampling is mainly carried out through ring knives. The operator needs to knock the ring knives first to make them enter the soil, then dig out the soil around the ring knives, and then carefully take out the ring knives. The labor intensity of knocking the ring knives and digging out the soil around the ring knives is relatively high. Therefore, it is necessary to design a monitoring and sampling system for basic grassland ecological data with a 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 technology.

[0005] To achieve the above objectives, the present invention provides the following technical solutions: a monitoring and sampling system for basic grassland ecological data, comprising an unmanned vehicle, a rotating turntable provided inside the unmanned vehicle, a plurality of sampling grids provided on the turntable, each sampling grid capable of housing a ring knife, a lifting and lowering clamping slider provided inside the unmanned vehicle, a rotating clamping claw provided on the clamping slider, the clamping claw being arc-shaped in its initial state;

[0006] A rotating pressing column is provided inside the unmanned vehicle, and a pressing head is provided on the pressing column to rise and fall;

[0007] A protective column is fixed in the unmanned vehicle behind the compression column, and a connector is provided on the protective column for lifting and lowering, and a detachable connection with a sheath is provided on the connector;

[0008] The unmanned vehicle lifting device behind the protective column is equipped with a hollow drill, which can scrape out a circle of annular grooves, which can accommodate the clamping mechanical claws;

[0009] A protrusion is fixed to the bottom plate of the protective column, and a single-action ratchet mechanism is provided in the connecting head. The single-action ratchet mechanism can output a step angle each time it contacts the protrusion. A connecting groove is provided in the sheath, and a lock tongue is telescopically provided in the connecting head. The lock tongue is driven by a switching mechanism provided in the connecting head. The telescopic state of the lock tongue can be changed once by the switching mechanism for each step angle.

[0010] Preferably, the connecting head includes a connecting slider, which is set on the protective column for lifting, one end of the extension tube is fixed under the connecting slider, and a connecting disk is fixed to the other end of the extension tube, the single-acting ratchet mechanism is set in the connecting slider, the lock tongue is set in the connecting disk for extension, and a switching mechanism is set in the connecting disk, and the single-acting ratchet mechanism and the switching mechanism are connected by a transmission shaft.

[0011] Preferably, the single-action ratchet mechanism includes a four-pawl ratchet, which is rotatably arranged in the connecting slider, and the four-pawl ratchet is coaxially fixed with a transmission shaft, and the four-pawl ratchet is driven by a driving pawl A, which is rotatably arranged on a rocker A, and the rocker A is rotatably arranged in the connecting slider, a return torsion spring is fixed between the rocker A and the connecting slider, a return torsion spring is fixed between the driving pawl A and the rocker A, and reverse rotation of the four-pawl ratchet is prevented by a non-return pawl A, which is rotatably arranged in the connecting slider, and a return torsion spring is fixed between the non-return pawl A and the connecting slider;

[0012] The AA gear is coaxially fixed on the A rocker, the AA gear is meshed with the AB gear, the AB gear is coaxially fixed with the AC gear, the AC gear is meshed with the A rack, the A rack is slidably set in the connecting slider, one end of the A transmission rod is fixed on the A rack, and the other end of the A transmission rod can contact the protrusion.

[0013] Preferably, an elliptical cam is provided for rotation in the connecting disk, the elliptical cam is fixed under the transmission shaft, a cam ridge is fixed on the elliptical cam, two cam pushers are contacted and connected on the cam ridge, the two cam pushers are symmetrically arranged, the cam pushers are slidably arranged in the connecting disk, and a lock tongue is fixed on the cam pushers.

[0014] Preferably, the single-action ratchet mechanism includes a multi-pawl ratchet, the multi-pawl ratchet has more than four ratchet teeth, 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, the B driving pawl 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 prevented by a B non-reverse pawl, the B non-reverse pawl is rotatably arranged in the connecting slider, and a return torsion spring is fixed between the B non-reverse pawl and the connecting slider;

[0015] A BA gear is coaxially fixed on the B rocker, which is meshed with a BB gear. A BC gear is coaxially fixed to the BB gear, which is meshed with a B rack. The B rack is slidably arranged in a connecting slider, and one end of a B transmission rod is fixed to the B rack, and the other end of the B transmission rod can contact the protrusion.

[0016] Preferably, a driven wheel is provided to rotate in the connecting disk, the driven wheel is fixed under the transmission shaft, a plurality of pits are provided on the driven wheel, the number of the pits is half the number of ratchet teeth of the multi-paw ratchet, one end of the driven rod is fixed on the lock tongue, the other end of the driven rod can contact with the pit, the driven rod is slidably provided on the connecting disk, one end of the return spring is fixed on the driven rod, the other end of the return spring is fixed on the connecting disk, and the return spring can keep the driven rod and the driven wheel in contact.

[0017] Preferably, each sampling grid is fan-shaped, and a countersink is provided at the bottom of the sampling grid, and the ring knife can be accommodated in the countersink.

[0018] Preferably, the clamping mechanical claw includes two clamping half-jaws, each clamping half-jaw is rotatably set on a clamping bracket, a clamping gear is fixed at the rotation center of each clamping half-jaw, the two clamping gears are engaged with each other, the clamping bracket is rotatably set under the clamping slider, and a clamping motor is fixed on the clamping bracket, which can drive one of the clamping gears.

[0019] Preferably, the hollow drill includes a drill bit, which is rotatably arranged under the trenching slider, a drive motor is fixed in the trenching slider, and the trenching slider is lifted and lowered in the unmanned vehicle.

[0020] Preferably, the sheath includes a connecting ring with a connecting groove formed therein, and a plurality of long spikes are fixed under the connecting ring.

[0021] Compared with the existing technology, the beneficial effect of the present invention is that during the sampling operation, the ring cutters can be automatically removed and stored through the rotation of the turntable, the rotation of the clamping mechanical claws and the lifting and lowering of the clamping slider, so that the unmanned vehicle can carry multiple ring cutters for sampling, thereby improving the efficiency of the sampling work.

[0022] The cooperation between the clamping mechanical claw and the pressure head can automatically complete the work of inserting the ring cutter into the soil, and the hollow drill can automatically complete the excavation of the soil around the ring cutter, which reduces the labor intensity of the operator and improves the level of automation.

[0023] The clamping mechanical claws can enter the annular groove dug by the hollow drill and take out the ring cutter by clamping the side of the ring cutter. No additional modification of the ring cutter is required, which improves the versatility of the ring cutter.

[0024] Hollow drills can squeeze the soil when digging trenches. In order to prevent the squeezed soil from squeezing the cutter ring and causing the cutter ring to shift, a sheath is pressed into the outside of the cutter ring before digging out the soil around the cutter ring to avoid the cutter ring shifting and causing the soil inside the cutter ring to be disturbed, thereby reducing the accuracy of the analysis results.

[0025] Through the cooperation of the single-action ratchet mechanism, the switching mechanism and the lock tongue, the lock tongue can be alternately retracted and extended each time the connector descends to the bottom plate of the protective column, realizing the automatic separation and engagement of the connector and the sheath, which is convenient for driving and controlling the sheath. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 is an axonometric drawing of the present invention;

[0027] Figure 2 It is another angle axonometric view of the present invention;

[0028] Figure 3 It is a side sectional view of the present invention;

[0029] Figure 4 This is an axonometric view of the connector, protective column, and protrusion of the present invention, wherein only the bottom plate is retained in the housing of the protective column;

[0030] Figure 5 is an axonometric view of the sheath of the present invention;

[0031] Figure 6 This is an axonometric view of the single-action ratchet mechanism and switching mechanism of Example 1 of the present invention, with the extension tube removed;

[0032] Figure 7 For the present invention Figure 6 A local enlarged view of point A;

[0033] Figure 8 This is an axonometric view of the clamping mechanical claw of the present invention;

[0034] Figure 9 This is an axonometric view of the single-action ratchet mechanism and the switching mechanism of the second embodiment of the present invention, wherein the dotted line represents the BB gear;

[0035] Figure 10 For the present invention Figure 9 A partial enlarged view of point B, where the dotted line represents the BB gear.

[0036] In the figure: 101, unmanned vehicle, 102, ring knife, 103, clamping column, 104, clamping slider, 105, turntable, 106, sampling grid, 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, lock 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-action ratchet mechanism, 401, four-paw ratchet, 402, A driving pawl, 403, A rocker, 404, A non-return pawl, 405, AA gear, 406, AB gear, 407, AC gear, 408, A rack, 409, A transmission rod, 451, multi-paw ratchet, 452, B driving pawl, 453, B rocker, 454, B non-return 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 DESCRIPTION

[0037] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0038] Example 1: The present invention provides a technical solution: a monitoring and sampling system for basic grassland ecological data, such as Figure 1 、 2 As shown, the unmanned vehicle 101 includes a rotating disk 105 in the unmanned vehicle 101. The rotating disk 105 is provided with a plurality of sampling grids 106. A ring knife 102 can be placed in each sampling grid 106. In this embodiment, the rotating disk 105 is driven by an indexing motor 107 (shown in FIG. Figure 2 The indexing motor 107 is driven by the unmanned vehicle 101. The indexing motor 107 and the turntable 105 driven by the indexing motor 107 are both existing technologies and will not be described in detail. By providing multiple sampling grids 106 on the turntable 105, the unmanned vehicle 101 can carry multiple ring cutters 102.

[0039] In order to access the ring cutter 102, as Figure 1 、 2 As shown, a clamping slider 104 is provided for lifting inside the unmanned vehicle 101. In this embodiment, the lifting and lowering of the clamping slider 104 is achieved through an existing column lifting slide. The column lifting slide is a commonly used device for lifting a slide along a column. In this embodiment, the slide of the column lifting slide (the slide is not shown in the accompanying drawings) is fixed to the clamping slider 104, and the column of the column lifting slide is fixed inside the unmanned vehicle 101. The column is a clamping column 103, and a clamping mechanical claw 300 is rotatably provided on the clamping slider 104. The clamping mechanical claw 300 is arc-shaped in the initial state.

[0040] During the sampling operation, the ring cutter 102 can be automatically removed and stored 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, so that the unmanned vehicle 101 can carry multiple ring cutters 102 for sampling, thereby improving the efficiency of the sampling work.

[0041] In order to press the ring cutter 102 into the soil, Figure 1 、 2 As shown, a pressing column 108 is provided in the unmanned vehicle 101 for rotation. In this embodiment, the pressing column 108 is driven by a pressing motor 110 (shown in FIG. Figure 2 The clamping motor 110 is fixed in the unmanned vehicle 101. The clamping motor 110 and the rotation of the clamping column 108 driven by the clamping motor 110 belong to the existing technology and will not be described in detail. A pressure head 109 is provided on the clamping column 108 for lifting and lowering. The lifting and lowering of the pressure head 109 also adopts the existing column lifting slide. The slide of the column lifting slide (the slide is not shown in the accompanying drawings) is fixed on the pressure head 109, and the column of the column lifting slide (the column is not shown in the accompanying drawings) is fixed on the clamping column 108. An opening 116 is provided on the bottom plate of the unmanned vehicle 101 for the clamping mechanical claw 300 and the pressure head 109 to pass through.

[0042] The cooperation between the clamping mechanical claw 300 and the pressure head 109 can automatically complete the work of inserting the ring cutter 102 into the soil, thereby reducing the labor intensity of the operator and improving the level of automation.

[0043] The hollow drill 113 can squeeze the soil when digging the trench. In order to prevent the squeezed soil from squeezing the ring cutter 102 and causing the ring cutter 102 to shift, the sheath 203 is pressed into the outside of the ring cutter 102 before digging out the soil around the ring cutter 102. Figure 1As shown, a protective column 201 is fixed in the unmanned vehicle 101 behind the clamping column 108, and a connecting head 202 is provided on the protective column 201 for lifting and lowering. The lifting and lowering of the connecting head 202 also adopts the existing column lifting slide. The slide of the column lifting slide (the slide is not shown in the accompanying drawings) is fixed on the connecting head 202, and the column of the column lifting slide (the column is not shown in the accompanying drawings) is fixed on the protective column 201. A sheath 203 is detachably connected to the connecting head 202.

[0044] After the sheath 203 is inserted into the soil, it is fixed to the underlying soil, wrapping the ring cutter 102 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, avoiding the displacement of the ring cutter 102 and causing soil disturbance inside the ring cutter 102, thereby improving the accuracy of the analysis results.

[0045] In order to dig out the soil around the ring cutter 102 so that the ring cutter 102 is taken out from the soil, Figure 1 、 3 As shown, a hollow drill 113 (shown in FIG. Figure 3 ), the lifting of the hollow drill 113 also adopts the existing column lifting slide, the slide of the column lifting slide is fixed on the hollow drill 113, and the column of the column lifting slide is fixed in the unmanned vehicle 101, and the column is a trenching column 111.

[0046] The hollow drill 113 can scrape out a circle of annular grooves 112 around the ring cutter 102 inserted into the soil, and the annular grooves 112 can accommodate the clamping mechanical claws 300.

[0047] The hollow drill 113 can automatically dig out the soil around the ring cutter 102, reducing the operator's labor intensity and improving the level of automation. The clamping mechanical claw 300 can enter the annular groove 112 dug by the hollow drill 113 and take out the ring cutter 102 by clamping the side of the ring cutter 102. There is no need for additional modification of the ring cutter 102, which improves the versatility of the ring cutter 102.

[0048] In order to enable the connector 202 and the sheath 203 to be automatically separated and joined, as shown in FIG. Figure 4 、 5 As shown, a protrusion 204 is fixed on the bottom plate of the protective column 201, and a single-action ratchet mechanism 400 is provided in the connecting head 202. 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 lock tongue 205 is telescopically provided in the connecting head 202. The lock tongue 205 is driven by a switching mechanism 500 provided in the connecting head 202. Each step angle can change the telescopic state of the lock tongue 205 once through the switching mechanism 500.

[0049] Before inserting the sheath 203 into the soil, the locking tongue 205 in the connecting head 202 extends out and is inserted into the connecting groove 210 of the sheath 203, so that the connecting head 202 and the sheath 203 are fixed to each other. When the sheath 203 is inserted into the soil, the connecting head 202 can drive the sheath 203 to descend along the descent of the protective column 201. When the connecting head 202 first descends to the bottom of the protective column 201, the connecting head 202 can insert the sheath 203 into the soil. At the same time, the single-action ratchet mechanism 400 in the connecting head 202 contacts the protrusion 204 of the bottom plate of the protective column 201, and the single-action 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 that the locking tongue 205 is retracted and thus engages with the sheath 203. The connecting groove 210 separates, thereby separating the connecting head 202 from the sleeve 203, and then the connecting head 202 rises, and the sleeve 203 remains in the soil. When the sleeve 203 is retracted from the soil, the connecting head 202 drops again to the bottom plate of the protective column 201. At this time, the lower end of the connecting head 202 drops to the sleeve 203, and the single-action ratchet mechanism 400 in the connecting head 202 contacts the protrusion 204 of the bottom plate of the protective column 201. The single-action ratchet mechanism 400 outputs a step angle, and then changes the telescopic state of the lock tongue 205 once through the switching mechanism 500, so that it is inserted into the connecting groove 210 of the sleeve 203, thereby making the connecting head 202 engage with the sleeve 203 and fix each other, and then the connecting head 202 rises, and then retracts the sleeve 203.

[0050] Through the cooperation of the single-action ratchet mechanism 400, the switching mechanism 500 and the locking tongue 205, the locking tongue 205 can be alternately retracted and extended each time the connecting head 202 descends to the bottom plate of the protective column 201, thereby realizing the automatic separation and engagement of the connecting head 202 and the sheath 203, and facilitating the driving and control of the sheath 203.

[0051] 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 ring knife 102 from the turntable 105, so that the ring knife 102 is located above the opening 116 of the bottom plate of the unmanned vehicle 101, and the ring knife 102 is placed on the soil surface through the opening 116. Then, the ring knife 102 is positioned, and then the pressing column 108 rotates to drive the pressure head 109 to rotate so that the pressure head 109 moves to the top of the ring knife 102, and then the pressure head 109 is pressed. 9 presses the ring cutter 102 into the soil, and then the unmanned vehicle 101 moves forward, so that the sheath 203 fixed to the connector 202 moves to the top of the ring cutter 102 pressed into the soil, and then the connector 202 inserts the sheath 203 into the soil outside the ring cutter 102, and then the unmanned vehicle 101 moves forward again, so that the hollow drill 113 moves to the top of the ring cutter 102 pressed into the soil, and then the hollow drill 113 descends and rotates, scraping a circle of annular grooves 112 around the ring cutter 102 (shown in Figure 3), the unmanned vehicle 101 then moves backward, causing the connector 202 to move above the sheath 203 and the ring cutter 102. The connector 202 then retracts the sheath 203, and the unmanned vehicle 101 then moves backward again, returning the unmanned vehicle 101 to the position where it started sampling. The clamping slider 104 and the clamping mechanical claw 300 then cooperate to retrieve the ring cutter 102 and the soil sample collected by the ring cutter 102 from the soil through the opening 116, and store the ring cutter 102 back in the turntable 105. The turntable 105 then rotates the new ring cutter 102 to the bottom of the clamping mechanical claw 300. The detailed working process is as follows:

[0052] When the ring knife 102 is taken out from the turntable 105, the clamping slider 104 first rises to the upper limit position, thereby driving the clamping mechanical claw 300 to rise, and then the clamping mechanical claw 300 rotates to the front of the unmanned vehicle 101, and then the clamping slider 104 drops, causing the clamping mechanical claw 300 to drop to the turntable 105, and then the clamping mechanical claw 300 clamps the ring knife 102, and then the clamping slider 104 rises, thereby driving the clamping mechanical claw 300 to rise, and then the ring knife 102 is taken out of the turntable 105, and then the clamping mechanical claw 300 rotates to the rear (such as Figure 1 As shown), the clamping slider 104 then descends, thereby driving the clamping mechanical claw 300 to descend, and then placing the ring cutter 102 on the soil surface through the opening 116, completing the work of removing the ring cutter 102.

[0053] When the ring cutter 102 is positioned, the clamping slider 104 continues to descend, thereby driving the clamping mechanical claw 300 to descend, and then partially inserting the ring cutter 102 into the soil until the clamping mechanical claw 300 contacts the ground, completing the positioning of the ring cutter 102, and then the clamping mechanical claw 300 releases the ring cutter 102, and then the clamping slider 104 rises to the upper limit position, thereby driving the clamping mechanical claw 300 to rise, and then the clamping mechanical claw 300 turns to the front to make way for the lifting and lowering of the pressure head 109.

[0054] When using the pressure head 109 to completely press the ring knife 102 into the soil, the pressing column 108 rotates first, and then the pressure head 109 rotates to above the ring knife 102, and then the pressure head 109 descends, and then the pressure head 109 contacts the upper end surface of the ring knife 102, and then the pressure head 109 continues to descend, pressing the ring knife 102 completely into the soil, completing the pressing work of the ring knife 102, and then the pressure head 109 rises back into the unmanned vehicle 101, and then the pressing column 108 reverses, so that the pressure head 109 is in a clear position for the next lifting and lowering of the clamping mechanical claw 300.

[0055] When inserting the sheath 203, the unmanned vehicle 101 moves forward, so that the sheath 203 installed on the connector 202 moves above the ring knife 102, and then the connector 202 descends, inserting the sheath 203 to the outside of the ring knife 102, completing the work of inserting the sheath 203, and then the locking tongue 205 is retracted, and then the connector 202 rises back into the unmanned vehicle 101.

[0056] When trenching, the unmanned vehicle 101 moves forward again, so that the hollow drill 113 moves above the ring cutter 102, and then the hollow drill 113 descends and rotates, scraping the soil around the sheath 203 to form a circle of annular grooves 112, completing the trenching work, and then the hollow drill 113 rises (as shown in FIG. Figure 3 shown).

[0057] When retracting the sheath 203, the unmanned vehicle 101 first retreats, causing the connector 202 to move above the sheath 203, and then the lower end of the connector 202 drops into the sheath 203, and then the locking tongue 205 extends, and then the connector 202 rises to return the sheath 203 to the unmanned vehicle 101, completing the work of retracting the sheath 203.

[0058] When retrieving the sample, the unmanned vehicle 101 retreats again, returning the unmanned vehicle 101 to the position when sampling started, and then the clamping mechanical claw 300 rotates to the rear, and then the clamping slider 104 descends, causing the clamping mechanical claw 300 to descend to the bottom of the annular groove 112, and then the clamping mechanical claw 300 clamps the ring knife 102, and then the clamping mechanical claw 300 rotates slightly to make the ring knife 102 shake, thereby separating the soil sample in the ring knife 102 from the soil at the bottom of the ring knife 102, and then the clamping slider 104 rises, thereby driving the clamping mechanical claw 300 to rise, and then driving the ring knife 102 and the soil collected by the ring knife 102 back to the unmanned vehicle 101, completing the work of retrieving the sample.

[0059] When storing the ring knife 102, the clamping slider 104 rises first, thereby driving the clamping mechanical claw 300 to rise, and then driving the ring knife 102 to rise. Then the clamping mechanical claw 300 rotates to the front, causing the ring knife 102 to rotate above the turntable 105. Then the clamping mechanical claw 300 releases the ring knife 102, causing the ring knife 102 to return to the turntable 105. Then the clamping slider 104 rises to the upper limit position, thereby driving the clamping mechanical claw 300 to rise, completing the work of storing the ring knife 102. Then the turntable 105 rotates the new ring knife 102 to the bottom of the clamping mechanical claw 300.

[0060] like Figure 4 、 6As shown in , 7, the connecting head 202 includes a connecting slider 206, and the connecting slider 206 is set to be raised and lowered on the protective column 201. The lifting of the connecting slider 206 also adopts the existing column lifting slide. The slide of the column lifting slide is fixed on the connecting slider 206, and the column of the column lifting slide is fixed on the protective column 201. One end of the extension tube 207 is fixed under the connecting slider 206, and the other end of the extension tube 207 is fixed with a connecting disk 208. The single-acting ratchet mechanism 400 is set in the connecting slider 206, and the lock tongue 205 is telescopically set in the connecting disk 208. A switching mechanism 500 is set in the connecting disk 208. The single-acting ratchet mechanism 400 and the switching mechanism 500 are connected by a transmission shaft 209, and the transmission shaft 209 is located in the extension tube 207.

[0061] like Figure 6 、 7 As shown, the single-action ratchet mechanism 400 includes a four-pawl ratchet 401, which is rotatably disposed within the connecting slider 206 ( Figure 6 (The upper cover of the connecting slider 206 is removed), the four-paw ratchet 401 is coaxially fixed with the transmission shaft 209, and the four-paw ratchet 401 is driven by the A-driving pawl 402. The A-driving pawl 402 is rotatably set on the A-rocker 403, and a return torsion spring is fixed between the A-rocker 403 and the connecting slider 206. The A-rocker 403 is rotatably set in the connecting slider 206, and a return torsion spring is fixed between the A-driving pawl 402 and the A-rocker 403. The return torsion spring between the A-driving pawl 402 and the A-rocker 403 can keep the A-driving pawl 402 in contact with the four-paw ratchet 401. The reverse rotation of the four-paw ratchet 401 is prevented by the A-check pawl 404. The A-check pawl 404 is rotatably set in the connecting slider 206, and a return torsion spring is fixed between the A-check pawl 404 and the connecting slider 206.

[0062] like Figure 6 、 7 As shown, an AA gear 405 is coaxially fixed on the A rocker 403, and the AA gear 405 is meshed with the AB gear 406. The AB gear 406 is coaxially fixed with the AC gear 407, and the AC gear 407 is meshed with the A rack 408. The A rack 408 is slidably set in the connecting slider 206, and one end of the A transmission rod 409 is fixed on the A rack 408. The other end of the A transmission rod 409 can contact the protrusion 204. In this example, the protrusion 204 has a slope.

[0063] 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 A transmission rod 409 to move, thereby driving the A rack 408 to move, thereby driving the AC gear 407 to rotate, thereby driving the AB gear 406 to rotate, thereby driving the AA gear 405 to rotate, thereby driving the A rocker 403 to rotate, thereby driving the A driving pawl 402 to push the four-paw ratchet 401 to rotate through a ratchet tooth, outputting a 90-degree step angle, and then driving the switching mechanism 500 through the transmission shaft 209. When the connecting slider 206 rises and separates from the protrusion 204, the A rocker 403 is reversed and reset under the action of the reset torsion spring, thereby driving the AA gear 405 to reverse, thereby driving the AB gear 406 to reverse, thereby driving the AC gear 407 to reverse, thereby driving the A rack 408 to move in the opposite direction, thereby driving the A transmission rod 409 to move in the opposite direction and reset, and the four-paw ratchet 401 remains stationary under the action of the A non-return pawl 404.

[0064] like Figure 6 、 7 As shown, an elliptical cam 501 is provided in the connecting disk 208 for rotation ( Figure 6 (The upper cover of the connecting plate 208 is removed) The elliptical cam 501 is fixed under the transmission shaft 209, and a cam ridge 502 is fixed on the elliptical cam 501. The cam ridge 502 is in contact with and connected to two cam pushers 503. The two cam pushers 503 are symmetrically arranged. The cam pushers 503 are slidably arranged in the connecting plate 208, and the lock tongue 205 is fixed on the cam pushers 503.

[0065] The single-action ratchet mechanism 400 outputs a 90-degree step angle to drive the transmission shaft 209 to rotate, and then drives the elliptical cam 501 to rotate. When the cam push rod 503 is on the long axis of the elliptical cam 501, the lock tongue 205 remains extended. After the elliptical cam 501 rotates 90 degrees, when the cam push rod 503 is on the short axis of the elliptical cam 501, the lock tongue 205 remains retracted.

[0066] The four-pawl ratchet 401 has fewer ratchet teeth, each of which is larger in size and has higher strength.

[0067] like Figure 1 As shown, since soil is attached to the outer surface of the retracted ring knife 102, in order to facilitate the storage of the retracted ring knife 102 in the turntable 105, each sampling grid 106 is fan-shaped. In order to facilitate the fixing of the position of the new ring knife 102, a countersunk hole is opened at the bottom of the sampling grid 106, and the countersunk hole can accommodate the ring knife 102.

[0068] like Figure 8As shown, in order to facilitate the clamping of the ring cutter 102, the clamping mechanical claw 300 includes two clamping half-jaws 301, each clamping half-jaw 301 is rotatably set on the clamping bracket 302, and a clamping gear is fixed at the rotation center of each clamping half-jaw 301. The two clamping gears are engaged with each other, and the clamping bracket 302 is rotatably set under the clamping slider 104. In this embodiment, a rotating motor is fixed in the clamping slider 104, and the rotating motor can drive the clamping bracket 302 to rotate, and then drive the clamping mechanical claw 300 to rotate as a whole. A clamping motor 303 is fixed on the clamping bracket 302, and the clamping motor 303 can drive one of the clamping gears.

[0069] The clamping motor 303 can drive one clamping gear to rotate, and then drive another clamping gear to rotate. The rotation of each clamping gear can drive the corresponding clamping half jaw 301 to rotate, thereby causing the clamping mechanical jaw 300 to clamp or release the ring knife 102.

[0070] As shown in 1 and 2, the hollow drill 113 includes a drill bit 114, the drill bit 114 (shown in Figure 1 ) is rotated and arranged on the trenching slider 115 (shown in Figure 1 (center), a driving motor is fixed in the trenching slider 115, and the trenching slider 115 is raised and lowered in the unmanned vehicle 101. The trenching slider 115 is raised and lowered using an existing column lifting slide. The slide of the column lifting slide is fixed on the hollow drill 113, and the column of the column lifting slide is fixed on the trenching column 111.

[0071] like Figure 5 As shown, in order to reduce the resistance of the sheath 203 when inserted into the soil, the sheath 203 includes 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. 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 ring knife 102 and position the ring knife 102, and then the pressure head 109 presses the ring knife 102, and then the unmanned vehicle 101 moves forward to move the sheath 203 to the top of the ring knife 102, and then the connecting head 202 inserts the sheath 203 to the outside of the ring knife 102, and then the unmanned vehicle 101 moves forward again to move the hollow drill 113 to the top of the ring knife 102, and then the hollow drill 113 descends And rotate to scrape out a circle of annular groove 112, then the unmanned vehicle 101 moves backward, so that the sheath 203 moves to above the ring knife 102, then the connector 202 retracts the sheath 203, then the unmanned vehicle 101 retreats again, so that the unmanned vehicle 101 returns to the position when the sampling started, then the clamping slider 104 and the clamping mechanical claw 300 cooperate to retrieve the ring knife 102 and the soil sample, and store the ring knife 102 back in the turntable 105, then the turntable 105 rotates the new ring knife 102 to the bottom of the clamping mechanical claw 300.

[0072] 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 ring knife 102 from the turntable 105, so that the ring knife 102 is located above the opening 116 of the bottom plate of the unmanned vehicle 101, and the ring knife 102 is placed on the soil surface through the opening 116. After that, the ring knife 102 is positioned, and then the pressing column 108 rotates to drive the pressure head 109 to rotate so that the pressure head 109 moves to the top of the ring knife 102, and then the pressure head 109 presses the ring knife 102. The knife 102 is pressed into the soil through the opening 116, and then the unmanned vehicle 101 moves forward, so that the sheath 203 fixed to the connector 202 moves to the top of the ring knife 102 pressed into the soil, and then the connector 202 inserts the sheath 203 into the soil outside the ring knife 102, and then the unmanned vehicle 101 moves forward again, so that the hollow drill 113 moves to the top of the ring knife 102 pressed into the soil, and then the hollow drill 113 descends and rotates, scraping a circle of annular grooves 112 around the ring knife 102 (shown in Figure 3 ), then the unmanned vehicle 101 moves backward, so that the connecting head 202 moves to above the sheath 203 and the ring knife 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 started, 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 back in the turntable 105, then the turntable 105 rotates the new ring knife 102 to the bottom of the clamping mechanical claw 300.

[0073] Example 2: Figure 9 、 10 As shown, the single-action ratchet mechanism 400 includes a multi-pawl ratchet 451, the number of ratchet teeth of the multi-pawl ratchet 451 is greater than four, and the multi-pawl ratchet 451 is rotatably disposed in the connecting slider 206 ( Figure 9 The upper cover of the connecting slider 206 is removed), the multi-pawl ratchet 451 is coaxially fixed with the transmission shaft 209, and the multi-pawl ratchet 451 is driven by the B drive pawl 452, and the B drive pawl 452 is rotatably set on the B rocker 453, and the B rocker 453 is rotatably set in the connecting slider 206, and a return torsion spring is fixed between the B rocker 453 and the connecting slider 206, and a return torsion spring is fixed between the B drive pawl 452 and the B rocker 453. The return torsion spring between the B drive pawl 452 and the B rocker 453 can keep the B drive pawl 452 between the B rocker 453, and the reverse rotation of the multi-pawl ratchet 451 is prevented by the B non-return pawl 454, and the B non-return pawl 454 is rotatably set in the connecting slider 206, and a return torsion spring is fixed between the B non-return pawl 454 and the connecting slider 206.

[0074] A BA gear 455 is coaxially fixed on the B rocker 453, and the BA gear 455 is meshed with a BB gear 456. A BC gear 457 is coaxially fixed to the BB gear 456, and the BC gear 457 is meshed with a B rack 458. The B rack 458 is slidably arranged in the connecting slider 206, and one end of the 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. In this embodiment, the protrusion 204 has a slope.

[0075] 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 one ratchet tooth, outputting a step angle, and then 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 is reversed and reset 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 opposite direction, thereby driving the B transmission rod 459 to move in the opposite direction and reset, and the multi-pawl ratchet 451 remains stationary under the action of the B anti-return pawl 454.

[0076] like Figure 9 As shown, a driven wheel 551 ( 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 provided on the driven wheel 551. The number of the pits 552 is half the number of ratchet teeth of the multi-pawl ratchet 451. One end of a driven rod 553 is fixed to the lock tongue 205. The other end of the driven rod 553 can contact the pit 552. The driven rod 553 is slidably set on the connecting disk 208. One end of a return spring 554 is fixed to the driven rod 553. The other end of the return spring 554 is fixed to the connecting disk 208. The return spring 554 can keep the driven rod 553 in contact with the driven wheel 551.

[0077] The single-action ratchet mechanism 400 outputs a step angle to drive the transmission shaft 209 to rotate, and then drives the driven wheel 551 to rotate. When the driven rod 553 is on the edge of the driven wheel 551, the lock tongue 205 remains extended. After the driven wheel 551 rotates through a step angle, the driven rod 553 enters the pit 552 of the driven wheel 551 under the action of the return spring 554, and the lock tongue 205 remains retracted.

[0078] The multi-pawl ratchet 451 has a large number of ratchet teeth, and the amplitude of each step angle rotation is small, so the impact and vibration are small.

[0079] The rest of the second embodiment is the same as the first embodiment.

[0080] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the 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) includes a rotating disk (105) disposed inside the unmanned vehicle (101), and a plurality of sampling grids (106) are provided on the rotating disk (105), wherein 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. The clamping mechanical claw (300) is in an arc shape in an initial state. A pressing column (108) is provided in a rotating manner in 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 in the unmanned vehicle (101) behind the pressing column (108), a lifting connector (202) is provided on the protective column (201), and a detachable sheath (203) is connected to the connector (202); A hollow drill (113) is provided in the unmanned vehicle (101) behind the protective column (201) for lifting. The hollow drill (113) can scrape out a circle of annular grooves (112). The annular grooves (112) can accommodate the clamping mechanical claws (300). A protrusion (204) is fixed to the bottom plate of the protective column (201), a single-action ratchet mechanism (400) is provided 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), and a lock tongue (205) is provided in the connector (202) for telescopic movement, and the lock tongue (205) is driven by a switching mechanism (500) provided in the connector (202), and each step angle can change the telescopic state of the lock tongue (205) once by the switching mechanism (500); The connector (202) includes a lifting connecting slider (206) disposed on the protective column (201), one end of an extension tube (207) being fixed below the connecting slider (206), a connecting disk (208) being fixed to the other end of the extension tube (207), a single-action ratchet mechanism (400) being disposed in the connecting slider (206), a locking tongue (205) being telescopically disposed in the connecting disk (208), a switching mechanism (500) being disposed in the connecting disk (208), and the single-action ratchet mechanism (400) and the switching mechanism (500) being connected via a transmission shaft (209); The single-action ratchet mechanism (400) comprises a four-paw ratchet (401) rotatably arranged in a connecting slider (206), the four-paw ratchet (401) being coaxially fixed with a transmission shaft (209), the four-paw ratchet (401) being driven by an A driving pawl (402) rotatably arranged on an A rocker (403), the A rocker (403) being rotatably arranged in the connecting slider (206), a return torsion spring being fixed between the A rocker (403) and the connecting slider (206), a return torsion spring being fixed between the A driving pawl (402) and the A rocker (403), and reverse rotation of the four-paw ratchet (401) being prevented by an A non-return pawl (404) rotatably arranged in the connecting slider (206), and a return torsion spring being fixed between the A non-return pawl (404) and the connecting slider (206).

2. A basic grassland ecological data monitoring and sampling system according to claim 1, characterized in that: 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 the 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).

3. The basic grassland ecological data monitoring and sampling system according to claim 2 is characterized by: An elliptical cam (501) is provided in a rotational manner in the connecting 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 provided in the connecting disk (208), and a lock tongue (205) is fixed on the cam push rod (503).

4. A monitoring and sampling system for basic grassland ecological data, characterized by: The unmanned vehicle (101) includes a rotating disk (105) disposed inside the unmanned vehicle (101), and a plurality of sampling grids (106) are provided on the rotating disk (105), wherein 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. The clamping mechanical claw (300) is in an arc shape in an initial state. A pressing column (108) is provided in a rotating manner in 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 in the unmanned vehicle (101) behind the pressing column (108), a lifting connector (202) is provided on the protective column (201), and a detachable sheath (203) is connected to the connector (202); A hollow drill (113) is provided in the unmanned vehicle (101) behind the protective column (201) for lifting. The hollow drill (113) can scrape out a circle of annular grooves (112). The annular grooves (112) can accommodate the clamping mechanical claws (300). A protrusion (204) is fixed to the bottom plate of the protective column (201), a single-action ratchet mechanism (400) is provided 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), and a lock tongue (205) is provided in the connector (202) for telescopic movement, and the lock tongue (205) is driven by a switching mechanism (500) provided in the connector (202), and each step angle can change the telescopic state of the lock tongue (205) once by the switching mechanism (500); The connector (202) includes a lifting connecting slider (206) disposed on the protective column (201), one end of an extension tube (207) being fixed below the connecting slider (206), a connecting disk (208) being fixed to the other end of the extension tube (207), a single-action ratchet mechanism (400) being disposed in the connecting slider (206), a locking tongue (205) being telescopically disposed in the connecting disk (208), a switching mechanism (500) being disposed in the connecting disk (208), and the single-action ratchet mechanism (400) and the switching mechanism (500) being connected via a transmission shaft (209); The single-action ratchet mechanism (400) includes a multi-pawl ratchet (451) rotatably disposed within a connecting slider (206), the multi-pawl ratchet (451) having more than four ratchet teeth, 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) rotatably disposed on a B rocker (453), the B rocker (453) being rotatably disposed within the connecting slider (206), a return torsion spring being fixed between the B rocker (453) and the connecting slider (206), a return torsion spring being fixed between the B driving pawl (452) and the B rocker (453), and reverse rotation of the multi-pawl ratchet (451) being prevented by a B non-return pawl (454) rotatably disposed on the connecting slider (206), and a return torsion spring being fixed between the B non-return pawl (454) and the connecting slider (206).

5. A basic grassland ecological data monitoring and sampling system according to claim 4, characterized in that: A BA gear (455) is coaxially fixed to the B rocker (453), the BA gear (455) is meshedly connected to the BB gear (456), the BB gear (456) is coaxially fixed to the BC gear (457), the BC gear (457) is meshedly connected to the B rack (458), the B rack (458) is slidably arranged in the connecting slider (206), one end of the 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 provided in the connecting disk (208) for rotation. 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 recess (552). The driven rod (553) is slidably provided 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). The return spring (554) can keep the driven rod (553) in contact with the driven wheel (551).

7. A basic grassland ecological data monitoring and sampling system according to claim 1 or 4, characterized in that: Each sampling grid (106) is fan-shaped, and a countersink is provided at the bottom of the sampling grid (106), wherein the ring knife (102) can be accommodated in the countersink.

8. A basic grassland ecological data monitoring and sampling system according to claim 1 or 4, characterized in that: The clamping mechanical claw (300) includes 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), and the two clamping gears are meshed with each other. The clamping bracket (302) is rotatably arranged under the clamping slider (104), and a clamping motor (303) is fixed on the clamping bracket (302), and the clamping motor (303) can drive one of the clamping gears.

9. A basic grassland ecological data monitoring and sampling system according to claim 1 or 4, characterized in that: The hollow drill (113) includes a drill bit (114), which is rotatably arranged under a trenching slider (115). A driving motor is fixed in the trenching slider (115), and the trenching slider (115) is lifted and lowered in the unmanned vehicle (101).

10. A basic grassland ecological data monitoring and sampling system according to claim 1 or 4, 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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