Soil sampling mechanism, accompanying soil detection device and detection machine

Abstract

The invention relates to the technical field of soil sampling, in particular to a soil sampling mechanism, an accompanying soil detection device and a detection machine. The invention discloses a soil sampling mechanism which comprises a rack, and the rack is connected with at least two stages of power push rods through a first connecting frame; the top end of a first-stage power push rod of the power push rods is fixedly connected with the rack, the push rod end of the bottom end of the first-stage power push rod is connected with a first connecting frame, the top end of the first connecting frame is connected with the top end of a lower-stage power push rod, and the push rod end of the bottom end of the lower-stage power push rod is connected with a lower-stage first connecting frame; the push rod end at the bottom end of the last-stage power push rod is connected with the bottom end of the second connecting frame; a rotatable sampling barrel and an ultrasonic sensor used for detecting the distance between the sampling barrel and the ground are mounted on the second connecting frame. The technical problem to be solved by the invention is to develop the soil sampling mechanism, the accompanying soil detection device and the detection machine, which can realize collection at a specified point and any depth in a field and are automatic and efficient in a grading and segmenting manner.

Description

Technical Field

[0001] The present invention relates to the technical field of soil sampling equipment, and particularly to a soil sampling mechanism, a follow-up soil detection device and a detector. Background Art

[0002] In agricultural production, it is often necessary to collect field soil for detecting the distribution of soil nutrient components and water content at different positions and different depths in the field, so as to be used for precise fertilization and spraying, and to achieve precise management of crops. Or when the soil is polluted, the pollution degrees of the soil at different depths are different and need to be analyzed separately. Therefore, a soil sampler is needed that can sample and analyze the soil at different depths at the same position or the soil at different positions. There are many types of soil samplers. For collecting surface soil samples in farmland or wasteland, a small iron shovel can be used. For studying general physical properties of soil, such as soil bulk density, porosity and water holding characteristics, etc., a core cutter or a soil drill can be used for sampling. The core cutter is a cylinder with openings at both ends and a blade at the lower end. The above existing soil sampling methods not only have a large labor intensity, but also have low efficiency, and none of them can collect soil samples at different depths. At the same time, for agricultural machinery walking in the fields, the existing sampling mechanisms cannot achieve follow-up sampling and need to be sampled separately, and the efficiency is extremely low. And how to achieve sampling during walking and synchronize with the walking agricultural machinery to improve the sampling efficiency is also a technical problem to be solved.

[0003] Therefore, those skilled in the art are committed to developing a soil sampling mechanism, a follow-up soil detection device and a detector that can achieve automatic and efficient sampling at designated points and any depth in the field in a hierarchical and segmented manner. Summary of the Invention

[0004] In view of the above-mentioned defects of the prior art, the present invention discloses a soil sampling mechanism, a follow-up soil detection device and a detector, and the technical problem to be solved is to provide a soil sampling mechanism, a follow-up soil detection device and a detector that can achieve automatic and efficient sampling at designated points and any depth in the field in a hierarchical and segmented manner.

[0005] To achieve the above object, the present invention provides a soil sampling mechanism, including a frame, the frame is connected with at least two - stage power push rods through a first connecting frame; the top of the first - stage power push rod of the power push rod is fixedly connected with the frame, the bottom push rod end of the first - stage power push rod is connected with the first connecting frame, the top of the first connecting frame is connected with the top of the lower - level power push rod, the bottom push rod end of the lower - level power push rod is connected with the first connecting frame of the lower level, and so on, until the bottom push rod end of the last - stage power push rod is connected with the bottom of the second connecting frame; a rotatable sampling cylinder is installed on the second connecting frame, the sampling cylinder can rotate 90° to the horizontal position, and an ultrasonic sensor for detecting the distance between the sampling cylinder and the ground is also installed on the second connecting frame.

[0006] Preferably, the first connecting frame includes a first vertical plate, the top and bottom of the first vertical plate are respectively fixedly connected with a first horizontal plate, and the two first horizontal plates are respectively located on both sides of the first vertical plate. The first horizontal plate at the bottom is connected with the bottom push rod end of the upper - level power push rod, and the first horizontal plate at the top is connected with the top of the lower - level power push rod.

[0007] Preferably, the second connecting frame includes a second vertical plate, the bottom of the second vertical plate is fixedly connected with a second horizontal plate, the second horizontal plate is connected with the bottom push rod end of the last - stage power push rod, and the sampling cylinder and the ultrasonic sensor are installed on the side of the second vertical plate away from the last - stage power push rod.

[0008] Preferably, a gearbox is fixed on the second connecting frame, the gearbox is connected with a first stepping motor, a mounting plate is fixedly connected to the output shaft of the gearbox, the sampling cylinder is fixed on the mounting plate, a soil - discharging push rod is slidably arranged in the sampling cylinder, and the end of the soil - discharging push rod is located in the sampling barrel and has a piston part that can push the soil sample in the sampling barrel.

[0009] Preferably, the frame is connected with two - stage power push rods through a first connecting frame, and a slide rail is fixed on the frame. A slider is slidably installed on the slide rail, and the slider is fixedly connected with the second connecting frame. The stroke of both two - stage power push rods is 200mm. The first - stage power push rod has a fast speed and a small thrust, while the last - stage power push rod has a slow speed and a large thrust. The first - stage power push rod pushes the sampling cylinder downward at a relatively fast speed V1 to achieve rapid feeding. Subsequently, the last - stage power push rod pushes the sampling cylinder downward at V2 to press the sampling cylinder into the soil surface, realizing efficient soil sampling while ensuring that the sampling cylinder has a certain height from the ground to ensure the normal driving of the agricultural machinery equipped with this sampling mechanism in the field environment. The sampling cylinder adopts a design with a tip bevel and a slot opened at the front end, which can effectively reduce the soil - entry resistance.

[0010] It is fixedly connected with the slider through the second connecting frame to realize the up and down movement of the slider. The first stepping motor is installed on the second connecting frame. The sampling cylinder and the soil discharging mechanism are installed on a mounting plate with a thickness of 15 cm. The mounting plate and the first stepping motor are connected to the rotating shaft of the first stepping motor through a shrink disc, and finally the connection between the sampling cylinder and the soil discharging mechanism and the rotating shaft of the first stepping motor is realized.

[0011] Preferably, a guide rod is fixed on the second connecting frame. A connecting block is slidably fitted on the guide rod. A mounting frame is fixed on the connecting block. A temperature and humidity sensor is provided at the bottom of the mounting frame. A spring is sleeved on the guide rod above the connecting block. The temperature and humidity sensor is connected to the second connecting frame through the guide rod, and the protection of the temperature and humidity sensor and the detection method of only the probe entering the soil are realized through the spring on the guide rod.

[0012] The present invention also provides a follow-up soil detection device, which includes the soil sampling mechanism as described above, and also includes a soil sample collection mechanism for placing soil. A soil discharging mechanism for driving the soil discharging push rod is provided on the mounting plate.

[0013] Preferably, the soil discharging mechanism includes a guide block fixed on the mounting plate. A slide rod connected to the soil discharging push rod is slidably fitted in the guide block. The slide rod is arranged parallel to the soil discharging push rod and is connected through a cross plate. When the slide rod moves, the soil discharging push rod can be driven to move synchronously, so as to push the soil in the sampling cylinder out. The soil sample collection mechanism and the soil discharging mechanism realize the collection of soil through a spatial cooperation method. The free end of the slide rod is hinged with a connecting rod. The free end of the connecting rod is hinged with a rotatable crankshaft. The crankshaft is a rod provided with a chute. A fixed shaft is provided on the mounting plate. The fixed shaft is slidably fitted in the chute, and the hinge shaft of the crankshaft and the connecting rod is also slidably fitted in the chute. In this way, it can be ensured that the crankshaft and the connecting rod can rotate when the slide rod moves up and down. At the same time, in order to ensure the stability of the up and down movement of the slide rod, a limiting device is also provided. The limiting device includes a limiting groove fixed on the mounting plate. A limiting piece cooperating with the limiting groove is provided on the hinge shaft of the slide rod and the connecting rod.

[0014] Preferably, a cantilever for supporting the soil sample collection mechanism is provided on the frame. The cantilever includes a long rod and a short rod vertically connected. A support plate is provided on the short rod. A second stepping motor is installed on the lower side of the support plate. The output shaft of the second stepping motor is connected to a rotating plate, and the second stepping motor can drive the rotating plate to rotate. A weighing sensor is provided on the rotating plate. A circumferentially arrayed soil sample collection box is provided on the weighing sensor through a notched disc. The sampling cylinder can be rotated above the soil sample collection mechanism, and each soil sample collection box can be rotated below the sampling cylinder. A total of 10 notches can be provided on the notched disc, and 10 soil sample collection boxes can be installed at the same time. The soil sample collection box is used to collect soil samples, and can be set to a diameter of 50 mm and a height of 40 mm. The weighing sensor can detect the weight of the soil sample with high precision. The second stepping motor is used to finally drive the notched disc to rotate, and the torque is 1.8 NM. At the same time, a limit switch is also provided between the support plate and the rotating plate, and its structure is the same as that of the limiting device, adding a switch that can control the second stepping motor. The limit switch is used to correct the rotation angle of the rotating plate, so as to ensure that each soil sample collection box can be rotated below the sampling cylinder and stopped. At the same time, the limit switch is used to realize the reset of the soil unloading push rod after each soil pushing.

[0015] The present invention also provides a soil sampling and detection machine, including the above-mentioned follow-up soil detection device, and further including an electric crawler vehicle. An electric control box is provided on the electric crawler vehicle, and a control system is provided inside. A GPS antenna is installed on the electric control box. The follow-up soil detection device is fixed on the electric crawler vehicle through a frame.

[0016] The entire soil sample collection process is completed under the control of the control system. When starting sampling, the soil sampling mechanism starts to descend under the push of the power push rod. When the sampling cylinder reaches the ground, the sampling cylinder is pressed into the soil to take soil. When the sampling cylinder reaches the specified soil sampling depth, the soil sampling mechanism rises to the zero position. Subsequently, the first stepping motor in the soil sampling mechanism drives the sampling cylinder to start rotating. The sampling cylinder reaches the soil unloading position through the notch of the disc in the soil sample collection mechanism. The second stepping motor in the soil sample collection mechanism drives the notched disc to start rotating, so that the soil sample collection box is aligned with the sampling cylinder. The soil unloading mechanism works to push the soil sample into the soil sample collection box. The second stepping motor in the soil sample collection mechanism rotates again to align the sampling cylinder with the disc notch. The stepping in the soil sampling mechanism rotates the sampling cylinder back to its original position to complete the soil sample collection.

[0017] Specifically, when performing soil sample collection operations, the soil sampling barrel and the soil unloading mechanism rotate 90° counterclockwise to a horizontal state, and at the same time, the sampling barrel will reach a soil unloading position through the notch of the notch disk. Subsequently, the second stepper motor in the soil sample collection mechanism drives the notch disk to rotate 18° clockwise, so that the soil sample collection box is aligned with the sampling barrel to reach a sampling position, and the soil unloading mechanism starts to unload the soil. After unloading the soil, the soil unloading push rod returns to its original position to leave space for the sampling barrel to take soil next time, and then the notch disk rotates 18° clockwise again to align the sampling barrel with the notch position. Finally, the sampling barrel and the soil unloading mechanism rotate 90° clockwise to return to the initial position, and at the same time, the weighing sensor is used to record the weight of the soil sample taken this time and mark the geographic information of the sampling point.

[0018] The beneficial effects of the present invention are:

[0019] By setting at least two levels of power push rods, the first-level power push rod is fixedly connected to the frame through a triangular motor push rod bracket, and the second-level power push rod is fixedly connected to the bottom push rod end of the first-level power push rod through the first connecting frame, so as to maximize the space utilization rate, and the final power push rod drives the second connecting frame to move up and down, thereby driving the up and down movement of the sampling tube to realize soil collection. By setting at least two levels of power push rods, the movement speed of the sampling tube has at least two levels, that is, at least two levels of power push rods, and the power push rods are divided into at least two sections, the first section performs high-speed, low-thrust propulsion movement, and the second section or starting from the second section performs low-speed, high-thrust propulsion movement. At the same time, the power push rods of more than two levels are connected in series through the first connecting frame and the second connecting frame to achieve a compact layout and a large feed amount. This arrangement can also be expanded to a three-level short section or a multi-level multi-section type to ensure that the soil collector has a large thrust and a slow speed during the soil entry process, and a high speed and a small thrust when unloaded. At the same time, an ultrasonic sensor is installed on the second connecting frame to detect the distance of the sampling tube from the ground. Through the hierarchical and segmented design, the soil sampling mechanism can be installed on agricultural machinery traveling in the fields, so that on-the-go sampling can be achieved instead of separate sampling, thereby improving sampling efficiency. At the same time, by setting up an ultrasonic sensor, the distance of the sampling tube from the ground or the depth of the soil can be detected in real time, so that soil of any depth can be collected. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of a specific implementation mode of the soil sampling mechanism of the present invention;

[0021] Figure 2 It is a schematic diagram of the partial split structure of the soil sampling mechanism of the present invention;

[0022] Figure 3 It is a schematic diagram of the partial split structure of the soil sampling mechanism of the present invention from another angle;

[0023] Figure 4It is a schematic structural diagram of the specific implementation mode when the soil sampling device of the present invention collects soil;

[0024] Figure 5 It is a schematic structural diagram of the soil unloading mechanism of the soil sampling device following the present invention;

[0025] Figure 6 is Figure 4 The partial enlarged structural diagram at position A in;

[0026] Figure 7 It is a schematic structural diagram of the specific implementation mode when the soil sampling device following the present invention unloads soil;

[0027] Figure 8 It is a schematic structural diagram of the soil sample collection mechanism of the soil sampling device following the present invention;

[0028] Figure 9 It is a schematic structural diagram of the specific implementation mode of the soil sampling and testing machine of the present invention;

[0029] Figure 10 It is a schematic diagram of the working process of the soil sampling device following the present invention.

[0030] In the above-mentioned drawings: 1. Soil sampling mechanism; 11. First connecting frame; 111. First vertical plate; 112. First horizontal plate; 12. Second connecting frame; 121. Second vertical plate; 122. Second horizontal plate; 123. Gearbox; 124. First stepping motor; 125. Mounting plate; 126. Guide rod; 1261. Spring; 127. Connecting block; 128. Mounting frame; 129. Temperature and humidity sensor; 13. Frame; 131. Slide rail; 132. Slide block; 14. Primary power push rod; 15. Final power push rod; 16. Sampling cylinder; 161. Soil unloading push rod; 17. Ultrasonic sensor; 18. Cantilever; 19. Limiting device; 191. Limiting groove; 192. Limiting piece; 2. Soil sample collection mechanism; 21. Support plate; 22. Second stepping motor; 23. Rotating plate; 24. Weighing sensor; 25. Notched disc; 26. Soil sample collection box; 3. Soil unloading mechanism; 31. Guide block; 32. Slide rod; 33. Connecting rod; 34. Crankshaft; 4. Electric crawler vehicle; 5. Electric control box; 6. GPS antenna. Specific implementation mode

[0031] The present invention will be further described below in conjunction with the accompanying drawings and embodiments. It should be noted that in the description of the present invention, the orientation or positional relationship indicated by the terms "upper", "lower", "left", "right", "inner", "outer", etc. is based on the orientation or positional relationship shown in the accompanying drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific manner, and therefore should not be construed as a limitation to the present invention. The terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0032] As Figures 1 to 3 shown, the present invention provides a soil sampling mechanism 1, including a frame 13, and the frame 13 can be a support frame similar to a gantry. The frame 13 is connected with at least two-stage power push rods through a first connecting frame 11. The top of the first-stage power push rod 14 of the power push rod is fixedly connected to the cross bar of the frame 13. The bottom push rod end of the first-stage power push rod 14 is connected to the first connecting frame 11. The top of the first connecting frame 11 is connected to the top of the lower-stage power push rod. The bottom push rod end of the lower-stage power push rod is connected to the lower-stage first connecting frame, and so on, until the bottom push rod end of the last-stage power push rod 15 is connected to the bottom of the second connecting frame 12. A rotatable sampling cylinder 16 is installed on the second connecting frame 12. The sampling cylinder 16 can rotate 90° to the horizontal position. An ultrasonic sensor 17 for detecting the distance between the sampling cylinder 16 and the ground is also installed on the second connecting frame 12. Further, the first connecting frame 11 includes a first vertical plate 111. The top and bottom of the first vertical plate 111 are respectively fixedly connected with first cross plates 112, and the two first cross plates 112 are respectively located on both sides of the first vertical plate 111. The first cross plate 112 at the bottom is connected to the bottom push rod end of the upper-stage power push rod, and the first cross plate 112 at the top is connected to the top of the lower-stage power push rod. The second connecting frame 12 includes a second vertical plate 121. The bottom of the second vertical plate 121 is fixedly connected with a second cross plate 122. The second cross plate 122 is connected to the bottom push rod end of the last-stage power push rod 15. The sampling cylinder 16 and the ultrasonic sensor 17 are installed on the side of the second vertical plate 121 away from the last-stage power push rod 15. Specifically, a gearbox 123 is fixed on the second connecting frame 12. The gearbox 123 is connected with a first stepping motor 124. A mounting plate 125 is fixedly connected to the output shaft of the gearbox 123. The sampling cylinder 16 is fixed on the mounting plate 125. A soil discharging push rod 161 is slidably arranged in the sampling cylinder 16. The end of the soil discharging push rod 161 is located in the sampling barrel and has a piston part that can push the soil sample in the sampling barrel.

[0033] In the above embodiments, by providing at least two levels of power push rods, the first-level power push rod 14 is fixedly connected to the frame 13 through a triangular motor push rod bracket, and the second-level power push rod is fixedly connected to the push rod end at the bottom of the first-level power push rod 14 through the first connecting frame 11, which can maximize the space utilization rate. The last-level power push rod drives the second connecting frame 12 to move up and down, thereby driving the up and down movement of the sampling cylinder 16 to achieve soil sampling. By providing at least two levels of power push rods, the movement speed of the sampling cylinder 16 has at least two levels, that is, at least two levels of power push rods, and the power push rod is divided into at least two segments. The first segment makes a high-speed, low-thrust propulsion movement, and the second segment or starting from the second segment makes a low-speed, high-thrust propulsion movement. At the same time, the power push rods with more than two levels are connected in series through the first connecting frame 11 and the second connecting frame 12 to achieve a compact layout and a large feed rate. This arrangement can also be extended to a three-level short segment or a multi-level multi-segment type to ensure a large thrust, slow speed during the process of the soil sampler entering the soil, high speed and small thrust when no-load. At the same time, the ultrasonic sensor 17 is installed on the second connecting frame 12 to detect the distance between the sampling cylinder 16 and the ground. Through the hierarchical and segmented design, for agricultural machinery walking in the fields, by installing the soil sampling mechanism 1 on the agricultural machinery, it can achieve sampling while moving, without sampling separately, improving the sampling efficiency. At the same time, by providing the ultrasonic sensor 17, the distance between the sampling cylinder 16 and the ground or the penetration depth can be detected in real time, and the soil at any depth can be collected.

[0034] Such as Figures 2 to 3As shown, in this embodiment, the frame 13 is connected to two-stage power push rods through the first connecting frame 11, and a slide rail 131 is fixed on the vertical rod of the frame 13. A slider 132 is slidably installed on the slide rail 131, and the slider 132 is fixedly connected to the second connecting frame 12. The strokes of both two-stage power push rods are 200 mm. The first-stage power push rod 14 has a high speed and a small thrust, while the last-stage power push rod 15 has a low speed and a large thrust. The first-stage power push rod 14 pushes the sampling cylinder 16 downward at a relatively high speed V1 to achieve rapid feeding. Subsequently, the last-stage power push rod 15 pushes the sampling cylinder 16 downward at V2, pressing the sampling cylinder 16 into the soil surface. While achieving efficient soil sampling, it ensures that the sampling cylinder 16 has a certain height from the ground to ensure the normal driving of the agricultural machinery equipped with this sampling mechanism in the field environment. The sampling cylinder 16 adopts a design with a tip bevel and a notch opened at the front end, which can effectively reduce the soil penetration resistance. Through the fixed connection between the second connecting frame 12 and the slider 132, the up-and-down movement of the slider 132 is realized. The first stepping motor 124 is installed on the second connecting frame 12. The sampling cylinder 16 and the soil unloading mechanism 3 are installed on a mounting plate 125 with a thickness of 15 cm. The mounting plate 125 and the first stepping motor 124 are connected to the rotating shaft of the first stepping motor 124 through a shrink disc, finally realizing the connection between the sampling cylinder 16, the soil unloading mechanism 3 and the rotating shaft of the first stepping motor 124. A guide rod 126 is fixed on the second connecting frame 12. A connecting block 127 is slidably engaged with the guide rod 126. An installation frame 128 is fixed on the connecting block 127. A temperature and humidity sensor 129 is provided at the bottom of the installation frame 128; a spring 1261 is sleeved on the guide rod 126 above the connecting block 127. The temperature and humidity sensor 129 is connected to the second connecting frame 12 through the guide rod 126, and the protection of the temperature and humidity sensor 129 and the detection method of only the probe entering the soil are realized through the spring 1261 on the guide rod 126.

[0035] As Figures 4 to 8 shown, the present invention also provides a follow-up soil detection device, which includes the soil sampling mechanism 1 as above, and further includes a soil sample collection mechanism 2 for placing soil, and a soil unloading mechanism 3 for driving a soil unloading push rod 161 is provided on the mounting plate 125.

[0036] As Figure 5As shown in the figure, the soil discharging mechanism 3 includes a guide block 31 fixed on the mounting plate 125. A slide rod 32 connected to the soil discharging push rod 161 is slidably fitted inside the guide block 31. The slide rod 32 is arranged parallel to the soil discharging push rod 161 and is connected by a cross plate. When the slide rod 32 moves, it can drive the soil discharging push rod 161 to move synchronously, so as to push out the soil in the sampling cylinder 16. That is, the soil sampling mechanism 2 and the soil discharging mechanism 3 realize the collection of soil through a spatial cooperation method. The free end of the slide rod 32 is hinged with a connecting rod 33, and the free end of the connecting rod 33 is hinged with a rotatable crankshaft 34. The crankshaft 34 is a rod with a chute. A fixed shaft is provided on the mounting plate 125, and the fixed shaft is slidably fitted inside the chute, and the hinge shaft of the crankshaft 34 and the connecting rod 33 is also slidably fitted inside the chute. In this way, it can be ensured that when the slide rod 32 moves up and down, the crankshaft 34 and the connecting rod 33 can rotate. At the same time, in order to ensure the stability of the up and down movement of the slide rod 32, as Figure 6 shown, a limiting device 19 is also provided. The limiting device 19 includes a limiting groove 191 fixed on the mounting plate 125, and a limiting piece 192 cooperating with the limiting groove 191 is provided on the hinge shaft of the slide rod 32 and the connecting rod 33.

[0037] As Figure 7 shown, a cantilever 18 for supporting the soil sampling mechanism 2 is provided on the frame 13. The cantilever 18 includes a long rod and a short rod connected vertically, and the soil sampling mechanism 2 is installed on the short rod. Specifically, as Figure 8 shown, a support plate 21 is provided on the short rod. A second stepping motor 22 is installed on the lower side of the support plate 21. The output shaft of the second stepping motor 22 is connected with a rotating plate 23, and the second stepping motor 22 can drive the rotating plate 23 to rotate. A weighing sensor 24 is provided on the rotating plate 23, and a circumferentially arrayed soil sampling box 26 is provided on the weighing sensor 24 through a notched disc 25. The sampling cylinder 16 can be rotated above the soil sampling mechanism 2, and each soil sampling box 26 can be rotated below the sampling cylinder 16. A total of 10 notches can be provided on the notched disc 25, and 10 soil sampling boxes 26 can be installed at the same time. The soil sampling box 26 is used to collect soil samples and can be set to a diameter of 50 mm and a height of 40 mm. The weighing sensor 24 can detect the weight of the soil sample with high precision. The second stepping motor 22 is used to finally drive the notched disc 25 to rotate, and the torque is 1.8 NM. At the same time, a limit switch is also provided between the support plate 21 and the rotating plate 23. Its structure is the same as that of the limiting device 19, and a switch for controlling the second stepping motor 22 is added. The limit switch is used to correct the rotation angle of the rotating plate 23, so as to ensure that each soil sampling box 26 can be rotated below the sampling cylinder 16 and stop, and at the same time, the soil discharging push rod 161 can be reset after each soil pushing through the limit switch.

[0038] As Figure 9As shown in the figure, the present invention also provides a soil sampling detector, which includes the above-mentioned accompanying soil detection device, and also includes an electric crawler vehicle 4. An electric control box 5 is provided on the electric crawler vehicle 4, and a control system is installed inside. A GPS antenna 6 is installed on the electric control box 5. The GPS antenna 6 can realize the automatic operation function of the detector. By setting the points through the GPS antenna 6, the detector can automatically travel to multiple points for soil sample collection, so as to realize the soil detection at the specified points in the field. In addition, the accompanying soil detection device is fixed on the electric crawler vehicle 4 through a frame 13.

[0039] The entire soil sample collection process is completed under the control of the control system. When starting the sampling, the soil sampling mechanism starts to descend under the push of the power push rod. When the soil sampling cylinder reaches the ground, the soil sampling cylinder is pressed into the soil for sampling. When the soil sampling cylinder reaches the specified sampling depth, the soil sampling mechanism rises to the zero position. Subsequently, the first stepping motor 124 in the soil sampling mechanism drives the sampling cylinder 16 to start rotating. The sampling cylinder 16 reaches the soil unloading position through the notch of the disc in the soil sample collection mechanism 2. The second stepping motor 22 in the soil sample collection mechanism 2 drives the notched disc 25 to start rotating, so that the soil sample collection box 26 is aligned with the sampling cylinder 16. The soil unloading mechanism 3 works to push the soil sample into the soil sample collection box 26. The second stepping motor 22 in the soil sample collection mechanism rotates again to align the sampling cylinder 16 with the disc notch, and the stepping in the soil sampling mechanism rotates the sampling cylinder 16 back to its original position to complete the soil sample collection.

[0040] Specifically, as Figure 10 shown in the figure, when performing the soil sample collection operation, the soil sampling cylinder and the soil unloading mechanism 3 rotate counterclockwise by 90° to the horizontal state. At the same time, the sampling cylinder 16 will reach a soil unloading position through the notch of the notched disc 25. Subsequently, the second stepping motor 22 in the soil sample collection mechanism 2 drives the notched disc 25 to rotate clockwise by 18°, so that the soil sample collection box 26 is aligned with the sampling cylinder 16 to reach a sample collection position. The soil unloading mechanism 3 starts to unload the soil. After unloading the soil, the soil unloading push rod 161 returns to its original position to leave the next soil sampling space for the sampling cylinder 16. Then the notched disc 25 rotates clockwise by 18° again to align the sampling cylinder 16 with the notch position. Finally, the sampling cylinder 16 and the soil unloading mechanism 3 rotate clockwise by 90° to return to the initial position, and at the same time, the weight of the soil sample taken this time and the geographical information of the sampling point are recorded through the weighing sensor 24.

[0041] The above has described in detail the preferred specific embodiments of the present invention. It should be understood that those of ordinary skill in the art can make many modifications and variations according to the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field of the present invention based on the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should fall within the protection scope determined by the claims.

Claims

1. A soil sampling mechanism, characterized in that: It includes a frame (13), and at least two - stage power push rods are connected to the frame (13) through a first connecting frame (11); the top of the first - stage power push rod (14) of the power push rod is fixedly connected to the frame (13), the bottom push - rod end of the first - stage power push rod (14) is connected to the first connecting frame (11), the top of the first connecting frame (11) is connected to the top of the lower - stage power push rod, the bottom push - rod end of the lower - stage power push rod is connected to the lower - stage first connecting frame, and so on, until the bottom push - rod end of the last - stage power push rod (15) is connected to the bottom of the second connecting frame (12); a rotatable sampling cylinder (16) is installed on the second connecting frame (12), and an ultrasonic sensor (17) for detecting the distance of the sampling cylinder (16) from the ground is also installed on the second connecting frame (12).

2. The soil sampling mechanism according to claim 1, wherein: The first connecting frame (11) includes a first vertical plate (111), and first horizontal plates (112) are fixedly connected to the top and bottom of the first vertical plate (111) respectively, and the two first horizontal plates (112) are located on both sides of the first vertical plate (111) respectively. The bottom first horizontal plate (112) is connected to the bottom push - rod end of the upper - stage power push rod, and the top first horizontal plate (112) is connected to the top of the lower - stage power push rod.

3. The soil sampling mechanism according to claim 2, wherein: The second connecting frame (12) includes a second vertical plate (121), and a second horizontal plate (122) is fixedly connected to the bottom of the second vertical plate (121). The second horizontal plate (122) is connected to the bottom push - rod end of the last - stage power push rod (15), and the sampling cylinder (16) and the ultrasonic sensor (17) are installed on the side of the second vertical plate (121) away from the last - stage power push rod (15).

4. The soil sampling mechanism according to claim 3, wherein: A gearbox (123) is fixed on the second connecting frame (12), a first stepping motor (124) is connected to the gearbox (123), a mounting plate (125) is fixedly connected to the output shaft of the gearbox (123), the sampling cylinder (16) is fixed on the mounting plate (125), and a soil - discharging push rod (161) is slidably arranged in the sampling cylinder (16).

5. The soil sampling mechanism according to claim 1, wherein: The frame (13) is connected with two - stage power push rods through the first connecting frame (11), and a slide rail (131) is fixed on the frame (13). A slider (132) is slidably installed on the slide rail (131), and the slider (132) is fixedly connected to the second connecting frame (12).

6. The soil sampling mechanism according to claim 1, wherein: A guide rod (126) is fixed on the second connecting frame (12), a connecting block (127) is slidably fitted on the guide rod (126), a mounting frame (128) is fixed on the connecting block (127), and a temperature - humidity sensor (129) is arranged at the bottom of the mounting frame (128); a spring (1261) is sleeved on the guide rod (126) above the connecting block (127).

7. A soil detection device for following, characterized in that: It includes a soil sampling mechanism (1) as described in any one of claims 4 to 6, and also includes a soil sample collection mechanism (2), and a soil - discharging mechanism (3) for driving the soil - discharging push rod (161) is arranged on the mounting plate (125).

8. The follow-up soil detection device according to claim 7, characterized in that: The soil discharging mechanism (3) includes a guide block (31) fixed to the mounting plate (125). A sliding rod (32) connected to the soil discharging push rod (161) is slidably fitted in the guide block (31). A free end of the sliding rod (32) is hinged to a connecting rod (33), and a free end of the connecting rod (33) is hinged to a rotatable crankshaft (34).

9. The soil detection device following the plow according to claim 7, characterized in that: An arm (18) for supporting the soil sample collection mechanism (2) is provided on the frame (13). A support plate (21) is provided on the arm (18). A second stepping motor (22) is installed on the lower side of the support plate (21). An output shaft of the second stepping motor (22) is connected to a rotating plate (23). A weighing sensor (24) is provided on the rotating plate (23). Soil sample collection boxes (26) in a circumferential array are provided on the weighing sensor (24) through a notched disc (25); the sampling cylinder (16) can be rotated above the soil sample collection mechanism (2), and each soil sample collection box (26) can be rotated below the sampling cylinder (16).

10. A soil sampling detector, characterized in that: Comprising the on-the-go soil detection device according to any one of claims 7 to 9, further comprising an electric tracked vehicle (4). An electric control box (5) is provided on the electric tracked vehicle (4). A GPS antenna (6) is installed on the electric control box (5). The on-the-go soil detection device is fixed to the electric tracked vehicle (4) through a frame (13).

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