Plant sample collecting device based on elephant trunk bionical structure

Abstract

The present application relates to the technical field of plant sample collection equipment, and particularly relates to a plant sample collection device based on an elephant trunk bionic structure; the structure is more flexible, can adapt to complex vegetation environment, and reduces the sample damage accident rate in the sample collection process; the plant sample collection device comprises multiple installation discs, multiple universal inertia connecting pieces, an adjusting driving piece for angle adjustment between two adjacent installation discs and a mechanical hand, the multiple installation discs are sequentially connected through the multiple universal inertia connecting pieces, the universal inertia connecting piece comprises a mounting seat, a ball body rotatably mounted in the mounting seat and an inertia adjusting piece, the inertia adjusting piece comprises a semi-annular frame rotatably mounted in the mounting seat, a sliding seat and a driving rod, the semi-annular frame is provided with a sliding hole, both ends of the sliding seat are provided with sliding rods, the sliding rods are slidingly installed in the sliding hole, a first spring is sleeved on the sliding rod, and a torsional spring is installed between the semi-annular frame and the mounting seat; the adjusting driving piece comprises multiple permanent magnets and multiple electromagnets.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of plant sample collection equipment, and in particular to a plant sample collection device based on an elephant trunk bionic structure. BACKGROUND

[0002] Plant sample collection is an important basic step for botanical research, ecological investigation, agricultural breeding, environmental monitoring, etc. With the development of mechanical automation, plant samples in high places or dangerous areas (such as tree crown fruits, cliff plants, highly polluted areas, etc.) can be collected non-destructively through a mechanical arm type collector.

[0003] For example, the invention patent application with publication number CN118322224B discloses a rigid-flexible coupling mechanical arm type plant phenotype information measurement platform and measurement method, which includes a tracked walking module, a flexible mechanical arm module and a soft manipulator module. The soft manipulator module includes a rotary motor and a soft manipulator assembly. The soft manipulator assembly includes a forefinger assembly, a thumb assembly, a soft pad, etc. The flexible mechanical arm module can accurately control the position and direction, and perform efficient and large-scale phenotype detection. By designing a flexible joint of the mechanical arm, the vibration generated when the mechanical arm moves is reduced, and damage to the plant when collecting plant phenotype information manually is avoided, thereby realizing accurate, automatic and non-destructive measurement of plant organ phenotype parameters and whole plant phenotype parameters.

[0004] However, the above device still has the following defects: the mechanical arm adopts a rigid structure, which is not convenient to pass through at branches, etc., and is difficult to adapt to complex vegetation environments, and the sample is easily damaged during the collection process, which has certain use limitations. SUMMARY

[0005] In view of the deficiencies of the prior art, the present application provides a plant sample collection device based on an elephant trunk bionic structure, which has a more flexible structure, can adapt to complex vegetation environments, and reduces the sample damage accident rate during the sample collection process.

[0006] To achieve the above objectives, the present invention provides the following technical solution: a plant sample collection device based on an elephant trunk biomimetic structure, comprising multiple mounting discs, multiple universal inertial connectors, an adjustment drive for adjusting the angle between adjacent mounting discs, and a robotic arm. The multiple mounting discs are sequentially connected via multiple universal inertial connectors. Each universal inertial connector includes a mounting base, a ball rotatably mounted within the mounting base, and an inertial adjustment component. The inertial adjustment component includes a semi-circular frame rotatably mounted within the mounting base, a sliding block, and a drive rod. The semi-circular frame has a sliding hole, and the sliding block has sliding rods at both ends. The sliding rods are slidably mounted within the sliding holes, and a first spring is sleeved on the sliding rods. The sliding block is connected to the semi-circular frame via the first spring. The frame is elastically connected, and a torsion spring is installed between the semi-circular frame and the mounting base. The semi-circular frame is elastically connected to the mounting base through the torsion spring. The slide has a through hole, and the drive rod is slidably installed in the through hole. The mounting base and the ball are respectively fixedly installed in the middle of two adjacent mounting plates, and the end of the drive rod is fixedly connected to the ball. The adjustment drive component includes multiple permanent magnets and multiple electromagnets, which are respectively installed on adjacent sides of two adjacent mounting plates. The multiple permanent magnets and multiple electromagnets on the mounting plates are evenly distributed circumferentially, and the permanent magnets and electromagnets on the two adjacent mounting plates are arranged correspondingly. The robotic arm is used for collecting plant samples and is installed on a set of mounting plates at the end. Furthermore, one end of the first spring is fixedly connected to the slide, and the other end of the first spring is fixedly connected to the semi-circular frame. The first spring can withstand axial pressure and circumferential torque. One end of the torsion spring is fixedly connected to the semi-circular frame, and the other end of the torsion spring is fixedly connected to the mounting base. There are at least three sets of permanent magnets and electromagnets. Furthermore, the mounting plate is preferably made of lightweight plastic to reduce the weight of the entire "elephant trunk". Each electromagnet can be programmed and controlled by an external control system, which will not be elaborated further here.

[0007] Preferably, a plurality of second springs are installed between each pair of adjacent mounting plates, and the plurality of second springs are evenly distributed around the circumference of the mounting plates, with the second springs located near the edge of the mounting plates; furthermore, the two ends of the second springs are fixedly connected to the two mounting plates respectively.

[0008] Preferably, it also includes a plurality of first telescopic cylinders, which are respectively fixedly installed in the middle of a plurality of mounting plates, and the output end of the first telescopic cylinder is fixedly connected to the mounting seat on a nearby set of universal inertial connectors.

[0009] Preferably, the multi-dimensional adjuster further comprises a base, a support frame mounted on the base, an L-shaped seat rotatably mounted on the support frame, a lifting seat slidably mounted on the L-shaped seat, and a second telescopic cylinder for providing power for the lifting seat to slide up and down, a group of mounting discs adjacent to the lifting seat are mounted on the lifting seat, a first gear ring is rotatably mounted on the support frame, a second gear ring is fixedly mounted on the L-shaped seat and engaged with the first gear ring, and a first drive motor is fixedly mounted on the support frame and provides power for the first gear ring to rotate.

[0010] Preferably, the multi-dimensional adjuster further comprises a first universal joint, a second universal joint, a first rotating shaft rotatably mounted on the support frame, and a second rotating shaft rotatably mounted on the lifting seat, a second drive motor is fixedly mounted on the support frame, one end of the first rotating shaft is fixedly connected with the output end of the second drive motor, the other end of the first rotating shaft is fixedly connected with the first universal joint, the other end of the first universal joint is provided with a shaft sleeve, one end of the second rotating shaft is fixedly connected with an adjacent mounting disc, the other end of the second rotating shaft is fixedly connected with one end of the second universal joint, the other end of the second universal joint is provided with a socket shaft engaged with the shaft sleeve, and the socket shaft can slide along the central axis of the shaft sleeve; further, the shaft sleeve and the socket shaft are in transmission connection, the socket shaft can only slide along the central axis of the shaft sleeve and cannot rotate in the shaft sleeve; still further, a plurality of sliding grooves are provided on the shaft sleeve, a plurality of sliding rails are provided on the outer arm of the socket shaft, and the sliding rails are slidably mounted in the corresponding sliding grooves to realize the rotational connection between the socket shaft and the shaft sleeve.

[0011] Preferably, the support frame is rotatably mounted on the base, and a third drive motor is mounted in the base to provide power for the rotation of the support frame; further, the third drive motor is in transmission connection with the support frame through a gear set or a chain.

[0012] Preferably, a plurality of universal joint tubes are uniformly distributed on the mechanical hand, and a nozzle is fixedly mounted on the outlet end of the universal joint tube and faces the middle part of the mechanical hand; further, the inlet end of the universal joint tube is in communication with an external pressurized water source or a pressurized gas source; the mechanical hand can adopt a thumb clamp or other mechanical clamp capable of clamping plant samples, or a vacuum suction cup or other suction mechanical hand, and different types of mechanical hands can be replaced according to different plant samples, and the mechanical hand is not further limited and described here.

[0013] Preferably, the clamping end of the mechanical hand is provided with a pressure-sensitive conductive rubber; further, when the mechanical hand adopts a conventional clamp type mechanical hand, the pressure-sensitive conductive rubber is connected with the mechanical hand through an external control system.

[0014] Preferably, the outer radial mechanical hand side of the plurality of installation discs gradually decreases.

[0015] Compared with the prior art, the plant sample collecting device based on the elephant trunk bionic structure has the beneficial effects that: the plant sample collecting device based on the elephant trunk bionic structure is provided with electromagnets in communication with an external power supply, different electromagnets on the same installation disc are synchronously supplied with different currents, the magnetic attraction of the plurality of electromagnets changes, when the installation disc is unevenly stressed, the ball rotates in the installation seat, the angle between two adjacent installation discs is adjusted, during the adjustment process, the inert adjustment member can slow down the rotation of the ball, the uneven stress of the installation disc is avoided, and the accuracy and controllability of the angle adjustment between the two adjacent installation discs are improved, the mechanical hand is bent by 360 degrees through the adjustment of the inclination angles of the plurality of installation discs, the structure is more flexible, the complex vegetation environment can be adapted, and the sample damage accident rate in the sample collecting process is reduced. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 is a schematic diagram of the three-dimensional structure of the present application;

[0017] Figure 2 is a schematic diagram of the internal cutaway plan structure of the present application;

[0018] Figure 3 is a schematic diagram of the Figure 1 partial enlarged structure at A in the present application;

[0019] Figure 4 is a schematic diagram of the Figure 2 partial enlarged structure at B in the present application;

[0020] Figure 5 is a schematic diagram of the three-dimensional structure of the inert adjustment member of the present application;

[0021] Markings in the drawings: 1, installation disc; 2, mechanical hand; 3, installation seat; 4, ball; 5, semi-ring frame; 6, sliding seat; 7, driving rod; 8, sliding hole; 9, sliding rod; 10, first spring; 11, torsional spring; 12, through hole; 13, permanent magnet block; 14, electromagnet; 15, second spring; 16, first telescopic cylinder; 17, base; 18, support frame; 19, L-shaped seat; 20, lifting seat; 21, second telescopic cylinder; 22, first toothed disc; 23, second toothed disc; 24, first driving motor; 25, first universal joint; 26, second universal joint; 27, first rotating shaft; 28, second rotating shaft; 29, second driving motor; 30, shaft sleeve; 31, socket shaft; 32, third driving motor; 33, universal joint pipe; 34, nozzle; 35, pressure-sensitive conductive rubber. DETAILED DESCRIPTION

[0022] In order to better understand the application scheme for those skilled in the art, the technical solutions in the application embodiments will be clearly and completely described below in combination with the drawings in the application embodiments. Obviously, the described embodiments are only a part of the embodiments of the application, rather than all the embodiments. Based on the embodiments in the application, all other embodiments obtained by those skilled in the art without creative labor should belong to the protection scope of the application.

[0023] A rigid-flexible coupling mechanical arm type plant phenotype information measuring platform and measuring method as described in the background art, the mechanical arm adopts a rigid structure, which is inconvenient to pass through at branches and the like, is difficult to adapt to complex vegetation environment, is easy to damage the sample in the collection process, and has certain use limitations.

[0024] In order to solve the technical problem, the application provides a plant sample collection device based on an elephant trunk bionic structure, which is applied to the collection of plant samples.

[0025] It should be noted that, in the case of no conflict, the embodiments in the application and the features and technical solutions in the embodiments can be combined with each other.

[0026] It should be noted that: similar labels and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. Embodiment 1

[0027] Please refer to Figures 1-5The utility model provides a plant sample collection device based on elephant trunk bionical structure, which comprises a plurality of mounting discs 1, a plurality of universal inertia connecting pieces, an adjusting drive for angle adjustment between two adjacent mounting discs 1 and a mechanical hand 2, the plurality of mounting discs 1 are connected in sequence through the plurality of universal inertia connecting pieces, the universal inertia connecting piece comprises a mounting seat 3, a ball 4 rotatably mounted in the mounting seat 3 and an inertia adjusting piece, the inertia adjusting piece comprises a semi-annular frame 5 rotatably mounted in the mounting seat 3, a sliding seat 6 and a drive rod 7, the semi-annular frame 5 is provided with a sliding hole 8, both ends of the sliding seat 6 are provided with sliding rods 9, the sliding rods 9 are slidably installed in the sliding hole 8, a first spring 10 is sleeved on the sliding rod 9, the sliding seat 6 is elastically connected with the semi-annular frame 5 through the first spring 10, a torsional spring 11 is installed between the semi-annular frame 5 and the mounting seat 3, the semi-annular frame 5 is elastically connected with the mounting seat 3 through the torsional spring 11, the sliding seat 6 is provided with a through hole 12, the drive rod 7 is slidably installed in the through hole 12, the mounting seat 3 and the ball 4 are fixedly installed in the middle of two adjacent mounting discs 1 respectively, and the end of the drive rod 7 is fixedly connected with the ball 4; the adjusting drive comprises a plurality of permanent magnets 13 and a plurality of electromagnets 14, the plurality of permanent magnets 13 and the plurality of electromagnets 14 are installed on the adjacent side of two adjacent mounting discs 1 respectively, the plurality of permanent magnets 13 and the plurality of electromagnets 14 on the mounting disc 1 are evenly distributed in the circumferential direction, and the permanent magnets 13 and the electromagnets 14 on the two adjacent mounting discs 1 are correspondingly arranged; the mechanical hand 2 is used for collecting plant samples, and the mechanical hand 2 is installed on a group of mounting discs 1 at the end. Further, one end of the first spring 10 is fixedly connected with the sliding seat 6, the other end of the first spring 10 is fixedly connected with the semi-annular frame 5, the first spring 10 can bear axial pressure and circumferential torsion, one end of the torsional spring 11 is fixedly connected with the semi-annular frame 5, and the other end of the torsional spring 11 is fixedly connected with the mounting seat 3; the permanent magnets 13 and the electromagnets 14 are at least three groups; further, the mounting disc 1 is preferably made of light plastic material to reduce the weight of the whole "elephant trunk"; each electromagnet 14 can be programmed and controlled through an external control system, and details are not described herein.

[0028] Specifically, please refer to Figure 3 The mechanical hand 2 is provided with a plurality of universal joint pipes 33 which are evenly distributed in the circumferential direction, a nozzle 34 is fixedly installed at the outlet end of the universal joint pipe 33 and faces the middle of the mechanical hand 2; further, the inlet end of the universal joint pipe 33 is communicated with an external pressurized water source or pressurized gas source; the mechanical hand 2 can adopt a thumb clamp or other mechanical clamp capable of clamping plant samples, or a vacuum suction cup or other suction mechanical hand 2, and different types of mechanical hands 2 can be replaced according to different plant samples, and details are not described herein.

[0029] Specifically, please refer to Figure 3 Or Figure 4, the clamping end of the mechanical arm 2 is provided with a pressure-sensitive conductive rubber 35; further, when the mechanical arm 2 adopts a traditional clamp type mechanical arm, the pressure-sensitive conductive rubber 35 is signal connected with the mechanical arm 2 through an external control system.

[0030] Specifically, please refer to Figure 2 ; the outer diameter of the installation disc 1 gradually decreases on one side of the mechanical arm 2.

[0031] Specifically, please refer to Figures 3-4 , a plurality of second springs 15 are installed between each adjacent two installation discs 1, the plurality of second springs 15 are uniformly distributed in the circumferential direction of the installation disc 1, and the second spring 15 is located close to the edge of the installation disc 1; further, the two ends of the second spring 15 are fixedly connected with the two installation discs 1 respectively.

[0032] Specifically, please refer to Figure 4 ; further comprising a plurality of first telescopic cylinders 16, the plurality of first telescopic cylinders 16 are fixedly installed in the middle of the plurality of installation discs 1, and the output end of the first telescopic cylinder 16 is fixedly connected with the mounting seat 3 on the adjacent one group of universal inert connecting pieces.

[0033] The plant sample collecting device based on the elephant trunk bionic structure provided in the embodiment can clean the dust, water droplets, insects and the like on the surface of the plant sample by injecting the pressurized water source or air source into the nozzle 34 through the universal joint pipe 33 and spraying the pressurized water or air to the plant sample through the nozzle 34 when the mechanical arm 2 reaches the vicinity of the plant to be picked before picking the plant sample; the pressure-sensitive conductive rubber 35 can detect the force in real time when the mechanical arm 2 picks the plant sample, and when the pressure is too large, the pressure-sensitive conductive rubber 35 transmits the electrical signal to the external control system, so that the clamping force of the mechanical arm 2 is adjusted through the external control system, thereby avoiding damage to the plant sample; the outer diameter of the installation disc 1 gradually decreases, which can improve the flexibility of the mechanical arm 2, effectively reduce the self-weight of the whole “elephant trunk”, reduce the energy consumption of the device, and facilitate picking of the plant sample in a complex environment; the plurality of second springs 15 can simulate the internal “muscles” of the elephant trunk, and under the action of the elastic force of the second spring 15, the adjacent two installation discs 1 can tend to be parallel, which can also effectively prevent the relative rotation of the two adjacent installation discs 1, improve the connection strength between the two installation discs 1, and cooperate with the suction force of the electromagnet 14 to improve the maximum load capacity. By starting the first telescopic cylinder 16, the distance between the adjacent two installation discs 1 can be changed, so that the extension length of the mechanical arm 2 is increased, so as to collect the plant sample far away and high up, and improve the adaptability of the device. Embodiment 2

[0034] The plant sample collecting device based on the elephant trunk bionic structure provided in embodiment 1 is further optimized, and specifically, please refer to Figures 1-2Further comprising a multi-dimensional adjuster, the multi-dimensional adjuster comprises a base 17, a support frame 18 mounted on the base 17, an L-shaped seat 19 rotatably mounted on the support frame 18, a lifting seat 20 slidably mounted on the L-shaped seat 19, and a second telescopic cylinder 21 providing power for the lifting seat 20 to slide up and down, a group of mounting discs 1 adjacent to the lifting seat 20 are mounted on the lifting seat 20, a first toothed disc 22 is rotatably mounted on the support frame 18, a second toothed disc 23 engaged with the first toothed disc 22 is fixedly mounted on the L-shaped seat 19, and a first driving motor 24 providing power for the first toothed disc 22 to rotate is fixedly mounted on the support frame 18; further, the first telescopic cylinder 16 and the second telescopic cylinder 21 can be hydraulic cylinders or pneumatic cylinders, and the first telescopic cylinder 16 and the second telescopic cylinder 21 are provided with telescopic kinetic energy by an external hydraulic pump station or a pneumatic pump station.

[0035] Specifically, please refer to Figures 1-2 Further comprising a first universal joint 25, a second universal joint 26, a first rotating shaft 27 rotatably mounted on the support frame 18, and a second rotating shaft 28 rotatably mounted on the lifting seat 20, a second driving motor 29 is fixedly mounted on the support frame 18, one end of the first rotating shaft 27 is fixedly connected with the output end of the second driving motor 29, the other end of the first rotating shaft 27 is fixedly connected with the first universal joint 25, the other end of the first universal joint 25 is provided with a shaft sleeve 30, one end of the second rotating shaft 28 is fixedly connected with the adjacent mounting disc 1, the other end of the second rotating shaft 28 is fixedly connected with one end of the second universal joint 26, the other end of the second universal joint 26 is provided with a socket shaft 31 engaged with the shaft sleeve 30, the socket shaft 31 can slide along the central axis of the shaft sleeve 30; further, the shaft sleeve 30 and the socket shaft 31 are in transmission connection, the socket shaft 31 can only slide along the central axis of the shaft sleeve 30, and the socket shaft 31 cannot rotate in the shaft sleeve 30; still further, a plurality of sliding grooves are arranged on the shaft sleeve 30, and a plurality of sliding rails are arranged on the outer arm of the socket shaft 31, the sliding rails are slidably mounted in the corresponding sliding grooves, so as to realize the rotational connection between the socket shaft 31 and the shaft sleeve 30.

[0036] Specifically, please refer to Figure 2 The support frame 18 is rotatably mounted on the base 17, and a third driving motor 32 providing power for the support frame 18 to rotate is mounted in the base 17; further, the third driving motor 32 is in transmission connection with the support frame 18 through a gear set or a chain.

[0037] The plant sample collecting device based on the elephant trunk bionic structure provided by the embodiment is characterized in that: the up-down position of the lifting seat 20 is changed by starting the second telescopic cylinder 21, the first driving motor 24 is started to drive the first toothed disc 22 to rotate, the L-shaped seat 19 is driven to rotate by the second toothed disc 23, the tail end of the “elephant trunk” composed of the plurality of mounting discs 1 moves in the vertical and horizontal directions, and the mechanical hand 2 at the end of the “elephant trunk” can move and adjust in a large range to collect the plants; when the mechanical hand 2 clamps and fixes the plant sample, the second driving motor 29 is started to drive the first rotating shaft 27 to rotate, the entire “elephant trunk” and the mechanical hand 2 rotate to collect the plant sample more conveniently, the flexibility of the entire device is further improved, and the collection efficiency of the plant sample is improved; the third driving motor 32 can drive the support frame 18 to rotate, so that the “elephant trunk” and the mechanical hand 2 move in the horizontal direction by 360 degrees, so that the mechanical hand 2 extends in different directions.

[0038] The use process of the plant sample collecting device based on the elephant trunk bionic structure is as follows: the base 17 is installed on a collecting vehicle or other collecting equipment, the support frame 18 is driven to rotate by the third driving motor 32, so that the “elephant trunk” and the mechanical hand 2 are directed to the plant sample to be picked, then the tail end of the “elephant trunk” is adjusted by the multi-dimensional adjuster, the mechanical hand 2 is further close to the plant sample to be picked, the electromagnets 14 are controlled to be started by an external control program, the output end of the first telescopic cylinder 16 is appropriately shortened or lengthened, the “elephant trunk” appropriately adjusts its bending degree and lengthening amount according to the on-site environment, so that the mechanical hand 2 reaches the plant sample to be collected, the high-pressure water or high-pressure gas is sprayed out through the universal joint pipe 33 and the nozzle 34 to clean the plant sample, then the plant sample is clamped and fixed by the mechanical hand 2, the second driving motor 29 is actuated, the “elephant trunk” and the mechanical hand 2 rotate to successfully collect the plant sample, and the rotating action is suitable for picking apples and other plants at high places, and the collection action can be appropriately adjusted according to the properties of different plant samples.

[0039] In the application, unless otherwise explicitly specified and limited, the terms “mounting”, “connection”, “connecting”, “fixing” and the like should be understood in a broad sense, for example, can be fixed connection, can be detachable connection, or can be integrated; can be mechanical connection, or electrical connection or communication with each other; can be directly connected, or indirectly connected through an intermediate medium; can be the internal communication of two elements or the interaction relationship between two elements, unless otherwise explicitly limited. For those skilled in the art, the specific meanings of the above terms in the application can be understood according to the specific circumstances.

Claims

1. A plant sample collection device based on an elephant trunk-like biomimetic structure, characterized in that, It includes multiple mounting discs (1), multiple universal inertial connectors, an adjustment drive for adjusting the angle between two adjacent mounting discs (1), and a manipulator (2). The multiple mounting discs (1) are connected sequentially through multiple universal inertial connectors. The universal inertial connector includes a mounting base (3), a ball (4) rotatably mounted in the mounting base (3), and an inertial adjustment component. The inertial adjustment component includes a semi-annular frame (5), a slide (6), and a drive rod (7) rotatably mounted in the mounting base (3). The semi-annular frame (5) is provided with a sliding hole (8). Both ends of the slide (6) are provided with slide rods (9). The slide rods (9) are slidably mounted in the sliding hole (8). A first spring (10) is sleeved on the slide rods (9). The slide (6) is connected to the slide. The first spring (10) is elastically connected to the semi-circular frame (5). A torsion spring is installed between the semi-circular frame (5) and the mounting base (3). The semi-circular frame (5) is elastically connected to the mounting base (3) through the torsion spring (11). The slide (6) is provided with a through hole (12). The drive rod (7) is slidably installed in the through hole (12). The mounting base (3) and the ball (4) are respectively fixedly installed in the middle of two adjacent mounting plates (1). The end of the drive rod (7) is fixedly connected to the ball (4). The adjustment drive includes multiple permanent magnet blocks (13) and multiple electromagnets (14). The multiple permanent magnet blocks (13) and multiple electromagnets (14) are respectively installed on the adjacent side of two adjacent mounting plates (1). The multiple permanent magnet blocks (13) and multiple electromagnets (14) on the mounting plate (1) are evenly distributed circumferentially. The permanent magnet blocks (13) and electromagnets (14) on the two adjacent mounting plates (1) are arranged correspondingly. The robotic arm (2) is used for collecting plant samples. The robotic arm (2) is installed on a set of mounting plates (1) at the end.

2. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 1, characterized in that, Multiple second springs (15) are installed between each pair of adjacent mounting plates (1). The multiple second springs (15) are evenly distributed around the mounting plate (1) in the circumference. The second springs (15) are located near the edge of the mounting plate (1).

3. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 2, characterized in that, It also includes multiple first telescopic cylinders (16), which are fixedly installed in the middle of multiple mounting plates (1). The output end of the first telescopic cylinder (16) is fixedly connected to the mounting seat (3) on a nearby set of universal inertial connectors.

4. The plant sample collection device based on an elephant trunk biomimetic structure according to claim 1 or 3, characterized in that, It also includes a multi-dimensional adjuster, which includes a base (17), a support frame (18) mounted on the base (17), an L-shaped seat (19) rotatably mounted on the support frame (18), a lifting seat (20) slidably mounted on the L-shaped seat (19), and a second telescopic cylinder (21) that provides power for the lifting seat (20) to slide up and down. A set of mounting plates (1) adjacent to the lifting seat (20) are mounted on the lifting seat (20). A first gear plate (22) is rotatably mounted on the support frame (18). A second gear plate (23) that meshes with the first gear plate (22) is fixedly mounted on the L-shaped seat (19). A first drive motor (24) that provides power for the rotation of the first gear plate (22) is fixedly mounted on the support frame (18).

5. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 4, characterized in that, It also includes a first universal coupling (25), a second universal coupling (26), a first rotating shaft (27) rotatably mounted on a support frame (18), and a second rotating shaft (28) rotatably mounted on a lifting seat (20). A second drive motor (29) is fixedly mounted on the support frame (18). One end of the first rotating shaft (27) is fixedly connected to the output end of the second drive motor (29), and the other end of the first rotating shaft (27) is fixedly connected to the first universal coupling (25). The other end of the first universal coupling (25) is provided with a bushing (30). One end of the second rotating shaft (28) is fixedly connected to an adjacent mounting plate (1), and the other end of the second rotating shaft (28) is fixedly connected to one end of the second universal coupling (26). The other end of the second universal coupling (26) is provided with a socket shaft (31) that fits with the bushing (30). The socket shaft (31) can slide along the central axis of the bushing (30).

6. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 5, characterized in that, The support frame (18) is rotatably mounted on the base (17), and a third drive motor (32) is installed in the base (17) to provide power for the rotation of the support frame (18).

7. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 1, characterized in that, The robotic arm (2) is equipped with multiple circumferentially distributed universal joint tubes (33), and the outlet end of the universal joint tubes (33) is fixedly equipped with a nozzle (34) facing the middle of the robotic arm (2).

8. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 7, characterized in that, The gripping end of the robotic arm (2) is provided with pressure-sensitive conductive rubber (35).

9. The plant sample collection device based on the elephant trunk biomimetic structure according to claim 1, characterized in that, The outer radial diameter of the multiple mounting discs (1) gradually decreases on one side of the manipulator (2).

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