Agricultural topsoil sampling equipment based on automatic module

Abstract

The invention discloses agricultural topsoil sampling equipment based on an automatic module. The agricultural topsoil sampling equipment comprises a walking supporting mechanism, a sample storage mechanism arranged in the walking supporting mechanism and a soil sampling mechanism connected to the outer part of the walking supporting mechanism, the walking supporting mechanism comprises a main supporting box body, and a plurality of driving wheels are connected to the lower side of the main supporting box body; the top of the main supporting box body is provided with a storage communicating opening which is internally and externally communicated, the sample storage mechanism comprises a storage supporting polygon prism which is rotationally connected into the main supporting box body along the horizontal axis, the outer side face of the storage supporting polygon prism is provided with a plurality of sample storage bottle connecting holes, and sample storage bottles are arranged in the sample storage bottle connecting holes; all core mechanisms of the device are provided with automatic driving assemblies such as a servo motor, a linear motor and an electric control telescopic rod, full-process automatic operation can be achieved, the multi-direction driving mechanism can drive the sampling mechanism to complete automatic movement in the longitudinal direction, the transverse direction and the vertical direction, and the position of the device does not need to be manually adjusted.

Description

Technical Field

[0001] This invention relates to the field of soil sampling technology, specifically to an agricultural topsoil sampling device based on an automated module. Background Technology

[0002] The core purpose of agricultural topsoil sampling is to provide data support for scientific decision-making in agricultural production by analyzing various physical, chemical and biological indicators of the soil. Specifically, this includes assessing soil fertility, monitoring soil environmental quality, understanding basic physical and chemical properties of the soil, guiding farmland management measures, and tracking soil evolution trends over the long term. By testing the content of macroelements such as nitrogen, phosphorus, and potassium, as well as microelements such as calcium, magnesium, boron, and zinc in the soil, the nutrient level of the soil can be determined, and it can be determined whether there are problems of nutrient deficiency, excess, or imbalance in the soil. This provides a basis for precision fertilization and avoids resource waste and soil pollution caused by blind fertilization.

[0003] The test detects indicators such as heavy metals (e.g., lead, cadmium, mercury), pesticide residues, and organic pollution in the soil to determine whether the soil is polluted, assess whether it meets the soil environmental standards for safe agricultural production, ensure the quality and safety of agricultural products, and at the same time, grasp the ecological health status of farmland soil, providing basic data for the remediation of polluted soil.

[0004] However, existing agricultural topsoil sampling equipment still falls short in terms of sampling efficiency and accuracy, and needs further improvement and optimization. Summary of the Invention

[0005] The purpose of this invention is to provide an agricultural topsoil sampling device based on an automated module, which can sample agricultural topsoil more quickly and efficiently.

[0006] To achieve the above objectives, the present invention provides the following technical solution: An agricultural topsoil sampling device based on an automated module includes a walking support mechanism, a sample storage mechanism disposed inside the walking support mechanism, and a soil sampling mechanism connected to the outside of the walking support mechanism. The walking support mechanism includes a main support box, and multiple drive wheels are connected to the lower side of the main support box; The top of the main support box has a storage connection opening that connects the inside and outside. The sample storage mechanism includes a storage support polygonal prism that is rotatably connected to the inside of the main support box along the horizontal axis. The outer side of the storage support polygonal prism has multiple sample bottle connection holes, and sample storage bottles are provided in the sample bottle connection holes. The soil sampling mechanism includes a vertically extending sampling support column connected to the top of the main support box via a multi-directional drive mechanism. A sampling rotating support ring is rotatably connected to the lower end of the sampling support column. A pickup support shaft extending radially is fixed to the outside of the sampling rotating support ring. A pickup switching support ring is rotatably connected to the pickup support shaft. Multiple soil pickups are provided on the outside of the pickup switching support ring. The soil pickup includes multiple pickup support plates fixed to the outside of the pickup switching support ring. Pickup support slide rails are fixed on the pickup support plates. Two pickup support sliders are slidably connected on each pickup support slide rail. Pickup connecting seats are fixed on the pickup support sliders. Pickup deflection shafts are rotatably connected to the pickup connecting seats. End connecting rods are fixed on the pickup deflection shafts. Pickup clamping half tubes are fixed to the outer end of the end connecting rods.

[0007] Preferably, the storage support polygonal prism is connected inside the main support box through a storage switching mechanism. The storage switching mechanism includes two storage support seats fixed to the bottom of the main support box. The storage support seats have lifting slots, and lifting support plates are slidably connected in the vertical direction in the lifting slots. The two lifting support plates have coaxial through-holes for rotating switching. A coaxially arranged storage switching support shaft is fixed at each end of the storage support polygonal prism, and the two storage switching support shafts are rotatably connected in the two rotating switching holes respectively. One of the lifting support plates has a switching drive receiving shell fixed on its side. A driven worm gear is fixed at one end of the storage switching support shaft that extends into the switching drive receiving shell. A switching drive motor is fixed inside the switching drive receiving shell. The output shaft of the switching drive motor is connected to a drive worm, which meshes with the driven worm gear. A lifting drive fixed cylinder with an upward opening is fixed on the side of the storage support base. A lifting drive sliding cylinder is slidably connected in the lifting drive fixed cylinder. The top of the lifting drive sliding cylinder is fixedly connected to the lifting support plate. A storage lifting drive rod for driving the lifting drive sliding cylinder to move up and down is provided inside the lifting drive fixed cylinder.

[0008] Explanation: Once all the sample storage bottles on one side of the storage support polygonal prism are filled with soil samples, the storage switching mechanism drives the storage support polygonal prism to rotate to the adjacent other side, and then the sample storage bottles on the other side are used to store soil samples.

[0009] Preferably, the multi-directional drive mechanism includes two parallel longitudinal moving support slide rails fixed to the top of the main support box. The extension direction of the longitudinal moving support slide rails is consistent with the travel direction of the entire equipment. A longitudinal moving support slider is slidably connected on the longitudinal moving support slide rail. A vertically extending heightening support column is fixed to the top of the longitudinal moving support slider. The upper ends of the two heightening support columns are fixedly connected to a horizontal support beam. A horizontal moving support slide rail is fixed to the side of the horizontal support beam. A horizontal moving support slider is slidably connected to the horizontal moving support slide rail. A sampling lifting support body is fixed to the horizontal moving support slider. The sampling lifting support body has a vertically penetrating sampling lifting connection hole. The sampling support column is slidably connected in the sampling lifting connection hole.

[0010] Explanation: The multi-directional drive mechanism drives the sampling support column to move along the top plane of the main support box and position it above the empty sample storage bottle, so that the collected soil sample can be poured into the sample storage bottle.

[0011] Preferably, the sample storage bottle is connected to the sample bottle connection hole by a snap-fit ​​locking mechanism. The snap-fit ​​locking mechanism includes two snap-fit ​​locking support blocks fixed at the opening of the sample bottle connection hole. The snap-fit ​​locking support blocks have snap-fit ​​grooves on their sides. Two locking connection blocks are fixed on the outside of the sample storage bottle. The two locking connection blocks are snap-fitted and constrained in the snap-fit ​​grooves one by one.

[0012] Note: The snap-fit ​​locking mechanism can effectively secure the sample storage bottle and prevent it from falling out of the sample bottle connection hole.

[0013] Preferably, the sample storage bottle is threaded with a storage bottle sealing cap at the bottle mouth, and a bottle stopper opening and closing mechanism is provided on the sampling rotating support ring. The bottle stopper opening and closing mechanism includes a bottle stopper opening and closing fixing cylinder fixed on the outside of the sampling rotating support ring with the opening facing downward. A bottle stopper opening and closing sliding cylinder with the opening facing upward is slidably connected in the bottle stopper opening and closing fixing cylinder. A vertically extending opening and closing support shaft is fixed at the lower end of the bottle stopper opening and closing sliding cylinder. A clamping support disk is rotatably connected at the lower end of the opening and closing support shaft. The bottom of the clamping support disk has multiple clamping connection grooves extending radially therein. A clamping drive slider is slidably connected in the clamping connection grooves. A bottle cap clamping claw is fixed on the lower side of the clamping drive slider. The bottle stopper opening and closing fixing cylinder is equipped with an opening and closing lifting drive rod for driving the bottle stopper opening and closing sliding cylinder to move up and down.

[0014] Instructions: Multiple cap clamping claws are used to hold the storage bottle cap together. The storage bottle cap is held and held, and then the clamping support disc rotates counterclockwise to unscrew the storage bottle cap from the sample storage bottle.

[0015] Preferably, the sampling support column is provided with a pickup cleaning mechanism, which includes a cleaning drive fixed cylinder fixed on the sampling support column and arranged in a horizontal direction, a cleaning drive telescopic cylinder slidably connected in the cleaning drive fixed cylinder, a cleaning support frame fixed at the outer end of the cleaning drive telescopic cylinder, a cleaning rotating shaft rotatably connected on the cleaning support frame, and a cleaning brush provided on the cleaning rotating shaft. The cleaning drive fixed cylinder is equipped with a cleaning extension drive rod for driving the cleaning drive telescopic cylinder to move.

[0016] Instructions: Drive the cleaning rotating shaft to rotate, and under the drive of the inner rod extending out of the cleaning extension drive rod, the end of the cleaning rotating shaft with the cleaning brush is inserted into the pickup clamping half tube to clean it.

[0017] Preferably, the cleaning rotating shaft has a hollow structure inside, and the side wall of the cleaning rotating shaft has multiple purge holes that communicate with each other inside and out.

[0018] Instructions: A blower is used to introduce air into the cleaning rotating shaft, and the air is then discharged from multiple purging holes to purge and clean the soil particles remaining in the pick-up clamping half-tube.

[0019] Compared with the prior art, the beneficial effects of the present invention are reflected in the following aspects: 1. The present invention has a reasonable structural design. Each core mechanism of the equipment is equipped with automated drive components such as servo motors, linear motors, and electrically controlled telescopic rods, which can realize fully automated operation. The multi-directional drive mechanism can drive the sampling mechanism to complete autonomous movement in the longitudinal, lateral and vertical directions without the need for manual adjustment of the equipment position. 2. This invention is easy to operate, convenient for sample storage and management, and can prevent contamination. It has a large sample storage capacity and efficient switching. The sample storage mechanism adopts a storage support polygonal prism structure, and multiple sample storage bottles can be arranged on its outer surface, which can complete the sample storage of multiple points at one time. The storage switching mechanism has both lifting and rotation functions. It can adjust the height of the polygonal prism by lifting to achieve precise docking with the sampling mechanism, and can also drive the polygonal prism to rotate through worm gear transmission to quickly switch empty sample bottles and avoid cross-contamination of samples from different points.

[0020] 3. The device of this invention is equipped with a pickup cleaning mechanism, which has dual cleaning capabilities of brush cleaning and airflow blowing. The cleaning brush on the cleaning rotating shaft can mechanically brush the used pickup clamping half tube to remove soil particles attached to the surface. At the same time, the inside of the cleaning rotating shaft is hollow and has a blowing through hole. The airflow generated by the blower can blow the pickup in all directions through the through hole, blowing away residual soil and debris that are difficult to clean by the brush, avoiding cross-contamination of samples from different batches and ensuring the accuracy of sampling results. Attached Figure Description

[0021] Figure 1 This is the front view of the present invention; Figure 2 This is the left view of the present invention; Figure 3 This is the left view of the storage switching mechanism; Figure 4 This is a schematic diagram of the locking mechanism of the present invention; Figure 5 This is a schematic diagram of the bottle stopper opening and closing mechanism of the present invention; Figure 6 This is a right view of the soil picker of the present invention; Figure 7 This is a top view of the cleaning mechanism of the pickup device of the present invention.

[0022] In the diagram, 10-walking support mechanism, 11-main support box, 110-storage connection opening, 12-drive wheel, 20-sample storage mechanism, 21-storage support polygonal prism, 211-storage bottle connection hole, 22-sample storage bottle, 220-storage bottle sealing cap, 23-storage switching mechanism, 231-storage support base, 232-lifting slot, 233-lifting support plate, 2330-rotation switching connection hole, 234-storage switching support shaft, 235-switching drive housing, 236-driven worm gear, 23... 7-Switching drive motor, 238-Drive worm gear, 241-Lifting drive fixed cylinder, 242-Lifting drive sliding cylinder, 243-Storage lifting drive rod, 25-Snap-fit ​​locking mechanism, 251-Snap-fit ​​locking support block, 252-Snap-fit ​​slot, 253-Locking connecting block, 26-Bottle stopper opening and closing mechanism, 261-Bottle stopper opening and closing fixed cylinder, 262-Bottle stopper opening and closing sliding cylinder, 263-Opening and closing support shaft, 264-Clamping support disc, 265-Clamping connecting groove, 266-Clamping drive slider, 267-Bottle cap Clamping claw, 268-Opening / closing lifting drive rod, 264-Bottle stopper opening / closing suction cup, 265-Opening / closing lifting drive rod, 30-Soil sampling mechanism, 31-Sampling support column, 311-Sampling rotating support ring, 32-Pickup support shaft, 321-Pickup switching support ring, 33-Soil pickup, 331-Pickup support plate, 332-Pickup support slide rail, 333-Pickup support slider, 334-Pickup connecting seat, 335-Pickup deflection shaft, 336-End connecting rod, 337-Pickup clamping half tube, 34-Pickup device cleaning Cleaning mechanism, 341-cleaning drive fixed cylinder, 342-cleaning drive telescopic cylinder, 343-cleaning support frame, 344-cleaning rotating shaft, 3440-blowing through hole, 345-cleaning brush, 346-cleaning extension drive rod, 40-multi-directional drive mechanism, 41-longitudinal movement support slide rail, 42-longitudinal movement support slider, 421-heightening support column, 43-lateral support beam, 44-lateral movement support slide rail, 45-lateral movement support slider, 46-sampling lifting support body, 460-sampling lifting connection hole. Detailed Implementation

[0023] The following is combined Figures 1-7 The present invention will be described in detail. For ease of description, the orientations mentioned below are defined as follows: The directions of up, down, left, right, front, and back mentioned below are consistent with the directions of up, down, left, right, front, and back in the projection relationship of the respective main view or structural schematic diagram.

[0024] Example 1: An agricultural topsoil sampling device based on an automated module, such as Figure 1 As shown, it includes a walking support mechanism 10, a sample storage mechanism 20 disposed inside the walking support mechanism 10, and a soil sampling mechanism 30 connected to the outside of the walking support mechanism 10. The walking support mechanism 10 includes a main support box 11, and multiple drive wheels 12 are connected to the lower side of the main support box 11. Each drive wheel 12 is driven to rotate by an independent servo motor fixed within the main support housing 11, using existing technology. Figure 1 For reference, the right end of the main support box 11 is the forward end, and the left and right ends of the main support box 11 are each provided with two symmetrical drive wheels 12, and the two drive wheels 12 at the forward end have steering function. like Figure 1 As shown, the top of the main support box 11 has a storage connection opening 110 that communicates with the inside and outside. The sample storage mechanism 20 includes a storage support polygonal prism 21 that is rotatably connected to the inside of the main support box 11 along the horizontal axis. The outer side of the storage support polygonal prism 21 has multiple sample bottle connection holes 211, and sample storage bottles 22 are provided in the sample bottle connection holes 211. like Figure 1 As shown, the soil sampling mechanism 30 includes a vertically extending sampling support column 31 connected to the top of the main support box 11 via a multi-directional drive mechanism 40. A sampling rotating support ring 311 is rotatably connected to the lower end of the sampling support column 31. A pickup support shaft 32 extending radially is fixed to the outside of the sampling rotating support ring 311. A pickup switching support ring 321 is rotatably connected to the pickup support shaft 32. Multiple soil pickups 33 are provided on the outside of the pickup switching support ring 321. The sampling rotating support ring 311 is driven by a prior art servo motor fixed on the sampling support column 31 to rotate around the axis of the sampling support column 31 via gear transmission; The pickup switching support ring 321 is driven by a prior art servo motor fixed on the pickup support shaft 32 to rotate around the axis of the pickup support shaft 32 via gear transmission; like Figure 1 As shown, the multi-directional drive mechanism 40 includes two parallel longitudinal moving support slide rails 41 fixed to the top of the main support box 11. The extension direction of the longitudinal moving support slide rails 41 is consistent with the travel direction of the entire device. A longitudinal moving support slider 42 is slidably connected on the longitudinal moving support slide rails 41. A vertically extending heightening support column 421 is fixed to the top of the longitudinal moving support slider 42. The longitudinal moving support slider 42 is driven by a prior art servo motor fixed to the top of the main support box 11 to move along the longitudinal moving support slide rail 41 via a lead screw drive; A grating ruler, which is a prior art technology for monitoring the relative motion position of the longitudinal moving support slider 42 and the longitudinal moving support slide rail 41, is provided between them. The scale grating of the grating ruler is fixed on the longitudinal moving support slide rail 41, and the grating reading head of the grating ruler is fixed on the longitudinal moving support slider 42. Two heightening support columns 421 are fixedly connected to a horizontal support beam 43 at their upper ends. A horizontal moving support slide rail 44 is fixed to the side of the horizontal support beam 43. The horizontal moving support slide rail 44 is arranged horizontally and perpendicular to the entire direction of the equipment's movement. A horizontal moving support slider 45 is slidably connected to the horizontal moving support slide rail 44. A sampling lifting support body 46 is fixed to the horizontal moving support slider 45. The sampling lifting support body 46 has a vertically penetrating sampling lifting connection hole 460. The sampling support column 31 is slidably connected in the sampling lifting connection hole 460. The lateral moving support slider 45 is driven by a prior art servo motor fixed on the lateral support beam 43 to move along the lateral moving support slide rail 44 via a lead screw drive; A grating ruler, which is a prior art technology for monitoring the relative movement position of the two, is provided between the transverse moving support slider 45 and the transverse moving support slide rail 44. The scale grating of the grating ruler is fixed on the transverse moving support slide rail 44, and the grating reading head of the grating ruler is fixed on the transverse moving support slider 45. The sampling support column 31 is driven by a conventional servo motor fixed on the sampling lifting support 46 to move along the axis of the sampling lifting connection hole 460 via a gear and rack transmission.

[0025] A grating ruler, which is a prior art technology for monitoring the relative motion position of the two, is provided between the sampling support column 31 and the sampling lifting support body 46. The scale grating of the grating ruler is fixed on the sampling support column 31, and the grating reading head of the grating ruler is fixed on the sampling lifting support body 46. like Figure 6 As shown, the soil pickup 33 includes multiple pickup support plates 331 fixed on the outside of the pickup switching support ring 321. The pickup support plates 331 are evenly distributed around the circumference of the pickup switching support ring 321, and the pickup support plates 331 extend along the tangential plane on the outside of the pickup switching support ring 321. A pickup support slide rail 332 is fixed on the pickup support plate 331. Two pickup support sliders 333 are slidably connected on each pickup support slide rail 332. A pickup connecting seat 334 is fixed on the pickup support slider 333. A pickup deflection shaft 335 is rotatably connected to the pickup connecting seat 334. An end connecting rod 336 is fixed on the pickup deflection shaft 335. A pickup clamping half tube 337 is fixed to the outer end of the end connecting rod 336. The pickup support slider 333 is driven by a linear motor of the prior art to move along the pickup support slide rail 332. The stator of the linear motor is fixed on the pickup support slide rail 332, and the mover of the linear motor is fixed on the pickup support slider 333. A grating ruler, which is a prior art technology for monitoring the relative motion position of the two, is provided between the pickup support slider 333 and the pickup support slide rail 332. The scale grating of the grating ruler is fixed on the pickup support slide rail 332, and the grating reading head of the grating ruler is fixed on the pickup support slider 333. The axis of the pickup deflection shaft 335 is parallel to the extension direction of the pickup support slide rail 332. The pickup deflection shaft 335 is driven to rotate by a conventional servo motor fixed on the pickup connector 334 through gear transmission.

[0026] A prior art grating ruler for monitoring the relative angular motion position of the two is provided between the pickup deflection shaft 335 and the pickup connector 334. The scale grating of the grating ruler is fixed on the pickup deflection shaft 335, and the grating reading head of the grating ruler is fixed on the pickup connector 334.

[0027] Example 2: Based on Example 1, such as Figure 1 As shown, the storage support polygonal prism 21 is connected inside the main support box 11 via a storage switching mechanism 23. The storage switching mechanism 23 includes two storage support seats 231 fixed to the bottom of the main support box 11, as shown in the figure. Figure 3 As shown, the storage support base 231 has a lifting slot 232, and a lifting support plate 233 is slidably connected in the vertical direction in the lifting slot 232. The two lifting support plates 233 have coaxial through rotary switching connection holes 2330. Each end of the storage support polygonal prism 21 has a coaxially arranged storage switching support shaft 234, and the two storage switching support shafts 234 are rotatably connected in the two rotary switching connection holes 2330 respectively. One of the lifting support plates 233 has a switching drive receiving shell 235 fixed to its side. The storage switching support shaft 234 extends into one end of the switching drive receiving shell 235 and is fixed with a driven worm gear 236. The switching drive receiving shell 235 has a switching drive motor 237 fixed inside. The output shaft of the switching drive motor 237 is connected to a drive worm 238, and the drive worm 238 is meshed with the driven worm gear 236. Switch the drive motor 237 to a servo motor based on existing technology; A grating ruler, which is a prior art technology, is provided between the storage switching support shaft 234 and the lifting support plate 233 for monitoring the relative angular movement position of the two. The scale grating of the grating ruler is fixed on the storage switching support shaft 234, and the grating reading head of the grating ruler is fixed on the lifting support plate 233.

[0028] like Figure 3As shown, a lifting drive fixed cylinder 241 with an upward opening is fixed to the side of the storage support base 231. A lifting drive sliding cylinder 242 is slidably connected in the lifting drive fixed cylinder 241. The top end of the lifting drive sliding cylinder 242 is fixedly connected to the lifting support plate 233. A storage lifting drive rod 243 for driving the lifting drive sliding cylinder 242 to move up and down is provided inside the lifting drive fixed cylinder 241. The storage lifting drive rod 243 is an existing electrically controlled telescopic rod driven by a servo motor. The outer end of the storage lifting drive rod 243 is fixedly connected to the bottom of the inner part of the lifting drive fixed cylinder 241, and the inner end of the storage lifting drive rod 243 is fixedly connected to the top of the inner part of the lifting drive sliding cylinder 242.

[0029] A grating ruler, which is a prior art technology for monitoring the relative motion position of the lifting drive sliding cylinder 242 and the lifting drive fixed cylinder 241, is provided between them. The scale grating of the grating ruler is fixed on the lifting drive sliding cylinder 242, and the grating reading head of the grating ruler is fixed on the lifting drive fixed cylinder 241.

[0030] Example 3: Based on Example 2, such as Figure 4 As shown, the sample storage bottle 22 is connected to the sample bottle connection hole 211 by a snap-fit ​​locking mechanism 25. The snap-fit ​​locking mechanism 25 includes two snap-fit ​​locking support blocks 251 fixed at the opening of the sample bottle connection hole 211. The snap-fit ​​locking support blocks 251 have snap-fit ​​grooves 252 on their sides. Two locking connecting blocks 253 are fixed on the outside of the sample storage bottle 22. The two locking connecting blocks 253 are snap-fitted and constrained in each snap-fit ​​groove 252.

[0031] Example 4: Based on Example 3, such as Figure 4 As shown, a storage bottle sealing cap 220 is threadedly connected to the mouth of the sample storage bottle 22, as... Figure 1 As shown, the sampling rotating support ring 311 is equipped with a bottle stopper opening and closing mechanism 26, such as... Figure 5 As shown, the bottle stopper opening and closing mechanism 26 includes a bottle stopper opening and closing fixing cylinder 261 with the opening facing downward on the outside of the sampling rotating support ring 311. A bottle stopper opening and closing sliding cylinder 262 with the opening facing upward is slidably connected in the bottle stopper opening and closing fixing cylinder 261. A vertically extending opening and closing support shaft 263 is fixed at the lower end of the bottle stopper opening and closing support shaft 263. A clamping support disk 264 is rotatably connected at the lower end of the opening and closing support shaft 263. The bottom of the clamping support disk 264 has a plurality of clamping connection grooves 265 extending radially therein. A clamping drive slider 266 is slidably connected in the clamping connection grooves 265. A bottle cap clamping claw 267 is fixed on the lower side of the clamping drive slider 266. The clamping support disk 264 is driven by a prior art servo motor fixed on the opening and closing support shaft 263 to rotate about the vertical axis of the opening and closing support shaft 263; The clamping drive slider 266 is driven by a prior art servo motor fixed on the clamping support disc 264 to move along the clamping connection groove 265 via a lead screw drive. The bottle stopper opening and closing fixing cylinder 261 is provided with an opening and closing lifting drive rod 268 for driving the bottle stopper opening and closing sliding cylinder 262 to move up and down. The opening and closing lifting drive rod 268 is an existing electric control telescopic rod driven by a servo motor. The outer rod end of the opening and closing lifting drive rod 268 is fixedly connected to the top of the bottle stopper opening and closing fixing cylinder 261, and the inner rod end of the opening and closing lifting drive rod 268 is fixedly connected to the bottom of the bottle stopper opening and closing sliding cylinder 262. A grating ruler, which is a prior art technology for monitoring the relative movement position of the bottle stopper opening and closing sliding cylinder 262 and the bottle stopper opening and closing fixed cylinder 261, is provided between the bottle stopper opening and closing sliding cylinder 262 and the bottle stopper opening and closing fixed cylinder 261. The scale grating of the grating ruler is fixed on the bottle stopper opening and closing sliding cylinder 262, and the grating reading head of the grating ruler is fixed on the bottle stopper opening and closing fixed cylinder 261.

[0032] Example 5: Based on Example 4, such as Figure 7 As shown, a pickup cleaning mechanism 34 is provided on the sampling support column 31. The pickup cleaning mechanism 34 includes a cleaning drive fixed cylinder 341 fixed on the sampling support column 31 and extending horizontally. The cleaning drive fixed cylinder 341 is fixedly connected to the sampling support column 31 through a fixed connecting rod 340. A cleaning drive telescopic cylinder 342 is slidably connected in the cleaning drive fixed cylinder 341. A cleaning support frame 343 is fixed at the outer end of the cleaning drive telescopic cylinder 342. A cleaning rotating shaft 344 is rotatably connected on the cleaning support frame 343. A cleaning brush 345 is provided on the cleaning rotating shaft 344. The cleaning rotating shaft 344 is driven to rotate by a prior art motor fixed on the cleaning support frame 343 via gear transmission; The cleaning drive fixed cylinder 341 is provided with a cleaning extension drive rod 346 for driving the cleaning drive telescopic cylinder 342 to move. The cleaning extension drive rod 346 is an existing electrically controlled telescopic rod driven by a servo motor. The outer rod end of the cleaning extension drive rod 346 is fixedly connected to the cleaning drive fixed cylinder 341, and the inner rod end of the cleaning extension drive rod 346 is fixedly connected to the cleaning drive telescopic cylinder 342.

[0033] like Figure 7 As shown, the cleaning rotating shaft 344 has a hollow structure inside, and the side wall of the cleaning rotating shaft 344 has multiple purge holes 3440 that are interconnected inside and out. The main support housing 11 contains a blower of the prior art, and the output end of the blower is connected to the interior of the cleaning rotating shaft 344 through a pipe and a rotary joint.

[0034] In practical application, the entire device travels along a zigzag route in the area to be sampled, and performs surface soil sampling every 20 meters. The sampling process is as follows: Figure 1 For reference, the forward direction is from left to right. After the drive wheel 12 stops, the longitudinal moving support slider 42 is first moved to the rightmost end. Then, the sampling support column 31 is driven by the existing technology servo motor fixed on the sampling lifting support body 46 through gear and rack transmission to move down along the axis of the sampling lifting connection hole 460. The sampling support column 31 then moves down with multiple soil pickers 33. When the lowest soil picker 33 contacts the ground, the picking support slider 333 is driven by the existing technology linear motor to move along the picking support slide rail 332, and the two picking support sliders 333 move closer to each other, thereby driving the two picking clamping half tubes 337 to move closer to each other and assemble into a cylindrical structure with a horizontally extending axis, clamping the ground soil inside the two picking clamping half tubes 337. Next, drive the sampling support column 31 to move upward, and stop when the picking clamp half tube 337 is 10cm higher than the top of the main support box 11; Then, the multi-directional drive mechanism 40 drives the sampling support column 31 to move along the top plane of the main support box 11 and position it above the empty sample storage bottle 22. The longitudinal moving support slider 42 is driven by a prior art servo motor fixed to the top of the main support box 11 through a screw drive to move along the longitudinal moving support slide rail 41. The lateral moving support slider 45 is driven by a prior art servo motor fixed to the lateral support beam 43 through a screw drive to move along the lateral moving support slide rail 44. Under the coordinated drive of the longitudinal moving support slider 42 and the lateral moving support slider 45, the sampling support column 31 can be positioned above any sample storage bottle 22. Furthermore, the axis of the bottle stopper opening and closing fixing cylinder 261 is aligned coaxially with one of the empty sample storage bottles 22 in the vertical direction. First, the sample storage bottle 22 is opened using the bottle stopper opening and closing mechanism 26. The inner rod of the opening and closing lifting drive rod 265 extends, driving the bottle stopper opening and closing sliding cylinder 262, the opening and closing support shaft 263, the clamping support disc 264, and multiple bottle cap clamping claws 267 to move downward together. In the initial state, the multiple bottle cap clamping claws 267 are in a state of being far apart from each other. The downward movement causes the bottle sealing cap 220 to be positioned between the multiple bottle cap clamping claws 267. Then, the clamping drive slider 266 is driven by a prior art servo motor fixed on the clamping support disc 264 via a lead screw drive to move along the clamping connection groove 265, causing multiple clamping drive sliders 266 to move synchronously closer to each other. Multiple bottle cap clamping claws 267 together clamp the storage bottle sealing cap 220, which is then clamped and held. Subsequently, the clamping support disc 264 is driven by a prior art servo motor fixed on the opening / closing support shaft 263 to rotate around the vertical axis of the opening / closing support shaft 263. Figure 5With the top view as a reference, the clamping support disk 264 rotates counterclockwise to unscrew the storage bottle sealing cap 220 from the sample storage bottle 22. Then, the inner rod of the opening and closing lifting drive rod 265 retracts, driving the bottle stopper opening and closing sliding cylinder 262, the opening and closing support shaft 263, the clamping support disk 264, and multiple bottle cap clamping claws 267 to move upward together, taking the storage bottle sealing cap 220 away from the sample storage bottle 22. Next, the sampling rotating support ring 311 is driven by a prior art servo motor fixed to the sampling support column 31 to rotate around the axis of the sampling support column 31 via gear transmission. Figure 1 Using the top-down view as a reference, rotate the sampling rotating support ring 311 counterclockwise by 180° and stop, so that the two pick-up clamping half tubes 337 holding the soil sample are directly above the sample storage bottle 22. Then pour the soil sample into the sample storage bottle 22. The pickup deflection shaft 335 is driven to rotate by a prior art servo motor fixed on the pickup connector 334 via gear transmission. The pickup deflection shaft 335, in turn, causes the pickup clamping half-tube 337 to deflect along with it. Figure 1 For reference, the pickup deflection shaft 335 is rotated 90° counterclockwise and then stopped, so that the pickup clamping half tube 337 is switched from a horizontal state to a vertical state. During the state switching process of the pickup clamping half tube 337, the soil sample clamped between the two pickup clamping half tubes 337 will naturally slide into the sample storage bottle 22. After the soil sample is poured into the sample storage bottle 22, the pickup deflection shaft 335 is rotated 90° clockwise again, so that the pickup clamping half tube 337 returns to the horizontal state. Then rotate the sampling rotating support ring 311 180° clockwise back to its initial state; Finally, the inner rod of the lifting and lowering drive rod 265 extends again, driving the bottle stopper opening and closing sliding cylinder 262, the opening and closing support shaft 263, the clamping support disc 264, and multiple bottle cap clamping claws 267 to move down together, covering the storage bottle sealing cap 220 into the bottle mouth of the sample storage bottle 22. The clamping support disc 264 then rotates clockwise to tighten the storage bottle sealing cap 220 into the bottle mouth of the sample storage bottle 22. The multiple clamping drive sliders 266 then move away from each other synchronously, causing the multiple bottle cap clamping claws 267 to loosen from the storage bottle sealing cap 220. After loosening, the inner rod of the lifting and lowering drive rod 265 retracts again, driving the bottle stopper opening and closing sliding cylinder 262, the opening and closing support shaft 263, the clamping support disc 264, and multiple bottle cap clamping claws 267 to move up together, causing the multiple bottle cap clamping claws 267 to disengage from the storage bottle sealing cap 220, thus completing one sampling operation. After completing one sampling operation, the entire device will continue to move forward for 20 meters and then stop. Then, the above sampling process can be repeated to collect soil samples. This process can be repeated until the entire area has been sampled. by Figure 6For reference, three sets of soil pickers 33 are evenly arranged circumferentially on the outer side of the pick-up switching support ring 321. When picking up soil, only the bottom soil picker 33 is used. After each soil sample is picked up, the pick-up switching support ring 321 rotates 120° counterclockwise to switch to the next soil picker 33 for picking up, and cleans the previous soil picker 33. by Figure 6 For reference, the cleaning rotating shaft 344 is coaxially aligned with the pickup clamping half-tube 337 in the soil pickup 33 located in the upper right corner. When the pickup clamping half-tube 337 needs cleaning, the cleaning rotating shaft 344 is driven to rotate by a prior art motor fixed on the cleaning support frame 343 through gear transmission. Driven by the extension of the inner rod of the cleaning extension drive rod 346, the cleaning drive telescopic cylinder 342 and the cleaning rotating shaft 344 approach the pickup clamping half-tube 337, causing the cleaning rotating shaft 344 to... One end of the cleaning brush 345 is inserted into the pick-up and clamping half tube 337 to clean it. At the same time, the blower in the main support box 11 inputs air into the cleaning rotating shaft 344. The air is then discharged from multiple blowing holes 3440 to blow away and clean the soil particles remaining in the pick-up and clamping half tube 337. After cleaning, the cleaning rotating shaft 344 stops rotating and the inner rod of the cleaning extension drive rod 346 retracts, causing the cleaning rotating shaft 344 to be pulled out of the pick-up and clamping half tube 337. When all the sample storage bottles 22 on one side of the storage support polygonal prism 21 are filled with soil samples, it is necessary to switch to the sample storage bottle 22 on the other side for soil sample storage. by Figure 2 For reference, the storage support polygonal prism 21 is a hexagonal prism structure. Switching to the next adjacent side requires a 60° rotation. First, the inner rod of the storage lifting drive rod 243 retracts, causing the lifting drive sliding cylinder 242, lifting support plate 233, and storage support polygonal prism 21 to move downwards together, causing the storage support polygonal prism 21 to move down by 10% of its diameter before stopping. Then, the output shaft of the switching drive motor 237, through the meshing connection between the drive worm 238 and the driven worm wheel 236, drives the storage switching support shaft 234 to rotate. Figure 2 For reference, the storage switching support shaft 234 then drives the storage support polygonal prism 21 to rotate counterclockwise by 60° and then stops. Finally, the inner rod of the storage lifting drive rod 243 extends out again to drive the lifting drive sliding cylinder 242, the lifting support plate 233 and the storage support polygonal prism 21 together to move up back to their original positions, so that the other side of the storage support polygonal prism 21 is at the storage connecting opening 110.

Claims

1. An agricultural topsoil sampling device based on an automated module, characterized in that, It includes a walking support mechanism (10), a sample storage mechanism (20) disposed inside the walking support mechanism (10), and a soil sampling mechanism (30) connected to the outside of the walking support mechanism (10). The walking support mechanism (10) includes a main support box (11), and a plurality of drive wheels (12) are connected to the lower side of the main support box (11). The top of the main support box (11) has a storage connection opening (110) that is open to both the inside and outside. The sample storage mechanism (20) includes a storage support polygonal prism (21) that is rotatably connected to the inside of the main support box (11) along a horizontal axis. The outer side of the storage support polygonal prism (21) has a plurality of sample bottle connection holes (211), and a sample storage bottle (22) is provided in the sample bottle connection hole (211). The soil sampling mechanism (30) includes a vertically extending sampling support column (31) connected to the top of the main support box (11) via a multi-directional drive mechanism (40). A sampling rotating support ring (311) is rotatably connected to the lower end of the sampling support column (311). A pickup support shaft (32) extending radially is fixed to the outside of the sampling rotating support ring (311). A pickup switching support ring (321) is rotatably connected to the pickup support shaft (32). Multiple soil pickups (33) are provided on the outside of the pickup switching support ring (321). The soil pickup (33) includes multiple pickup support plates (331) fixed to the outside of the pickup switching support ring (321). Pickup support slide rails (332) are fixed on the pickup support plates (331). Two pickup support sliders (333) are slidably connected to each pickup support slide rail (332). Pickup connecting seats (334) are fixed on the pickup support sliders (333). Pickup deflection shafts (335) are rotatably connected to the pickup connecting seats (334). End connecting rods (336) are fixed on the pickup deflection shafts (335). Pickup clamping half tubes (337) are fixed to the outer end of the end connecting rods (336).

2. The agricultural topsoil sampling device based on an automated module according to claim 1, characterized in that, The storage support polygonal prism (21) is connected inside the main support box (11) through a storage switching mechanism (23). The storage switching mechanism (23) includes two storage support seats (231) fixed at the bottom of the main support box (11). The storage support seats (231) have lifting slots (232). Lifting support plates (233) are slidably connected in the vertical direction in the lifting slots (232). The two lifting support plates (233) have coaxially connected rotary switching connection holes (2330). Each end of the storage support polygonal prism (21) is fixed with a coaxially arranged storage switching support shaft (234). The two storage switching support shafts (234) are rotatably connected in the two rotary switching connection holes (2330). One of the lifting support plates (233) has a switching drive receiving shell (235) fixed to its side. The storage switching support shaft (234) extends into the switching drive receiving shell (235) and has a driven worm gear (236) fixed to one end. The switching drive receiving shell (235) has a switching drive motor (237) fixed inside. The output shaft of the switching drive motor (237) is connected to a drive worm (238). The drive worm (238) is meshed with the driven worm gear (236). The storage support base (231) has an upward-facing lifting drive fixed cylinder (241) fixed on its side. A lifting drive sliding cylinder (242) is slidably connected in the lifting drive fixed cylinder (241). The top of the lifting drive sliding cylinder (242) is fixedly connected to the lifting support plate (233). The lifting drive fixed cylinder (241) is provided with a storage lifting drive rod (243) for driving the lifting drive sliding cylinder (242) to move up and down.

3. The agricultural topsoil sampling device based on an automated module according to claim 1, characterized in that, The multi-directional drive mechanism (40) includes two parallel longitudinal moving support slide rails (41) fixed to the top of the main support box (11). The extension direction of the longitudinal moving support slide rails (41) is consistent with the travel direction of the entire device. A longitudinal moving support slider (42) is slidably connected to the longitudinal moving support slide rails (41). A vertically extending heightening support column (421) is fixed to the top of the longitudinal moving support slider (42). The two heightening support columns (421) are fixedly connected to a horizontal support beam (43) at their upper ends. A horizontal moving support slide rail (44) is fixed to the side of the horizontal support beam (43). A horizontal moving support slider (45) is slidably connected to the horizontal moving support slide rail (44). A sampling lifting support body (46) is fixed to the horizontal moving support slider (45). The sampling lifting support body (46) has a vertically penetrating sampling lifting connection hole (460). The sampling support column (31) is slidably connected in the sampling lifting connection hole (460).

4. The agricultural topsoil sampling device based on an automated module according to claim 1, characterized in that, The sample storage bottle (22) is connected to the sample bottle connection hole (211) by a snap-fit ​​locking mechanism (25). The snap-fit ​​locking mechanism (25) includes two snap-fit ​​locking support blocks (251) fixed at the opening of the sample bottle connection hole (211). The snap-fit ​​locking support block (251) has a snap-fit ​​groove (252) on its side. Two locking connecting blocks (253) are fixed on the outside of the sample storage bottle (22). The two locking connecting blocks (253) are snap-fitted and constrained in each of the snap-fit ​​grooves (252) in a one-to-one correspondence.

5. The agricultural topsoil sampling device based on an automated module according to claim 1, characterized in that, The sample storage bottle (22) has a storage bottle sealing cap (220) threaded into its mouth. The sampling rotating support ring (311) is provided with a bottle stopper opening and closing mechanism (26). The bottle stopper opening and closing mechanism (26) includes a bottle stopper opening and closing fixing cylinder (261) fixed on the outside of the sampling rotating support ring (311) with the opening facing downward. A bottle stopper opening and closing sliding cylinder (262) with the opening facing upward is slidably connected in the bottle stopper opening and closing fixing cylinder (261). A vertically extending opening and closing support shaft (263) is fixed at the lower end of the bottle stopper opening and closing sliding cylinder (262). A clamping support disc (264) is rotatably connected at the lower end of the opening and closing support shaft (263). The bottom of the clamping support disc (264) has multiple clamping connection grooves (265) extending radially therein. A clamping drive slider (266) is slidably connected in the clamping connection grooves (265). A bottle cap clamping claw (267) is fixed on the lower side of the clamping drive slider (266). The stopper opening and closing fixing cylinder (261) is provided with an opening and closing lifting drive rod (268) for driving the stopper opening and closing sliding cylinder (262) to move up and down.

6. The agricultural topsoil sampling device based on an automated module according to claim 1, characterized in that, The sampling support column (31) is provided with a pickup cleaning mechanism (34). The pickup cleaning mechanism (34) includes a cleaning drive fixed cylinder (341) fixed on the sampling support column (31) and extending horizontally. A cleaning drive telescopic cylinder (342) is slidably connected in the cleaning drive fixed cylinder (341). A cleaning support frame (343) is fixed at the outer end of the cleaning drive telescopic cylinder (342). A cleaning rotating shaft (344) is rotatably connected on the cleaning support frame (343). A cleaning brush (345) is provided on the cleaning rotating shaft (344). The cleaning drive fixed cylinder (341) is provided with a cleaning extension drive rod (346) for driving the cleaning drive telescopic cylinder (342) to move.

7. The agricultural topsoil sampling device based on an automated module according to claim 6, characterized in that, The cleaning rotating shaft (344) has a hollow structure inside, and the side wall of the cleaning rotating shaft (344) has a plurality of purge holes (3440) that are interconnected inside and out.

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