Suspended sampling device

Abstract

The utility model provides a suspended sampling device which can be matched with an unmanned aerial vehicle and is used for unmanned suspended sampling, and the suspended sampling device comprises an active pose adjusting mechanism and a sampling assembly; the sampling assembly comprises a shearing mechanism for shearing a sample and a retaining mechanism for retaining the sheared sample; the active pose adjusting mechanism comprises a driving control box and a flexible execution part driven by airflow, the driving control box is connected with the unmanned aerial vehicle, and the driving control box is connected with the flexible execution part and used for controlling the flexible execution part; the flexible execution part is connected with the sampling assembly and used for actively adjusting the relative pose of the sampling assembly and the unmanned aerial vehicle. According to the suspended sampling device, the pose of the sampling assembly can be actively adjusted through the pose active adjusting mechanism, the flexibility and the sampling precision of the sampling assembly are improved, and the flexible execution part can form buffering between the unmanned aerial vehicle and the sampling assembly, so that the possibility of instability of the unmanned aerial vehicle is reduced, and the sampling precision is improved. Therefore, the sampling stability and safety are improved.

Description

Technical Field

[0001] The present application belongs to the field of drone sampling, and more specifically, to a suspended sampling device. Background Art

[0002] Drone sampling is a technique for collecting samples using drones, which can usually be used in scenarios such as branch sampling, fruit picking, and cliff sampling. Existing drones usually use drones equipped with sampling devices. The drones fly to the sampling location and hover at the sampling location, and use the sampling device to cut and retain the sampled objects. During the sampling process, when the cutting device contacts the sampled object, a large force will be generated and transmitted to the drone, causing the drone to become unstable during the sampling process. Utility Model Content

[0003] The purpose of the embodiments of the present application is to provide a suspended sampling device to solve the technical problem in the prior art that drones are prone to instability during use.

[0004] To achieve the above-mentioned purpose, the technical solution adopted in this application is: to provide an aerial sampling device for cooperating with a drone to realize unmanned aerial sampling of a specific sampling target, the aerial sampling device comprising an active posture adjustment mechanism and a sampling component;

[0005] The sampling assembly includes a shearing mechanism for shearing the sample and a retaining mechanism for retaining the sheared sample;

[0006] The active posture adjustment mechanism includes a drive control box and a flexible actuator driven by airflow, wherein the drive control box is connected to the UAV, and the drive control box is connected to the flexible actuator to control the flexible actuator;

[0007] The flexible actuator is connected to the sampling assembly and is used to actively adjust the relative posture of the sampling assembly and the UAV, and form a buffer structure between the UAV and the sampling assembly;

[0008] The flexible actuator is in the shape of an elongated strip and has a storage state and a working state. The bending degree of the flexible actuator is greater in the storage state than in the working state. The working state has a variable bending degree under the drive of airflow, so that the sampling assembly has multiple postures.

[0009] The multiple positions and opening and closing states of the sampling component are used to approach the specific sampling target and perform sampling operations on it while avoiding other surrounding objects.

[0010] Optionally, the sampling component includes a first pneumatic flexible member for driving the sampling component to open and close by airflow, the first pneumatic flexible member is transmission-connected to the shearing mechanism and the retention mechanism, and is used to drive the shearing mechanism and the retention mechanism, and the first pneumatic flexible member and the flexible actuator are connected to the same airflow source.

[0011] Optionally, the shearing mechanism includes a first actuating component and a second actuating component, a shearing opening is provided between the first actuating component and the second actuating component, at least one of the first actuating component and the second actuating component is a movable component, and the first pneumatic flexible member is connected to the movable component and is used to drive the movable component to move so that the shearing opening is opened and closed;

[0012] The retention mechanism includes a first retention piece and a second retention piece, the first retention piece is arranged on the first execution piece, and the second retention piece is arranged on the second execution piece, the first retention piece has a first retention surface on the side facing the second retention piece, and the second retention piece has a second retention surface on the side facing the first retention piece, the first retention surface and the second retention surface form a retention clamping opening, the first retention surface and the second retention surface both have an anti-slip structure, and the first retention surface and the second retention surface are arc structures that can fit each other.

[0013] Optionally, the suspended sampling device includes a mounting bracket, one end of the first pneumatic flexible member is connected to the mounting bracket, and the other end is connected to a movable plate, and both ends of the movable plate are respectively connected to a first connecting member and a second connecting member;

[0014] The first executing component and the second executing component are both movable components, and the first executing component and the second executing component are hinged, the first connecting member is connected to the first executing component to drive the first executing component to move, the second connecting member is connected to the second executing component to drive the second executing component to move, and the first executing component and the second executing component move to perform the sampling action.

[0015] Optionally, a third connecting member is provided between the first connecting member and the first executing member, and a fourth connecting member is provided between the second connecting member and the second executing member;

[0016] One end of the third connecting member is detachably connected to the first connecting member, and the other end is hinged to the first execution component. One end of the fourth connecting member is detachably connected to the second connecting member, and the other end is hinged to the second execution component.

[0017] Optionally, the suspended sampling device includes at least one first pneumatic flexible member, the mounting bracket includes a first fixed plate and a second fixed plate, the first pneumatic flexible member is located between the first fixed plate and the second fixed plate, and one end of the first pneumatic flexible member is connected to the first fixed plate, and the other end is connected to the movable plate;

[0018] A guide column is arranged between the first fixed plate and the second fixed plate, a guide hole is arranged on the movable plate, and the guide column is located in the guide hole;

[0019] A compression elastic member is arranged between the movable plate and the first fixed plate, and is used to keep the sampling assembly in a normally closed state.

[0020] Optionally, the first execution component includes a first handle portion and a first clamping portion, the second execution component includes a second handle portion and a second clamping portion, and the first clamping portion and the second clamping portion are hinged;

[0021] One end of the first handle portion is hinged to the first connecting member, and the other end is detachably connected to the first clamping portion; the second handle portion is hinged to the second connecting member, and the other end is detachably connected to the second clamping portion.

[0022] Optionally, the flexible actuator includes at least one telescopic segment, the telescopic segment includes a second pneumatic flexible member and a telescopic rod, the telescopic rod is arranged in the second pneumatic flexible member and connected to both ends of the second pneumatic flexible member, and the second pneumatic flexible member can be telescopic to actively adjust the relative distance between the two ends of the flexible actuator.

[0023] Optionally, the flexible actuator includes a plurality of groups of bending joints arranged in sequence;

[0024] The bending joint includes a first end plate, a second end plate, a third pneumatic flexible member and a connecting hinge, the third pneumatic flexible member and the connecting hinge are connected in parallel between the first end plate and the second end plate, the third pneumatic flexible member deviates from the central axis of the bending joint, and the third pneumatic flexible member is retractable to actively adjust the angle of the bending joint; or, the bending joint includes a first end plate, a second end plate and a plurality of third pneumatic flexible members, the plurality of third pneumatic flexible members are all connected in parallel between the first end plate and the second end plate, and the plurality of third pneumatic flexible members deviate from the central axis of the bending joint, and the third pneumatic flexible member is retractable to actively adjust the angle of the bending joint.

[0025] Optionally, the flexible actuator also includes a rotating joint, which includes a fixed seat, a rotating member, a screw and a fourth pneumatic flexible member. The fixed seat is connected to the flexible actuator, the rotating member is connected to the sampling assembly, the screw is fixedly connected to the fixed seat, the rotating member is threadedly connected to the screw, one end of the fourth pneumatic flexible member is fixedly connected to the fixed seat, and the other end is rotatably connected to the rotating member. The fourth pneumatic flexible member is retractable to drive the fixed seat and the rotating member to rotate relative to each other.

[0026] The beneficial effect of the suspended sampling device provided by the present application is that compared with the prior art, the suspended sampling device of the present application can not only actively adjust the posture of the sampling component through the active posture adjustment mechanism to improve the flexibility of the sampling component to adapt to a more diverse sampling environment, but also can actively adjust the posture of the sampling component to make the sampling component accurately reach the sampling position, thereby improving the accuracy of sampling. In addition, the flexible actuator can form a buffer between the drone and the sampling component, thereby reducing the possibility of drone instability, thereby improving the stability and safety of sampling. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0028] Figure 1 It is a schematic diagram of the active posture adjustment mechanism in the embodiment of the utility model in the straightened state;

[0029] Figure 2 It is a schematic diagram of the bending state of the active posture adjustment mechanism in the embodiment of the utility model;

[0030] Figure 3 It is a schematic diagram of a sampling component in an embodiment of the utility model;

[0031] Figure 4 It is a schematic diagram of a telescopic segment in an embodiment of the utility model;

[0032] Figure 5 for Figure 4 Middle AA section view;

[0033] Figure 6 A schematic diagram of a bending joint in an embodiment of the utility model;

[0034] Figure 7 It is a schematic diagram of a rotary joint in an embodiment of the utility model;

[0035] Figure 8 for Figure 7 Middle BB section view.

[0036] Among them, the reference numerals in the figure are:

[0037] Active posture adjustment mechanism 1, drive control box 11, flexible actuator 12, second pneumatic flexible member 121, telescopic rod 122, third pneumatic flexible member 123, fourth pneumatic flexible member 124, fixed seat 125, movable seat 126, screw 127, rotating member 128, sampling assembly 2, first fixed plate 21, second fixed plate 22, movable plate 23, first pneumatic flexible member 24, first connecting rod 251, first swing arm 252, second swing arm 253, third swing arm 254, first connecting arm 255, second connecting arm 256, third connecting member 261, fourth connecting member 262, first handle portion 271, first clamping portion 272, first retaining member 273, second handle portion 281, second clamping portion 282, second retaining member 283. DETAILED DESCRIPTION

[0038] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0039] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0040] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0041] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0042] See also Figure 1 and Figure 2 , the suspended sampling device provided in the embodiment of the present application is now described. The suspended sampling device is used to cooperate with a drone to achieve unmanned suspended sampling of a specific sampling target, and the suspended sampling device includes an active posture adjustment mechanism 1 and a sampling component 2;

[0043] The suspended sampling device comprises an active posture adjustment mechanism 1 and a sampling component 2;

[0044] The sampling assembly 2 includes a shearing mechanism for shearing the sample and a retaining mechanism for retaining the sheared sample;

[0045] The active posture adjustment mechanism 1 includes a drive control box 11 and a flexible actuator 12 driven by airflow, wherein the drive control box 11 is connected to the drone, and the drive control box 11 is connected to the flexible actuator 12 to control the flexible actuator 12;

[0046] The flexible actuator 12 is connected to the sampling assembly 2, and is used to actively adjust the relative posture of the sampling assembly 2 and the UAV, and form a buffer structure between the UAV and the sampling assembly 2;

[0047] The flexible actuator is in the shape of an elongated strip and has a storage state and a working state. The bending degree of the flexible actuator is greater in the storage state than in the working state. The working state has a variable bending degree under the drive of airflow, so that the sampling assembly has multiple postures.

[0048] The multiple positions and opening and closing states of the sampling component are used to approach the specific sampling target and perform sampling operations on it while avoiding other surrounding objects.

[0049] The suspended sampling device of the present application is used in cooperation with a drone for suspended sampling, wherein the posture active adjustment mechanism 1 is mainly used for the posture of the sampling component 2, that is, the position and posture of the component are adopted. The posture active adjustment mechanism 1 includes a drive control box 11 and an airflow-driven flexible actuator 12. The drive control box 11 is an equipment box containing a driver and a controller, which is used to control the flexible actuator 12 to continuously execute actions. The flexible actuator 12 is driven by airflow to reduce weight. The drive control box 11 can control the on / off and direction of the airflow by controlling the opening and closing of valves and the opening and closing of pumps, thereby controlling the action of the flexible actuator 12.

[0050] The flexible actuator has a storage state and a working state. The bending degree of the flexible actuator is greater in the storage state than in the working state. That is, the flexible actuator is greatly bent to be stored, thereby minimizing the impact of the suspended sampling device on the flight of the drone and facilitating the storage of the suspended sampling device.

[0051] The sampling component 2 is connected to the flexible actuator 12. Therefore, in the working state, the relative posture of the sampling component 2 and the drone can be controlled by controlling the movement of the flexible actuator 12. For example, the relative distance between the sampling component 2 and the drone can be controlled by controlling the extension and retraction of the flexible actuator 12. The relative offset angle between the sampling component 2 and the drone can be controlled by controlling the bending of the flexible actuator 12. The direction of the sampling port of the sampling component 2 can be controlled by controlling the rotation of the flexible actuator 12.

[0052] This embodiment is used to sample specific sampling targets. For example, in some embodiments, in scenarios where the terminal branches and buds of ornamental plants and tender shoots of plants need to be accurately picked, the suspended sampling device can accurately control the position and posture of the sampling component 2 through the flexible actuator 12 to achieve accurate sampling without damaging other parts of the sampling object. A camera can be set at the end of the active position adjustment mechanism 1 to monitor the sampling situation in real time and further improve the sampling accuracy.

[0053] In addition to being able to actively control the sampling component 2, the active posture adjustment mechanism 1 can also form a buffer structure between the UAV and the sampling component 2 due to the presence of the flexible actuator 12, so as to buffer the reaction force of the sampling component 2 caused by collision, shear and other contacts, reduce the reaction force transmitted to the UAV, thereby reducing the possibility of UAV instability and effectively improving the stability and safety of sampling.

[0054] The sampling component 2 mainly includes a shearing mechanism and a retaining mechanism. The shearing mechanism can shear the retained sample; the retaining mechanism retains the sheared sample, thereby realizing the sampling operation.

[0055] Compared with the prior art, the suspended sampling device provided in the present application can not only actively adjust the posture of the sampling component 2 through the active posture adjustment mechanism 1 to improve the flexibility of the sampling component 2 to adapt to a more diverse sampling environment, but also can actively adjust the posture of the sampling component 2 to make the sampling component 2 accurately reach the sampling position, thereby improving the accuracy of sampling. In addition, the flexible actuator 12 can form a buffer between the drone and the sampling component 2, thereby reducing the possibility of drone instability, thereby improving the stability and safety of sampling.

[0056] See also Figure 3 In one embodiment of the present application, the sampling component 2 includes a first pneumatic flexible member 24 for driving the sampling component to open and close by airflow. The first pneumatic flexible member 24 is transmission-connected to the shearing mechanism and the retention mechanism, and is used to drive the shearing mechanism and the retention mechanism. The first pneumatic flexible member 24 and the flexible actuator 12 are connected to the same airflow source.

[0057] The shearing mechanism and retention mechanism in the sampling component 2 can be driven by a motor, a cylinder, and other methods. In the present embodiment, the shearing mechanism and the retention mechanism are connected to the first pneumatic flexible member 24 by transmission, and driven by the first pneumatic flexible member 24. Specifically, only one first pneumatic flexible member 24 can be provided to drive the shearing mechanism and the retention mechanism at the same time, or two first pneumatic flexible members 24 can be provided, and the two first pneumatic flexible members 24 drive the shearing mechanism and the retention mechanism respectively. The first pneumatic flexible member 24 is a component driven by pneumatics, and the flexible actuator 12 is also a component driven by airflow. Therefore, the first pneumatic flexible member 24 and the flexible actuator 12 can be connected to the same airflow source, and the overall weight can be effectively reduced by the same airflow source. The airflow source can specifically be an air pump or a high-pressure gas cylinder. The airflow source can be provided on the drone, the active posture adjustment mechanism 1, or the sampling component 2. It can be connected to the first pneumatic flexible member 24 and the flexible actuator 12 by means of a hose, etc., to achieve airflow drive.

[0058] See also Figure 3In one embodiment of the present application, the shearing mechanism includes a first executing component and a second executing component, a shearing opening is provided between the first executing component and the second executing component, at least one of the first executing component and the second executing component is a movable component, and a first pneumatic flexible member 24 is connected to the movable component and is used to drive the movable component to move so that the shearing opening is opened and closed;

[0059] The retention mechanism includes a first retention piece 273 and a second retention piece 283. The first retention piece 273 is arranged on the first execution component, and the second retention piece 283 is arranged on the second execution component. The first retention piece 273 has a first retention surface on the side facing the second retention piece 283, and the second retention piece 283 has a second retention surface on the side facing the first retention piece 273. The first retention surface and the second retention surface form a retention clamping opening. Both the first retention surface and the second retention surface have an anti-slip structure, and the first retention surface and the second retention surface are arc structures that can fit each other.

[0060] The shearing mechanism can be a common pair of scissors, cutting equipment, etc., and the retention mechanism can be retained by clamping, holding, etc. The shearing mechanism and the retention mechanism can be independent components, or they can be components that are combined with each other or have an integral structure. In this embodiment, the shearing mechanism includes a first execution component and a second execution component, and at least one of the first execution component and the second execution component is a movable component. Specifically, one of the first execution component and the second execution component can be movable, and the other execution component can be a fixed component, or both the first execution component and the second execution component can be movable components. The movable component is movable, and by driving it through the first pneumatic flexible member 24, the first execution component and the second execution component can be moved closer to or farther from each other, thereby opening and closing the shearing opening to achieve the purpose of shearing.

[0061] The retention mechanism of this embodiment is not completely independent of the shearing mechanism, but includes a first retention piece 273 and a second retention piece 283. The first retention piece 273 is arranged on the first execution component, and the second retention piece 283 is arranged on the second execution component, so that the first retention piece 273 and the second retention piece 283 can also be opened and closed during the opening and closing process of the shearing opening. The first retention surface of the first retention piece 273 and the second retention surface of the second retention piece 283 are arranged opposite to each other, so that a retention clamping opening is formed between the first retention surface and the second retention surface, which can be used to clamp the sheared sample. The first retention surface and the second retention surface both have an anti-skid structure, which can improve the stability of the clamping, and the anti-skid structure can be a structure such as a sawtooth or a brush. In addition, the first retention surface and the second retention surface are arc structures that can fit each other, and the arc structure can prevent the sample from falling.

[0062] The retention mechanism of this embodiment is combined with , so that retention is achieved during the shearing action. Shearing and retention can be achieved with a single drive, which not only simplifies the structure and reduces the weight, but also makes the operation easier.

[0063] See also Figure 3 In one embodiment of the present application, the suspended sampling device includes a mounting bracket, one end of the first pneumatic flexible member 24 is connected to the mounting bracket, and the other end is connected to the movable plate 23, and the two ends of the movable plate 23 are respectively connected to the first connecting member and the second connecting member;

[0064] The first executing component and the second executing component are both movable components, and the first executing component and the second executing component are hinged, the first connecting member is connected to the first executing component to drive the first executing component to move, the second connecting member is connected to the second executing component to drive the second executing component to move, and the first executing component and the second executing component move to perform the sampling action.

[0065] In this embodiment, the first actuator and the second actuator are both movable parts, and the first actuator and the second actuator are hinged, so that the first actuator and the second actuator can be driven to move so that the first actuator and the second actuator can perform a sampling action. The first actuator and the second actuator are both movable parts, and the first actuator and the second actuator are hinged, so that the first actuator and the second actuator can be clamped around the hinge to achieve shearing and retention. Compared with a single movable part, the shearing and clamping forces received by the sample are more uniform.

[0066] The first actuator and the second actuator are both movable parts, so usually they need to be driven separately. However, in this embodiment, one end of the first pneumatic flexible part 24 is connected to the mounting bracket, and the other end is connected to the movable plate 23. The two ends of the movable plate 23 are respectively connected to the first connecting part and the second connecting part. The first actuator and the second actuator are respectively connected through the first connecting part and the second connecting part. The same first pneumatic flexible part 24 can be used to drive the first actuator and the second actuator at the same time, so that the first actuator and the second actuator move symmetrically, thereby ensuring the stability of shearing and retention.

[0067] The first connecting member and the second connecting member can adopt the structure of a connecting rod group and a meshing gear group. In one embodiment of the present application, the first connecting member and the second connecting member are both connecting rod groups. The connecting rod assembly includes a first connecting rod 251, a first swing arm 252, a second swing arm 253, a third swing arm, a first connecting arm 255 and a second connecting arm 256. One end of the first connecting rod 251 is hinged to the movable plate 23 on the first axis, and the other end is hinged to one end of the first swing arm 252 on the second axis. The other end of the first swing arm 252 and one end of the second swing arm 253 are hinged to the third axis. The other end of the second swing arm 253 is hinged to the mounting bracket on the fourth axis. One end of the third swing arm is hinged to the mounting bracket on the fifth axis, and the other end is hinged to one end of the second connecting arm 256 on the sixth axis. The second connecting arm 256 is hinged to the third axis. Both ends of the first connecting arm 255 are hinged to the second axis and the fifth axis respectively. The first actuator is connected to the second connecting arm 256 of the first connecting member, and the second actuator is connected to the second connecting arm 256 of the second connecting member. When the movable plate 23 moves downward under the drive of the first pneumatic flexible member 24, it can drive the first connecting rod 251 to move downward. Under the restriction of the first connecting arm 255, the first swing arm 252 moves downward, and at the same time, the second swing arm 253 and the third swing arm rotate inward, so that the second connecting arm 256 of the first connecting member and the second connecting arm 256 of the second connecting member rotate inward, driving the first actuator and the second actuator to rotate and close; conversely, when the movable plate 23 moves upward under the drive of the first pneumatic flexible member 24, it drives the first actuator and the second actuator to rotate and open.

[0068] See also Figure 3 In one embodiment of the present application, a third connecting member 261 is arranged between the first connecting member and the first execution member, and a fourth connecting member 262 is arranged between the second connecting member and the second execution member; one end of the third connecting member 261 is detachably connected to the first connecting member, and the other end is hinged to the first execution member, and one end of the fourth connecting member 262 is detachably connected to the second connecting member, and the other end is hinged to the second execution member.

[0069] The third connecting member 261 is an intermediate transition structure between the first connecting member and the first execution member, and the fourth connecting member 262 is an intermediate transition structure between the second connecting member and the second execution member. One end of the third connecting member 261 is detachably connected to the first connecting member, which can realize the rapid disassembly and assembly of the third connecting member 261. Similarly, the fourth connecting member 262 can also be quickly disassembled and assembled, thereby realizing the rapid disassembly and assembly of the entire sampling assembly 2. The other ends of the third connecting member 261 and the fourth connecting member 262 are respectively hinged to the first execution member and the second execution member, so that the first execution member can rotate relative to the third connecting member 261, and the second execution member can rotate relative to the fourth connecting member 262, so that the first execution member and the second execution member are not easily blocked. For the case where the first connecting member and the second connecting member adopt a connecting rod group, the third connecting member 261 can be connected to the second connecting arm 256 of the first connecting member, and the fourth connecting member 262 is connected to the second connecting arm 256 of the second connecting member.

[0070] See also Figure 3 In one embodiment of the present application, the suspended sampling device includes at least one first pneumatic flexible member 24, the mounting bracket includes a first fixed plate 21 and a second fixed plate 22, the first pneumatic flexible member 24 is located between the first fixed plate 21 and the second fixed plate 22, and one end of the first pneumatic flexible member 24 is connected to the first fixed plate 21, and the other end is connected to the movable plate 23; a guide column is arranged between the first fixed plate 21 and the second fixed plate 22, a guide hole is arranged on the movable plate 23, and the guide column is located in the guide hole; a compression elastic member is arranged between the movable plate 23 and the first fixed plate 21, which is used to keep the sampling assembly 2 in a normally closed state.

[0071] Since the movable plate 23 drives the first actuator and the second actuator at the same time, one pneumatic flexible member or multiple first pneumatic flexible members can be used. Multiple first pneumatic flexible members 24 cover a wider area. Multiple first pneumatic flexible members 24 simultaneously apply forces to the movable plate 23, which can make the force on the movable plate 23 more uniform. A guide hole is provided on the movable plate 23, and the guide column between the first fixed plate 21 and the second fixed plate 22 is located in the guide hole, which can ensure that the movable plate 23 can move smoothly under the drive of multiple first pneumatic flexible members 24.

[0072] A compression elastic member is provided between the movable plate 23 and the first fixed plate 21 to keep the sampling assembly 2 in a normally closed state. The sampling assembly 2 is in a normally closed state to avoid the problem of mistaken sampling of objects other than the sampling target, and at the same time, it can reduce the possibility of collision between the opened sampling assembly 2 and objects on the flight path when the drone is transported to the sampling position.

[0073] See also Figure 3In one embodiment of the present application, the first execution component includes a first handle portion 271 and a first clamping portion 272, and the second execution component includes a second handle portion 281 and a second clamping portion 282, and the first clamping portion 272 and the second clamping portion 282 are hinged; one end of the first handle portion 271 is hinged to the first connecting member, and the other end is detachably connected to the first clamping portion 272, and the second handle portion 281 is hinged to the second connecting member, and the other end is detachably connected to the second clamping portion 282.

[0074] In this embodiment, the first actuator is mainly composed of the first handle portion 271 and the first clamping portion 272, and the second actuator is mainly composed of the second handle portion 281 and the second clamping portion 282. The first handle portion 271 and the first clamping portion 272 and the second handle portion 281 and the second clamping portion 282 are connected in a detachable manner, so that the first handle portion 271 and the second handle portion 281 can be replaced according to actual conditions. For example, replacing the first handle portion 271 and the second handle portion 281 with a longer length can make the force arm of the sampling assembly 2 longer, thereby increasing the shear force of the shearing mechanism and the clamping force of the retention mechanism. For another example, replacing the first handle portion 271 and the second handle portion 281 with a shorter length can make the first clamping portion 272 and the second clamping portion 282 open at a larger angle, thereby being suitable for a larger sampling target.

[0075] See also Figure 4 and 5 In one embodiment of the present application, the flexible actuator 12 includes at least one telescopic segment, the telescopic segment includes a second pneumatic flexible member 121 and a telescopic rod 122, the telescopic rod 122 is arranged in the second pneumatic flexible member 121 and connected to both ends of the second pneumatic flexible member 121, and the second pneumatic flexible member 121 can be telescopic to actively adjust the relative distance between the two ends of the flexible actuator 12.

[0076] In this embodiment, when the second pneumatic flexible member 121 is inflated and extended, the telescopic rod 122 will extend accordingly, and the second pneumatic flexible member 121 can be extended to actively adjust the relative distance between the two ends of the flexible actuator 12, so that the extension and shortening of the telescopic segment can be actively adjusted, and the flexible actuator 12 will also extend or shorten accordingly, thereby making the sampling component 2 move away from or close to the drone, and the sampling range can be increased without changing the position of the drone. In the case where there are many obstacles around the sampling target and it is difficult for the drone to fly close, the flexible actuator 12 can be actively extended to send the sampling component 2 to the collection position, thereby avoiding the collision between the drone and the obstacle; in the case where there are no obstacles around the target and the drone can fly directly to it, the flexible actuator 12 can be actively shortened to reduce the difficulty of sampling operation.

[0077] See also Figure 6In one embodiment of the present application, the flexible actuator 12 includes at least two groups of bending joints arranged in sequence, and the bending joint includes a first end plate, a second end plate, a third pneumatic flexible member and a connecting hinge. The third pneumatic flexible member and the connecting hinge are connected in parallel between the first end plate and the second end plate, and the third pneumatic flexible member deviates from the central axis of the bending joint. The third pneumatic flexible member can be retracted to actively adjust the angle of the bending joint; or, the bending joint includes a first end plate, a second end plate and a plurality of third pneumatic flexible members, and the plurality of third pneumatic flexible members are all connected in parallel between the first end plate and the second end plate, and the plurality of third pneumatic flexible members deviate from the central axis of the bending joint, and the third pneumatic flexible member can be retracted to actively adjust the angle of the bending joint.

[0078] In this embodiment, in the case of having a third pneumatic flexible member 123 and a connecting hinge, the connecting hinge can adopt a one-way hinge, a ball hinge, a cross hinge or other structures. The third pneumatic flexible member 123 can be extended and retracted to make the bending joint rotate around the connecting hinge, thereby realizing the relative bending of the first end plate and the second end plate. In the case of multiple third pneumatic flexible members 123, the third pneumatic flexible member 123 on one side can be extended or the third pneumatic flexible member 123 on the opposite side can be shortened to make the bending joint bend to the opposite side. At the same time, multiple third pneumatic flexible members 123 can also be set in the case of a connecting hinge, and the bending of the bending joint can also be realized by the extension and retraction of the third pneumatic flexible member. The setting of the connecting hinge can make the bending more stable. The bending angle of the bending joint can be actively adjusted by controlling the second pneumatic flexible member 121, thereby adjusting the orientation of the sampling component 2. For example, when the sampling component cannot be sampled from above the sampling target, but can be sampled from the side of the sampling target, the sampling component 2 with the opening facing downward can be bent by bending the bending joint, and rotated until the opening is in the horizontal direction, so that the sampling target can be sampled from the side. Since the bending angle of a single bending joint is relatively limited, multiple groups of bending joints arranged in sequence can be used to effectively improve the overall bending degree of the flexible actuator 12 and better meet actual needs.

[0079] See also Figure 7 and 8In one embodiment of the present application, the flexible actuator 12 also includes a rotary joint, which includes a fixed seat 125, a rotating member 128, a screw 127 and a fourth pneumatic flexible member 124. The fixed seat 125 is connected to the flexible actuator 12, the rotating member 128 is connected to the sampling component 2, the screw 127 is fixedly connected to the fixed seat 125, and the screw 127 is arranged along the axial direction of the flexible actuator 12, the rotating member 128 is threadedly connected to the screw 127, one end of the fourth pneumatic flexible member 124 is fixedly connected to the fixed seat 125, and the other end is rotatably connected to the rotating member 128, and the fourth pneumatic flexible member 124 is retractable to drive the fixed seat 125 and the rotating member 128 to rotate relative to each other.

[0080] When the fourth pneumatic flexible member 124 is extended or shortened, the rotating member 128 can be moved along the axis of the lead screw 127. Since the rotating member 128 is threadedly connected to the lead screw 127, the rotating member 128 is forced to rotate during the circumferential movement, thereby causing the rotating member 128 to rotate relative to the fixed seat 125. The fixed seat 125 is connected to the flexible actuator 12, the rotating member 128 is connected to the sampling assembly 2, and the lead screw 127 is arranged along the axial direction of the flexible actuator 12, so that the sampling assembly 2 can be rotated around the axial direction of the flexible actuator 12, thereby adjusting the angle of the sampling port of the sampling assembly 2.

[0081] In order to prevent the rotary joint from being extended or shortened during the rotation process, two fixed seats 125 can be set, and the lead screw 127 is connected between the two fixed seats 125. A movable seat 126 is set between the two fixed seats 125, and a fourth pneumatic flexible member 124 is respectively set between the two sides of the movable seat 126 and the fixed seats 125. The rotating member 128 is rotatably connected to the movable seat 126. When the fourth pneumatic flexible member 124 on one side is shortened, the fourth pneumatic flexible member 124 on the other side is extended, and the movable seat 126 moves between the two fixed seats 125, driving the rotating member 128 to rotate while moving along the axial direction of the lead screw 127, thereby driving the sampling component 2 to rotate. The length of the rotary joint is determined by the two fixed seats 125. If the two are fixed, the length of the rotary joint remains unchanged. The rotary joint only rotates without extending, which can effectively reduce the difficulty of sampling operation.

[0082] The above are only preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application should be included in the protection scope of the present application.

Claims

1. A suspended sampling device, used to cooperate with a drone to achieve unmanned suspended sampling of a specific sampling target, characterized in that: The suspended sampling device comprises an active posture adjustment mechanism and a sampling component; The sampling assembly includes a shearing mechanism for shearing the sample and a retaining mechanism for retaining the sheared sample; The active posture adjustment mechanism includes a drive control box and a flexible actuator driven by airflow, wherein the drive control box is connected to the UAV, and the drive control box is connected to the flexible actuator to control the flexible actuator; The flexible actuator is connected to the sampling assembly and is used to actively adjust the relative posture of the sampling assembly and the drone, and form a buffer structure between the drone and the sampling assembly; The flexible actuator is in the shape of an elongated strip and has a storage state and a working state. The bending degree of the flexible actuator is greater in the storage state than in the working state. The working state has a variable bending degree under the drive of airflow, so that the sampling assembly has multiple postures. The multiple positions and opening and closing states of the sampling component are used to approach the specific sampling target and perform sampling operations on it while avoiding other surrounding objects.

2. The suspended sampling device according to claim 1, characterized in that: The sampling component includes a first pneumatic flexible member for driving the sampling component to open and close by airflow. The first pneumatic flexible member is transmission-connected to the shearing mechanism and the retention mechanism and is used to drive the shearing mechanism and the retention mechanism. The first pneumatic flexible member and the flexible actuator are connected to the same airflow source.

3. The suspended sampling device according to claim 2, characterized in that: The shearing mechanism comprises a first actuating component and a second actuating component, a shearing opening is provided between the first actuating component and the second actuating component, at least one of the first actuating component and the second actuating component is a movable component, and the first pneumatic flexible member is connected to the movable component and is used to drive the movable component to move so that the shearing opening is opened and closed; The retention mechanism includes a first retention piece and a second retention piece, the first retention piece is arranged on the first execution component, and the second retention piece is arranged on the second execution component, the first retention piece has a first retention surface on the side facing the second retention piece, and the second retention piece has a second retention surface on the side facing the first retention piece, the first retention surface and the second retention surface form a retention clamping opening, the first retention surface and the second retention surface both have an anti-slip structure, and the first retention surface and the second retention surface are arc structures that can fit each other.

4. The suspended sampling device according to claim 3, characterized in that: The suspended sampling device comprises a mounting bracket, one end of the first pneumatic flexible member is connected to the mounting bracket, and the other end is connected to a movable plate, and both ends of the movable plate are respectively connected to a first connecting member and a second connecting member; The first executing component and the second executing component are both the movable components, and the first executing component and the second executing component are hinged, the first connecting member is connected to the first executing component to drive the first executing component to move, the second connecting member is connected to the second executing component to drive the second executing component to move, and the first executing component and the second executing component move to perform a sampling action.

5. The suspended sampling device according to claim 4, characterized in that: A third connecting member is provided between the first connecting member and the first executing member, and a fourth connecting member is provided between the second connecting member and the second executing member; One end of the third connecting member is detachably connected to the first connecting member, and the other end is hinged to the first execution component. One end of the fourth connecting member is detachably connected to the second connecting member, and the other end is hinged to the second execution component.

6. The suspended sampling device according to claim 4, characterized in that: The suspended sampling device includes at least one first pneumatic flexible member, the mounting bracket includes a first fixed plate and a second fixed plate, the first pneumatic flexible member is located between the first fixed plate and the second fixed plate, and one end of the first pneumatic flexible member is connected to the first fixed plate, and the other end is connected to the movable plate; A guide column is provided between the first fixed plate and the second fixed plate, a guide hole is provided on the movable plate, and the guide column is located in the guide hole; A compression elastic member is provided between the movable plate and the first fixed plate, for keeping the sampling assembly in a normally closed state.

7. The suspended sampling device according to claim 4 or 5, characterized in that: The first execution component includes a first handle portion and a first clamping portion, the second execution component includes a second handle portion and a second clamping portion, and the first clamping portion and the second clamping portion are hinged; One end of the first handle portion is hinged to the first connecting member, and the other end is detachably connected to the first clamping portion; the second handle portion is hinged to the second connecting member, and the other end is detachably connected to the second clamping portion.

8. The suspended sampling device according to claim 1, characterized in that: The flexible actuator includes at least one telescopic segment, which includes a second pneumatic flexible member and a telescopic rod. The telescopic rod is arranged in the second pneumatic flexible member and connected to both ends of the second pneumatic flexible member. The second pneumatic flexible member can be telescopic to actively adjust the relative distance between the two ends of the flexible actuator.

9. The suspended sampling device according to claim 1, characterized in that: The flexible actuator includes a plurality of groups of bending joints arranged in sequence; The bending joint includes a first end plate, a second end plate, a third pneumatic flexible member and a connecting hinge, the third pneumatic flexible member and the connecting hinge are connected in parallel between the first end plate and the second end plate, the third pneumatic flexible member deviates from the central axis of the bending joint, and the third pneumatic flexible member is retractable to actively adjust the angle of the bending joint; or, the bending joint includes a first end plate, a second end plate and a plurality of third pneumatic flexible members, the plurality of third pneumatic flexible members are all connected in parallel between the first end plate and the second end plate, and the plurality of third pneumatic flexible members deviate from the central axis of the bending joint, and the third pneumatic flexible member is retractable to actively adjust the angle of the bending joint.

10. The suspended sampling device according to claim 1, 8 or 9, characterized in that: The flexible actuator also includes a rotating joint, which includes a fixed seat, a rotating member, a screw and a fourth pneumatic flexible member. The fixed seat is connected to the flexible actuator, the rotating member is connected to the sampling component, the screw is fixedly connected to the fixed seat, the rotating member is threadedly connected to the screw, one end of the fourth pneumatic flexible member is fixedly connected to the fixed seat, and the other end is rotatably connected to the rotating member. The fourth pneumatic flexible member is retractable to drive the fixed seat and the rotating member to rotate relative to each other.

Images