Soil detection device and self-moving robot

Abstract

The application provides a soil detection device and a self-moving robot, and relates to the technical field of soil detection. The soil detection device can reduce the difficulty of inserting a probe into soil, and is beneficial to reducing the risk of probe damage. The soil detection device comprises a shell, a probe and a driving mechanism. The shell encloses a containing cavity. The probe is rotatably arranged in the containing cavity. The driving mechanism is in transmission connection with the probe. The driving mechanism can drive the probe to rotate relative to the shell. In the process of rotating relative to the shell, the probe can move from the containing cavity to outside the shell, or retreat from outside the shell to the containing cavity.

Description

Technical Field

[0001] This application relates to the field of soil testing technology, and in particular to a soil testing device and a self-moving robot. Background Technology

[0002] Soil testing is a technique that assesses soil properties such as moisture, air, and heat by measuring the physical properties of the soil without causing any chemical changes.

[0003] Soil testing methods include laboratory testing of samples after sampling, and in-situ testing using testing devices. In-situ soil testing requires inserting the probe of the testing device into the soil to obtain various soil parameters. In related technologies, the probe is typically inserted manually or by a robot. However, robots are usually large, and when inserting the probe into hard soil, they are prone to bending or damage. Utility Model Content

[0004] This application provides a soil testing device and a self-moving robot, which can reduce the difficulty of inserting probes into the soil and help reduce the risk of probe damage.

[0005] On the one hand, this application provides a soil testing device, which includes: a housing, a probe and a driving mechanism; the housing encloses a receiving cavity; the probe is rotatably disposed in the receiving cavity; the driving mechanism is connected to the probe in a transmission manner, and the driving mechanism can drive the probe to rotate relative to the housing. During the rotation of the probe relative to the housing, it can move from inside the receiving cavity to outside the housing, or from outside the housing back into the receiving cavity.

[0006] The soil testing device provided in this application, due to the enclosure formed by the shell, provides installation space and protection for the probe, drive mechanism, etc. The probe is rotatably mounted within the enclosure, and the drive mechanism can drive the probe to rotate relative to the shell. Simultaneously, during the rotation of the probe, it can move from inside the enclosure to outside the shell. Thus, during the insertion of the probe into the soil, the probe can rotate relative to the soil, thereby reducing the resistance of the soil to the probe, reducing the difficulty of probe insertion, and helping to reduce the risk of probe damage.

[0007] In one possible implementation of this application, the soil testing device further includes a mounting base slidably disposed within a receiving cavity, and a probe rotatably disposed on the mounting base; a drive mechanism is disposed between the housing and the probe, a portion of the drive mechanism is connected to the mounting base, and another portion of the drive mechanism is drively connected to the probe, the drive mechanism being capable of driving the mounting base to move relative to the housing between a first position and a second position along a sliding direction; when the mounting base is in the first position, the probe is located within the receiving cavity; when the mounting base is in the second position, at least a portion of the probe is located outside the receiving cavity, and the drive mechanism drives the probe to rotate, so that the probe moves along the sliding direction away from or towards the mounting base.

[0008] In one possible implementation of this application, the soil testing device further includes a guide post, which is disposed in the accommodating cavity along the sliding direction, and a mounting seat has a sliding through hole that matches the guide post, and the mounting seat is slidably sleeved on the guide post through the sliding through hole.

[0009] In one possible implementation of this application, the driving mechanism includes a power component, a first transmission assembly, and a second transmission assembly; the power component is fixedly connected to the housing; the first transmission assembly is drive-connected to the power component and connected to the mounting base; a portion of the second transmission assembly is connected to the first transmission assembly, and the other portion of the second transmission assembly is drive-connected to the probe; the power component drives the first transmission assembly to move the mounting base between a first position and a second position; after the mounting base moves to the second position, the two portions of the second transmission assembly are connected, and the first transmission assembly drives the second transmission assembly so that the second transmission assembly drives the probe to move relative to the mounting base in a sliding direction.

[0010] In one possible implementation of this application, the first transmission assembly includes a first driving part and a first driven part, and the second transmission assembly includes a second driving part and a second driven part; the first driving part is rotatably disposed in the accommodating cavity and is drivenly connected to the power component, the first driven part is disposed on the mounting base and is detachably drivenly connected to the first driving part; the second driving part is disposed on the first driving part, the second driven part is disposed on the mounting base and is drivenly connected to the probe; after the mounting base moves to the second position, the first driven part is disengaged from the first driving part, and the second driven part is drivenly connected to the second driving part.

[0011] In one possible implementation of this application, the first driving part includes a lead screw, which, along its axial direction, sequentially includes a first sliding section, a threaded section, and a second sliding section. The first sliding section is connected to a power component for transmission. The second driving part is disposed on the second sliding section. The axial direction of the lead screw and the sliding direction are parallel. A mounting seat is sleeved on the lead screw. The first driven part includes a first nut that matches the threaded section. The first nut is fixed to the mounting seat. The outer diameters of both the first and second sliding sections are smaller than the inner diameter of the first nut.

[0012] In one possible implementation of this application, the second driving part includes a driving gear, the second driven part includes a driven gear adapted to the driving gear, the driving gear is fixed to the end of the first driven part away from the power member, and the driven gear is rotatably mounted on the mounting base.

[0013] In one possible implementation of this application, the drive mechanism further includes a reset member connected to the mounting base. When the mounting base is in the first position, the mounting base tends to move to the second position under the force applied by the reset member. When the mounting base is in the second position, the mounting base tends to move to the first position under the force applied by the reset member.

[0014] In one possible implementation of this application, the drive mechanism further includes a third reset member, and the portion of the second transmission assembly connected to the probe transmission is connected to the third reset member; wherein, when the mounting base is in the second position, the force exerted by the third reset member on the portion of the second transmission assembly connected to the probe transmission is greater than the force exerted by the reset member connected to the mounting base on the mounting base.

[0015] In one possible implementation of this application, the probe has an external thread, and the mounting base has an internal thread that matches the external thread. When the mounting base is in the second position, the drive mechanism drives the probe to rotate, and the probe moves relative to the mounting base in the sliding direction under the cooperation of the internal and external threads.

[0016] In one possible implementation of this application, the soil testing device further includes a probe fixing rod, which is slidably connected to another part of the second transmission assembly along the sliding direction. The probe is connected to the probe fixing rod, and the other part of the second transmission assembly can drive the probe fixing rod to rotate, thereby driving the probe to rotate.

[0017] In one possible implementation of this application, along the sliding direction, the probe fixing rod includes an engaging section and a disengaging section. The engaging section is located at the end of the probe fixing rod near the probe, and the disengaging section is located at the end of the probe fixing rod away from the probe. The probe fixing rod passes through another part of the second transmission assembly. One of the engaging section and the other part of the second transmission assembly is provided with a groove, and the other of the engaging section and the other part of the second transmission assembly is provided with a protrusion that matches the groove. The engaging section and the other part of the second transmission assembly are slidably connected by the groove and the protrusion. The outer diameter of the disengaging section is smaller than the inner diameter of the other part of the second transmission assembly.

[0018] In one possible implementation of this application, the end of the probe retaining rod near the probe has a mounting cavity that matches the probe. One of the mounting cavities of the probe and the probe retaining rod has an elastic component, and the other of the mounting cavities of the probe and the probe retaining rod has a slot corresponding to the elastic component. The elastic component cooperates with the slot to allow the probe and the probe retaining rod to be detachably connected.

[0019] In one possible implementation of this application, the mounting base has a guide sleeve extending in a sliding direction, and the probe is rotatably disposed within the guide sleeve; when the mounting base is in a first position, the guide sleeve is located within the receiving cavity, and when the mounting base is in a second position, at least a portion of the guide sleeve moves outside the receiving cavity.

[0020] In one possible implementation of this application, the soil testing device further includes an end cap, which is detachably disposed on the guide sleeve, and the probe is rotatably connected to the end cap.

[0021] In one possible implementation of this application, the soil testing device includes at least two probes and a second transmission assembly corresponding to each probe, each set of second transmission assemblies being connected to a first transmission assembly, and each probe being connected to a set of second transmission assemblies respectively.

[0022] On the other hand, this application also provides a self-moving robot, which includes: a machine body, a first walking mechanism, and a soil testing device provided by any of the above; wherein, the first walking mechanism is disposed on the machine body and can move autonomously to drive the machine body to move; the housing of the soil testing device is connected to the machine body.

[0023] The self-moving robot provided in this application includes any of the soil testing devices provided above. Therefore, during the process of inserting the probe into the soil, the probe can rotate relative to the soil, thereby reducing the resistance of the soil to the probe, which in turn reduces the difficulty of inserting the probe into the soil and helps to reduce the risk of probe damage.

[0024] In one possible implementation of this application, the self-moving robot further includes a trailer device having a second walking mechanism and a load-bearing part. The load-bearing part is detachably connected to the machine body, and the second walking mechanism is disposed on the load-bearing part. The trailer device can follow the movement of the machine body through the second walking mechanism. The soil detection device is detachably disposed on the load-bearing part.

[0025] In one possible implementation of this application, one of the self-moving robot and the housing is provided with a connector, and the other of the self-moving robot and the housing is provided with a connection structure that matches the connector. The housing is detachably mounted on the machine body through the cooperation of the connector and the connection structure. Attached Figure Description

[0026] Figure 1 Schematic diagram of the soil testing device provided in this application Figure 1 ;

[0027] Figure 2 Provided for this application Figure 1 Schematic diagram of cross-section Figure 1 ;

[0028] Figure 3 Provided for this application Figure 1 Schematic diagram of cross-section Figure 2 ;

[0029] Figure 4 Schematic diagram of the soil testing device provided in this application Figure 2 ;

[0030] Figure 5 Provided for this application Figure 4 A schematic diagram of the cross-sectional structure;

[0031] Figure 6 Schematic diagram of the soil testing device provided in this application Figure 3 ;

[0032] Figure 7 Provided for this application Figure 6 Schematic diagram of cross-section Figure 1 ;

[0033] Figure 8 A schematic diagram of the lead screw in the soil testing device provided in this application;

[0034] Figure 9 Provided for this application Figure 6 Schematic diagram of cross-section Figure 2 ;

[0035] Figure 10 Provided for this application Figure 9 A magnified schematic diagram of the central part of the structure;

[0036] Figure 11 Provided for this application Figure 9 Enlarged structural diagram of section A;

[0037] Figure 12 A schematic cross-sectional view of the probe fixing rod in the soil testing device provided in this application;

[0038] Figure 13 Provided for this application Figure 7 A magnified schematic diagram of the central part of the structure;

[0039] Figure 14 This is a partially enlarged structural diagram of the probe fixing rod in the soil testing device provided in this application.

[0040] Explanation of reference numerals in the attached figures:

[0041] 1-Housing shell; 11-Accommodating cavity; 12-Box body; 13-Lid body; 14-Guide post; 2-Mounting base; 21-Guide sleeve; 3-Probe; 4-Drive mechanism; 41-Power component; 42-First transmission assembly; 421-First driving part; 4211-First sliding section; 4212-Threaded section; 4213-Second sliding section; 422-First driven part; 43-Second transmission assembly; 431-Second driving part; 432-Second driven part; 44-First reset component; 45-Second reset component; 46-Third reset component; 47-First gear; 48-Second gear; 49-Bearing; 5-Probe fixing rod; 51-Meshing section; 52-Separating section; 6-End cap; 7-Second nut; 8-Conductive component; 9-Elastic component; 91-Elastic component; 92-Bead; Z-Sliding direction. Detailed Implementation

[0042] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the specific technical solutions of this application will be further described in detail below with reference to the accompanying drawings of the embodiments of this application. The following embodiments are used to illustrate this application, but are not intended to limit the scope of this application.

[0043] In the embodiments of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the embodiments of this application, unless otherwise stated, "multiple" means two or more.

[0044] Furthermore, in the embodiments of this application, directional terms such as "upper," "lower," "left," and "right" are defined relative to the positions in which the components are schematically placed in the accompanying drawings. It should be understood that these directional terms are relative concepts, used for relative description and clarification, and can change accordingly depending on the position of the components in the accompanying drawings.

[0045] In the embodiments of this application, unless otherwise explicitly specified and limited, the term "connection" should be interpreted broadly. For example, "connection" can be a fixed connection, a detachable connection, or an integral part; it can be a direct connection or an indirect connection through an intermediate medium.

[0046] In embodiments of this application, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0047] In the embodiments of this application, the terms "exemplary" or "for example" are used to indicate that something is an example, illustration, or description. Any embodiment or design that is described as "exemplary" or "for example" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or design. Specifically, the use of the terms "exemplary" or "for example" is intended to present the relevant concepts in a specific manner.

[0048] This application provides a soil testing device that reduces the difficulty of inserting a probe into the soil, thereby reducing the risk of probe damage. (Refer to...) Figure 1 , Figure 2 , Figure 3 , Figure 4 , Figure 5 , Figure 6 and Figure 7 , Figure 1 Schematic diagram of the soil testing device provided in this application Figure 1 , Figure 2 Provided for this application Figure 1 Schematic diagram of cross-section Figure 1 , Figure 3 Provided for this application Figure 1 Schematic diagram of cross-section Figure 2 , Figure 4 Schematic diagram of the soil testing device provided in this application Figure 2 , Figure 5 Provided for this application Figure 4 A cross-sectional structural diagram. Figure 6 Schematic diagram of the soil testing device provided in this application Figure 3 , Figure 7 Provided for this application Figure 6 Schematic diagram of cross-section Figure 1 The soil testing device provided in the embodiments of this application will be described below with reference to the examples in the accompanying drawings.

[0049] The soil testing device provided in this application includes: a housing 1, a probe 3, and a driving mechanism 4; the housing 1 encloses and forms a receiving cavity 11; the probe 3 is rotatably disposed in the receiving cavity 11; the driving mechanism 4 is connected to the probe 3 in a transmission manner, and the driving mechanism 4 can drive the probe 3 to rotate relative to the housing 1. During the rotation of the probe 3 relative to the housing 1, it can move from inside the receiving cavity 11 to outside the housing 1, or retract from outside the housing 1 back into the receiving cavity 11.

[0050] In this embodiment, the housing 1 provides mounting points and protection for other components in the soil testing device, and allows the soil testing device to be installed on other devices or equipment via the housing 1. For example, the housing 1 can be configured to include a box 12 and a cover 13, and the structure of the box 12 and cover 13 can be configured according to the components to be installed. Figure 1 and Figure 2 As shown, the box body 12 can be configured as a cylindrical or square shape with a cavity, and the cover 13 can be configured as a disc or square disc that matches the opening of the box body 12, so that the cover 13 covers the opening of the box body 12, and the cover 13 and the box body 12 enclose the cavity 11.

[0051] In this embodiment, the probe 3 can be made of materials such as metal or hard plastic. The probe 3 can be configured as a slender cylinder, and the end of the probe 3 inserted into the soil can be configured as a cone. The probe 3 can be disposed within the receiving cavity 11 in a manner that allows it to rotate relative to the housing 1. For example, a circular hole matching the probe 3 can be provided within the receiving cavity 11, and the probe 3 can be inserted through the circular hole so that the probe 3 can rotate relative to the housing 1.

[0052] In this embodiment, the probe 3 can be driven to rotate relative to the housing 1 by the driving mechanism 4, so that the probe 3 can move linearly along the axis of the probe 3 while rotating relative to the housing 1, and thus the probe 3 can extend from the accommodating cavity 11 to the outside of the housing 1, or retract back into the accommodating cavity 11.

[0053] For example, a motor can be connected to the probe 3 via gears, belts, chains, or other transmissions to drive the probe 3 to rotate relative to the housing 1. Alternatively, another motor can be connected to the probe 3 via a cam, rack and pinion, or other transmissions to drive the probe 3 to move linearly along the axial direction relative to the housing 1, thereby causing the probe 3 to extend out of the housing 1 and insert into the soil, or to retract the probe 3 into the receiving cavity 11.

[0054] The soil testing device provided in this application embodiment, because the housing 1 encloses and forms a receiving cavity 11, provides installation space and protection for the probe 3, drive mechanism 4, etc. The probe 3 is rotatably disposed within the receiving cavity 11, and the drive mechanism 4 can drive the probe 3 to rotate relative to the housing 1. Simultaneously, during the rotation of the probe 3, the probe 3 can move from inside the receiving cavity 11 to outside the housing 1. Thus, during the insertion of the probe 3 into the soil, the probe 3 can rotate relative to the soil, thereby reducing the resistance of the soil to the probe 3, reducing the difficulty of inserting the probe 3 into the soil, and helping to reduce the risk of probe 3 damage.

[0055] In some possible embodiments of this application, such as Figure 2 and Figure 5 As shown, the soil testing device also includes a mounting base 2, which is slidably disposed within the receiving cavity 11, and a probe 3 is rotatably disposed on the mounting base 2; a driving mechanism 4 is disposed between the housing 1 and the probe 3, a part of the driving mechanism 4 is connected to the mounting base 2, and the other part of the driving mechanism 4 is drively connected to the probe 3, and the driving mechanism 4 can drive the mounting base 2 to move relative to the housing 1 in the sliding direction Z between a first position and a second position; when the mounting base 2 is in the first position, the probe 3 is located within the receiving cavity 11; when the mounting base 2 is in the second position, at least a part of the probe 3 is located outside the receiving cavity 11, and the driving mechanism 4 drives the probe 3 to rotate so that the probe 3 moves in the sliding direction Z toward or away from the mounting base 2.

[0056] In this embodiment, a mounting base 2 can be provided within the accommodating cavity 11, and guide posts 14 can be provided on the mounting base 2. A sliding through hole matching the guide post 14 can be provided on the mounting base 2 to allow the mounting base 2 to be fitted onto the guide post 14 through the sliding through hole. For example, the guide post 14 can be cylindrical, and two or three equal numbers of guide posts 14 can extend along the sliding direction Z within the accommodating cavity 11. Both ends of the guide post 14 can be fixedly connected to the housing 1, thereby allowing the mounting base 2 to be slidably positioned within the accommodating cavity 11 via the multiple guide posts 14. Alternatively, a sliding groove can be provided within the accommodating cavity 11, and a guide rail matching the sliding groove can be provided on the mounting base 2 to allow the mounting base 2 to be slidably positioned within the accommodating cavity 11 through the cooperation of the sliding groove and the guide rail.

[0057] For example, the probe 3 can be rotatably mounted on the mounting base 2. For instance, a through hole matching the probe 3 can be provided on the mounting base 2, and the probe 3 can be inserted into the through hole. In this way, the probe 3 can both rotate relative to the mounting base 2 and move relative to the mounting base 2 in the sliding direction Z of the mounting base 2 relative to the housing 1.

[0058] In another example, the drive mechanism 4 can be positioned between the housing 1 and the probe 3, with one part of the drive mechanism 4 connected to the mounting base 2 and the other part of the drive mechanism 4 connected to the probe 3 via a transmission connection. In this way, the drive mechanism 4 can drive the mounting base 2 to move relative to the housing 1 along the sliding direction Z, thereby allowing the mounting base 2 to be in a first position relative to the housing 1 (e.g., ...). Figure 2 The position of the mounting base 2 relative to the housing 1 shown) and the second position (as shown) Figure 5 The mounting base 2 moves between the positions of the mounting base 2 and the housing 1 shown. In the first position, the mounting base 2 is closer to the central region of the receiving cavity 11; in the second position, the mounting base 2 is closer to the wall of the housing 1 that is perpendicular or nearly perpendicular to the sliding direction Z, that is, the mounting base 2 is located in the edge region of the receiving cavity 11.

[0059] In another example, by configuring the drive mechanism 4, when the mounting base 2 is in the first position, the drive mechanism 4 can drive the probe 3 to move relative to the mounting base 2 and place the probe 3 inside the receiving cavity 11. When the mounting base 2 is in the second position, the drive mechanism 4 can drive the probe 3 to move relative to the mounting base 2, thereby moving a part or all of the probe 3 outside the receiving cavity 11, or causing the probe to retract from outside the receiving cavity 11 back into the receiving cavity 11.

[0060] In the above embodiment, since the mounting base 2 is slidably disposed within the accommodating cavity 11, the mounting base 2 provides a basis for rotating the probe 3. Furthermore, a portion of the driving mechanism 4 is connected to the mounting base 2, and the other portion of the driving mechanism 4 is driveably connected to the probe 3. The driving mechanism 4 can drive the mounting base 2 to move to a second position within the accommodating cavity 11, thereby enabling the probe 3 to move out of the accommodating cavity 11. Moreover, after the mounting base 2 reaches the second position, the driving mechanism 4 can continue to drive the probe 3 to move out of the accommodating cavity 11. Thus, when the probe 3 moves the same distance relative to the housing 1, the length of the soil testing device along the sliding direction Z can be reduced through a two-stage extension, which is beneficial for miniaturizing the soil testing device.

[0061] In some possible embodiments of this application, such as Figure 2 and Figure 5As shown, the drive mechanism 4 includes a power component 41, a first transmission assembly 42, and a second transmission assembly 43. The power component 41 is fixedly connected to the housing 1. The first transmission assembly 42 is connected to the power component 41 and to the mounting base 2. A portion of the second transmission assembly 43 is connected to the first transmission assembly 42, and the other portion of the second transmission assembly 43 is connected to the probe 3. The power component 41 drives the first transmission assembly 42 to move the mounting base 2 between a first position and a second position. After the mounting base 2 moves to the second position, the two portions of the second transmission assembly 43 are connected, and the first transmission assembly 42 drives the second transmission assembly 43 so that the second transmission assembly 43 drives the probe 3 to move relative to the mounting base 2 in the sliding direction Z.

[0062] In this embodiment, the drive mechanism 4 can be configured to include a power component 41, a first transmission assembly 42, and a second transmission assembly 43. The power component 41 can be fixed to the shell wall of the housing 1, and the first transmission assembly 42 can be connected to the mounting base 2, thus providing a transmission connection between the power component 41 and the first transmission assembly 42. The probe 3 and the first transmission assembly 42 can be connected via the second transmission assembly 43.

[0063] For example, the power component 41 can be an air pump, hydraulic pump, electric motor, etc.; the first transmission component 42 can be a first air cylinder, first hydraulic cylinder, etc.; and the second transmission component 43 can be a changeover switch, second air cylinder, second hydraulic cylinder, etc. The air pump and the first air cylinder can be connected via a pipeline, the first air cylinder can be fixed to the housing 1, and the piston rod of the first air cylinder can be connected to the mounting base 2. The second air cylinder can be fixed to the mounting base 2, and the piston rod of the second air cylinder can be connected to the probe 3 via a connector or similar transmission connection. The changeover switch can be located on the housing 1 near the second position area.

[0064] Thus, after the air pump delivers gas to the first cylinder, causing the piston rod of the first cylinder to drive the mounting base 2 and the first cylinder to move to the second position, the mounting base 2 can trigger a switch to connect the air pump with the second cylinder. This allows the piston rod of the second cylinder to drive the probe 3 to move relative to the mounting base 2 until the probe 3 moves outside the receiving cavity 11.

[0065] In the above embodiments, since the drive mechanism 4 is configured to include a first transmission component 42 and a second transmission component 43, it is convenient for the first transmission component 42 to drive the mounting base 2 to move relative to the housing 1 in the sliding direction Z. Furthermore, by configuring the second transmission component 43, after the mounting base 2 moves to the second position, the second transmission component 43 then drives the probe 3 to move relative to the mounting base 2. This simplifies the configuration of the drive mechanism 4, thereby simplifying its structure and reducing the production cost of the soil testing device.

[0066] In some possible embodiments of this application, reference is made to Figure 8 , Figure 8 This is a schematic diagram of the lead screw in the soil testing device provided in this application. Figure 2 , Figure 5 and Figure 7 As shown, the first transmission assembly 42 includes a first driving part 421 and a first driven part 422, and the second transmission assembly 43 includes a second driving part 431 and a second driven part 432. The first driving part 421 is rotatably disposed in the accommodating cavity 11 and is drivenly connected to the power member 41. The first driven part 422 is disposed on the mounting base 2 and can be detachably drivenly connected to the first driving part 421. The second driving part 431 is disposed on the first driving part 421, and the second driven part 432 is disposed on the mounting base 2 and is drivenly connected to the probe 3. After the mounting base 2 moves to the second position, the first driven part 422 is disengaged from the first driving part 421, and the second driven part 432 is drivenly connected to the second driving part 431.

[0067] In this embodiment, the first transmission assembly 42 can be configured to include a first driving part 421 and a first driven part 422, so as to drive the mounting base 2 to move between a first position and a second position through the first driving part 421 and the first driven part 422. The second transmission assembly 43 can be configured to include a second driving part 431 and a second driven part 432, so as to drive the probe 3 to move relative to the mounting base 2 through the cooperation of the second driving part 431 and the second driven part 432.

[0068] For example, a shaft hole matching the first driving part 421 can be provided on the housing 1, and the first driving part 421 can be rotatably disposed in the accommodating cavity 11 through the shaft hole. The first driving part 421 and the power component 41 can be connected by transmission through gears, belts, chains, etc. The first driven part 422 can be fixed on the mounting base 2, and the first driving part 421 and the first driven part 422 can be configured to be both separable and capable of transmission connection. That is, during the process of the first driving part 421 and the first driven part 422 driving the mounting base 2 to move along the sliding direction Z from the first position to the second position, or from the second position to the first position, the first driving part 421 and the first driven part 422 can be connected by transmission. After the mounting base 2 reaches the first position or the second position, the transmission connection between the first driving part 421 and the first driven part 422 disappears, and the first driving part 421 no longer transmits power to the first driven part 422.

[0069] Another example, such as Figure 7 and Figure 8As shown, the first driving part 421 can be a lead screw, and the first driven part 422 can be a first nut that matches the lead screw. In this case, the power component 41 can be a device capable of generating rotational motion, such as an electric motor. For example, a bearing 49 can be provided at each end of the lead screw, and the lead screw can be rotatably mounted on the housing 1 via the bearings 49. Alternatively, the lead screw can be unthreaded at both ends, with a thread provided in the middle portion, as shown... Figure 8 As shown, along the axial direction of the lead screw, the lead screw sequentially includes a first sliding section 4211, a threaded section 4212, and a second sliding section 4213. The first sliding section 4211 can be connected to the power component 41 for transmission. For example, a first gear 47 can be provided on the output shaft of the power component 41, and a second gear 48 matching the first gear 47 can be provided on the first sliding section 4211, so that the power component 41 and the lead screw can be connected for transmission through the first gear 47 and the second gear 48. A through hole corresponding to the lead screw can be provided on the mounting base 2 to fit the mounting base 2 onto the lead screw.

[0070] The first driven part 422 can be a first nut that matches the threaded section 4212 of the lead screw. The first nut can be fixed on the mounting base 2, and the outer diameters of the first sliding section 4211 and the second sliding section 4213 can both be set to be smaller than the inner diameter of the first nut. In this way, when the power component 41 drives the lead screw to rotate, the first nut engages with the threaded section 4212 of the lead screw, which can drive the mounting base 2 to move relative to the housing 1 in the sliding direction Z. After the first nut moves to the position of the first sliding section 4211 and the second sliding section 4213, the transmission connection between the first nut and the lead screw will be separated. At this time, the lead screw can still rotate, but the mounting base 2 will no longer move in the sliding direction Z.

[0071] In another example, the second driving part 431 includes a driving gear, and the second driven part 432 includes a driven gear adapted to the driving gear. The driving gear is fixed to the end of the first driven part 422 away from the power member 41, and the driven gear is rotatably mounted on the mounting base 2. Figure 7As shown, both the second driving part 431 and the second driven part 432 can be gears. That is, the second driving part 431 uses a driving gear, and the second driven part 432 uses a driven gear that matches the driving gear. The driving gear can be sleeved on the end of the second sliding section 4213 of the lead screw away from the threaded section 4212. The second driven gear can be rotatably set on the mounting base 2 at the position corresponding to the driving gear, and the driven gear is connected to the probe 3 for transmission. In this way, as the lead screw drives the mounting base 2 to move to the second position through the first nut, the mounting base 2 also drives the driven nut to move towards the driving nut. After the first nut reaches the second sliding section 4213, the driven gear meshes with the driving gear, and the power component 41 can drive the lead screw to rotate. The lead screw drives the driving gear to rotate, the driving gear drives the driven gear to rotate, and the driven gear drives the probe 3 to rotate, thereby realizing the rotation of the probe 3 and the extension of the probe 3 from the accommodating cavity 11. Furthermore, the structure of the driving gear and the driven gear is simple and the transmission is reliable, which is beneficial to improving the stability of the drive mechanism 4.

[0072] In the above embodiments, since the first transmission assembly 42 includes a first driving part 421 and a first driven part 422 that are detachably connected in transmission, the first driving part 421 and the first driven part 422 can drive the mounting base 2 to move between a first position and a second position through their cooperation. The second driving part 431 in the second transmission assembly 43 is disposed on the first driving part 421, and the second driven part 432 is disposed on the mounting base 2. After the mounting base 2 reaches the second position, the first driving part 421 and the first driven part 422 can be disengaged, and the second driven part 432 and the second driving part 431 can be connected in transmission. Thus, the first driving part 421 can continue to drive the second driving part 431 and the second driven part 432 to move, thereby driving the probe 3 to rotate. This facilitates the time-segmented movement of the mounting base 2 and the probe 3, meaning that the same power component 41 can drive the mounting base 2 and the probe 3 to move at different times. This reduces the number of power components 41 in the soil testing device, which is beneficial for miniaturization of the soil testing device and also reduces its cost.

[0073] In some possible embodiments of this application, such as Figure 2 , Figure 5 and Figure 7 As shown, the drive mechanism 4 also includes a reset member, which is connected to the mounting base 2. When the mounting base 2 is in the first position, the mounting base 2 tends to move to the second position under the force applied by the reset member. When the mounting base 2 is in the second position, the mounting base 2 tends to move to the first position under the force applied by the reset member.

[0074] In this embodiment, a reset member can be provided in the drive mechanism 4 to apply different forces to the mounting base 2 at different positions, thereby enabling the first driven part 422 and the first driving part 421 to achieve a transmission connection when they are separated.

[0075] For example, the reset member can be configured to include a first reset member 44 and a second reset member 45, both of which can be compression springs. For instance, the first compression spring, serving as the first reset member 44, can be sleeved on the first sliding section 4211 of the lead screw, and the free length (axial length when not subjected to external force) of the first compression spring is greater than the length of the first sliding section 4211. Similarly, the second compression spring, serving as the second reset member 45, can be sleeved on the second sliding section 4213 of the lead screw, and the free length of the second compression spring is greater than the length of the second sliding section 4213. Alternatively, the first reset member 44 and the second reset member 45 can also be parts made of rubber or the like that can undergo elastic deformation to apply force to the mounting base 2.

[0076] Thus, with the mounting base 2 in the first position, the first reset member 44 can apply force towards the threaded section 4212 (e.g., along the sliding direction Z) to the mounting base 2. Figure 7 As shown, the first sliding section 4211 is located at the upper end of the lead screw, the threaded section 4212 is located in the middle part of the lead screw, and the second sliding section 4213 is located at the lower end of the lead screw. The force (such as...) Figure 7 As shown in the diagram, a downward force along the sliding direction Z is applied. After the lead screw begins to rotate (e.g., clockwise), the first nut can be threaded into the threaded section 4212. Before the mounting base 2 reaches the second position, the second reset member 45 is compressed by the mounting base 2 along the sliding direction Z, and the second reset member 45 then applies a force (e.g., clockwise) to the mounting base 2 towards the threaded section 4212 along the sliding direction Z. Figure 7 As shown in the diagram, the force acts upward along the sliding direction Z. After the lead screw rotates counterclockwise, the mounting base 2, under the action of the second reset member 45, drives the first nut to achieve a threaded connection with the threaded section 4212 of the lead screw, thereby allowing the mounting base 2 to move from the second position to the first position.

[0077] In another example, the reset element can be a tension spring. The length of the tension spring (its natural axial length when not subjected to external force) can be set to be less than half the distance between the first and second positions. One end of the tension spring can be hooked onto the mounting base 2, and the other end can be hooked onto the shell wall of the housing 1 near the midpoint between the first and second positions (the center of the threaded segment 4212 along the sliding direction Z). Thus, when the mounting base 2 is in the first position, the tension spring applies a force to the mounting base 2 toward the second sliding segment 4213; while when the mounting base 2 is in the second position, the tension spring applies a force to the mounting base 2 toward the first sliding segment 4211.

[0078] In the above embodiments, since a reset member is provided for the mounting base 2, when the mounting base 2 is in the first position and the second position respectively, the reset member can apply a force toward the threaded section 4212 to the mounting base 2 in both positions. This allows the mounting base 2 to drive the first nut to be threadedly connected to the threaded section 4212 of the lead screw, which is beneficial to improving the reliability of the threaded connection between the lead screw and the first nut in different relative positions, thereby improving the reliability of the drive mechanism 4.

[0079] In some possible embodiments of this application, the probe 3 has an external thread, and the mounting base 2 has an internal thread that matches the external thread. When the mounting base 2 is in the second position, the drive mechanism 4 drives the probe 3 to rotate, and the probe 3 moves relative to the mounting base 2 in the sliding direction Z under the cooperation of the internal and external threads.

[0080] In this embodiment, the probe 3 can rotate relative to the housing 1 through a threaded connection and transmission. For example, an external thread can be provided on the probe 3, and correspondingly, a threaded hole can be provided on the mounting base 2, the internal thread of which matches the external thread on the probe 3.

[0081] In the above embodiment, since the probe 3 is provided with an external thread and the mounting base 2 has an internal thread that matches the external thread, when the probe 3 is driven to rotate by the driving mechanism 4, the probe 3 can not only rotate relative to the housing 1, but also move relative to the mounting base 2 in the sliding direction Z under the cooperation of the external thread and the internal thread. This allows the probe 3 to extend out of the receiving cavity 11 or retract into the receiving cavity 11. It also allows the probe 3 to be inserted into the soil by rotating through the external thread, which is convenient for inserting the probe 3 into hard soil.

[0082] In some possible embodiments of this application, reference is made to Figure 9 , Figure 10 , Figure 11 and Figure 12 , Figure 9 Provided for this application Figure 6 Schematic diagram of cross-section Figure 2 , Figure 10 Provided for this application Figure 9 A magnified schematic diagram of a portion of the structure. Figure 11 Provided for this application Figure 9 Enlarged structural diagram of section A. Figure 12 This is a schematic cross-sectional view of the probe fixing rod in the soil testing device provided in this application. Figure 7 , Figure 9 , Figure 10 and Figure 11 As shown, the soil testing device also includes a probe fixing rod 5, with the probe 3 connected to the probe fixing rod 5 along the sliding direction Z. The probe fixing rod 5 includes an engaging section 51 and a separating section 52. The engaging section 51 is located at the end of the probe fixing rod 5 near the probe 3, and the separating section 52 is located at the end of the probe fixing rod 5 away from the probe 3. The probe fixing rod 5 passes through another part of the second transmission assembly 43. One of the engaging section 51 and the other part of the second transmission assembly 43 is provided with a groove, and the other of the engaging section 51 and the other part of the second transmission assembly 43 is provided with a protrusion that matches the groove. The engaging section 51 and the other part of the second transmission assembly 43 are slidably connected through the groove and the protrusion. The outer diameter of the separating section 52 is smaller than the inner diameter of the other part of the second transmission assembly 43.

[0083] In this embodiment, a probe fixing rod 5 can be provided in the accommodating cavity 11 to drive the second driven part 432 and the probe 3 through the probe fixing rod 5. For example, the probe fixing rod 5 can be configured as a round rod, and the round rod-shaped probe fixing rod 5 can be configured to include a separating section 52 and an engaging section 51.

[0084] For example, one end of the probe 3 can be connected to one end of the probe fixing rod 5 along the axial direction of the probe fixing rod 5. The end of the probe fixing rod 5 connected to the probe 3 can be configured as an engagement section 51, allowing the probe fixing rod 5 to be driven by a driven gear, which serves as the second driven part 432, via the engagement section 51. For instance, a groove can be provided in the engagement section 51 of the probe fixing rod 5, a through hole matching the probe fixing rod 5 can be provided on the driven gear, and a protrusion matching the groove can be provided on the wall of the through hole. Alternatively, a convex ring can be provided in the engagement section 51 of the probe fixing rod 5, a through hole matching the probe fixing rod 5 can be provided on the driven gear, and a groove matching the protrusion can be provided on the wall of the through hole. In this way, through the cooperation of the protrusion and the slide, the driven gear can drive the probe fixing rod 5 to rotate, so as to drive the probe 3 to rotate through the probe fixing rod 5. During the rotation of the probe 3, the probe 3 applies a force along the sliding direction Z to the probe fixing rod 5. With the cooperation of the slide and the protrusion, the probe fixing rod 5 can move relative to the driven gear along the sliding direction Z with the probe 3.

[0085] In another example, a separating section 52 can be provided at the end of the probe fixing rod 5 away from the probe 3. That is, the outer diameter of the end of the probe fixing rod 5 away from the probe 3 is set to be smaller than the inner diameter of the through hole on the driven gear. For example, the length of the meshing section 51 can be less than or equal to the length of the external thread on the probe 3 along the sliding direction Z. In this way, after the meshing section 51 and the protrusion on the driven gear separate from the groove, the external thread on the probe 3 remains threadedly connected to the internal thread on the mounting base 2, while the separating section 52 enters the through hole of the driven gear (e.g., ...). Figure 7 As shown, the uppermost end of the probe fixing rod 5 moves downward along the sliding direction Z into the driven gear that serves as the second driven part 432. The power member 41 can also drive the second driven part 432 to rotate through the first driving part 421, the first driven part 422 and the second driving part 431, while the second driven part 432 no longer drives the probe fixing rod 5 to rotate.

[0086] In the above embodiment, since the probe 3 is connected to the second driven part 432 via the probe fixing rod 5, and matching grooves and protrusions are provided on the meshing section 51 of the probe fixing rod 5 and the second driven part 432, the cooperation of the grooves and protrusions not only allows the second driven part 432 to drive the probe fixing rod 5 to rotate, but also allows the probe fixing rod 5 to move relative to the second driven part 432 under the force applied by the probe 3 along the sliding direction Z. This allows the probe 3 to rotate and to move outside or back into the receiving cavity 11. Furthermore, a separation section 52 is provided on the probe fixing rod 5, allowing the probe fixing rod 5 to disengage from the second driven part 432 after the probe 3 is fully extended, which helps reduce the risk of damage to the probe 3 and the drive mechanism 4.

[0087] In some possible embodiments of this application, such as Figure 7 and Figure 11 As shown, the drive mechanism 4 also includes a third reset member 46, and the part of the second transmission assembly 43 that is connected to the probe 3 is connected to the third reset member 46; wherein, when the mounting base 2 is in the second position, the force exerted by the third reset member 46 on the part of the second transmission assembly 43 that is connected to the probe 3 is greater than the force exerted by the reset member connected to the mounting base 2 on the mounting base 2.

[0088] In this embodiment, a third reset member 46 can be provided for the second driven part 432 in the second transmission assembly 43, so that the probe 3 can be retracted first through the cooperation of the third reset member 46 and the reset member provided on the mounting base 2, and then the mounting base 2 can be retracted from the second position to the first position.

[0089] For example, the third reset member 46 can be a third compression spring, which can be sleeved on the probe fixing rod 5, and a blocking member is provided on the separation section 52 of the probe fixing rod 5 to restrict the third compression spring on the probe fixing rod 5. Furthermore, by selecting the third compression spring, the force exerted by the third compression spring on the second driven part 432 when the mounting base 2 is in the second position is greater than the force exerted by the second reset member 45 on the mounting base 2. The third reset member 46 can also be an elastic part made of materials such as rubber.

[0090] Thus, when it is necessary to retract the probe 3 into the receiving cavity 11, because the probe 3 is inserted into the soil, the combined force of the resistance exerted by the soil on the probe 3 and the force exerted by the third compression spring on the second driven part 432 in the sliding direction Z toward the probe 3 is greater than the force exerted by the second reset member 45 on the mounting base 2 toward the threaded section 4212. This allows the second driven part 432 and the second driving part 431 to be connected, while the first driven member cannot be connected to the first driving member, allowing the probe 3 to rotate and retract first. After the probe 3 is fully retracted, the force exerted by the third reset member 46 on the second driven part 432 decreases. At this time, the second reset member 45 can move in the direction toward the threaded section 4212 (e.g., ...). Figure 7 As shown, the mounting base 2 is pushed upward along the sliding direction Z, so that the first driven part 422 is connected to the first driving part 421, thereby causing the mounting base 2 to return to the first position.

[0091] In the above embodiment, since a third reset member 46 is provided for the second driven part 432, and when the mounting base 2 is in the second position, the force exerted by the third compression spring on the second driven part 432 is greater than the force exerted by the second reset member 45 on the mounting base 2. When it is necessary to retract the probe 3 to the receiving cavity 11, the second driven part 432 and the second driving part 431 can be first connected in a transmission manner until the probe 3 no longer moves relative to the mounting base 2 in the sliding direction Z. At this point, the first driven part 422 and the first driving part 421 are connected in a transmission manner, and then the mounting base 2 is retracted to the first position. In this way, the orderly movement of the probe 3 and the mounting base 2 can be achieved.

[0092] In some possible embodiments of this application, reference is made to Figure 13 and Figure 14 , Figure 13 Provided for this application Figure 7 A magnified schematic diagram of a portion of the structure. Figure 14 This is a partially enlarged structural diagram of the probe fixing rod in the soil testing device provided in this application. Figure 13 and Figure 14As shown, the end of the probe fixing rod 5 near the probe 3 has a mounting cavity that matches the probe 3. One of the mounting cavities of the probe 3 and the probe fixing rod 5 has an elastic component 9, and the other of the mounting cavities of the probe 3 and the probe fixing rod 5 has a slot corresponding to the elastic component 9. The elastic component 9 cooperates with the slot to allow the probe 3 and the probe fixing rod 5 to be detachably connected.

[0093] In this embodiment, the diameter of the probe fixing rod 5 can be set to be larger than the diameter of the probe 3. Then, a mounting cavity matching the probe 3 can be set on one end of the probe fixing rod 5 near the probe 3. For example, the mounting cavity can be set as a square hole matching the probe 3, and a part of the tail of the probe 3 can be set as a prism shape matching the square hole. Then, the tail of the probe 3 can be inserted into the mounting cavity, and the probe 3 can be rotated by the probe fixing rod 5.

[0094] For example, an elastic component 9 can be provided inside the mounting cavity of the probe fixing rod 5, with at least a portion of the elastic component 9 extending radially into the mounting cavity. Correspondingly, a slot corresponding to the elastic component 9 can be provided on the portion of the probe 3 that inserts into the mounting cavity. Alternatively, an elastic component 9 can be provided on the portion of the probe 3 that inserts into the mounting cavity, with at least a portion of the elastic component 9 extending radially outward from the probe 3. Correspondingly, a slot corresponding to the elastic component 9 can be provided on the inner wall of the mounting cavity of the probe fixing rod 5.

[0095] For example, the elastic component 9 can adopt a structure including an elastic element 91 and a pin 92. The elastic element 91 can be a compression spring, rubber block, or other part capable of elastic deformation, and the pin 92 can be a cylinder that matches the slot. Mounting holes adapted to the elastic element 91 and pin 92 can be provided on the probe fixing rod 5 or the probe 3. The elastic element 91 is placed into the mounting hole, and then the pin 92 is placed into the mounting hole, with a portion of the pin 92 extending outside the mounting hole. Thus, during the insertion of the probe 3 into the mounting cavity, the pin 92 is compressed, generating radial movement along the probe fixing rod 5 until the pin 92 aligns with the slot. Under the force applied by the elastic element 91, the pin 92 is engaged in the slot, thereby detachably connecting the probe 3 to the probe fixing rod 5. When it is necessary to detach the probe 3 from the probe fixing rod 5, the pin 92 can be pulled out of the slot by pulling the probe 3, thus separating the probe 3 from the probe fixing rod 5.

[0096] In the above embodiments, since the probe fixing rod 5 and the probe 3 are respectively provided with elastic components 9 and slots, the probe 3 can be detachably installed on the probe fixing rod 5 through the cooperation of the elastic components 9 and slots, which facilitates the installation and removal of the probe 3 and simplifies the operation steps for maintaining and replacing the probe 3.

[0097] In some possible embodiments of this application, such as Figure 2 , Figure 5 and Figure 7 As shown, the mounting base 2 has a guide sleeve 21 extending along the sliding direction Z, and the probe 3 is rotatably disposed in the guide sleeve 21; when the mounting base 2 is in the first position, the guide sleeve 21 is located in the receiving cavity 11, and when the mounting base 2 is in the second position, at least a portion of the guide sleeve 21 moves to the outside of the receiving cavity 11.

[0098] In this embodiment, a guide sleeve 21 can be provided on the mounting base 2 to guide the movement path of the probe 3 relative to the mounting base 2. For example, the guide sleeve 21 can be provided on the side of the mounting base 2 along the sliding direction Z toward the outlet of the probe 3 on the housing 1. The guide sleeve 21 can be cylindrical, and the inner hole of the guide sleeve 21 can match the probe fixing rod 5. The cylindrical guide sleeve 21 can be integrally formed from the mounting base 2, or the guide sleeve 21 can be machined separately and then fixedly connected to the mounting base 2.

[0099] For example, the probe fixing rod 5 can be slidably connected to the guide sleeve 21 along the sliding direction Z, and the probe fixing rod 5 can rotate relative to the guide sleeve 21. Thus, after the probe 3 is mounted on the probe fixing rod 5, the probe 3 can also be located inside the guide sleeve 21. For example, the length of the guide sleeve 21 can be set to be greater than or equal to the length of the probe 3, and the length of the guide sleeve 21 can be set to be less than or equal to the distance the mounting base 2 moves between the first and second positions. Then, when the mounting base 2 is in the first position, the guide sleeve 21 can be located inside the receiving cavity 11, that is, the guide sleeve 21 does not exceed the space occupied by the housing 1. At this time, the probe 3 can also be completely located inside the guide sleeve 21. When the mounting base 2 is in the second position, a portion of the guide sleeve 21 can extend from inside the receiving cavity 11 to outside the housing 1. At this time, a portion of the probe 3 is outside the receiving cavity 11, but still inside the guide sleeve 21. The probe 3 can then be moved relative to the guide sleeve 21 along the sliding direction Z by the drive mechanism 4, allowing the probe 3 to extend out of the guide sleeve 21.

[0100] In the above embodiment, since a guide sleeve 21 is provided on the mounting base 2, the guide sleeve 21 can provide an installation position for the probe 3 on the mounting base 2 and guide the movement path of the probe 3 relative to the mounting base 2, which helps to improve the stability of the probe 3 during its extension from the accommodating cavity 11. Furthermore, the guide sleeve 21 can extend out of the housing 1 first to contact the soil, so that the probe 3 is not exposed during its extension from the guide sleeve 21, thus reducing the risk of injury to personnel during the insertion of the probe 3 into the soil.

[0101] In some possible embodiments of this application, such as Figure 13 and Figure 14 As shown, the soil testing device also includes an end cap 6, which is detachably mounted on the guide sleeve 21, and the probe 3 is rotatably connected to the end cap 6.

[0102] In this embodiment, an end cap 6 can be provided in the soil testing device to seal the guide sleeve 21. For example, a protrusion can be provided on the end cap 6, and correspondingly, a groove matching the protrusion can be provided on the inner wall of the guide sleeve 21. Alternatively, a groove can be provided on the end cap 6, and correspondingly, a protrusion matching the groove can be provided on the inner wall of the guide sleeve 21. In this way, the end cap 6 can be detachably installed in the guide sleeve 21 by the cooperation of the protrusion and the groove. Alternatively, the end cap 6 can be installed on the guide sleeve 21 by fasteners such as screws to facilitate the removal of the end cap 6.

[0103] For example, an internal thread matching the external thread on the probe 3 can be provided on the end cap 6 so that the probe 3 and the mounting base 2 are rotatably connected through the internal thread on the end cap 6. Alternatively, a second nut 7 can be provided on the end cap 6, the second nut 7 having an internal thread matching the external thread on the probe 3, and the second nut 7 can be fixed to the end cap 6 by welding, bonding, snap-fitting, or other methods.

[0104] In another example, a conductive element 8 can be installed in the soil testing device. The conductive element 8 can be made of a flexible wire or the like. One end of the conductive element 8 can be electrically connected to the second nut 7 by welding, bonding, or other means, and the other end of the conductive element 8 can extend from inside the receiving cavity 11 to outside the receiving cavity 11, so as to facilitate the electrical connection of the conductive element 8 to other devices. The second nut 7 can be made of metal, so that the probe 3 is electrically connected to the second nut 7, which facilitates the electrical connection of the probe 3 to other devices.

[0105] In the above embodiments, since the end cap 6 is detachably provided on the guide sleeve 21 and the probe 3 is rotatably connected to the end cap 6, when it is necessary to disassemble the probe 3, the end cap 6 can be quickly disassembled together with the probe 3, which is beneficial to improving the convenience of disassembling the probe 3.

[0106] In some possible embodiments of this application, such as Figure 4 , Figure 5 , Figure 6 and Figure 9 As shown, the soil testing device includes at least two probes 3 and a second transmission component 43 corresponding to each probe 3. Each set of second transmission components 43 is connected to a first transmission component 42, and each probe 3 is connected to a set of second transmission components 43.

[0107] In this embodiment, multiple probes 3 can be set in the soil testing device, and the multiple probes 3 can be driven by the driving mechanism 4 to extend or retract synchronously from the receiving cavity 11.

[0108] For example, three probes 3 can be provided in the soil testing device. Correspondingly, a set of second transmission components 43 can be provided for each probe 3, and a probe fixing rod 5 and a guide sleeve 21 can be provided for each probe 3. The three sets of second transmission components 43 can be distributed around the first active part 421 in a circumferential manner, and each probe 3 can be connected to the second transmission components 43 through a probe fixing rod 5. Alternatively, two or four probes 3 can be provided in the soil testing device. The specific number of probes 3 provided in the soil testing device is not limited in this embodiment.

[0109] In the above embodiments, since multiple probes 3 are provided in the soil testing device, multiple points in the soil can be tested simultaneously, which helps to save testing time and thus improves testing efficiency.

[0110] In addition, this application embodiment also provides a self-moving robot, which includes: a machine body, a first walking mechanism, and a soil testing device provided in any of the above embodiments; wherein, the first walking mechanism is disposed on the machine body and can move autonomously to drive the machine body to move; the housing 1 of the soil testing device is connected to the machine body.

[0111] In this embodiment, the machine body can install and support other components of the self-propelled robot. For example, the machine body can be configured as a frame structure, a box structure, etc. One or more working devices can be mounted on the machine body, and these devices can be detachably mounted on the machine body. For example, the self-propelled robot can be a garden service robot, such as a lawnmower, sweeper, snowplow, or watering robot, or it can be a multi-functional robot. That is, the working devices can be lawnmowers, sweepers, snowplows, sprinklers, collection devices, etc.

[0112] For example, a first traveling mechanism can be installed on the machine body. The first traveling mechanism can be a wheeled first traveling mechanism, a tracked first traveling mechanism, a legged first traveling mechanism, etc. In this way, the machine body can be moved on the ground by the first traveling mechanism.

[0113] In this embodiment, the housing 1 can be mounted on the machine body by means of snap-fit, threaded connection, etc., so that the soil testing device provided in the above embodiment can be mounted on the machine body.

[0114] The self-moving robot provided in this application includes the soil detection device provided in any of the above embodiments. Therefore, during the process of inserting the probe 3 into the soil, the probe 3 can rotate relative to the soil, thereby reducing the resistance of the soil to the probe 3, which in turn reduces the difficulty of inserting the probe 3 into the soil and helps to reduce the risk of damage to the probe 3.

[0115] In some possible embodiments of this application, the self-moving robot also includes a trailer device, which has a second walking mechanism and a load-bearing part. The load-bearing part is detachably connected to the machine body, and the second walking mechanism is disposed on the load-bearing part. The trailer device can follow the movement of the machine body through the second walking mechanism. The soil detection device is detachably disposed on the load-bearing part.

[0116] In this embodiment, a trailer can be provided to carry and install soil testing devices, cutting devices, robotic arms, spraying devices, snow removal devices, blowing devices, sweeping devices, collection devices, weeding devices, and fertilizing devices. The trailer can be configured to include a load-bearing section and a second traveling mechanism. For example, the load-bearing section can be a flat, box-like shape with an opening on one side. A slot can be provided in the load-bearing section, and correspondingly, a buckle matching the slot can be provided on the soil testing device to detachably mount the soil testing device onto the load-bearing section through the cooperation of the buckle and the slot. It should be understood that the soil testing device and the load-bearing section can also be detachably connected through other structures, which is not limited in this application.

[0117] For example, the second traveling mechanism can be a wheeled traveling mechanism, a tracked traveling mechanism, or a legged traveling mechanism. For instance, the second traveling mechanism may include drive wheels and casters, allowing it to move and enabling the trailer to move independently on the ground. Alternatively, the second traveling mechanism may include at least two casters, allowing it to move passively and enabling the trailer to be towed. The third traveling mechanism can be positioned on the side of the load-bearing unit closest to the ground.

[0118] In the above embodiments, since the self-moving robot includes a trailer, it can carry and install other devices such as soil testing devices, which helps to improve the carrying capacity of the self-moving robot and reduces the limitations on the expansion functions of the self-moving robot.

[0119] In some possible embodiments of this application, one of the self-moving robot and the housing 1 is provided with a connector, and the other of the self-moving robot and the housing 1 is provided with a connection structure that matches the connector. The housing 1 is detachably disposed on the machine body through the cooperation of the connector and the connection structure.

[0120] In this embodiment, a connector can be provided on the body of the self-moving robot, and correspondingly, a connecting structure can be provided on the housing 1 of the soil testing device. Alternatively, a connecting structure can be provided on the body of the self-moving robot, and correspondingly, a connector can be provided on the housing 1 of the soil testing device.

[0121] For example, the connector can be a bolt, and the connection structure can be a threaded hole that matches the bolt. Alternatively, the connector can be a snap-fit, and the connection structure can be a slot that matches the snap-fit. Thus, the soil testing device can be detachably mounted on the machine body through the engagement of the bolt and the threaded hole, or through the engagement of the snap-fit ​​and the slot.

[0122] In the above embodiments, since the housing 1 is detachably connected to the machine body via connectors and connecting structures, it is convenient to install the soil testing device on the machine body or remove the soil testing device from the machine body.

[0123] The above embodiments are merely illustrative of the technical solutions of this application and are not intended to limit it. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and all should be covered within the scope of the specification of this application. In particular, as long as there is no structural conflict, the various technical features mentioned in the embodiments can be combined in any way.

Claims

1. A soil testing device, characterized in that, include: A housing that encloses and forms a receiving cavity; A probe, which is rotatably disposed within the accommodating cavity; A driving mechanism is connected to the probe in a transmission manner. The driving mechanism can drive the probe to rotate relative to the housing. During the rotation of the probe relative to the housing, it can move from inside the accommodating cavity to outside the housing, or from outside the housing back into the accommodating cavity.

2. The soil testing device according to claim 1, characterized in that, The soil testing device also includes a mounting base, which is slidably disposed within the accommodating cavity, and the probe is rotatably disposed on the mounting base; The drive mechanism is disposed between the housing and the probe. A part of the drive mechanism is connected to the mounting base, and another part of the drive mechanism is connected to the probe in a transmission manner. The drive mechanism can drive the mounting base to move relative to the housing between a first position and a second position along a sliding direction. When the mounting base is in the first position, the probe is located inside the receiving cavity; when the mounting base is in the second position, at least a portion of the probe is located outside the receiving cavity, and the driving mechanism drives the probe to rotate so that the probe moves away from or towards the mounting base along the sliding direction.

3. The soil testing device according to claim 2, characterized in that, The soil testing device further includes a guide post, which is disposed in the accommodating cavity along the sliding direction. The mounting base has a sliding through hole that matches the guide post, and the mounting base is slidably sleeved on the guide post through the sliding through hole.

4. The soil testing device according to claim 2, characterized in that, The driving mechanism includes a power component, a first transmission assembly, and a second transmission assembly; the power component is fixedly connected to the housing; the first transmission assembly is pulsatorically connected to the power component and to the mounting base; a portion of the second transmission assembly is connected to the first transmission assembly, and another portion of the second transmission assembly is pulsatorically connected to the probe. The power component is used to drive the first transmission assembly to move the mounting base between the first position and the second position; after the mounting base moves to the second position, the two parts of the second transmission assembly are connected, and the first transmission assembly drives the second transmission assembly so that the second transmission assembly drives the probe to move relative to the mounting base along the sliding direction.

5. The soil testing device according to claim 4, characterized in that, The first transmission assembly includes a first driving part and a first driven part, and the second transmission assembly includes a second driving part and a second driven part; the first driving part is rotatably disposed within the accommodating cavity and is drivenly connected to the power component, the first driven part is disposed on the mounting base and is detachably drivenly connected to the first driving part; the second driving part is disposed on the first driving part, the second driven part is disposed on the mounting base and is drivenly connected to the probe; after the mounting base moves to the second position, the first driven part is disengaged from the first driving part, and the second driven part is drivenly connected to the second driving part.

6. The soil testing device according to claim 5, characterized in that, The first driving part includes a lead screw, which, along its axial direction, sequentially includes a first sliding section, a threaded section, and a second sliding section. The first sliding section is connected to the power component for transmission. The second driving part is disposed on the second sliding section. The axial direction of the lead screw is parallel to the sliding direction. The mounting seat is sleeved on the lead screw. The first driven part includes a first nut that matches the threaded section. The first nut is fixed to the mounting seat. The outer diameters of both the first and second sliding sections are smaller than the inner diameter of the first nut.

7. The soil testing device according to claim 5, characterized in that, The second driving part includes a driving gear, and the second driven part includes a driven gear adapted to the driving gear. The driving gear is fixed to the end of the first driven part away from the power member, and the driven gear is rotatably disposed on the mounting base.

8. The soil testing device according to any one of claims 4 to 7, characterized in that, The drive mechanism further includes a reset member connected to the mounting base. When the mounting base is in the first position, the mounting base tends to move towards the second position under the force applied by the reset member. When the mounting base is in the second position, the mounting base tends to move towards the first position under the force applied by the reset member.

9. The soil testing device according to claim 8, characterized in that, The drive mechanism further includes a third reset member, and the portion of the second transmission assembly that is connected to the probe transmission is connected to the third reset member; wherein, when the mounting base is in the second position, the force exerted by the third reset member on the portion of the second transmission assembly that is connected to the probe transmission is greater than the force exerted by the reset member connected to the mounting base on the mounting base.

10. The soil testing device according to claim 2, characterized in that, The probe has an external thread, and the mounting base has an internal thread that matches the external thread. When the mounting base is in the second position, the drive mechanism drives the probe to rotate, and the probe moves relative to the mounting base in the sliding direction under the cooperation of the internal thread and the external thread.

11. The soil testing device according to claim 4, characterized in that, The soil testing device further includes a probe fixing rod, which is slidably connected to another part of the second transmission assembly along the sliding direction. The probe is connected to the probe fixing rod, and the other part of the second transmission assembly can drive the probe fixing rod to rotate, thereby driving the probe to rotate.

12. The soil testing device according to claim 11, characterized in that, Along the sliding direction, the probe fixing rod includes an engaging section and a disengaging section. The engaging section is located at one end of the probe fixing rod near the probe, and the disengaging section is located at one end of the probe fixing rod away from the probe. The probe fixing rod passes through another part of the second transmission assembly. One of the engaging section and the other part of the second transmission assembly is provided with a groove, and the other of the engaging section and the other part of the second transmission assembly is provided with a protrusion that matches the groove. The engaging section and the other part of the second transmission assembly are slidably connected through the groove and the protrusion. The outer diameter of the disengaging section is smaller than the inner diameter of the other part of the second transmission assembly.

13. The soil testing device according to claim 11, characterized in that, The probe fixing rod has a mounting cavity that matches the probe at one end near the probe. One of the mounting cavities of the probe and the probe fixing rod has an elastic component, and the other of the mounting cavities of the probe and the probe fixing rod has a slot corresponding to the elastic component. The elastic component cooperates with the slot to allow the probe and the probe fixing rod to be detachably connected.

14. The soil testing device according to any one of claims 2 to 7, characterized in that, The mounting base has a guide sleeve extending along the sliding direction, and the probe is rotatably disposed within the guide sleeve; when the mounting base is in the first position, the guide sleeve is located within the receiving cavity, and when the mounting base is in the second position, at least a portion of the guide sleeve moves outside the receiving cavity.

15. The soil testing device according to claim 14, characterized in that, The soil testing device also includes an end cap, which is detachably disposed on the guide sleeve, and the probe is rotatably connected to the end cap.

16. The soil testing device according to any one of claims 4 to 7, characterized in that, The soil testing device includes at least two probes and a second transmission component corresponding to each probe. Each set of second transmission components is connected to the first transmission component, and each probe is connected to a set of second transmission components.

17. A self-moving robot, characterized in that, include: Machine body; A first walking mechanism is disposed on the machine body and is capable of moving autonomously to drive the machine body to move. The soil testing device according to any one of claims 1 to 16, wherein the housing is connected to the machine body.

18. The self-moving robot according to claim 17, characterized in that, The self-moving robot also includes a trailer device, which has a second walking mechanism and a load-bearing part. The load-bearing part is detachably connected to the machine body. The second walking mechanism is disposed on the load-bearing part. The trailer device can follow the movement of the machine body through the second walking mechanism. The soil detection device is detachably disposed on the load-bearing part.

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