• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Disclosed is a soil sampling device. The soil sampling device comprises a mounting seat, a plurality of sampling clamps which are arranged below the mounting seat and used for grabbing sampled soil, and a sampling driving mechanism, wherein the sampling clamps 5 are uniformly distributed along the circumferential direction to form a sampling cylinder, and the sampling driving mechanism is used for driving the sampling clamps to move close to one another and far away from one another along the radial direction; and wherein the sampling driving mechanism comprises a driving source arranged above the mounting seat, and a synchronous transmission assembly which is used for 10 transmitting the power of the driving source to each sampling clamp and promoting the sampling clamps to move synchronously is arranged between the driving source and the mounting seat. The device is simple and convenient in the process of collecting soil, can realize automatic soil sampling, and is high in efficiency, and the device can adapt to soil under different conditions, and sampled soil cannot fall off in the collecting process 15 when loose soil is collected.
    公开号:NL2027886A
    申请号:NL2027886
    申请日:2021-03-31
    公开日:2021-07-07
    发明作者:Yi Lili；Kong Fanxia；Lan Yubin；Zhang Rongxin
    申请人:Univ Shandong Technology；
    IPC主号:
    专利说明:

    SOIL SAMPLING DEVICE AND SOIL SAMPLING VEHICLE
    TECHNICAL FIELD The present disclosure relates to soil sampling equipment, in particular to a soil sampling device and a soil sampling vehicle.
    BACKGROUND Along with the development of the society in China, people pay close attention to food safety, and it 1s particularly important to guarantee food safety. As soil pollution in China is increasingly serious, if soil is polluted in farmlands or orchards, harmful substances in the soil are absorbed by crops and fruit trees, and finally human health is affected. Therefore, it is very important for soil sampling analysis. At present, a soil sampling mode is gradually transitioned from manual sampling to mechanical sampling. For example, an invention patent application with a published application number of CN109682634A discloses a soil adjustment driving mechanism, and the device comprises a moving trolley, a soil sampler, a lifting driving unit, a rotating driving unit and a connecting frame; and the soil sampler comprises a pipe boot, a soil sampling pipe and a plurality of cutting rings arranged in the soil sampling pipe. In the soil sampling process, the lifting driving unit and the rotating driving unit drive the soil sampler to be rapidly screwed downwards into a target collection area, and the bottom end of the pipe boot can be continuously cut into the soil below; when all the cutting rings are filled with soil, the lifting driving unit can drive the soil sampler to quickly move upwards until the bottom end of the pipe boot is exposed out of the ground by a certain height; and after soil sampling is completed, the pipe boot is unscrewed from the soil sampling pipe by a worker, and the cutting rings can drive sampled soil filled in the cutting rings to fall off from the soil sampling pipe together. However, the above described soil sampling device has the following shortages: Firstly, after the sampling is completed, the pipe boot needs to be manually unscrewed from the soil sampling pipe, and then the soil is taken out from the cutting rings, so that the sampling process is complex and the efficiency is low. Secondly, according to the soil sampling device, when a loose soil layer is collected, the cutting rings are filled with soil and a lifting unit drives the soil sampler to ascend, the soil in the cutting rings falls off from the lower end of the soil sampler, and it is difficult to ensure that the soil can be smoothly taken out of the soil layer.
    SUMMARY The present disclosure aims to overcome the existing problems, and provides a soil sampling device; the device is simple and convenient in the process of collecting soil, can realize automatic soil sampling, and is high in efficiency; and the device can adapt to soil under different conditions, and sampled soil cannot fall off in the collecting process when loose soil is collected. The other purpose of the present disclosure is to provide a soil sampling vehicle. The purpose of the present disclosure is realized through the following technical scheme: The soil sampling device comprises a mounting seat, a plurality of sampling clamps which are arranged below the mounting seat and used for grabbing sampled soil, and a sampling driving mechanism, wherein the sampling clamps are uniformly distributed along the circumferential direction to form a sampling cylinder, and the sampling driving mechanism is used for driving the sampling clamps to move close to one another and far away from one another along the radial direction; and the sampling driving mechanism comprises a driving source arranged above the mounting seat, and a synchronous transmission assembly which is used for transmitting the power of the driving source to each sampling clamp and promoting the sampling clamps to move synchronously is arranged between the driving source and the mounting seat. The working principle of the soil sampling device is as follows: When the soil sampling device works, the sampling clamps firstly go deep into the soil, so that the space among the sampling clamps is filled with soil, then the driving source drives the synchronous transmission assembly to move, each sampling clamp is driven to get close to the center in the radial direction of the sampling cylinder at the same time, the sampling clamps are mutually folded, then the sampled soil among the sampling clamps is tightly held, then the sampling clamps are pulled out of the soil, and when the sampled soil needs to be taken out of the sampling clamps, the driving source drives the synchronous transmission assembly to move reversely to drive each sampling clamp to get away from the center in the radial direction of the sampling cylinder at the same time, the sampling clamps are separated from one another, and the sampled soil loses the clamping force of the sampling clamps and falls off from the sampling clamps, so that soil harvesting is completed.
    In a preferred embodiment of the present disclosure, the synchronous transmission assembly comprises a transmission plate arranged above the mounting seat, transmission rods arranged at the upper end of each sampling clamp, and guide assemblies which are arranged between the sampling clamps and the transmission rods and used for guiding the sampling clamps to move along the radial direction; wherein the axial projections of the center of the transmission plate and the center of the sampling cylinder are overlapped, and the output end of the driving source is connected with the center of the transmission plate; eccentric grooves are formed in the positions, corresponding to the transmission rods, on the transmission plate, the eccentric grooves are eccentrically formed relative to the center of the transmission plate, and the distance from one end of each of the eccentric grooves to the center of the transmission plate is smaller than that from the other end of each of the eccentric grooves to the center of the transmission plate; and the transmission rods penetrate through the eccentric grooves and are in sliding fit with the eccentric grooves. By adopting the structure, the driving source drives the transmission plate to rotate on the mounting seat, the eccentric grooves also rotate around the center of the transmission plate, due to the fact that the eccentric grooves are eccentrically formed, radial distance differences exist between the two ends of the eccentric grooves and the center of the transmission plate, and under the action of the guide assemblies, the eccentric grooves drive the transmission rods to slide on the eccentric grooves, so that the transmission rods move close to one another or far away from one another synchronously in the radial direction of the transmission plate; due to the fact that the axial projections of the center of the transmission plate and the circumferential center of the array of the sampling clamps are overlapped, the sampling clamps are driven to move close to one another and/or away from one another synchronously along the radial direction of the sampling cylinder, and finally, the functions of soil clamping and soil loosening of the sampling clamps are achieved. Preferably, the guide assemblies comprise two guide rails arranged on the mounting seat in parallel and sliding blocks in sliding fit with the guide rails; wherein the center lines of the two guide rails face the center of the sampling cylinder, the lower ends of the transmission rods are fixedly connected with the upper ends of the sliding blocks, and the upper ends of the sampling clamps are connected with the lower ends of the sliding blocks.
    By setting the guide assemblies, it can be guaranteed that the sampling clamps can move along the radial direction, and meanwhile, when the soil is clamped and loosened by the sampling clamps, the sampling clamps can move more stably.
    In a preferred embodiment of the present disclosure, each sampling clamp comprises an arc-shaped sampling piece and two connecting arms arranged between the corresponding sampling piece and the corresponding sliding block in parallel, wherein the upper ends of the two connecting arms penetrate through the mounting seat to be fixedly connected with the two ends of the corresponding sliding block respectively, and the lower ends of the two connecting arms are fixedly connected with the outer wall of the corresponding sampling piece.
    By setting the arc-shaped sampling pieces, the soil can be better clamped when the soil is collected, and by setting the connecting arms, the structures of the whole sampling clamps can be more compact.
    Further, avoidance grooves used for avoiding the connecting arms are formed in the positions, corresponding to the connecting arms, on the mounting seat.
    The avoidance grooves have the advantages that by setting the avoidance grooves, the connecting arms can penetrate through the avoidance grooves to be connected with the sliding blocks, the connecting arms cannot interfere with the mounting seat in the moving process, and the whole structure is more compact.
    Further, a sharp edge is arranged at the bottom of each sampling piece, and the sharp edges have the advantage that the sampling pieces can better enter the soil.
    Further, there are three clamping clamps.
    By setting the three sampling clamps, the structure can be more compact, and the soil collecting effect is good.
    Preferably, the driving source is a sampling driving motor, the sampling driving motor is fixedly connected to the mounting seat through a mounting rack, and the main shaft of the sampling driving motor is connected with the center of the transmission plate.
    By setting the sampling driving motor, the transmission plate can rotate along the center of the sampling cylinder.
    A soil sampling vehicle comprises a walking chassis, a soil sampling device, an adjustment driving mechanism which is arranged between the soil sampling device and the walking chassis and used for adjusting the soil sampling device to move in multiple dimensions, a soil detection device used for detecting soil, a control device and a power supply device, wherein the adjustment driving mechanism comprises a base arranged on the walking chassis, a swinging arm connected between the base and the soil sampling terminal, a vertical driving mechanism for driving the swinging arm to swing in the vertical direction, a horizontal driving mechanism for driving the base to rotate along the horizontal direction and a power mechanism used for driving the soil sampling terminal 5 tobe inserted into soil; and the soil detection device comprises a soil sampling box arranged on the walking chassis, a plurality of soil centrifugal machines arranged in the soil sampling box and PH value sensors which are arranged on the soil centrifugal machines and used for detecting the PH value of the sampled soil.
    In a preferred embodiment of the present disclosure, the swinging arm is a two- stage swinging arm composed of a swing arm and a movable arm; wherein the swing arm is arranged between the base and the movable arm, one end of the swing arm is hinged to the base, the other end of the swing arm is hinged to the movable arm, and the soil sampling device is arranged at the tail end of the movable arm. By setting the two- stage swing arm, multi-stage movement of the soil sampling device can be realized, and the movement flexibility of the soil sampling device is improved.
    Preferably, a fixed mount is arranged between the soil sampling device and the tail end of the movable arm, one end of the fixed mount is fixedly connected with the mounting seat, and the other end of the fixed mount is connected with the tail end of the movable arm.
    Preferably, the vertical driving mechanism comprises a swing arm air cylinder used for driving the swing arm to swing around the base and a movable arm air cylinder used for driving the movable arm to swing around the swing arm; wherein one end of the swing arm air cylinder is hinged to the base, and the other end of the swing arm air cylinder is hinged to the middle part of the swing arm; and one end of the movable arm air cylinder is hinged to the middle part of the swing arm, and the other end of the movable arm air cylinder is hinged to the middle part of the movable arm. By setting the swing arm air cylinder and the movable arm air cylinder, the swing arm can swing around a hinge point on the base, the movable arm can swing around the hinge point of the swing arm, and therefore multi-stage movement of the soil sampling device is achieved.
    Preferably, the power mechanism comprises a telescopic air cylinder arranged between the movable arm and the fixed mount, a cylinder body of the telescopic air cylinder is connected with the tail end of the movable arm, and a telescopic rod of the telescopic air cylinder 1s connected with the upper end of the fixed mount. The telescopic air cylinder drives the telescopic rod to stretch out and draw back, so that the soil sampling device can stretch into or be pulled out of the soil.
    Preferably, a rotating motor used for driving the soil sampling device to rotate is arranged between the fixed mount and the telescopic rod of the telescopic air cylinder, a rotating shaft of the rotating motor 1s connected with the upper end of the fixed mount, and a motor body of the rotating motor is connected with the telescopic rod. By setting the rotating motor, the soil sampling device can be driven to rotate, and when the soil sampling device enters the soil, the soil sampling device can enter the soil more easily through rapid rotation.
    Preferably, a connecting frame is arranged on the periphery of the rotating motor, the lower end of the connecting frame is fixedly connected with the upper end of the fixed mount, and the upper end of the connecting frame is rotationally connected with the telescopic rod of the telescopic air cylinder. By setting the structure, the soil sampling device is more stable during rotation, and rigid connection between structures is guaranteed.
    Preferably, a first hinge rod is rotationally arranged at the bottom of the base; the swing arm comprises two first wall plates which are oppositely arranged in parallel, a second hinge rod, a third hinge rod, a fourth hinge rod, a fifth hinge rod and first fixed plates, wherein the second hinge rod, the third hinge rod, the fourth hinge rod and the fifth hinge rod are sequentially and rotationally arranged between the two first wall plates, and the first fixed plates are arranged at the front ends and the rear ends of the first wall plates and used for fixing the two first wall plates; the movable arm comprises two second wall plates which are oppositely arranged in parallel, a sixth hinge rod, a seventh hinge rod, an eighth hinge rod and second fixed plates, wherein the sixth hinge rod, the seventh hinge rod and the eighth hinge rod are sequentially and rotationally arranged between the two second wall plates, and the second fixed plates are arranged at the front ends and the rear ends of the second wall plates and used for fixing the two second wall plates; wherein the swing arm is hinged to the base through the second hinge rod, and the swing arm is hinged to the movable arm through the fifth hinge rod; one end of the swing arm air cylinder is fixedly connected with the first hinge rod, and the other end of the swing arm air cylinder is fixedly connected with the third hinge rod; one end of the movable arm air cylinder is fixedly connected with the fourth hinge rod, and the other end of the movable arm air cylinder is fixedly connected with the sixth hinge rod; the cylinder body of the telescopic air cylinder is connected with the eighth hinge rod, a driving air cylinder used for driving the telescopic air cylinder to rotate around the eighth hinge rod is arranged between the telescopic air cylinder and the seventh hinge rod, one end of the driving air cylinder is fixedly connected with the cylinder body of the telescopic air cylinder, and the other end of the driving air cylinder is fixedly connected with the seventh hinge rod. By setting the hinge rods, the hinge function between the first wall plates and the base and the hinge function between the first wall plates and the second wall plates can be achieved, the hinge function of the swing arm air cylinder and the movable arm air cylinder is also facilitated, and meanwhile, the structure 1s also more compact; and by setting the driving air cylinder, the three-stage swinging function of the soil sampling device is achieved, and the movement flexibility of the soil sampling device is further improved.
    Preferably, the horizontal driving mechanism comprises a horizontal air cylinder which is horizontally arranged, one end of the horizontal air cylinder is hinged to the chassis frame, and the other end of the horizontal air cylinder is hinged to the outer end of the base. By setting the horizontal air cylinder, rotation of the base can be achieved, and then rotation of the adjustment driving mechanism is achieved.
    In a preferred embodiment of the present disclosure, the control device is a wireless control device, and comprises a mobile workstation used for sending out an instruction signal, a control panel which is arranged on the walking chassis and used for receiving and sending an instruction, drivers used for executing the instruction, a relay and an electromagnetic valve set used for controlling air cylinders; the power supply device comprises a generator and a lithium battery; and the generator is used for charging the lithium battery, the lithium battery provides voltage for the control panel and the relay, and the relay 1s connected with the electromagnetic valve set. By adopting the structure, the sampling operation of the soil sampling device is realized through the mobile workstation, the control panel and the drivers; and the electromagnetic valve set changes the direction of an air flow by receiving relay power-on and power-off commands, and telescopic movement of different air cylinders is achieved.
    In a preferred embodiment of the present disclosure, the walking chassis is a wheel type walking chassis, and comprises a chassis frame, walking wheels arranged on the two sides of the chassis frame, anti-collision beams arranged at the front end and the rear end of the chassis frame and driving motors used for controlling the walking wheels to advance, retreat and steer; and the adjustment driving mechanism, the soil detection device, the control device and the power supply device are all arranged on the chassis frame. By adopting the wheel type walking chassis, the wheel type walking chassis has better suitability for harder workplaces with smaller surface undulations.
    Compared with the prior art, the soil sampling device and the soil sampling vehicle have the following advantages: Firstly, in the disclosure, the sampling clamps are uniformly distributed along the circumferential direction, the sampling clamps are driven to move close to one another and away from one another along the radial direction, automatic soil grabbing and automatic soil loosening of the sampling clamps can be achieved, sampled soil can be obtained by loosening the sampling clamps, the soil collecting process is simple and convenient, automatic soil taking function is achieved, and therefore, the soil collecting efficiency is higher.
    Secondly, the sampling clamps in the present disclosure can be used for collecting soil with different hardness, particularly when loose soil is collected, the soil can be tightly held, and the soil cannot fall off in the collecting process.
    BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 to FIG. 5 are structural schematic diagrams of a first embodiment of a soil sampling device in the present disclosure, wherein FIG. 1 is a front view, FIG. 2 is a bottom view, FIG. 3 is a space diagram of sampling clamps in a mutually closed state, FIG. 4 is a space diagram of the sampling clamps in a mutually distant state, and FIG. 5 isa space diagram in another viewing angle direction.
    FIG. 6 is a solid structural schematic diagram of a transmission plate of the soil sampling device in the present disclosure.
    FIG. 7 is a solid structural schematic diagram without a sampling driving motor, a mounting rack and a transmission plate in FIG. 4.
    FIG. 8 to FIG. 11 are structural schematic diagrams of the first embodiment of the soil sampling vehicle in the present disclosure, wherein FIG. 8 is a space diagram, FIG. 9 is a space diagram in another viewing angle direction, FIG. 10 is a top view, and FIG. 11 is a bottom view.
    FIG. 12 to FIG. 14 are structural schematic diagrams of an adjustment driving mechanism of the soil sampling vehicle in the present disclosure, wherein FIG. 12 is a front view, FIG. 13 is a space diagram, and FIG. 14 is a space diagram in another viewing angle direction. FIG. 15 is a solid structural schematic diagram of the connection between the soil sampling device and a telescopic air cylinder in the present disclosure. FIG. 16 is a solid structural schematic diagram of a synchronous transmission assembly of a second embodiment of the soil sampling device in the present disclosure. FIG. 17 1s a solid structural schematic diagram of a guide assembly of a third embodiment of the soil sampling device in the present disclosure. FIG. 18 is a solid structural schematic diagram of a walking chassis of a fourth embodiment of the soil sampling device in the present disclosure. FIG. 19 is a solid structural schematic diagram of a control device of a fifth embodiment of the soil sampling device in the present disclosure.
    DETAILED DESCRIPTION In order for those skilled in the art to better understand the technical solution of the present disclosure, the present disclosure is further described below in combination with the embodiments and accompanying diagrams, but description of the present disclosure is not limited thereto. Embodiment I Referring to FIG. 1 to FIG. 3, a soil sampling device in the embodiment comprises a mounting seat 1, three sampling clamps 2 which are arranged below the mounting seat 1 and used for grabbing sampled soil, and a sampling driving mechanism, wherein the three sampling clamps 2 are uniformly distributed along the circumferential direction to form a sampling cylinder, and the sampling driving mechanism is used for driving the sampling clamps 2 to move close to one another and far away from one another along the radial direction. Referring to FIG. 1 to FIG. 7, the sampling driving mechanism comprises a driving source arranged above the mounting seat 1, and a synchronous transmission assembly 3 which is used for transmitting the power of the driving source to each sampling clamp 2 and promoting the three sampling clamps to move synchronously is arranged between the driving source and the mounting seat 1; the synchronous transmission assembly 3 comprises a transmission plate 3-1 arranged above the mounting seat 1, transmission rods 3-2 arranged at the upper end of each sampling clamp 2, and guide assemblies which are arranged between the sampling clamps 2 and the transmission rods 3-2 and used for guiding the sampling clamps 2 to move along the radial direction; wherein the axial projections of the center of the transmission plate 3-1 and the center of the sampling cylinder are overlapped, and the output end of the driving source is connected with the center of the transmission plate 3-1; eccentric grooves 3-4 are formed in the positions, corresponding to the transmission rods 3-2, on the transmission plate 3-1, the eccentric grooves 3-4 are eccentrically formed relative to the center of the transmission plate 3-1, and the distance from one end of each of the eccentric grooves 3-4 to the center of the transmission plate 3-1 is smaller than that from the other end of each of the eccentric grooves 3-4 to the center of the transmission plate 3-1; and the transmission rods 3-2 penetrate through the eccentric grooves 3-4 and are in sliding fit with the eccentric grooves 3-4. By adopting the structure, the driving source drives the transmission plate 3-1 to rotate on the mounting seat 1, the eccentric grooves 3-4 also rotate around the center of the transmission plate 3-1, due to the fact that the eccentric grooves 3-4 are eccentrically formed, radial distance differences exist between the two ends of the eccentric grooves 3-4 and the center of the transmission plate 3-1, and under the action of the guide assemblies, the eccentric grooves 3-4 drive the transmission rods 3-2 to slide on the eccentric grooves 3-4, so that the transmission rods 3-2 move close to one another or far away from one another synchronously in the radial direction of the transmission plate 3-1; due to the fact that the axial projections of the center of the transmission plate 3-1 and the circumferential center of the array of the sampling clamps 2 are overlapped, the sampling clamps 2 are driven to move close to one another and/or away from one another synchronously along the radial direction of the sampling cylinder, and finally, the functions of soil clamping and soil loosening of the sampling clamps 2 are achieved.
    Referring to FIG. 4 to FIG. 7, the guide assemblies comprise two guide rails 3-5 arranged on the mounting seat | in parallel and sliding blocks 3-6 in sliding fit with the guide rails 3-5; wherein the center lines of the two guide rails 3-5 face the center of the sampling cylinder, the lower ends of the transmission rods 3-2 are fixedly connected with the upper ends of the sliding blocks 3-6, and the upper ends of the sampling clamps 2 are connected with the lower ends of the sliding blocks 3-6. By setting the guide assemblies, it can be guaranteed that the sampling clamps 2 can move along the radial direction, and meanwhile, when the soil is clamped and loosened by the sampling clamps 2, the sampling clamps can move more stably. Referring to FIG. 1 to FIG. 7, the driving source is a sampling driving motor 4, and the sampling driving motor 4 is fixedly connected to the mounting seat 1 through a mounting rack 5, wherein the mounting rack 5 comprises a mounting plate 5-1 located at the upper end and three mounting rods 5-2 located at the lower end, the three mounting rods 5-2 are uniformly distributed around the center of the transmission plate 3-1, the upper ends of the three mounting rods 5-2 are fixedly connected with the mounting plate 5-1, the lower ends of the three mounting rods 5-2 penetrate through the transmission plate 3-1 to be fixedly connected with the mounting seat 1, the sampling driving motor 4 is fixed on the mounting plate 5-1, and a main shaft of the sampling driving motor 4 is connected with the center of the transmission plate 3-1. By setting the sampling driving motor 4, the transmission plate 3-1 can rotate along the center of the sampling cylinder. Specifically, avoiding grooves 3-11 used for avoiding the mounting rods 5-2 are formed in the transmission plate 3-1. By setting the avoiding grooves 3-11, the transmission plate 3-1 cannot interfere with the mounting rods 5-2 in the transmission process, and the whole structure is more compact. Referring to FIG. 1 to FIG. 7, each sampling clamp 2 comprises an arc-shaped sampling piece 2-1 and two connecting arms 2-2 arranged between the corresponding sampling piece 2-1 and the corresponding sliding block 3-6 in parallel, wherein the upper ends of the two connecting arms 2-2 penetrate through the mounting seat 1 to be fixedly connected with the two ends of the corresponding sliding block 3-6 respectively, and the lower ends of the two connecting arms 2-2 are fixedly connected with the outer wall of the corresponding sampling piece 2-1. By setting the arc-shaped sampling pieces 2-1, the soil can be better clamped when the soil is collected, and by setting the connecting arms 2-2, the structures of the whole sampling clamps 2 can be more compact. Further, avoidance grooves 1-1 used for avoiding the connecting arms 2-2 are formed in the positions, corresponding to the connecting arms 2-2, on the mounting seat
    1. The avoidance grooves have the advantages that by setting the avoidance grooves 1- 1, the connecting arms 2-2 can penetrate through the avoidance grooves 1-1 to be connected with the sliding blocks 3-6, the connecting arms 2-2 cannot interfere with the mounting seat 1 in the moving process, and the whole structure is more compact.
    Further, a sharp edge 2-11 is arranged at the bottom of each sampling piece 2-1, and the sharp edges 2-1 have the advantage that the sampling pieces 2-1 can better enter the soil.
    Referring to FIG. 8 to FIG. 11, a soil sampling vehicle disclosed in the embodiment comprises a walking chassis 6, a soil sampling device, an adjustment driving mechanism 7 which is arranged between the soil sampling device and the walking chassis 6 and used for adjusting the soil sampling device to move in multiple dimensions, a soil detection device 8 used for detecting soil, a control device 9 and a power supply device 10. Referring to FIG. 1 to FIG. 11, the walking chassis 6 is a wheel type walking chassis, and comprises a chassis frame 6-1, walking wheels 6-2 arranged on the two sides of the chassis frame 6-1, anti-collision beams 6-3 arranged at the front end and the rear end of the chassis frame 6-1 and control driving motors 6-4 used for controlling the walking wheels 6-2 to advance, retreat and steer; and the adjustment driving mechanism 7, the soil detection device §, the control device 9 and the power supply device 10 are all arranged on the chassis frame 6-1. By adopting the wheel type walking chassis 6, the wheel type walking chassis 6 has better suitability for harder workplaces with smaller surface undulations.
    Referring to FIG. 12 to FIG. 15, the adjustment driving mechanism 7 comprises a base 7-1 arranged on the walking chassis 6, a swinging arm connected between the base 7-1 and the soil sampling device, a vertical driving mechanism for driving the swinging arm to swing in the vertical direction, a horizontal driving mechanism for driving the base 7-1 to rotate along the horizontal direction and a power mechanism used for driving the soil sampling device to be inserted into soil; wherein the swinging arm is a two-stage swinging arm composed of a swing arm 7-2 and a movable arm 7-3; wherein the swing arm 7-2 1s arranged between the base 7-1 and the movable arm 7-3, one end of the swing arm 7-2 is hinged to the base 7-1, the other end of the swing arm 7-2 is hinged to the movable arm 7-3, and the soil sampling device is arranged at the tail end of the movable arm 7-3 through a fixed mount 11; and wherein the fixed mount 11 comprises a fixed block 11-1 located at the upper end and six fixed rods 11-2 located at the lower end, the six fixed rods 11-2 are arranged along the sampling cylinder in the center of the transmission plate 3-1, the upper ends of the six fixed rods 11-2 are fixedly connected with the fixed block 11-1, the lower ends of the six fixed rods 11-2 are fixedly connected with the mounting seat 1, and the tail end of the movable arm 7-3 is connected with the fixed block 11-1. By setting the two-stage swing arm, multi-stage movement of the soil sampling device can be realized, and the movement flexibility of the soil sampling device is improved.
    Referring to FIG. 12 to FIG. 15, the vertical driving mechanism comprises a swing arm air cylinder 7-4 used for driving the swing arm 7-2 to swing around the base 7-1 and a movable arm air cylinder 7-5 used for driving the movable arm 7-3 to swing around the swing arm 7-2; one end of the swing arm air cylinder 7-4 is hinged to the base 7-1, and the other end of the swing arm air cylinder 7-4 is hinged to the middle part of the swing arm 7-2; one end of the movable arm air cylinder 7-5 is hinged to the middle part of the swing arm 7-2, and the other end of the movable arm air cylinder 7-5 is hinged to the middle part of the movable arm 7-3. By setting the swing arm air cylinder 7-4 and the movable arm air cylinder 7-5, the swing arm 7-2 can swing around a hinge point on the base 7-1, the movable arm 7-3 can swing around the hinge point of the swing arm 7- 2, and therefore multi-stage movement of the soil sampling device is achieved.
    Referring to FIG. 12 to FIG. 15, the power mechanism comprises a telescopic air cylinder 7-6 arranged between the movable arm 7-3 and the fixed mount 11, a cylinder body of the telescopic air cylinder 7-6 is connected with the tail end of the movable arm 7-3, and a telescopic rod of the telescopic air cylinder 7-6 is connected with the fixed block 11-1 of the fixed mount 11. The telescopic air cylinder 7-6 drives the telescopic rod to stretch out and draw back, so that the soil sampling device can stretch into or be pulled out of the soil.
    Referring to FIG. 12 to FIG. 15, a rotating motor 7-7 used for driving the soil sampling device to rotate is arranged between the fixed mount 11 and the telescopic rod of the telescopic air cylinder 7-6, a rotating shaft of the rotating motor 7-7 is connected with the fixed block 11-1 of the fixed mount 11, and a motor body of the rotating motor 7-7 is connected with the telescopic rod. By setting the rotating motor 7-7, the soil sampling device can be driven to rotate, and when the soil sampling device enters the soil, the soil sampling device can enter the soil more easily through rapid rotation.
    Referring to FIG. 12 to FIG. 15, a connecting frame 12 is arranged on the periphery of the rotating motor 7-7, the connecting frame 12 comprises a connecting plate 12-1 located at the upper end and six connecting rods 12-2 located at the lower end, the six connecting rods 12-2 are uniformly distributed around the center of the transmission plate 3-1, the upper ends of the six connecting rods 12-2 are fixedly connected with the connecting plate 12-1, the lower ends of the six connecting rods 12-2 are fixedly connected with the fixed block 11-1, and the connecting plate 12-1 is rotationally connected to the telescopic rod of the telescopic air cylinder 7-6. By setting the structure, the soil sampling device is more stable during rotation, and rigid connection between structures is guaranteed.
    Referring to FIG. 12 to FIG. 15, a first hinge rod 7-11 is rotationally arranged at the bottom of the base 7-1; the swing arm 7-2 comprises two first wall plates 7-21 which are oppositely arranged in parallel, a second hinge rod 7-22, a third hinge rod 7-23, a fourth hinge rod 7-24, a fifth hinge rod 7-25 and first fixed plates 7-26, wherein the second hinge rod 7-22, the third hinge rod 7-23, the fourth hinge rod 7-24 and the fifth hinge rod 7-25 are sequentially and rotationally arranged between the two first wall plates 7- 21, and the first fixed plates 7-26 are arranged at the front ends and the rear ends of the first wall plates 7-21 and used for fixing the two first wall plates 7-21; the movable arm 7-3 comprises two second wall plates 7-31 which are oppositely arranged in parallel, a sixth hinge rod 7-32, a seventh hinge rod 7-33, an eighth hinge rod 7-34 and second fixed plates 7-35, wherein the sixth hinge rod 7-32, the seventh hinge rod 7-33 and the eighth hinge rod 7-34 are sequentially and rotationally arranged between the two second wall plates 7-31, and the second fixed plates 7-35 are arranged at the front ends and the rear ends of the second wall plates 7-31 and used for fixing the two second wall plates 7-31; the swing arm 7-2 is hinged to the base 7-1 through the second hinge rod 7-22, and the swing arm 7-2 is hinged to the movable arm 7-3 through the fifth hinge rod 7-25; one end of the swing arm air cylinder 7-4 is fixedly connected with the first hinge rod 7- 11, and the other end of the swing arm air cylinder 7-4 is fixedly connected with the third hinge rod 7-23; one end of the movable arm air cylinder 7-5 is fixedly connected with the fourth hinge rod 7-24, and the other end of the movable arm air cylinder 7-5 is fixedly connected with the sixth hinge rod 7-32; the cylinder body of the telescopic air cylinder 7-6 is connected with the eighth hinge rod 7-34, a driving air cylinder 7-8 used for driving the telescopic air cylinder 7-6 to rotate around the eighth hinge rod 7-34 is arranged between the telescopic air cylinder 7-6 and the seventh hinge rod 7-33, one end of the driving air cylinder 7-8 is fixedly connected with the cylinder body of the telescopic air cylinder 7-6, and the other end of the driving air cylinder 7-8 is fixedly connected with the seventh hinge rod 7-33. By setting the hinge rods, the hinge function between the first wall plates 7-21 and the base 7-1 and the hinge function between the first wall plates 7-21 and the second wall plates 7-31 can be achieved, the hinge function of the swing arm air cylinder 7-4 and the movable arm air cylinder 7-5 is also facilitated, and meanwhile, the structure is also more compact; and by setting the driving air cylinder 7-8, the three-stage swinging function of the soil sampling device is achieved, and the movement flexibility of the soil sampling device is further improved.
    Referring to FIG. 12 to FIG. 15, the horizontal driving mechanism comprises a horizontal air cylinder 7-9 which is horizontally arranged, one end of the horizontal air cylinder 7-9 is hinged to the chassis frame 6-1, and the other end of the horizontal air cylinder 7-9 1s hinged to the outer end of the base 7-1. By setting the horizontal air cylinder 7-9, rotation of the base 7-1 can be achieved, and then rotation of the adjustment driving mechanism 7 is achieved.
    Referring to FIG. 8 to FIG. 11, the soil detection device 8 comprises a soil sampling box 8-1 arranged on the walking chassis 6, a plurality of soil centrifugal machines 8-2 arranged in the soil sampling box 8-1 and PH value sensors which are arranged on the soil centrifugal machines 8-2 and used for detecting the PH value of the sampled soil. By setting the structure, when the soil is collected by the soil sampling device, the soil is put into the soil centrifugal machines 8-2, the soil centrifugal machines 8-2 rotate at a set differential speed, the sampled soil is screened and mixed under the action of the soil centrifugal machines 8-2, finally, the pH value sensors are used for measuring the pH value of the soil, and data obtained by the PH value sensors is transmitted back to the control device 9 for integrated analysis.
    Referring to FIG. 8 to FIG. 11, the control device 9 is a wireless control device 9, and comprises a mobile workstation used for sending out an instruction signal, a control panel 9-1 which is arranged on the walking chassis 6 and used for receiving and sending an instruction, drivers 9-2 used for executing the instruction, a relay and an electromagnetic valve set 9-3 used for controlling air cylinders; the power supply device 10 comprises a generator 10-1 and a lithium battery 10-2; and the generator 10-1 is used for charging the lithium battery 10-2, the lithium battery 10-2 provides voltage for the control panel 9-1 and the relay, and the relay is connected with the electromagnetic valve set 9-3. By adopting the structure, the sampling operation of the soil sampling device is realized through the mobile workstation, the control panel 9-1 and the drivers 9-2; and the electromagnetic valve set 9-3 changes the direction of an air flow by receiving relay power-on and power-off commands, and telescopic movement of different air cylinders
    1s achieved.
    Specifically, firstly, an interface of the mobile workstation is opened, the generator 10-1 is started, the generator 10-1 charges the lithium battery 10-2, the lithium battery 10-2 provides voltage for the control panel 9-1 and the relay, a sampling person controls advancing, retreating and steering of the sampling vehicle through the mobile workstation, the control driving motors 6-4 drive the sampling vehicle to reach a designated place, the horizontal air cylinder 7-9 drives a collection module to rotate horizontally, so that the swinging arm and the adjustment driving mechanism 7 move towards a specified direction; then the swing arm air cylinder 7-4 and the movable arm air cylinder 7-5 drive the swing arm 7-2 and the movable arm 7-3 to swing downwards respectively until the soil sampling device is vertical to the ground, then the telescopic air cylinder 7-6 drives the soil sampling device to move towards the soil, and meanwhile, the rotating motor 7-7 drives the soil sampling device to rotate, so that the soil sampling device gradually extends into the soil; after the sampled soil is collected by the soil sampling device, the power mechanism drives the soil sampling device to be pulled out of the soil, the swing arm air cylinder 7-4 and the movable arm air cylinder 7-5 drive the swing arm 7-2 and the movable arm 7-3 to swing upwards respectively, and the soil sampling device is driven by the horizontal air cylinder 7-9 to move to the position above the soil sampling box 8-1 until the soil sampling device is aligned with inlets of the soil centrifugal machines 8-2; the sampled soil in the soil sampling device is placed in the soil centrifugal machines 8-2, the soil centrifugal machines 8-2 rotate at the set differential speed, the sampled soil is screened and mixed under the action of the soil centrifugal machines 8-2, finally, the PH value sensors are used for measuring the pH value of the soil, and data obtained by the PH value sensors is transmitted back to the control device 9 for integrated analysis.
    The sampling vehicle is continuously moved to anext place according to a planned route, and the soil sampling operation is sequentially completed according to the steps.
    Referring to FIG. 1 to FIG. 3, the working principle of the soil sampling device is as follows:
    When the soil sampling device works, the sampling clamps 2 firstly go deep into the soil, so that the space among the sampling clamps 2 is filled with soil, then the driving source drives the synchronous transmission assembly 3 to move, each sampling clamp 2 is driven to get close to the center in the radial direction of the sampling cylinder at the same time, the sampling clamps 2 are mutually folded, then the sampled soil among the sampling clamps 2 is tightly held, then the sampling clamps 2 are pulled out of the soil, and when the sampled soil needs to be taken out of the sampling clamps 2, the driving source drives the synchronous transmission assembly 3 to move reversely to drive each sampling clamp 2 to get away from the center in the radial direction of the sampling cylinder at the same time, the sampling clamps 2 are separated from one another, and the sampled soil loses the clamping force of the sampling clamps 2 and falls off from the sampling clamps 2, so that soil harvesting is completed.
    Embodiment II Referring to FIG. 16, other structures in the embodiment are the same as those in Embodiment 1, and the difference lies in that the synchronous transmission assembly 3 comprises a lead screw 3-7, a lead screw nut 3-8 matched with the lead screw 3-7 and three connecting rods 3-9 arranged between the lead screw nut 3-8 and the sliding blocks 3-6; wherein the upper end of the lead screw 3-7 is connected with the rotating shaft of the sampling driving motor 4, and the lower end of the lead screw 3-7 is rotationally connected with the mounting seat 1; one end of each of the connecting rods 3-9 is hinged to the lead screw nut 3-8, and the other ends of the connecting rods 3-9 are hinged to the sliding blocks 3-6. By means of the synchronous transmission assembly 3, the sampling clamps 2 can synchronously move close to one another and/or away from one another along the radial direction of the sampling cylinder, and the functions of soil clamping and soil loosening of the sampling clamps 2 are achieved.
    Embodiment HI Referring to FIG. 17, other structures in the embodiment are the same as those in Embodiment I, and the difference lies in that the guide assemblies comprise guide grooves 3-10 formed in the mounting seat 1 and slide blocks 3-11 in sliding fit with the guide grooves 3-10; wherein the guide grooves 3-10 extend towards the center of the sampling cylinder, the lower ends of the transmission rods 3-2 are fixedly connected with the upper ends of the slide blocks 3-11, and the upper ends of the sampling clamps 2 are connected with the lower ends of the slide blocks 3-11. By setting the guide assemblies, it can be guaranteed that the sampling clamps 2 can move along the radial direction of the mounting seat 1, and meanwhile, when the soil is clamped and loosened by the sampling clamps 2, the sampling clamps 2 can move more stably.
    Embodiment IV Referring to FIG. 18, other structures in the embodiment are the same as those in
    Embodiment I, and the difference lies in that the walking chassis 6 is a crawler type walking chassis, and comprises a chassis frame 6-1, crawlers 6-5 arranged on the two sides of the chassis frame 6-1, anti-collision beams 6-3 arranged at the front end and the rear end of the chassis frame 6-1 and control driving motors 6-4 used for controlling the walking wheels 6-2 to advance, retreat and steer; and the adjustment driving mechanism 7, the soil detection device 8, the control device 9 and the power supply device 10 are all arranged on the chassis frame 6-1. By adopting the crawler type walking chassis 6, the ground gripping capacity is good, the climbing capacity is high, the contact area between the crawler type walking chassis 6 and the ground 1s large, and the crawler type walking chassis 6 has good adaptability to soft operation places with complex terrains.
    Embodiment V Referring to FIG. 19, other structures in the embodiment are the same as those in Embodiment I, and the difference lies in that the control device 9 comprises a cab 9-4 disposed on the chassis frame 6-1, joysticks 9-5 arranged in the cab 9-4, a console 9-6 and drivers 9-2; the joysticks 9-5 are used for sending out an instruction signal, and the control driving motors 6-4 are controlled through the drivers 9-2 to realize advancing, retreating and steering of the sampling vehicle; and the console 9-6 controls the adjustment driving mechanism 7, the soil sampling device and the soil detection device 8 through the drivers 9-2 to realize soil collection and detection.
    Embodiment VI Other structures in the embodiment are the same as those in Embodiment I, and the difference lies in that the power mechanism comprises an electric push rod arranged between the movable arm 7-3 and the fixed mount 11, a shell of the electric push rod is connected with the tail end of the movable arm 7-3, and a telescopic rod of the electric push rod is fixedly connected with the upper end of the fixed mount 11. The telescopic cylinder drives the telescopic rod to stretch out and draw back, and then the soil sampling device can stretch into or be pulled out of the soil.
    Embodiment VII Other structures in the embodiment are the same as those in Embodiment I, and the difference lies in that the horizontal driving mechanism comprises a horizontal motor arranged at the bottom of the chassis frame 6-1 and a transmission mechanism arranged between the horizontal motor and the base 7-1 and used for transmitting power of the horizontal motor to the base 7-1. By setting the horizontal motor, rotation of the base 7-
    1 also can be achieved, and then horizontal rotation of the adjustment driving mechanism 7 is achieved.
    The above embodiments are the preferable embodiments of the present disclosure but not restrict the present disclosure, and any other spirits without deviating from the present disclosure and changes, modifications, replacements, combinations and simplifications made under principles all should be equivalent displacement manners, and are all included in the scope of the present disclosure.
    权利要求:
    Claims (1)
    [1]
    -20- Conclusions
    1. Soil sampling device, comprising a mounting seat, a plurality of sampling clamps arranged below the mounting seat and used for gripping sampled soil, and a sampling driving mechanism, wherein the sampling clamps are uniformly distributed along the circumferential direction to form a sampling cylinder, and wherein the sample drive mechanism is used to drive the sample clamps to move closely together and away from each other along the radial direction; and wherein the sample drive mechanism comprises a drive source arranged above the mounting seat and a synchronous transfer assembly used to transfer power from the drive source to each sample terminal and to promote the sample terminals to move synchronously between the drive source and the assembly seat is set up.
    The soil sampling device of claim 1, wherein the synchronous transfer assembly comprises a transfer plate arranged above the mounting seat, transfer rods mounted at the upper end of each sampling clamp, and guide assemblies arranged between the sampling clamps and the transfer rods and used for the guiding the sampling clamps to move along the radial direction; wherein the axial projections of the center of the transfer plate and the center of the sampling cylinder overlap, and wherein the output end of the drive source is connected to the center of the transfer plate, wherein there are eccentric grooves in the positions corresponding to the transfer rods in the transmission plate are formed, wherein the eccentric grooves are formed eccentrically with respect to the center of the transmission plate, and wherein the distance from one end of each of the eccentric grooves to the center of the transmission plate is less than that of the other end of each of the eccentric grooves toward the center of the transfer plate, and wherein the transfer rods extend through the eccentric grooves and are in a sliding fit with the eccentric grooves.
    221 -
    The soil sampling device of claim 2, wherein the guide assemblies comprise two guide rails arranged parallel to the mounting seat and slide blocks which are in sliding fit with the guide rails; the centerlines of the two guide rails pointing towards the center of the sampling cylinder, the lower ends of the transfer rods being fixedly connected to the upper ends of the slide blocks, and the upper ends of the sampling clamps being connected to the lower ends of the sliding blocks.
    The soil sampling device of claim 3, wherein each sampling clamp comprises an arcuate sampling portion and two connecting arms arranged in parallel between the corresponding sampling portion and the corresponding sliding block, the upper ends of the two connecting arms projecting through the mounting seat to fix respectively to be connected to the two ends of the corresponding slide block, and wherein the lower ends of the two connecting arms are fixedly connected to the outer wall of the corresponding sampling portion; and wherein escape grooves used for avoiding the connecting arms are formed in positions corresponding to the connecting arms on the mounting seat.
    The soil sampling apparatus of claim 4, wherein the driving source is a sampling driving motor, the sampling driving motor being fixedly connected to the mounting seat by means of a mounting rack, and the main shaft of the sampling driving motor being connected to the center of the transfer plate.
    A soil sampling vehicle comprising a barrel chassis, a soil sampling device according to any one of claims 1 to 5, an adjustment control mechanism arranged between the soil sampling device and the barrel chassis and used for adapting the soil sampling device to move in multiple dimensions,
    -22- a bottom detecting device used for detecting a bottom, a control device and a feeder device, the runner chassis being a wheel type runner chassis, and comprising a chassis frame, runner wheels arranged on the two sides of the chassis frame, anti-collision beams arranged at the front end and the rear end of the chassis frame and drive motors used to control the idlers to advance, reverse and steer; wherein the adjustment control mechanism, the bottom detecting device, the control device and the power supply device are all arranged on the chassis frame; the adjustment driving mechanism comprises a base arranged on the barrel chassis 1s, a swing arm connected between the base and the soil sampling terminal, a vertical driving mechanism for driving the swing arm to swing in the vertical direction, a horizontal driving mechanism for driving the base to rotate along the horizontal direction and a force mechanism used for driving the soil sampling terminal to be inserted into a soil; the soil detection device comprises a soil sampling box arranged on the running chassis, a plurality of soil centrifuge machines arranged in the soil sampling box and pH value sensors arranged on the soil centrifuge machines and used for detecting the pH value of sampled soil; the controller is a wireless controller, and comprises a mobile workstation used for transmitting an instruction signal, a control panel arranged on the running chassis and used for receiving and transmitting an instruction, controls used for executing the instruction, a relay and a solenoid valve set used to control air cylinders; the power supply comprises a generator and a lithium battery; and wherein the generator is used to charge the lithium battery, the lithium battery applies voltage to the control panel and the relay, and the relay is connected to the solenoid valve set.
    7. Soil sampling vehicle according to claim 6, wherein the swivel arm has a
    _23- is a two-stage swing arm composed of a swing arm and a movable arm; wherein the pivot arm is arranged between the base and the movable arm, wherein one end of the pivot arm is pivoted to the base, and wherein the other end of the pivot arm is pivoted to the movable arm, and wherein the soil sampling device is arranged at the tail end of the movable arm, wherein a fixed mounting foot is arranged between the soil sampling device and the tail end of the movable arm, one end of the fixed mounting foot being fixedly connected to the mounting seat, and the other end of the fixed mounting foot being connected to the tail end of the movable arm.
    The soil sampling vehicle of claim 7, wherein the vertical actuating mechanism comprises a swing arm cylinder used to control the swing arm to swing around the base and an air cylinder of the movable arm used to control the movable arm to to swivel around the swivel arm; wherein one end of the swing arm air cylinder is pivoted to the base, and the other end of the swing arm air cylinder is pivoted to the center portion of the swing arm; and wherein one end of the air cylinder of the movable arm is pivoted to the center portion of the swing arm, and the other end of the air cylinder of the movable arm is pivoted to the center portion of the movable arm; wherein the power mechanism comprises a telescopic air cylinder arranged between the movable arm and the fixed mounting base, a cylinder body of the telescopic air cylinder is connected to the tail end of the movable arm, and a telescopic rod of the telescopic air cylinder is connected to the upper end of the fixed mounting foot; and wherein the horizontal drive mechanism comprises a horizontal air cylinder arranged horizontally, one end of the horizontal cylinder being pivoted to the chassis frame, and the other end of the horizontal cylinder being pivoted to the outer end of the base.
    A soil sampling vehicle according to claim 8, wherein a rotary motor used for driving the soil sampling device to rotate is arranged between the fixed mounting base and the telescopic rod of the said soil sampling device.
    24. telescopic air cylinder, wherein a rotary shaft of the rotary motor is connected to the upper end of the fixed mounting foot, and wherein a motor body of the rotary motor is connected to the telescopic rod; and wherein a connecting frame is arranged on the periphery of the rotary motor, the lower end of the connecting frame is fixedly connected to the upper end of the fixed mounting base, and the upper end of the connecting frame is rotatably connected connected to the telescopic rod of the telescopic air cylinder.
    The soil sampling vehicle of claim 9, wherein a first pivot rod is arranged in a rotational manner on the underside of the base, the pivot arm comprising two first wall plates arranged parallel to each other, a second pivot rod, a third pivot rod, a fourth pivot rod, a fifth pivot rod and first fixed plates, wherein the second pivot rod, the third pivot rod, the fourth pivot rod and the fifth pivot rod are arranged sequentially and rotationally between the two first wall plates, and the first fixed plates are arranged at the front ends and the rear ends of the first wall plates and used for fixing the two first wall plates; the movable arm comprising two second wall plates arranged parallel to each other, a sixth hinge rod, a seventh hinge rod, an eighth hinge rod and second fixed plates, the sixth hinge rod, the seventh hinge rod and the eighth hinge rod arranged in a sequential and rotating manner between the two second wall plates, and wherein the second fixed plates are arranged at the front ends and the rear ends of the second wall plates and are used for fixing the two second wall plates; wherein the pivot arm is pivoted to the base by means of the second pivot rod, and wherein the pivot arm is pivoted to the movable arm by means of the fifth pivot rod; wherein one end of the swing arm air cylinder is fixedly connected to the first pivot rod, and the other end of the swing arm air cylinder is fixedly connected to the third pivot rod; wherein one end of the air cylinder of the movable arm is fixedly connected to the fourth pivot rod, and the other end of the air cylinder of the movable arm is fixedly connected to the sixth pivot rod; where it
    25 -
    cylinder body of the telescopic air cylinder is connected to the eighth pivot rod, wherein a driving air cylinder used for driving the telescopic air cylinder to rotate around the eighth pivot rod is arranged between the telescopic air cylinder and the seventh pivot rod, one end of the control air cylinder is fixedly connected to the cylinder body of the telescopic air cylinder, and wherein the other end of the control air cylinder is fixedly connected to the seventh pivot rod.
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    同族专利:
    公开号 | 公开日
    CN111735652A|2020-10-02|
    引用文献:
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    CN108195614A|2017-12-23|2018-06-22|郑州搜趣信息技术有限公司|It is a kind of to prevent the soil property detection soil sampling apparatus that soil is fallen|
    CN109682634A|2019-01-25|2019-04-26|北京农业智能装备技术研究中心|Soil collecting device|
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    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    CN202010570521.6A|CN111735652A|2020-06-18|2020-06-18|Soil sampling device and soil sampling car|
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