CN109724829B

CN109724829B - Portable biological sample sampling device

Info

Publication number: CN109724829B
Application number: CN201910132496.0A
Authority: CN
Inventors: 韩煦阳; 王科; 王妍; 崔双双
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-02-22
Filing date: 2019-02-22
Publication date: 2021-01-22
Anticipated expiration: 2039-02-22
Also published as: CN109724829A

Abstract

The invention discloses a portable biological sample sampling device, which comprises a driving unmanned aerial vehicle, wherein a mounting seat is hung at the bottom of the driving unmanned aerial vehicle, a winding wheel is arranged at the bottom of the mounting seat, a steel cable is wound on the winding wheel, and a sampling mechanism is hung at the lower end of the steel cable.

Description

Portable biological sample sampling device

Technical Field

The invention relates to the field of biological sample collection, in particular to a portable biological sample sampling device.

Background

The aquatic plants including aquatic flora in seed plants, ferns and bryophytes and macroalgae growing in rhizoid in algae plants are convergent phenotype formed by long-term adaptation of different taxonomic group plants to water environment, and are generally divided into the following types according to life types: emergent aquatic plants, floating plants and submerged plants, wherein when the ecological environment is investigated and monitored, aquatic plant samples in a water body need to be investigated and sampled so as to solve the condition of the aquatic plants in the water body;

the method mainly comprises the following steps of collecting emergent aquatic plants and floating-leaf plants by adopting a simple frame collection method, and collecting submerged plants by adopting a dredger, a net-carrying pincher, a long-handle sickle and the like; however, in deep water, a professional is required to go into a water body for sample collection, sometimes the water body is turbid, even if the water body is submerged, the growth condition of aquatic plants is difficult to find, the safety of the submerged personnel is hidden, the condition that the samples cannot be collected by much manpower often occurs, in addition, the ship body cannot be driven into the region where some aquatic plants are located, the sampling work of the water area cannot be carried out, a large amount of manpower and material resources and time are consumed, and therefore a marine organism sampling device which is simple in operation, easy to carry, small in manpower resource and safe is urgently needed, and various collection tools, diving suits, transport ships and other complicated equipment do not need to be carried;

patent No. CN201811128006.1 discloses an intelligent unmanned aerial vehicle contaminated soil collector with GPS positioning, the device is provided with a digging blade at the bottom of an unmanned aerial vehicle, the digging blade is of a triangular structure, a fixed baffle is controlled by an oil cylinder to drive a circular arm to open and close on a supporting arm along a rotating shaft, the digging blade is extended, then the digging blade is inserted into soil under the action of a second oil cylinder, then four blades are folded under the action of a second blade acting force to form a conical structure to contain a soil sample, the device has higher efficiency without worrying about the influence of terrain and topography, the working efficiency is effectively ensured, the contaminated soil sample collection is more suitable for various environments and terrains, but the device is only suitable for the collection of land soil, the collection of submerged plants is incapability, and the situation is bound to damage plants in the soil when the device inserts a blade group into the soil, its for the device hydro-cylinder insert the blade with the in-process of soil can receive the reaction force of soil, make unmanned aerial vehicle by upwards jack-up and unable work, in order to overcome this part reaction force, just must reduce the rotational speed of unmanned aerial vehicle's rotor, make unmanned aerial vehicle have the trend of descending, then rely on the dead weight of unmanned aerial vehicle itself to offset this reaction force, so at first unmanned aerial vehicle's dead weight is not very big, then operating personnel's the operation degree of difficulty has also been increaseed.

Disclosure of Invention

A portable biological sample sampling device comprises a driving unmanned aerial vehicle, wherein a mounting seat is fixedly hung at the bottom of the driving unmanned aerial vehicle through a hanging bracket, four support legs are symmetrically arranged at the periphery of the mounting seat, a rotating disk is rotatably arranged at the bottom of the mounting seat, a support is fixedly mounted at the bottom of the rotating disk, a reel is rotatably arranged in the support, a stepping motor is fixedly mounted on the outer wall of one side of the support, an output shaft of the stepping motor penetrates through and extends into the support and is fixedly connected with the axle center of the reel, a steel cable is wound on the reel, the lower end of the steel cable is fixedly connected with the middle parts of two lifting ropes respectively, the two lifting ropes are symmetrically mounted at two sides of a sampling mechanism through two rope buckles respectively, wherein two ends of each lifting rope are fixedly arranged on the two rope buckles at the same side respectively, the sampling mechanism comprises, the rope fastener is arranged on two sides of the solid metal arm, a first hinged part is fixedly arranged on the right side of the solid metal arm, a second hinged part is fixedly arranged on the tail part of the light digging shovel, a first mounting hole and a second mounting hole are formed in the second hinged part, the light digging shovel is fixedly connected with the front end of the connecting rod through the first mounting hole, the light digging shovel is hinged with the left end of the solid metal arm through the second mounting hole, the middle position of the tail part of the connecting rod is fixedly connected with the end part of a push rod of the waterproof electric cylinder, the tail part of the cylinder barrel of the waterproof electric cylinder is hinged with the first hinged part, the left side and the right side of the tail part of the connecting rod are respectively hinged with one end of an arc-shaped swing rod, the other ends of the two arc-shaped swing rods are respectively hinged with two side faces of the solid metal arm, a weighting block is fixedly arranged on the lower, the bottom of mount pad and be located still fixed mounting have ultrasonic wave water detector and camera on the position in the rotary disk outside, the inside of mount pad still is provided with battery and controller.

Preferably, the inside of mount pad is provided with the cavity structure, and fixed mounting has servo motor in the cavity, and servo motor's motor output shaft passes through the parallel key and is connected with the action wheel key, and the action wheel passes through the hold-in range and follows the synchronous rotation of driving wheel, follow driving wheel fixed mounting in the upper end of column spinner, the lower extreme and the rotary disk fixed connection of column spinner, the column spinner passes through the bearing frame and rotates and install on the mount pad, and wherein the column spinner links firmly with the inner circle of bearing frame, and the mount pad links firmly with the outer lane of bearing.

Preferably, the steel cable is further provided with a tension sensor, and the tension sensor is a plate ring type tension sensor.

Preferably, a wireless remote control switch for controlling starting and stopping is additionally arranged on the waterproof electric cylinder.

Preferably, the light digging shovel, the second articulated element, the connecting rod and the arc-shaped swing rod are all made of titanium alloy materials, and the solid metal arm, the first articulated element and the weighting block are all made of stainless steel materials.

Preferably, the light digging shovel is also uniformly distributed with water permeable holes.

Compared with the prior art, the invention has the following beneficial effects: the invention does not need to carry complex equipment such as a collector, a driving boat, a diving suit and the like, is convenient and quick, has simple operation, solves the problem that the ship body in some water areas can not drive in, also ensures the personal safety of the collecting personnel, occupies less human resources, can finish the collecting and sampling work by one person, and effectively increases the efficiency of the sampling work; for preventing that sampling mechanism from producing the propagation problem of power between during operation and unmanned aerial vehicle, sampling mechanism is hung to the mode that this device adopted the steel cable to connect, also can adapt to darker waters collection work, avoid making the unable circumstances of exhibition of executing of work take place because of the hydro-cylinder stroke is not enough, sampling mechanism only utilizes the structural relation of self to make the thrust of digging shovel receiving give the bottom again when the sample, make the excavation work go on smoothly, and need not with the help of external force, the carrying capacity of sample equipment and the weight of this device have been reduced.

Drawings

The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the principles of the invention and not to limit the invention. In the drawings:

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of the bottom structure of the mounting base of the present invention;

FIG. 3 is a schematic view of the internal structure of the mounting base of the present invention;

FIG. 4 is a schematic view showing the detailed structure of the sampling mechanism of the present invention;

FIG. 5 is a schematic illustration of the invention in a non-operational state;

FIG. 6 is a schematic view of the state of the sampling mechanism of the present invention in contact with the river bed;

fig. 7 is a motion trace of the sampling mechanism of the present invention.

In the figure: 1. driving the unmanned aerial vehicle; 2. a hanger; 3. a mounting seat; 4. a support leg; 5. a sampling mechanism; 6. a rope fastener; 7. a lifting rope; 8. a wire rope; 9. a reel; 10. an ultrasonic water detector; 11. a camera; 12. a stepping motor; 13. a support; 14. a servo motor; 15. an output shaft of the motor; 16. a driving wheel; 17. a synchronous belt; 18. a driven wheel; 19. a spin column; 20. a bearing seat; 21. a cavity; 22. rotating the disc; 23. a first mounting hole; 24. a second hinge member; 25. a second mounting hole; 26. light digging shovel; 27. a weighting block; 28. a first hinge member; 29. a solid metal arm; 30. a waterproof electric cylinder; 31. an arc-shaped swing rod; 32. a connecting rod; 33. a riverbed; 34. the movement track of the digging shovel.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-7, the present invention provides a technical solution: a portable biological sample sampling device comprises a driving unmanned aerial vehicle 1, a mounting seat 3 is fixedly hung at the bottom of the driving unmanned aerial vehicle 1 through a hanging bracket 2, a cavity structure 21 is arranged inside the mounting seat 3, a servo motor 14 is fixedly installed in the cavity 21, a motor output shaft 15 of the servo motor 14 is connected with a driving wheel 16 through a flat key, the driving wheel 16 synchronously rotates with a driven wheel 18 through a synchronous belt 17, the driven wheel 18 is fixedly installed at the upper end of a rotating column 19, the lower end of the rotating column 19 is fixedly connected with a rotating disc 22, the rotating column 19 is rotatably installed on the mounting seat 3 through a bearing seat 20, wherein the rotating column 19 is fixedly connected with an inner ring of the bearing seat 20, the mounting seat 3 is fixedly connected with an outer ring of the bearing seat 20, four support legs 4 are symmetrically arranged on the periphery of the mounting seat 3, a support 13 is, the outer wall of one side of the bracket 13 is fixedly provided with a stepping motor 12, the output shaft of the stepping motor 12 penetrates through and extends into the bracket 13 and is fixedly connected with the axle center of a reel 9, the reel 9 is wound with a steel cable 8, the steel cable 8 is provided with a plate ring type tension sensor, the lower end of the steel cable 8 is respectively fixedly connected with the middle parts of two lifting ropes 7, the two lifting ropes 7 are respectively and symmetrically arranged at two sides of the sampling mechanism 5 through two rope buckles 6, wherein two ends of each lifting rope 7 are respectively and fixedly arranged on the two rope buckles 6 at the same side, the sampling mechanism 5 comprises a solid metal arm 29 and a light shovel 26, the rope buckles 6 are arranged at two sides of the solid metal arm 29, the right side of the solid metal arm 29 is fixedly provided with a first hinge element 28, the tail part of the light shovel 26 is fixedly provided with a second hinge element 24, the second hinge element 24 is provided with a first mounting hole 23 and a, the light digging shovel 26 is fixedly connected with the front end of a connecting rod 32 through a first mounting hole 23, the light digging shovel 26 is hinged with the left end of a solid metal arm 29 through a second mounting hole 25, the middle position of the tail of the connecting rod 32 is fixedly connected with the end part of a push rod of a waterproof electric cylinder 30, the tail of a cylinder barrel of the waterproof electric cylinder 30 is hinged with a first hinge piece 28, a wireless remote control switch for controlling starting and stopping is additionally arranged on the waterproof electric cylinder 30, the left side and the right side of the tail of the connecting rod 32 are respectively hinged with one end of an arc-shaped swing rod 31, the other ends of the two arc-shaped swing rods 31 are respectively hinged with two side surfaces of the solid metal arm 29, a weighting block 27 is fixedly arranged on the lower right side of the solid metal arm 29, water permeable holes are uniformly arranged on the weighting block 27, the light digging shovel 26, the second hinge piece 23, the connecting rod 32 and the arc-shaped swing rods 31 are all made of titanium alloy materials, the, the light digging shovel 26 is evenly provided with water permeable holes, the bottom of the mounting seat 3 and the position outside the rotating disk 22 are fixedly provided with an ultrasonic water detector 10 and a camera 11, and the inside of the mounting seat 3 is also provided with a storage battery and a controller.

Specifically, the invention is used as follows: the driving mode of the unmanned aerial vehicle is consistent with the remote control mode of the existing unmanned aerial vehicle, and is not repeated herein, when the submerged plant needs to be sampled, the unmanned aerial vehicle 1 is driven to be started, the device is moved to a water area where the submerged plant exists, the camera 11 can shoot the water environment, after a sampling point is determined, the sampling mechanism 5 is driven to rotate to a proper direction through the servo motor 14, then the steel cable 8 is slowly put down by starting the reel 9, the gravity center position of the sampling mechanism 5 is inclined to the right due to the difference of material density, the phenomenon that the weighting block 27 is tilted upwards by the light digging shovel 26 when the sampling mechanism touches the water bottom is prevented, the work cannot be carried out, the water permeable hole on the weighting block 27 aims to reduce the water displacement so as to reduce the buoyancy, when the left end point and the right end point of the sampling mechanism are both contacted with the water bottom, the tension detector detects that the tension force borne by the, the controller stops the rotation of the reel immediately and controls the waterproof electric cylinder 30 to start working, a push rod of the waterproof electric cylinder 30 pushes a connecting rod 32 to rotate anticlockwise, and simultaneously the light-weight digging shovel 26 rotates anticlockwise by taking the second mounting hole 25 as a circle center, so that the light-weight digging shovel 26 can dig the submerged plants, when digging, as the water bottom generates a reaction force on the digging shovel, the digging shovel has a relative motion trend of bouncing upwards, in order to counteract the reaction force, the device firstly increases the weight on the right side of the sampling mechanism, prevents the solid metal arm from tilting when the digging shovel works, secondly, through the arrangement of a connecting piece, leads most of the reaction force to pass through the second hinging piece 24, the connecting rod 32, the waterproof electric cylinder 30 and the first hinging piece 28 in sequence and finally directly transmits to the river bottom through the end point of the right lower corner of the solid metal arm 29, and after the digging work is finished, a box-like structure is formed between the light-weight 26 and the weighting block 27 due to the rotation, avoid the plant to float out in following light shovel 26, then rise partial steel cable 8 to drive unmanned aerial vehicle and move forward, because be covered with the hole of permeating water on the light shovel 26, utilize rivers and unmanned aerial vehicle's relative displacement can carry out the rinsing to the plant sample this moment, rise sampling device after the rinsing is accomplished, and return voyage with unmanned aerial vehicle can.

Although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments or portions thereof without departing from the spirit and scope of the invention.

Claims

1. A portable biological sample sampling device, includes drive unmanned aerial vehicle (1), its characterized in that: the bottom of the driving unmanned aerial vehicle (1) is suspended with a mounting seat (3) through a hanging bracket (2), support legs (4) are arranged on the periphery of the mounting seat (3), a rotating disc (22) is arranged at the bottom of the mounting seat (3), a support (13) is arranged at the bottom of the rotating disc (22), a reel (9) is rotationally arranged in the support (13), a stepping motor (12) is arranged on the outer wall of one side of the support (13), an output shaft of the stepping motor (12) penetrates through the support (13) and extends into the support (13) and is fixedly connected with the axle center of the reel (9), a steel cable (8) is arranged on the reel (9), the lower end of the steel cable (8) is respectively connected with the middle parts of two lifting ropes (7), the two lifting ropes (7) are respectively symmetrically arranged on two sides of the sampling mechanism (5) through two rope buckles (6), wherein two ends of each lifting rope (7) are respectively fixedly arranged on the same side, the sampling mechanism (5) comprises a solid metal arm (29) and a light digging shovel (26), a rope buckle (6) is arranged on two sides of the solid metal arm (29), a first hinging piece (28) is fixedly arranged on the right side of the solid metal arm (29), a second hinging piece (24) is fixedly arranged on the tail of the light digging shovel (26), a first mounting hole (23) and a second mounting hole (25) are arranged on the second hinging piece (24), the light digging shovel (26) is fixedly connected with the front end of a connecting rod (32) through the first mounting hole (23), the light digging shovel (26) is hinged with the left end of the solid metal arm (29) through the second mounting hole (25), the middle position of the tail of the connecting rod (32) is fixedly connected with the end of a push rod of a waterproof electric cylinder (30), and the tail of a cylinder barrel of the waterproof electric cylinder (30) is hinged with the first hinging piece (28), the left and right sides of the afterbody of connecting rod (32) is articulated each other with the one end of an arc pendulum rod (31) respectively, and the other end of two arc pendulum rods (31) is articulated each other with the both sides face of solid metal arm (29) respectively, the right downside fixed mounting of solid metal arm (29) has weight (27), evenly is provided with the hole of permeating water on weight (27), still fixed mounting has ultrasonic wave water detector (10) and camera (11) on the bottom of mount pad (3) and the position that is in the rotary disk (22) outside, and the inside of mount pad (3) still is provided with battery and controller.

2. A portable biological specimen sampling device according to claim 1, wherein: the utility model discloses a motor, including mount pad (3), cavity structure (21), drive wheel (18), driven wheel (18), motor output shaft (15) of servo motor (14) are provided with cavity structure (21) in cavity (21), and fixed mounting has servo motor (14) in cavity (21), and motor output shaft (15) of servo motor (14) pass through the parallel key and are connected with drive wheel (16) key, and drive wheel (16) pass through hold-in range (17) and follow driving wheel (18) synchronous revolution, follow the upper end of driving wheel (18) fixed mounting at column spinner (19), the lower extreme and rotary disk (22) fixed connection of column spinner (19), column spinner (19) rotate through bearing frame (20) and install on mount pad (3), and wherein column spinner (19) link firmly with the inner circle of bearing frame (20.

3. A portable biological specimen sampling device according to claim 1, wherein: and a tension sensor is also arranged on the steel cable (8), and the tension sensor is a plate ring type tension sensor.

4. A portable biological specimen sampling device according to claim 1, wherein: and a wireless remote control switch for controlling starting and stopping is additionally arranged on the waterproof electric cylinder (30).

5. A portable biological specimen sampling device according to claim 1, wherein: the light digging shovel (26), the second hinged part (24), the connecting rod (32) and the arc-shaped swing rod (31) are all made of titanium alloy materials, and the solid metal arm (29), the first hinged part (28) and the weighting block (27) are all made of stainless steel materials.

6. A portable biological specimen sampling device according to claim 4, wherein: the light digging shovel (26) is also evenly distributed with water permeable holes.