CN109878732A - Sample unmanned plane - Google Patents
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- CN109878732A CN109878732A CN201910120671.4A CN201910120671A CN109878732A CN 109878732 A CN109878732 A CN 109878732A CN 201910120671 A CN201910120671 A CN 201910120671A CN 109878732 A CN109878732 A CN 109878732A
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Abstract
The present invention provides a kind of sampling unmanned planes, belong to geologic survey field.The sampling unmanned plane includes drone body, landing mechanism, elevating mechanism and grasping mechanism.It wherein, can be with ground face contact, in addition, it can be by the distance between the extension and contraction control drone body of extensible member and ground namely drone body at a distance from rock sample when landing mechanism is for guaranteeing drone body landing.When in use, first making the first electromagnet be powered can attract the first armature to close to the movement of the direction of the first electromagnet, and the first pull-push piece then drives sliding part to move upwardly so that mechanical gripper is opened so that rock sample to be placed in mechanical gripper under the action of tractive force.Then the first electromagnet is powered off, the first armature restores to initial position under the action of the first elastic component, and the first pull-push piece then sliding part is driven to move down under the action of thrust so that rock sample, is firmly fixed in mechanical gripper by mechanical gripper closure.
Description
Technical field
The present invention relates to geologic survey fields, in particular to a kind of sampling unmanned plane.
Background technique
China is for a long time by geological disaster one of the countries with the most serious ....Landslide, mud-rock flow are frequent in Southwestern China area,
Often result in casualties.Acquisition ground sample is frequently necessary in carrying out Geological Hazards Investigation and research work, water sample carries out chemistry
Detection, physical mechanics test etc..
Currently, the sampling mode for Geological Hazards Investigation remains in traditional sample phase of manual sampling, geology
Worker must remove collecting sample on the spot, and great work intensity, sampling efficiency are lower.
Summary of the invention
The present invention provides a kind of sampling unmanned planes, it is intended to improve the efficiency of sampling, mitigate geologist's labor intensity.
The present invention is implemented as follows:
A kind of sampling unmanned plane, including drone body, elevating mechanism and grasping mechanism.
Wherein, the elevating mechanism includes the first electromagnet, the first armature, first sleeve, the first pull-push piece and first
The drone body is fixed in elastic component, one end of the first sleeve, and the other end of the first sleeve is provided with first
Fixing piece, first electromagnet are set in the first sleeve, and first armature is slideably sheathed on described first
In sleeve, first armature is oppositely arranged with first electromagnet, one end of first pull-push piece and first rank
Iron connection, the other end of first pull-push piece are provided with sliding part, and it is solid that the sliding part is movably arranged in described first
Determine part, first elastic component is set between first armature and first fixing piece, and first armature is configured
At when first electromagnet is powered, first armature can drive first pull-push piece to close to first electromagnetism
The direction of iron is mobile, and first armature is configured to when first electromagnet powers off, and first armature is described the
First push-pull rod can be driven mobile to the direction far from first electromagnet under the pulling force effect of one elastic component.
The grasping mechanism includes mechanical gripper, and one end of the mechanical gripper is articulated with first fixing piece, described
Sliding part is set in the mechanical gripper, and the sliding part and the mechanical gripper slidable connection, first push-and-pull
The sliding part can be driven to slide for part so that mechanical gripper folding crawl rock sample.
Further, in an embodiment of the present invention, the sampling unmanned plane further includes landing mechanism, the landing
Mechanism includes extensible member, connector and the first landing zone member, and one end of the connector and the drone body can be rotated
Connection, the other end of the connector are rotatably connected with first landing zone member, one end of the extensible member and the branch
Support member is rotatably connected, and the other end of the extensible member is rotatably connected with the connector.
Further, in an embodiment of the present invention, the connector includes 2 connecting rods disposed in parallel, institute
State connecting rod equal length, one end of the connecting rod is rotatably connected with the drone body, the connecting rod it is another
End is rotatably connected with first landing zone member, and first landing zone member can be remained when the extensible member is flexible
It is horizontal.
Further, in an embodiment of the present invention, which is characterized in that the extensible member includes telescope motor, institute
The one end and the supporting element for stating telescope motor are rotatably connected, and the power output shaft of the telescope motor is connect with described first
Bar is rotatably connected.
Further, in an embodiment of the present invention, the landing mechanism further includes resilient snubber and second
Land component, the resilient snubber are arranged at intervals between first landing zone member and second landing zone member.
Further, in an embodiment of the present invention, the resilient snubber is spring, and one end of the spring is solid
Due to first landing zone member, the other end of the spring is fixed on second landing zone member.
Further, in an embodiment of the present invention, the drone body further includes horizontal mobile mechanism, described
Horizontal mobile mechanism includes the second electromagnet, the second armature, second sleeve, the second pull-push piece and the second elastic component, and described the
Two sleeves are horizontally placed on the drone body, and one end of the second sleeve is provided with second electromagnet, and described
The other end of two sleeves is provided with the second fixing piece, and second armature is slideably sheathed in the second sleeve, described
Second armature is oppositely arranged with second electromagnet, and one end of second pull-push piece is connect with second armature, described
The other end of second pull-push piece is connect with the first sleeve, and second elastic component is set to second armature and described
Between two fixing pieces, second armature is configured to drive second pull-push piece to leaning on when second electromagnet is powered
The direction of nearly second electromagnet is mobile, and second armature is configured to when second armature powers off, and described second
Elastic component enables to second push-pull rod mobile to the direction far from second electromagnet.
Further, in an embodiment of the present invention, one end of second pull-push piece is provided with annular fixed part,
The annular fixed part is sheathed on one end of the first sleeve, and the annular fixed part passes through screw and the first sleeve spiral shell
Line connection.
Further, in an embodiment of the present invention, the bottom of the drone body is removably connected with storage
Rock cavity, the storage rock cavity have injection port, and the mechanical gripper can be in first electromagnet and second electromagnetism
Electrically mated move down of the on-off of iron is moved to the injection port and enters the storage rock cavity.
Further, in an embodiment of the present invention, the storage rock cavity has sliding slot, and one end of the sliding slot connects
It is connected to the bottom of the storage rock cavity, the other end of the sliding slot is connected to the injection port.
Further, in an embodiment of the present invention, the sampling unmanned plane further includes control mechanism of qi structure, the control gas
Mechanism includes air bag, inflator pump and aspiration pump, and the air bag is set to the surface of first landing zone member, the inflation
Pump, the aspiration pump is installed on the drone body and the inflator pump, the aspiration pump are able to control the air bag
Inflation and pumping, one end of first landing zone member is provided with 2 limiting sections, the limiting section and the connecting rod can
Rotation connection and the limiting section and the connecting rod are detachably connected.
Further, in an embodiment of the present invention, the sampling unmanned plane further includes Qu Ye mechanism, described to take liquid
Mechanism includes suction pumps and acquisition tank, and the suction pumps, the acquisition tank are removable installed in the drone body, institute
Suction pumps are stated with pipette and outlet tube, for drawing liquid, the outlet tube is connected to the pipette with the acquisition tank.
Further, in an embodiment of the present invention, the acquisition tank includes that the first acquisition tank ontology and second is adopted
Collect tank ontology, it is described first acquisition tank ontology, it is described second acquisition tank ontology be detachably connected, it is described first acquisition tank ontology and
Collection bag built in second acquisition tank ontology, the collection bag are attached at the first acquisition tank ontology and second and acquire tank ontology
Inner wall, the collection bag have water inlet end, and the water inlet end is threadedly coupled with the outlet tube.
Further, in an embodiment of the present invention, an end cap of the pipette far from the drone body
Equipped with strainer.
Further, in an embodiment of the present invention, the Qu Ye mechanism further includes aqueduct, water receiving pipe and bullet
Property weighing piece, the suction pumps have conducting wire, and the conducting wire is divided into the first conducting wire and the second conducting wire, first conducting wire and described
The movable connection of second conducting wire, first conducting wire are arranged in the bottom of the acquisition tank, and second conducting wire is set to elasticity
In supporting part, the aqueduct is set to the top of the acquisition tank and the aqueduct is connected to the acquisition tank, described to connect
Water pipe is set to the liquid overflowed on the elastic supporting part for aqueduct described in access, and the elasticity supporting part being capable of basis
Flexible deformation occurs for liquid weight variation in the water receiving pipe so that first conducting wire and second conducting wire disconnect.
The beneficial effects of the present invention are: the sampling unmanned plane that the present invention obtains by above-mentioned design, including drone body,
Elevating mechanism and grasping mechanism.When in use, first make the first electromagnet be powered, be generated by it magnetism, first can be attracted
For armature to close to the movement of the direction of the first electromagnet, the first pull-push piece then drives sliding part to move up under the action of tractive force
So that mechanical gripper is opened so that rock sample to be placed in mechanical gripper.Then the first electromagnet is powered off, the magnetic disappearance generated,
The first armature restores to initial position under the action of the first elastic component, and the first pull-push piece then drives sliding under the action of thrust
Portion moves down so that rock sample, is firmly fixed in mechanical gripper by mechanical gripper closure.
Detailed description of the invention
It, below will be to use required in embodiment in order to illustrate more clearly of the technical solution of embodiment of the present invention
Attached drawing be briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not to be seen as
It is the restriction to range, it for those of ordinary skill in the art, without creative efforts, can be with root
Other relevant attached drawings are obtained according to these attached drawings.
Fig. 1 is the structural schematic diagram of the first sampling unmanned plane provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the drone body in Fig. 1 provided in an embodiment of the present invention；
Fig. 3 is a kind of structural schematic diagram of mechanism of landing provided in an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the first state of another landing mechanism provided in an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of second of state of another landing mechanism provided in an embodiment of the present invention；
Fig. 6 is a kind of structural schematic diagram of elevating mechanism provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of sliding part provided in an embodiment of the present invention；
Fig. 8 is the structural schematic diagram of the first state of second of sampling unmanned plane provided in an embodiment of the present invention；
Fig. 9 is the structural schematic diagram of second of state of second of sampling unmanned plane provided in an embodiment of the present invention；
Figure 10 is second of sampling elevating mechanism of unmanned plane provided in an embodiment of the present invention, grasping mechanism and moves horizontally machine
The structural schematic diagram of structure；
Figure 11 is the structural schematic diagram of the third sampling unmanned plane provided in an embodiment of the present invention；
Figure 12 is the structural schematic diagram of the first conducting wire provided in an embodiment of the present invention and the second conducting wire energized state；
Figure 13 is the structural schematic diagram of the first conducting wire provided in an embodiment of the present invention and the second conducting wire off-state.
Icon: 10- samples unmanned plane；100- drone body；110- wing；111- shield；130- rack；150- branch
Support member；170- horizontal mobile mechanism；The second electromagnet of 171-；The second armature of 173-；175- second sleeve；1751- second is fixed
Part；The second pull-push piece of 177-；1771- annular fixed part；The second elastic component of 179-；190- stores up rock cavity；200- landing mechanism；
210- extensible member；230- connector；231- connecting rod；The first landing zone member of 250-；251- limiting section；300- elevating mechanism；
The first electromagnet of 310-；The first armature of 330-；350- first sleeve；The first fixing piece of 351-；The first pull-push piece of 370-；371- is sliding
Dynamic portion；3711- sliding block；The first elastic component of 390-；400- grasping mechanism；410- mechanical gripper；500- controls mechanism of qi structure；510- gas
Capsule；550- inflator pump；530- aspiration pump；600- Qu Ye mechanism；610- suction pumps；611- pipette；613- outlet tube；615- filter
Net；617- conducting wire；The first conducting wire of 6171-；The second conducting wire of 6173-；630- acquires tank；631- first acquires tank ontology；633-
Two acquisition tank ontologies；635- collection bag；650- aqueduct；670- water receiving pipe；690- elasticity supporting part.
Specific embodiment
To keep the purposes, technical schemes and advantages of embodiment of the present invention clearer, implement below in conjunction with the present invention
The technical solution in embodiment of the present invention is clearly and completely described in attached drawing in mode, it is clear that described reality
The mode of applying is some embodiments of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
Therefore, requirement is not intended to limit to the detailed description of the embodiments of the present invention provided in the accompanying drawings below to protect
The scope of the present invention of shield, but it is merely representative of selected embodiment of the invention.Based on the embodiment in the present invention, ability
Domain those of ordinary skill every other embodiment obtained without creative efforts, belongs to the present invention
The range of protection.
It should also be noted that similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need that it is further defined and explained in subsequent attached drawing.
Embodiment
Traditional sampling work chooses acquisition rock sample after needing geologist in-position.For the tune of landslide disaster body
Look into the rock sample that may need to acquire different landslide positions for studying.Such as the acquisition leading edge of slip mass, middle part and rear
Rock sample carries out physical mechanics test, chemical composition analysis etc. respectively.
Secondary landslide disaster still may occurs in it again in a short time after part landslide disaster occurs, and unfavourably
Matter worker carries out the work within the scope of landslide hazard area, and it is even more impossible to be sampled, and the physico-mechanical properties of rock mass are for cunning
The Post disaster relief on slope, secondary landslide risk assessment are of great significance, and can instruct the investigation of disaster body and the reconstruction work after calamity
Make.
Based on this, inventor is by long-term research, it is desirable to provide a kind of to overcome artificial convenient for the unmanned plane of sampling
The problem of can not sampling, improves sampling efficiency.
Referring to Fig. 1, the present embodiment provides a kind of sampling unmanned plane 10, including drone body 100, elevating mechanism 300
And grasping mechanism 400.
100 supporting element 150 of drone body referring to Fig. 2, drone body 100 include wing 110, rack 130 and
Supporting element 150.Wherein, wing 110 is set to the top of rack 130, and supporting element 150 is set to 130 left and right sides of rack.
In the present embodiment, drone body 100 can be quadrotor drone, six rotor wing unmanned aerial vehicles etc..Wing 110 is set
There is shield 111, shield 111 is for preventing 110 direct collision of flight course wing from fractureing to massif, shield
111 can protect wing 110, reduce the damaged condition of drone body 100.
In specific setting, supporting element 150 is support plate.The bottom of rack 130 is provided with article carrying platform.Wherein, it carries
Object stage+module has holder, and holder is then used to obtain image material.
Elevating mechanism 300 include the first electromagnet 310, the first armature 330, first sleeve 350, the first pull-push piece 370 with
And drone body 100, the other end setting of first sleeve 350 are fixed in first elastic component 390, one end of first sleeve 350
There is the first fixing piece 351, the first electromagnet 310 is set in first sleeve 350, and the first armature 330 is slideably sheathed on
In one sleeve 350, the first armature 330 is oppositely arranged with the first electromagnet 310, one end of the first pull-push piece 370 and the first armature
330 connections, the other end of the first pull-push piece 370 are provided with sliding part 371, and it is fixed that sliding part 371 is movably arranged in first
Part 351, the first elastic component 390 are set between the first armature 330 and the first fixing piece 351, and the first armature 330 is configured to
First electromagnet 310 drives the first pull-push piece 370 to mobile, the first armature 330 close to the direction of the first electromagnet 310 when being powered
It is configured to when the first electromagnet 310 powers off, the first elastic component 390 enables to the first pull-push piece 370 to far from the first electricity
The direction of magnet 310 is mobile.
Grasping mechanism 400 includes mechanical gripper 410, and one end of mechanical gripper 410 is articulated with the first fixing piece 351, is slided
Portion 371 is set in mechanical gripper 410, and sliding part 371 and 410 slidable connection of mechanical gripper, and the first pull-push piece 370 can
The movement of sliding part 371 is driven so that the folding crawl rock sample of mechanical gripper 410.
When in use, first make the first electromagnet 310 be powered, be generated by it magnetism, the first armature 330 can be attracted to leaning on
The direction of nearly first electromagnet 310 is mobile, and the first pull-push piece 370 then drives sliding part 371 to moving up under the action of tractive force
It moves so that mechanical gripper 410 is opened so that rock sample to be placed in mechanical gripper 410.Then the first electromagnet 310 is powered off, is generated
It is magnetic disappear, first armature 330 restores to initial position under the action of the first elastic component 390, and the first pull-push piece 370 then exists
Sliding part 371 is driven to move down under the action of thrust so that the closure of mechanical gripper 410, is firmly fixed on mechanical gripping for rock sample
In hand 410.
Fig. 3-5 is please referred to, in the present embodiment, sampling unmanned plane 10 further includes landing mechanism 200, and landing mechanism 200 is wrapped
Extensible member 210, connector 230 and the first landing zone member 250 are included, one end of connector 230 and drone body 100 can be rotated
Connection, the other end of connector 230 are rotatably connected with the first landing zone member 250, one end of extensible member 210 and supporting element 150
It is rotatably connected, the other end and the connector 230 of extensible member 210 are rotatably connected.
In the present embodiment, the effect for mechanism 200 of landing is: can be with when for guaranteeing that drone body 100 is landed
Ground face contact, in addition, its can by distance between the extension and contraction control drone body 100 of extensible member 210 and ground, that is,
Say drone body 100 at a distance from wait bore sample, can by the flexible adjustment drone body 100 of extensible member 210 with to
It the distance between bores sample in order to be located within the scope of the crawl of mechanical gripper 410 wait bore sample.
In some specific embodiments, connector 230 includes 2 connecting rods 231 disposed in parallel, connecting rod 231
Equal length, one end and the drone body 100 of connecting rod 231 are rotatably connected, specifically, one end of connecting rod 231 and branch
Support member 150 is rotatably connected, and the other end of connecting rod 231 is rotatably connected with the first landing zone member 250, and 2 connecting rods 231 exist
Rotational angle is identical under the push-and-pull of extensible member 210.First landing zone member 250 can remain water when extensible member 210 stretches
It is flat, thus grease it in.
Specifically, in the present embodiment, extensible member 210 includes telescope motor.One end of telescope motor and supporting element 150 can
Rotation connection, power output shaft and the connecting rod 231 of telescope motor are rotatably connected.
Referring to Fig. 6,300 first 310 first armature of electromagnet of elevating mechanism, 330 first sleeve, 350 first pull-push piece 370
Specifically, first sleeve 350 is vertically arranged for first elastic component 390, and drone body 100 is fixed in one end of first sleeve 350,
The other end of first sleeve 350 is provided with the first fixing piece 351.Optionally, rack 130 is fixed in one end of first sleeve 350
Bottom, the first fixing piece 351 is circular slab, and circular slab level is fixed in first sleeve 350, and circular slab is offered for sliding
The through-hole that dynamic portion 371 is worn.Sliding part 371 is movably arranged in the first fixing piece 351 as a result,.
The edge of first armature 330 is abutted with the inner wall of first sleeve 350, and the first armature 330 can be slided with first sleeve 350
It connects dynamicly.First pull-push piece 370 is push-pull rod, and the first elastic component 390 can be spring, elastic rubber set etc..
The power on/off of first electromagnet 310 can be by driving the first armature 330 to make the movement of opposite direction, so that first
Pull-push piece 370 can drive sliding part 371 to drive the folding of mechanical gripper 410 to securely fix rock sample.
Referring to Fig. 7, in the present embodiment, sliding part 371 is provided with multiple sliding blocks 3711, the setting of mechanical gripper 410 is slided
Rail, sliding block 3711 are slidably disposed in sliding rail, and when sliding block 3711 slides, mechanical gripper 410 can be opened and closed.
It should be noted that landing mechanism 200 can adjust the distance between mechanical gripper 410 and rock sample, guarantee mechanical
Rock sample can be grabbed in the working range of handgrip 410.When in use, landing mechanism 200 can be first by elevating mechanism in landing
300 the first pull-push piece 370 driving sliding part 371 open mechanical gripper 410, according to mechanical gripper 410 and wait bore sample between
Distance, as far as possible suitable height is adjusted to by extensible member 210, and then will be wait bore sample using the closure of mechanical gripper 410
Crawl.
Please refer to Fig. 8-10, drone body 100 further includes horizontal mobile mechanism 170, and horizontal mobile mechanism 170 includes the
Two electromagnet 171, the second armature 173, second sleeve 175, the second pull-push piece 177 and the second elastic component 179, second sleeve
175 are horizontally placed on drone body 100, and one end of second sleeve 175 is provided with the second electromagnet 171, second sleeve 175
The other end is provided with the second fixing piece 1751, and the second armature 173 is slideably sheathed in second sleeve 175, the second armature 173
It is oppositely arranged with the second electromagnet 171, one end of the second pull-push piece 177 is connect with the second armature 173, the second pull-push piece 177
The other end is connect with first sleeve 350, and the second elastic component 179 is set between the second armature 173 and the second fixing piece 1751, the
Two armature 173 are configured to drive the second pull-push piece 177 to close to the second electromagnet 171 when the second electromagnet 171 is powered
Direction is mobile, and the second armature 173 is configured to when the second armature 173 powers off, and the second elastic component 179 enables to the second push-and-pull
Part 177 is mobile to the direction far from the second electromagnet 171.
In the present embodiment, horizontal mobile mechanism 170 can move horizontally, can be horizontal during grabbing wait bore sample
Adjust the position of mechanical gripper 410.Since one end of the second pull-push piece 177 is connect with the second armature 173, the second pull-push piece 177
The other end connect with first sleeve 350.When the second electromagnet 171 is powered, magnetism can be generated, the second armature 173 exists
The direction of second electromagnet, 171 attraction effect the second pull-push piece 177 of lower driving to close second electromagnet 171 is mobile, and second
Pull-push piece 177 is then drawn first sleeve 350 and is moved horizontally.
Specifically, one end of the second pull-push piece 177 is provided with annular fixed part 1771, and annular fixed part 1771 is sheathed on
One end of one sleeve 350, annular fixed part 1771 are threadedly coupled by screw with first sleeve 350.
In the present embodiment, the bottom of drone body 100 is removably connected with storage rock cavity 190, stores up rock cavity 190
With injection port, mechanical gripper 410 can the first electromagnet 310 and the second electromagnet 171 on-off it is electrically mated move down move to
Injection port simultaneously enters in storage rock cavity 190.
Mechanical gripper 410 can grab rock sample under the cooperation of the first electromagnet 310 and the second electromagnet 171 and can be
Horizontal direction is mobile.When in use, without the sampling that can be carried out next time of making a return voyage after mechanical gripper 410 grabs rock sample.Machine
Tool handgrip 410 can make mechanical gripper 410 by the position of the adjustment mechanical gripper 410 of horizontal mobile mechanism 170 after grabbing rock sample
In injection port, then opens mechanical gripper 410 and discharge rock sample to storage rock cavity 190.In this way, can directly carry out down again
Primary sample, without making a return voyage.
Specifically, in some embodiments, storage rock cavity 190 has tip chute, and one end of tip chute is connected to storage
The other end of the bottom of rock cavity 190, tip chute is connected to injection port.It is sliding from tip chute when rock sample enters injection port
The dynamic bottom for being delivered to storage rock cavity 190.One end of tip chute is directly connected in injection port, can be avoided to a certain extent
The bottom that rock sample directly falls to storage rock cavity 190 causes rock sample broken.
In some embodiments, sampling unmanned plane 10 further include control mechanism of qi structure 500, control mechanism of qi structure 500 include air bag 510,
Inflator pump 550 and aspiration pump 530, air bag 510 are set to the first landing zone member 250, and inflator pump 550, aspiration pump 530 are installed on
Drone body 100 and inflator pump 550, aspiration pump 530 are able to the inflation and pumping of control air bag 510, the first landing structure
One end of part 250 is provided with 2 limiting sections 251, limiting section 251 and connecting rod 231 be rotatably connected and limiting section 251 and even
Extension bar 231 is detachably connected.
Specifically, please continue to refer to 4, in the present embodiment, limiting section 251 can be used with connector 230 and is threadedly coupled,
It can be realized simultaneously and be rotatably connected and be detachably connected.Being rotatably connected and limiting due to limiting section 251 and connecting rod 231
Portion 251 is detachably connected with connecting rod 231, and the first landing zone member 250 can be spun upside down, and still is able to and connecting rod
231 connections, that is to say, that air bag 510 can be spun upside down, selectivity uses.
In the particular embodiment, the inflation/deflation of air bag 510 can also be adjusted the height of drone body 100,
And the setting due to controlling mechanism of qi structure 500, sampling unmanned plane 10 can be allowed straight by adjusting the inflation/deflation of air bag 510
Connect the position for dropping to out-of-flatness.For example, the bottom of the first landing zone member 250, the first landing zone member 250 is arranged in air bag 510
It is set to the left and right sides of drone body 100, the inflated condition of adjustable inflator pump 550 and aspiration pump 530 makes unmanned plane
Ontology 100 can drop to out-of-flatness position.It should be noted that in the present embodiment, each air bag 510 is equipped with an inflation
Pump 550 and an aspiration pump 530 control the inflation and pumping of air bag 510 independently of each other.
Figure 11 is please referred to, in the present embodiment, sampling unmanned plane 10 further includes Qu Ye mechanism 600.
Qu Ye mechanism 600 includes suction pumps 610 and acquisition tank 630, and suction pumps 610 have pipette 611 and outlet tube
613, pipette 611 is connected to for drawing liquid, outlet tube 613 with acquisition tank 630.
In the present embodiment, sampling unmanned plane 10 can be used for the sampling of water quality of survey for the purpose of locating hydrogeological resources.Wherein, Qu Ye mechanism
600 can draw liquid.Specifically, the liter of the first landing zone member 250 is controlled by the cooperation of extensible member 210 and connector 230
Drop, suction pumps 610 are that pipette 611 provides subnormal ambient, and acquisition tank 630 is then used for fluid storage.Wherein, the first landing zone member
250 are provided with air bag 510, and the inflation of air bag 510 and pumping are controlled by inflator pump 550 and aspiration pump 530 respectively, work as air bag
510 are in inflated condition, and it enables to drone body 100 that can be suspended in the water surface, then without hanging during water intaking,
It is highly-safe.In the dry point for carrying out needing to choose different location when water quality detection.Such as the upstream and downstream in river, debris flow gully
Source area, clear water zone and accumulation area.
When needing to fetch water, first connecting rod 231 is pushed to rotate by the power output shaft of telescope motor, due to disposed in parallel
Connecting rod 231 is rotatably connected with the first landing zone member 250, enables the rotational angle of connecting rod 231 consistent, due to
There are two supporting points for one landing zone member 250, are able to maintain horizontality.The first landing zone member 250 decline during and with
Horizontal face contact, air bag 510 is capable of providing buoyancy at this time, and 10 virtue of buoyancy of sampling unmanned plane is enabled to be suspended in the water surface,
And the setting of air bag 510 can make wing 110 still be able to be suspended in the water surface when stopping rotating and as water flow is mobile, it can be with
As the water source of different location is drawn in the flowing of water flow, electricity can be greatlyd save.
It should be noted that the inflationtime of air bag 510 can start to inflate when apart from water surface pre-determined distance,
One landing zone member 250 is full of before dropping to the water surface and stops the rotation of wing 110.To those skilled in the art, Ke Yigen
The determination of the factors such as the Inflatable volume according to the performance of inflator pump 550, the quality of the sampling unmanned plane 10 and air bag 510 includes
Landing scheme including pre-determined distance.
On the one hand, since the first landing zone member 250 declines so that the spacing between the water surface and drone body 100 increases,
It can prevent electric appliance caused by being splashed to inside drone body 100 because of rotation generation air-flow or the spray generated because The turbulent river crashes its way through
Element fault；On the other hand, since wing 110 stops rotating, it can keep Movement consistency with water flow, accomplish completely with wave
Valley-fill can substantially reduce its failure rate.For being rotated compared to unmanned plane wing 110, once flow rate of water flow is too fast, and wing
Once 110 rotations generate airflow field, due to the hydro-flow thrust of horizontal direction and the effect of vertical direction airflow thrust excessively unbalance
Flight failure is easily caused even aircraft to be caused to crash into river water.Especially in high mountain and steep gorge area, special geographical environment causes this
Class area wind speed is larger and wind speed variation is fast, therefore can generate unexpected effect using the rotation of wing 110 is stopped, greatly
The safety for improving imbibition process.
In the present embodiment, the pipette 611 of Qu Ye mechanism 600 is soft pipe, can prevent itself and hard objects in water
It collides.Further, it is arranged strainer 615 in one end of the separate drone body 100 of pipette 611, can prevented miscellaneous
Grass, suspended matter sucking blocking pipeline.
The sampling unmanned plane 10 obtained by above-mentioned design has been able to satisfy the use of sampling of water quality, but in line with further perfect
The objective of its function, inventor have carried out further improvement to the sampling unmanned plane 10.
Figure 12,13 are please referred to, in the present embodiment, Qu Ye mechanism 600 further includes aqueduct 650, water receiving pipe 670 and bullet
Property supporting part 690, suction pumps 610 have conducting wire 617, conducting wire 617 include the first conducting wire 6171 and the second conducting wire 6173, first leads
Line 6171 and the movable connection of the second conducting wire 6173, the first conducting wire 6171 are arranged in the bottom of acquisition tank 630, the second conducting wire 6173
It is set in elastic supporting part 690, aqueduct 650 is set to the top of acquisition tank 630 and aqueduct 650 and acquisition tank 630 connect
Logical, water receiving pipe 670 is set to the liquid overflowed on elastic supporting part 690 for access aqueduct 650, elastic 690 energy of supporting part
Flexible deformation occurs for enough liquid weight variations according in water receiving pipe 670 so that the first conducting wire 6171 and the second conducting wire 6173 are disconnected
It opens.
In the initial state, the first conducting wire 6171 is connected to the second conducting wire 6173, when water in 670 aqueduct 650 of water receiving pipe
Sample weight reaches preset value, and elastic supporting part 690 is compressed, and the first conducting wire 6171 and the second conducting wire 6173 then disconnect, suction pumps
610 stop working.When liquid weight reaches preset value in water receiving pipe 670, illustrates to acquire the water in tank 630 and be in full of shape
State, the deformation of elastic supporting part 690 enable to the first conducting wire 6171 and the second conducting wire 6173 then to sentence out automatically.In addition, water guide
650 water receiving pipe 670 of pipe can be also used for gas discharge in acquisition tank 630.
Wherein, acquisition tank 630 includes the first acquisition tank ontology 631 and the second acquisition tank ontology 633, the first acquisition tank ontology
631, the second acquisition tank ontology 633 is detachably connected, the first acquisition tank ontology 631 and the second built-in acquisition of acquisition tank ontology 633
Bag 635, collection bag 635 are attached at the inner wall of the first acquisition tank ontology 631 and the second acquisition tank ontology 633, and collection bag 635 has
Water inlet end, water inlet end are threadedly coupled with outlet tube 613.
In the present embodiment, it is detachably connected, is acquiring since the first acquisition tank ontology 631, second acquires tank ontology 633
Collection bag 635 built in tank 630.Only need to take out collection bag 635 every time after the completion of liquid sampling, carrying out label preservation can
Next step sampling is carried out, i.e., also completes the preservation of liquid in the sampling process of liquid.
It should be noted that in the present embodiment, extensible member 210, inflator pump 550, aspiration pump 530, suction pumps 610,
One electromagnet 310, the second electromagnet 171 circuit control be the prior art, as long as can independent remote control its power on/off
?.Such as the on-off by the way that its power supply of solenoid valve control is arranged in its control circuit, it is manipulated at a distance by remote control device.
Extensible member 210, aspiration pump 530, inflator pump 550, suction pumps 610 and drone body 100 power supply can be total to
With can also respectively be independently arranged.
In order to keep the balanced capacity of sampling unmanned plane 10, it should as far as possible be symmetrical arranged equivalent or similar component, such as
Inflator pump 550, aspiration pump 530 are symmetrical arranged, Qu Ye mechanism 600 is arranged in approximately mid way between.It is adjusted alternatively, it is also possible to pass through
Material, shape of whole each element etc. change its weight distribution.
The foregoing is merely the preferred embodiment of the present invention, are not intended to restrict the invention, for this field
For technical staff, the invention may be variously modified and varied.All within the spirits and principles of the present invention, made any
Modification, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of sampling unmanned plane, which is characterized in that including drone body；
Elevating mechanism, the elevating mechanism include the first electromagnet, the first armature, first sleeve, the first pull-push piece and first
The drone body is fixed in elastic component, one end of the first sleeve, and the other end of the first sleeve is provided with first
Fixing piece, first electromagnet are set in the first sleeve, and first armature is slideably sheathed on described first
In sleeve, first armature is oppositely arranged with first electromagnet, one end of first pull-push piece and first rank
Iron connection, the other end of first pull-push piece are provided with sliding part, and it is solid that the sliding part is movably arranged in described first
Determine part, first elastic component is set between first armature and first fixing piece, and first armature is configured
At when first electromagnet is powered, first armature can drive first pull-push piece to close to first electromagnetism
The direction of iron is mobile, and first armature is configured to when first electromagnet powers off, and first armature is described the
First push-pull rod can be driven mobile to the direction far from first electromagnet under the pulling force effect of one elastic component；And
Grasping mechanism, the grasping mechanism include mechanical gripper, and one end of the mechanical gripper is articulated with first fixing piece, described
Sliding part is set in the mechanical gripper, and the sliding part and the mechanical gripper slidable connection, first push-and-pull
The sliding part can be driven to slide for part so that mechanical gripper folding crawl rock sample.
2. sampling unmanned plane according to claim 1, which is characterized in that the drone body is arranged by supporting element, institute
Stating sampling unmanned plane further includes landing mechanism, and the landing mechanism includes extensible member, connector and the first landing zone member, described
One end of connector is rotatably connected with the drone body, and the other end of the connector and first landing zone member can
Rotation connection, one end of the extensible member are rotatably connected with the supporting element, the other end of the extensible member and the connection
Part is rotatably connected.
3. sampling unmanned plane according to claim 2, which is characterized in that the connector includes 2 companies disposed in parallel
Extension bar, the connecting rod equal length, one end of the connecting rod are rotatably connected with the drone body, the connecting rod
The other end be rotatably connected with first landing zone member, first landing zone member can begin when the extensible member is flexible
It keeps eventually horizontal.
4. sampling unmanned plane according to claim 1, which is characterized in that the drone body further includes moving horizontally machine
Structure, the horizontal mobile mechanism include the second electromagnet, the second armature, second sleeve, the second pull-push piece and the second elastic component,
The second sleeve is horizontally placed on the drone body, and one end of the second sleeve is provided with second electromagnet,
The other end of the second sleeve is provided with the second fixing piece, and second armature is slideably sheathed on the second sleeve
Interior, second armature is oppositely arranged with second electromagnet, and one end of second pull-push piece and second armature connect
It connects, the other end of second pull-push piece is connect with the first sleeve, and second elastic component is set to second armature
Between second fixing piece, second armature is configured to drive described second to push away when second electromagnet is powered
To close to the movement of the direction of second electromagnet, second armature is configured to when second armature powers off draw piece,
Second elastic component enables to second push-pull rod mobile to the direction far from second electromagnet.
5. sampling unmanned plane according to claim 4, which is characterized in that one end of second pull-push piece is provided with annular
Fixed part, the annular fixed part are sheathed on one end of the first sleeve, and the annular fixed part passes through screw and described the
One sleeve is threadedly coupled.
6. sampling unmanned plane according to claim 4, which is characterized in that the bottom of the drone body removably connects
It is connected to storage rock cavity, for the storage rock cavity with injection port, the mechanical gripper can be in first electromagnet and described the
Electrically mated move down of the on-off of two electromagnet is moved to the injection port and enters the storage rock cavity.
7. sampling unmanned plane according to claim 3, which is characterized in that the sampling unmanned plane further includes control mechanism of qi structure,
The control mechanism of qi structure includes air bag, inflator pump and aspiration pump, and the air bag is set to the surface of first landing zone member, institute
State inflator pump, the aspiration pump is installed on the drone body and the inflator pump, the aspiration pump are able to control institute
The inflation and pumping of air bag are stated, one end of first landing zone member is provided with 2 limiting sections, the limiting section and the connection
Bar be rotatably connected and the limiting section is detachably connected with the connecting rod.
8. sampling unmanned plane according to claim 7, which is characterized in that the sampling unmanned plane further includes Qu Ye mechanism,
The Qu Ye mechanism include suction pumps and acquisition tank, the suction pumps, the acquisition tank be removable installed in it is described nobody
Machine ontology, the suction pumps have pipette and outlet tube, and the pipette for drawing liquid, adopt with described by the outlet tube
Collect tank connection.
9. sampling unmanned plane according to claim 8, which is characterized in that the acquisition tank include first acquisition tank ontology and
Second acquisition tank ontology, the first acquisition tank ontology, the second acquisition tank ontology are detachably connected, the first acquisition tank
Collection bag built in ontology and the second acquisition tank ontology, the collection bag are attached at the first acquisition tank ontology and the second acquisition tank
The inner wall of ontology, the collection bag have water inlet end, and the water inlet end is threadedly coupled with the outlet tube.
10. sampling unmanned plane according to claim 8 or claim 9, which is characterized in that the Qu Ye mechanism further include aqueduct,
Water receiving pipe and elastic weighing piece, the suction pumps have a conducting wire, and the conducting wire is divided into the first conducting wire and the second conducting wire, and described the
One conducting wire and the movable connection of the second conducting wire, first conducting wire are arranged in the bottom of the acquisition tank, and described second leads
Line is set in elastic supporting part, and the aqueduct is set to the top of the acquisition tank and the aqueduct and the acquisition tank
Connection, the water receiving pipe are set to the liquid overflowed on the elastic supporting part for aqueduct described in access, and the elasticity is held
Heavy mail can change according to the liquid weight in the water receiving pipe occurs flexible deformation so that first conducting wire and described the
Two conducting wires disconnect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910120671.4A CN109878732A (en) | 2019-02-18 | 2019-02-18 | Sample unmanned plane |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910120671.4A CN109878732A (en) | 2019-02-18 | 2019-02-18 | Sample unmanned plane |
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| Publication Number | Publication Date |
|---|---|
| CN109878732A true CN109878732A (en) | 2019-06-14 |
Family
ID=66928227
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910120671.4A Pending CN109878732A (en) | 2019-02-18 | 2019-02-18 | Sample unmanned plane |
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| CN (1) | CN109878732A (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109839292A (en) * | 2019-02-18 | 2019-06-04 | 成都理工大学 | For the sampling unmanned plane of GEOLOGICAL ENVIRONMENT SURVEY and the unmanned plane of built-in collection bag |
| CN110702457A (en) * | 2019-10-11 | 2020-01-17 | 宁夏翼航智控科技有限公司 | Environment protection unmanned aerial vehicle convenient to sample quality of water |
| CN112345289A (en) * | 2020-11-30 | 2021-02-09 | 生态环境部南京环境科学研究所 | Unmanned aerial vehicle formula grassland vegetation sample side discernment gathers integrative device of weighing |
| CN112595540A (en) * | 2020-11-05 | 2021-04-02 | 杭州电子科技大学 | Plant sampling system based on unmanned aerial vehicle platform and sampling method thereof |
| CN112881073A (en) * | 2021-03-09 | 2021-06-01 | 蔡学建 | Unmanned aerial vehicle sampling device for collecting solid wastes of different depths |
| CN112891779A (en) * | 2021-02-03 | 2021-06-04 | 北京中联国成科技有限公司 | Aviation fire extinguishing auxiliary device and aviation fire extinguishing method |
| CN112903335A (en) * | 2021-01-15 | 2021-06-04 | 中山大学 | Viscoelastic-plastic material automatic acquisition device |
| CN113567183A (en) * | 2021-08-09 | 2021-10-29 | 金民 | Soil sampling device |
| EP3915873A1 (en) * | 2020-05-26 | 2021-12-01 | LEONARDO S.p.A. | Aircraft capable of hovering and method for transporting a load suspended for such aircraft |
| US20220080478A1 (en) * | 2020-09-14 | 2022-03-17 | Shang-Jung Wu | Management station of multi-point time-sharing water quality monitoring system |
| CN114323747A (en) * | 2021-12-08 | 2022-04-12 | 河海大学 | Soil-vegetation-atmospheric moisture collection system based on unmanned aerial vehicle |
| KR20220086334A (en) * | 2020-12-16 | 2022-06-23 | 동아대학교 산학협력단 | Drone mounted grab sampler |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109839292A (en) * | 2019-02-18 | 2019-06-04 | 成都理工大学 | For the sampling unmanned plane of GEOLOGICAL ENVIRONMENT SURVEY and the unmanned plane of built-in collection bag |
| CN110702457A (en) * | 2019-10-11 | 2020-01-17 | 宁夏翼航智控科技有限公司 | Environment protection unmanned aerial vehicle convenient to sample quality of water |
| CN110702457B (en) * | 2019-10-11 | 2021-12-14 | 宁夏翼航智控科技有限公司 | Environment protection unmanned aerial vehicle convenient to sample quality of water |
| EP3915873A1 (en) * | 2020-05-26 | 2021-12-01 | LEONARDO S.p.A. | Aircraft capable of hovering and method for transporting a load suspended for such aircraft |
| WO2021240405A1 (en) | 2020-05-26 | 2021-12-02 | Leonardo S.P.A. | Aircraft capable of hovering and method for transporting a load suspended from such aircraft |
| EP3915874A1 (en) | 2020-05-26 | 2021-12-01 | Leonardo S.p.a. | Aircraft capable of hovering and method for transporting a load suspended from such aircraft |
| US20220080478A1 (en) * | 2020-09-14 | 2022-03-17 | Shang-Jung Wu | Management station of multi-point time-sharing water quality monitoring system |
| CN112595540A (en) * | 2020-11-05 | 2021-04-02 | 杭州电子科技大学 | Plant sampling system based on unmanned aerial vehicle platform and sampling method thereof |
| CN112595540B (en) * | 2020-11-05 | 2022-09-13 | 杭州电子科技大学 | Plant sampling system based on unmanned aerial vehicle platform and sampling method thereof |
| CN112345289A (en) * | 2020-11-30 | 2021-02-09 | 生态环境部南京环境科学研究所 | Unmanned aerial vehicle formula grassland vegetation sample side discernment gathers integrative device of weighing |
| KR20220086334A (en) * | 2020-12-16 | 2022-06-23 | 동아대학교 산학협력단 | Drone mounted grab sampler |
| KR102496038B1 (en) * | 2020-12-16 | 2023-02-06 | 동아대학교 산학협력단 | Drone mounted grab sampler |
| CN112903335A (en) * | 2021-01-15 | 2021-06-04 | 中山大学 | Viscoelastic-plastic material automatic acquisition device |
| CN112891779A (en) * | 2021-02-03 | 2021-06-04 | 北京中联国成科技有限公司 | Aviation fire extinguishing auxiliary device and aviation fire extinguishing method |
| CN112891779B (en) * | 2021-02-03 | 2022-10-25 | 北京中联国成科技有限公司 | Aviation fire extinguishing auxiliary device and aviation fire extinguishing method |
| CN112881073A (en) * | 2021-03-09 | 2021-06-01 | 蔡学建 | Unmanned aerial vehicle sampling device for collecting solid wastes of different depths |
| CN113567183A (en) * | 2021-08-09 | 2021-10-29 | 金民 | Soil sampling device |
| CN114323747A (en) * | 2021-12-08 | 2022-04-12 | 河海大学 | Soil-vegetation-atmospheric moisture collection system based on unmanned aerial vehicle |
| CN114323747B (en) * | 2021-12-08 | 2024-06-04 | 河海大学 | Unmanned aerial vehicle-based soil-vegetation-atmosphere water collection system |
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