CN114408195A - Mechanical gripper and unmanned aerial vehicle - Google Patents
Mechanical gripper and unmanned aerial vehicle Download PDFInfo
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- CN114408195A CN114408195A CN202210173549.5A CN202210173549A CN114408195A CN 114408195 A CN114408195 A CN 114408195A CN 202210173549 A CN202210173549 A CN 202210173549A CN 114408195 A CN114408195 A CN 114408195A
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- gripper
- shell
- positioning
- hand grip
- rotating structure
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
- B64D47/00—Equipment not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
- B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/20—Remote controls
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- Aviation & Aerospace Engineering (AREA)
- General Health & Medical Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
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- Life Sciences & Earth Sciences (AREA)
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- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a mechanical claw and an unmanned aerial vehicle, and belongs to the field of sample collection. The invention comprises a driving structure, a shell, a rotating structure, a plurality of grippers and positioning stabs, wherein the driving structure is arranged in the shell; the rotating structure is connected with the driving structure and can be driven by the driving structure to rotate; one end of the gripper is connected with the rotating structure and can rotate along with the rotation of the rotating structure; one end of the positioning thorn is fixed on the shell, and the other end of the positioning thorn extends to the hand grip; according to the invention, the positioning thorn is introduced in the design process of the mechanical claw, namely, the metal thorn extends out of the shell of the mechanical claw, when the mechanical claw lands on a slope surface in an open state, the positioning thorn can penetrate into a material, and the two claws of the claw form triangular bulges, so that the mechanical claw is prevented from sliding on the slope surface, and a positioning effect is achieved; in the process of closing the two petals of the mechanical claw, the deep positioning pricks can play an anchoring role, so that the mechanical claw is prevented from being jacked up by materials, and a sufficient amount of samples can be grabbed.
Description
Technical Field
The invention belongs to the field of sample collection, and particularly relates to a mechanical gripper and an unmanned aerial vehicle.
Background
The field inspection personnel at the wharf of a commodity inspection company or organization need to sample and inspect the bulk cargo according to the corresponding standard requirements, and usually, the sampling is repeated for multiple times at different parts of a batch of cargo. For a long time, the sampling work is completed through manual operation, the manual sampling makes the inspection personnel exposed to the threat of radioactive substances, toxic gases and high temperature frequently, the landslide of the material also brings great threat to the life health of the sampling personnel, the working strength is high, the efficiency is low, and the standardization, the representativeness, the safety and the consistency of the sampling can not be ensured.
Under the large background of epidemic abuse, some non-contact inspection working modes are provided everywhere, and the sampling and preparing work of bulk cargoes cannot realize non-contact automatic operation all the time, which brings great troubles to inspectors at the front line of a wharf. In the age of the day after the day of the unmanned aerial vehicle technology, the unmanned aerial vehicle technology is utilized to develop a device which can be remotely controlled, meets the requirement of a sampling standard and can repeatedly sample for many times so as to replace the existing manual sampling mode and realize the automation of sampling work.
Almost all small-sized mechanical claws at present are provided with a mechanical arm, and the basic functions of the arm are as follows: (1) moving the gripper to a desired position, (2) providing support for the gripping action, and (3) bearing the maximum weight of the gripper gripping the workpiece. And unmanned aerial vehicle hovers in the air, can't provide the supporting role to the gripper. When the gripper passes through the flexible coupling and realizes linking with unmanned aerial vehicle, do not have fixed arm, also can not rely on gravity to implement location and gripping action like the commonly used large-scale grab bucket of present pier, this self-supporting under the atress condition when just having proposed higher requirement to the self-location of small-size gripper and taking a sample. Poor handling presents two problems: (1) slipping off when landing on a slope surface, and (2) breaking away from the surface of the goods during sampling to cause empty grabbing.
Disclosure of Invention
1. Problems to be solved
Aiming at the problem of difficulty in sampling in the prior art, the invention provides a mechanical claw.A positioning thorn extends from a shell, when the mechanical claw lands on a slope surface in an open state, the positioning thorn can go deep into goods and forms a triangular bulge with a hand grip, so that the mechanical claw is prevented from sliding on the slope surface, and a positioning effect is achieved; meanwhile, in the process of closing the two petals of the mechanical claw, the positioning pricks are deep, so that the mechanical claw can be prevented from being jacked up by goods, and a sufficient amount of samples can be grabbed.
Furthermore, the invention provides the unmanned aerial vehicle, the body is connected with the mechanical claw through flexible connection, a sampling operation mode of an extreme position which cannot be reached by a worker is created, the sampling efficiency is improved, and the sampling risk is reduced.
2. Technical scheme
In order to solve the problems, the technical scheme adopted by the invention is as follows:
the invention provides a mechanical claw, which comprises
A drive structure provided with a drive shaft;
a housing for housing a drive structure;
the rotating structure is connected with a driving shaft of the driving structure, and the driving structure can drive the rotating structure to rotate;
the end parts of the hand grips are attached with the rotating structure, and when all the hand grips are closed, a storage space can be formed on one side of the shell; and
the positioning thorn, the one end of positioning thorn is connected with the casing, and the positioning thorn extends to storage space by the casing.
Preferably, the positioning prick comprises a cylinder body and a pricking cone, one end of the cylinder body is connected with the shell, and one end of the cylinder body, which is far away from the shell, is provided with the pricking cone; optionally, the piercing cone is conical.
Preferably, through holes are formed in two opposite sides of the shell, and two ends of the driving shaft penetrate through the through holes, so that the two ends of the driving shaft are at least partially arranged on the outer surface of the shell in a protruding mode;
the rotating structure is connected with two ends of the driving shaft, so that the rotating structure is arranged on two sides of the shell.
Preferably, the rotating structure includes a main gear and an auxiliary gear, the main gear is engaged with the auxiliary gear and configured to drive the auxiliary gear to rotate in the direction B when the main gear rotates in the direction a;
the direction A is clockwise, and the direction B is anticlockwise; or
The direction A is counterclockwise and the direction B is clockwise.
Preferably, the hand grip includes a connecting arm and a jaw, the connecting arm having one end connected to the rotating structure and the other end connected to the jaw.
Preferably, the closed mouth of the hand grip is a flat mouth or a serrated mouth.
Preferably, the drive structure is an electric motor.
Preferably, the shaft has a diameter of 1-5 mm.
Preferably, the maximum diameter of the penetration cone is at most 6 mm.
Preferably, the gripper comprises a main gripper and an auxiliary gripper, the end of the main gripper is connected with the main gear, and the auxiliary gripper is connected with the auxiliary gear.
Preferably, the length of the connecting arm is 40-50 mm.
The invention further provides an unmanned aerial vehicle for sampling, which comprises a machine body and the mechanical gripper, wherein the machine body is in flexible connection with the mechanical gripper through a rope body.
3. Advantageous effects
Compared with the prior art, the invention has the following beneficial effects:
(1) the invention discloses a mechanical claw which comprises a driving structure, a shell, a rotating structure, a plurality of grippers and positioning thorns, wherein the driving structure is arranged in the shell; the rotating structure is connected with the driving structure and can be driven by the driving structure to rotate; one end of the gripper is connected with the rotating structure and can rotate along with the rotation of the rotating structure; one end of the positioning thorn is fixed on the shell, and the other end of the positioning thorn extends to the hand grip; according to the invention, the positioning thorn is introduced in the design process of the mechanical claw, namely, the metal thorn extends out of the shell of the mechanical claw, when the mechanical claw lands on a slope surface in an open state, the positioning thorn can penetrate into a material, and the two claws of the claw form triangular bulges, so that the mechanical claw is prevented from sliding on the slope surface, and a positioning effect is achieved; in the process of closing the two petals of the mechanical claw, the deep positioning pricks can play an anchoring role, so that the mechanical claw can be prevented from being jacked up by materials, and a sufficient amount of samples can be grabbed.
(2) Based on the mechanical claw, the unmanned aerial vehicle equipment provided by the invention creates a sampling operation mode of the extreme position which cannot be reached by manpower, in the original manual sampling operation process, a sampling person can only take samples within the range which can be reached by the person, the length of the sampling shovel is calculated together with the length of the sampling shovel and does not exceed the range of 2 meters, and the danger of landslide or collapse can occur when the person slightly crosses the boundary.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic cross-sectional structure of the present invention.
In the figure:
100. a housing; 110. a through hole;
210. a main gear; 220. an auxiliary gear;
310. a jaw flap; 320. a connecting arm;
400. positioning the thorn; 410. a column body; 420. piercing the cone.
Detailed Description
The following detailed description of exemplary embodiments of the invention refers to the accompanying drawings, which form a part hereof, and in which are shown by way of illustration exemplary embodiments in which the invention may be practiced, and in which features of the invention are identified by reference numerals. The following more detailed description of the embodiments of the invention is not intended to limit the scope of the invention, as claimed, but is presented for purposes of illustration only and not limitation to describe the features and characteristics of the invention, to set forth the best mode of carrying out the invention, and to sufficiently enable one skilled in the art to practice the invention. It will, however, be understood that various modifications and changes may be made without departing from the scope of the invention as defined in the appended claims. The detailed description and drawings are to be regarded as illustrative rather than restrictive, and any such modifications and variations are intended to be included within the scope of the present invention as described herein. Furthermore, the background is intended to be illustrative of the state of the art as developed and the meaning of the present technology and is not intended to limit the scope of the invention or the application and field of application of the invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs; the terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention; as used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The invention provides a mechanical claw, as shown in fig. 1, comprising a driving structure, a shell 100, a rotating structure, a plurality of grippers and positioning stabs 400, wherein the driving structure is arranged inside the shell 100; the rotating structure is connected with the driving structure and can be driven by the driving structure to rotate; one end of the gripper is connected with the rotating structure and can rotate along with the rotation of the rotating structure; one end of the positioning thorn 400 is fixed to the housing 100, and the other end extends to the grip. It is worth to be noted that the gripper of the present invention is made of light materials such as aluminum alloy, plastic, etc., and especially preferred aluminum alloy has strong strength and rigidity and good processing performance.
The gripper is not supported by a mechanical arm, so that the grab bucket can be easily jacked if the jaw 310 cannot be smoothly inserted when the grab bucket grabs the materials, and particularly, when the grab bucket grabs damp and caked materials such as coal, iron ore, fertilizer and the like, empty grab phenomenon may occur once the grab bucket is jacked because of the incapability of being inserted. Aiming at the problems, the positioning spine 400 is introduced in the design process of the mechanical claw, namely a metal spine extends out of the shell 100 of the mechanical claw, when the mechanical claw lands on a slope surface in an open state, the positioning spine 400 can penetrate into goods, and triangular bulges are formed on two claws of the mechanical claw, so that the mechanical claw is prevented from sliding on the slope surface, and the positioning function is realized. In the process of closing the two halves of the mechanical claw, the positioning pricks 400 are deep, so that the mechanical claw can be prevented from being jacked up by goods, and a sufficient amount of samples can be grabbed.
As a specific installation manner of the positioning thorn 400, a through hole for accommodating the positioning thorn 400 is provided at a side of the hand grip close to the housing 100, one end of the positioning thorn 400 is connected with the housing 100 and extends from the housing 100 to the storage space through the through hole, and preferably, one end of the positioning thorn 400 far away from the housing 100 is placed in the storage space. Or, a notch is arranged on one side of the hand grip close to the shell 100, and when the two hand grips are closed, the notches can jointly form a through hole for accommodating the positioning thorn 400; alternatively, a side of the hand grip adjacent to the housing 100 is opened so that the positioning stabs 400 can be extended into the storage space.
In a preferred embodiment, the positioning spike 400 of the present invention includes a shaft 410 and a spike cone 420, wherein one end of the shaft 410 is connected to the housing 100 and the end of the shaft 410 remote from the housing 100 is provided with the spike cone 420. The diameter of the shaft 410 of the positioning spine 400 is preferably 1-5mm, and more preferably 3mm, so as to reduce the weight to the maximum while ensuring the use strength. It should be noted that the shaft 410 of the present invention may be integrally formed, or may be composed of a plurality of segments, and the ends of any two adjacent segments may be detachably connected (for example, screwed connection, etc.), so that the length of the shaft 410 may be freely adjusted according to the tightness of the material. The length of the segments is generally preferably from 10 to 20mm, preferably 15 mm. The loose materials can use the positioning stabs 400 with the diameter of at most 90mm (the maximum length of the hand grip is not exceeded, and the closing of the hand grip is prevented from being influenced); the tight material is difficult to insert, and the overlong positioning pin 400 prevents the mechanical claw from being tightly attached to the surface of the material to influence the sampling effect, so that the length of the positioning pin 400 needs to be shortened. The piercing cone 420 of the positioning barb 400 is preferably of conical design with a maximum diameter of at most 6mm and a length of the piercing cone 420 of at most 15 mm. The cone is provided with a pointed end and a bottom platform, the pointed end is convenient to insert, and the other flat end can pull the mechanical claw by means of materials when the mechanical claw is tightened, so that the mechanical claw is prevented from being jacked up to cause empty grabbing.
Further, the driving structure is used for driving the rotating structure to rotate so as to achieve the purpose of opening and closing the hand grip. The drive structure is provided with the drive shaft, and the drive shaft is generally rotated by motor drive, and then drives other structures and rotates. As a specific implementation manner, the driving structure is a motor, preferably a steering engine, and the steering engine is a position (angle) servo driver and is suitable for a control system with an angle changing continuously and capable of being maintained. The steering engine mainly comprises a shell, a circuit board, a driving motor, a speed reducer and a position detection element. The working principle is that the receiver sends a signal to the steering engine, the IC on the circuit board drives the coreless motor to start rotating, the power is transmitted to the swing arm through the reduction gear, and meanwhile, the position detector sends back the signal to judge whether the positioning is achieved.
As a position arrangement manner of the driving structure, through holes 110 are provided at opposite sides of the housing 100, and both ends of the driving shaft are penetrated through the through holes 110 such that both ends of the driving shaft are at least partially protrudingly provided at the outer surface of the housing 100. The rotation structure is connected to both ends of the driving shaft such that the rotation structure is disposed at both sides of the housing 100. It should be noted that the driving shaft may also be disposed inside the casing 100, and both ends of the driving shaft abut against the inner wall of the casing 100, and at this time, a channel for accommodating the hand grip is reserved at the lower portion of the casing 100, so that the end of the hand grip is disposed inside the casing 100.
The rotating structure is connected with the driving shaft of the driving structure and configured to rotate the rotating structure along with the rotation of the driving shaft. In one implementation, the rotating structure includes a main gear 210 and an auxiliary gear 220, the main gear 210 is engaged with the auxiliary gear 220 and configured to rotate the main gear 210 in a direction a to drive the auxiliary gear 220 to rotate in a direction B, where the direction a is clockwise and the direction B is counterclockwise, or as shown in fig. 1, the direction a is counterclockwise and the direction B is clockwise.
The end of the hand grip of the present invention is attached with a rotating structure, and all the hand grips when closed may form a storage space at one side of the housing 100. The attachment in the present invention may be a direct connection, an indirect connection, or an integral connection of the two. The storage space is used for accommodating the grabbed samples and has the capacity of 850000mm3The right and left are preferred. In a preferred embodiment, the maximum width of the gripper when closed is preferably 120mm and the maximum width when open is preferably 300 mm. The closed opening of the hand grip is a flat opening or a sawtooth opening, the front opening is sharp and thin, and a sawtooth structure is arranged, so that resistance is reduced when the hand grip is inserted. In one embodiment, the hand grip includes a coupling arm 320 and a jaw 310, wherein the coupling arm 320 is coupled to the rotating structure at one end and coupled to the jaw 310 at the other end. The jaw petals 310 are preferably shell-type flat-bottom double jaw petals which can grab small-particle loose materials such as rice and soybean and can grab large and medium-sized bulk materials such as coal, iron ore, copper ore, chemical fertilizer and sulfur. The length of the connecting arm 320 is 40-50mm, for example, 40-44mm, 44-46.5mm, 45-50mm, etc. are all within the scope of the present invention, and 44mm is especially preferred. The hand grip includes a main hand grip and an auxiliary hand grip, and when the rotation structure is that the main gear 210 is engaged with the auxiliary gear 220, the end of the main hand grip is connected with the main gear 210, and the auxiliary hand grip is connected with the auxiliary gear 220.
The invention further provides an unmanned aerial vehicle for sampling, which comprises a machine body and the mechanical gripper, wherein the machine body is in flexible connection with the mechanical gripper through a rope body. As a specific implementation mode, the unmanned aerial vehicle with the multiple rotor wings is light, short-range, low-altitude and multi-rotor wings, is connected with the mechanical claw through a telescopic rope body (such as a winding device with a wheel disc), and can be repeatedly retracted and extended to realize repeated continuous operation of sampling, so that the sampling efficiency is greatly improved, and the labor intensity is reduced. Meanwhile, the unmanned aerial vehicle can carry a remote control module, an image monitoring module and the like as auxiliary additional functions according to requirements.
In this example, as a specific implementation, the gripper parameters are as shown in table 1 below:
TABLE 1 Mechanic claw parameter table
Utilize unmanned aerial vehicle to sample the different positions of piling up the iron ore, wherein, pile the sampling of sharp top and bottom and be the plane sampling, the waist sampling is domatic sampling. The unmanned aerial vehicle carrying the gripper (with the positioning spine 400) is used as an experimental group, the comparison group is set to be the unmanned aerial vehicle of the same model, and the positioning spine 400 is not arranged on the gripper arranged on the unmanned aerial vehicle of the comparison group. The test site is a certain open storage yard, the weather is clear, the outdoor temperature is 10-15 ℃, the wind power is 2-3 grades, each group of experimental group and control group comprises 10 repeated sampling processes, and the average sampling weight is 10 sampling average values. The test results are shown in table 2.
Table 2 iron ore collection test results table
Wherein, the longitudinal direction of the slope surface means that the opening direction of the mechanical claw is parallel to the longitudinal direction of the slope surface on the slope surface; the slope surface is horizontal, namely on the slope surface, the opening direction of the mechanical claw is vertical to the longitudinal direction of the slope surface. It can be seen from table 2 above that the sampling volume of the experimental group, whether on the plane or on the slope, is increased significantly, the variability is decreased significantly, the total average sampling volume is increased by 60%, and the variability is decreased by 40%, so that it is concluded that the positioning spine 400 improves the sampling effect significantly.
More specifically, although exemplary embodiments of the invention have been described herein, the invention is not limited to these embodiments, but includes any and all embodiments modified, omitted, combined, e.g., between various embodiments, adapted and/or substituted, as would be recognized by those skilled in the art from the foregoing detailed description. The limitations in the claims are to be interpreted broadly based the language employed in the claims and not limited to examples described in the foregoing detailed description or during the prosecution of the application, which examples are to be construed as non-exclusive. Any steps recited in any method or process claims may be executed in any order and are not limited to the order presented in the claims. The scope of the invention should, therefore, be determined only by the appended claims and their legal equivalents, rather than by the descriptions and examples given above.
Claims (10)
1. A gripper, comprising: comprises that
A drive structure provided with a drive shaft;
a housing for housing the drive structure;
the rotating structure is connected with a driving shaft of the driving structure, and the driving structure can drive the rotating structure to rotate;
the end part of the hand grip is attached with the rotating structure, and a storage space can be formed on one side of the shell when all the hand grips are closed; and
and one end of the positioning thorn is connected with the shell, and the positioning thorn extends into the storage space from the shell.
2. The gripper of claim 1, wherein: the positioning prick comprises a cylinder body and a pricking cone, one end of the cylinder body is connected with the shell, and the pricking cone is arranged at the end, far away from the shell, of the cylinder body;
optionally, the piercing cone is conical.
3. The gripper of claim 1, wherein: through holes are formed in two opposite sides of the shell, and two ends of the driving shaft penetrate through the through holes, so that the two ends of the driving shaft are at least partially arranged on the outer surface of the shell in a protruding mode;
the rotating structure is connected with two ends of the driving shaft, so that the rotating structure is arranged on two sides of the shell.
4. The gripper of claim 1, wherein: the rotating structure comprises a main gear and an auxiliary gear, the main gear is meshed with the auxiliary gear and is configured to drive the auxiliary gear to rotate towards the direction B when the main gear rotates towards the direction A;
the direction A is clockwise, and the direction B is anticlockwise; or
The direction A is anticlockwise, and the direction B is clockwise.
5. The gripper of claim 1, wherein: the hand grip comprises a connecting arm and a jaw, one end of the connecting arm is connected with the rotating structure, and the other end of the connecting arm is connected with the jaw; and/or
The hand grip comprises a jaw, and a closed opening of the jaw is a flat opening or a zigzag opening.
6. The gripper of claim 1, wherein: the driving structure is a motor.
7. The gripper of claim 2, wherein: the diameter of the column body is 1-5 mm; and/or
The maximum diameter of the piercing cone is at most 6 mm.
8. The gripper of claim 4, wherein: the hand grip comprises a main hand grip and an auxiliary hand grip, the end of the main hand grip is connected with the main gear, and the auxiliary hand grip is connected with the auxiliary gear.
9. The gripper of claim 5, wherein: the length of the connecting arm is 40-50 mm.
10. An unmanned aerial vehicle for sampling, its characterized in that: the mechanical gripper comprises a machine body and a mechanical gripper, wherein the machine body is in flexible connection with the mechanical gripper through a rope body; the gripper is according to any one of claims 1-9.
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| CN202210173549.5A CN114408195A (en) | 2022-02-24 | 2022-02-24 | Mechanical gripper and unmanned aerial vehicle |
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| CN114224287A (en) * | 2021-12-09 | 2022-03-25 | 深圳市奥越信科技有限公司 | Animal health monitoring system |
| CN116718417A (en) * | 2023-08-09 | 2023-09-08 | 南京海关工业产品检测中心 | Solid bulk sampling positioning rod capable of being automatically folded |
| CN117309461A (en) * | 2023-09-21 | 2023-12-29 | 南京海关工业产品检测中心 | Solid bulk cargo sampling device based on unmanned aerial vehicle |
| CN117309461B (en) * | 2023-09-21 | 2024-05-10 | 南京海关工业产品检测中心 | Solid bulk cargo sampling device based on unmanned aerial vehicle |
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| CN114224287A (en) * | 2021-12-09 | 2022-03-25 | 深圳市奥越信科技有限公司 | Animal health monitoring system |
| CN116718417A (en) * | 2023-08-09 | 2023-09-08 | 南京海关工业产品检测中心 | Solid bulk sampling positioning rod capable of being automatically folded |
| CN116718417B (en) * | 2023-08-09 | 2023-10-31 | 南京海关工业产品检测中心 | Solid bulk sampling positioning rod capable of being automatically folded |
| CN117309461A (en) * | 2023-09-21 | 2023-12-29 | 南京海关工业产品检测中心 | Solid bulk cargo sampling device based on unmanned aerial vehicle |
| CN117309461B (en) * | 2023-09-21 | 2024-05-10 | 南京海关工业产品检测中心 | Solid bulk cargo sampling device based on unmanned aerial vehicle |
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