CN117232890B - Unmanned aerial vehicle sampling device for soil pollution treatment - Google Patents
Unmanned aerial vehicle sampling device for soil pollution treatment Download PDFInfo
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- CN117232890B CN117232890B CN202311464851.7A CN202311464851A CN117232890B CN 117232890 B CN117232890 B CN 117232890B CN 202311464851 A CN202311464851 A CN 202311464851A CN 117232890 B CN117232890 B CN 117232890B
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- 238000005070 sampling Methods 0.000 title claims abstract description 212
- 238000003900 soil pollution Methods 0.000 title claims abstract description 19
- 230000007246 mechanism Effects 0.000 claims abstract description 173
- 230000005540 biological transmission Effects 0.000 claims abstract description 41
- 238000009434 installation Methods 0.000 claims abstract description 21
- 239000000463 material Substances 0.000 claims abstract description 15
- 238000005553 drilling Methods 0.000 claims description 20
- 230000001360 synchronised effect Effects 0.000 claims description 20
- 239000003638 chemical reducing agent Substances 0.000 claims description 11
- 239000002689 soil Substances 0.000 description 23
- 238000005527 soil sampling Methods 0.000 description 7
- 230000009467 reduction Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 241000561734 Celosia cristata Species 0.000 description 2
- 210000001520 comb Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000003028 elevating effect Effects 0.000 description 2
- 239000003344 environmental pollutant Substances 0.000 description 2
- 239000003337 fertilizer Substances 0.000 description 2
- 238000003973 irrigation Methods 0.000 description 2
- 230000002262 irrigation Effects 0.000 description 2
- 239000000575 pesticide Substances 0.000 description 2
- 231100000719 pollutant Toxicity 0.000 description 2
- 230000002265 prevention Effects 0.000 description 2
- 239000010865 sewage Substances 0.000 description 2
- 239000010802 sludge Substances 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 239000002699 waste material Substances 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 241000607479 Yersinia pestis Species 0.000 description 1
- 239000012773 agricultural material Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 239000010791 domestic waste Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000007789 gas Substances 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000000746 purification Methods 0.000 description 1
- 239000010801 sewage sludge Substances 0.000 description 1
- 239000000779 smoke Substances 0.000 description 1
- 239000002910 solid waste Substances 0.000 description 1
- 230000001988 toxicity Effects 0.000 description 1
- 231100000419 toxicity Toxicity 0.000 description 1
- 239000002912 waste gas Substances 0.000 description 1
- 239000002351 wastewater Substances 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A20/00—Water conservation; Efficient water supply; Efficient water use
- Y02A20/20—Controlling water pollution; Waste water treatment
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- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses an unmanned aerial vehicle sampling device for soil pollution treatment, which belongs to the technical field of soil pollution treatment and comprises an unmanned aerial vehicle main body and sampling drill rods, wherein mounting sliding grooves are formed in two sides of the bottom of the unmanned aerial vehicle main body, and a mounting and fixing mechanism is mounted on each mounting sliding groove; the bottom of the installation fixing mechanism is provided with a drill rod circulating transmission mechanism for accommodating sampling drill rods, the center of one side, far away from the drill rod positioning mechanism, of the outer wall of the installation fixing mechanism is rotationally connected with a primary lifting adjusting mechanism, and a secondary lifting adjusting mechanism is connected in the primary lifting adjusting mechanism in a sliding mode. According to the invention, through designing the drill rod circulating transmission mechanism, the drill rod positioning mechanism, the two-stage lifting adjusting mechanism, the rotary adjusting mechanism and the sampling driving mechanism, the unmanned aerial vehicle equipment can be utilized to complete multipoint automatic sampling of a large-area pollution area, so that the sampling efficiency is greatly improved, and a large amount of manpower and material resources are saved.
Description
Technical Field
The invention belongs to the technical field of soil pollution treatment, and particularly relates to an unmanned aerial vehicle sampling device for soil pollution treatment.
Background
Soil pollution control is an activity of preventing soil from being polluted and improving and treating the polluted soil, and can be divided into single pollution, combined pollution, mixed pollution and the like according to the existence state of pollutants in the environment; according to the source of the pollutants, the method can be divided into pollution type agricultural materials (chemical fertilizers, pesticides, agricultural films and the like), pollution type industrial and enterprise three wastes (waste water, waste residue and waste gas) and pollution type urban domestic waste (sewage, solid waste, smoke/tail gas and the like); the method can be divided into farmland, mining area, industrial area, old urban area and landfill area according to pollution sites (places). The soil protection is mainly pre-defense, and the prevention is mainly focused on controlling the concentration and total amount of various pollution source emissions, and constantly monitoring and supervising the agricultural water so as to meet the water quality standard of farmland irrigation; the chemical fertilizer and the pesticide are reasonably applied, and the sewage sludge, river sludge and pond sludge are carefully used; irrigation by using urban sewage, and purification treatment is necessary; promoting biological control and comprehensive control of diseases, insect pests, and preventing mine toxicity pollution.
Soil sampling is the link of the most basic in the soil pollution treatment flow, through soil sampling, can let soil pollution prevention and cure department in time know the pollution condition of regional soil, at present, the sampling to polluted soil all is artifical carries out the multi-point decentralized sampling in the region, the sampling is also generally all to use manual sampling equipment or semi-automatic sampling equipment, fixed point sampling is carried out by manual control, then the special sample case of reuse carries out the subregion storage, this kind of sampling mode is although can satisfy the sampling demand, but manual sampling is very time consuming and laborious, when the sampling region is too big, sampling point density is too high, generally need a large amount of samplings personnel, input a large amount of manpower and materials, simultaneously also can increase operating personnel's fatigue strength, also there is a small amount of unmanned aerial vehicle sampling equipment on the present market, but current unmanned aerial vehicle sampling equipment structural design is too simple, and only can accomplish once at every time sampling, make sampling efficiency very low, be unsuitable for the sampling of a large scale.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provide the unmanned aerial vehicle sampling device for soil pollution treatment.
The technical scheme adopted for solving the technical problems is as follows: the unmanned aerial vehicle sampling device for soil pollution treatment comprises an unmanned aerial vehicle main body and sampling drill rods, wherein installation sliding grooves are formed in two sides of the bottom of the unmanned aerial vehicle main body, and an installation fixing mechanism is installed on each installation sliding groove;
the bottom of the installation fixing mechanism is provided with a drill rod circulating transmission mechanism for accommodating sampling drill rods, and a drill rod positioning mechanism is arranged at the center of the bottom of one side of the drill rod circulating transmission mechanism;
the center of one side, far away from the drill rod positioning mechanism, of the outer wall of the installation fixing mechanism is rotationally connected with a primary lifting adjusting mechanism, a secondary lifting adjusting mechanism is connected in the primary lifting adjusting mechanism in a sliding manner, and a rotary adjusting mechanism is arranged between the installation fixing mechanism and the primary lifting adjusting mechanism and used for driving the primary lifting adjusting mechanism to rotate by 90 degrees;
and the sampling driving mechanism is fixedly arranged on the secondary lifting adjusting mechanism, and the sampling drill rod is detachably arranged at the bottom of the driving end of the sampling driving mechanism.
Further, installation fixed establishment includes the mounting bracket, mounting bracket inner wall both sides all are provided with spacing slider, the mounting bracket passes through two spacing slider slidable mounting between two installation spouts, and the mounting bracket passes through two locking bolts and unmanned aerial vehicle main part locking is fixed, mounting bracket bottom fixedly connected with connecting portion, one side of mounting bracket bottom is provided with first rotation support, the mounting bracket outer wall is located the top of same one side and is provided with the second rotation support.
Through above-mentioned technical scheme, the mounting bracket can accomplish the connection with unmanned aerial vehicle main part through spacing slider and two locking bolts fixedly for sampling equipment can accomplish the stable connection between with unmanned aerial vehicle, also is convenient for install fast or dismantle simultaneously, so that maintain.
Further, drilling rod circulation transmission mechanism is including being fixed in the transmission frame of connecting portion bottom, the bottom opening has been seted up at transmission frame bottom center, transmission frame rear end bottom rotates and is connected with rotatory material apron of getting, rotatory material apron's top and transmission frame lock are fixed, rear end and front end between the transmission frame inner wall both sides rotate respectively and are connected with drive shaft and transmission shaft, drive pulley is all installed to drive shaft outer wall both sides, auxiliary pulley is all installed to transmission shaft outer wall both sides, two sets of install first hold-in range and second hold-in range between drive pulley and the auxiliary pulley respectively, first hold-in range outer wall periphery is equipped with a plurality of evenly distributed's first fixed clamp, second hold-in range outer wall periphery is equipped with a plurality of evenly distributed's second fixed clamp, first servo motor that is connected with the drive shaft is installed to transmission frame outer wall one side.
According to the technical scheme, the drill rod circulating transmission mechanism is used for storing or replacing sampling drill rods, the sampling drill rods after sampling can be clamped and fixed between a group of first fixing clamps and a group of second fixing clamps, so that the sampling drill rods are fixed, when the first servo motor works, the driving shaft and the two driving pulleys can be driven to synchronously rotate through the output shaft of the first servo motor, so that the first synchronous belt and the second synchronous belt can be further driven to synchronously operate, a plurality of sampling drill rods can be driven to circularly operate between the first synchronous belt and the second synchronous belt, before sampling, the clean sampling drill rods can be adjusted to the bottom opening position, then the sampling drill rods are taken down by the sampling driving mechanism, and after sampling is finished, the sampling drill rods stored with sample soil are returned to the drill rod circulating transmission mechanism and clamped and fixed; at the moment, the first synchronous belt and the second synchronous belt synchronously run, and the next sampling drill rod is moved to the position of the bottom opening, so that uninterrupted sampling and sample storage are completed.
Furthermore, the first fixing clamp and the second fixing clamp are made of elastic plastic materials.
Through above-mentioned technical scheme, the first fixed clamp and the fixed clamp of second of being made by elastic plastic material can accomplish the chucking fixed to the sampling drilling rod, also is convenient for take off of sampling drilling rod simultaneously.
Further, the drill rod positioning mechanism comprises a fixing frame fixed at the bottom of one side of the outer wall of the transmission frame, a first electric telescopic rod is installed on the outer side of the fixing frame, the telescopic end of the first electric telescopic rod penetrates through the fixing frame, and a drill rod positioning clamping seat is fixedly connected with the telescopic end of the first electric telescopic rod.
Through above-mentioned technical scheme, because the one end of sampling drilling rod is the cockscomb structure, consequently, through design and its assorted drilling rod positioning cassette, when the flexible end of first electric telescopic handle outwards extends, drive drilling rod positioning cassette and the drill bit looks chucking of sampling drilling rod, can accomplish the locking fixed to sampling drilling rod, sampling drilling rod can't rotate this moment, when sampling actuating mechanism needs installation sampling drilling rod, after the link of sampling drilling rod is aimed at to the swivelling joint seat, drive sampling actuating mechanism by second grade lift adjustment mechanism and remove to sampling drilling rod, this simultaneously, swivelling joint seat also can be fast with the link quick threaded connection of sampling drilling rod, thereby accomplish the stable connection fixedly of swivelling joint seat and sampling drilling rod, after drilling rod positioning cassette resets, can drive one-level lift adjustment mechanism through swivelling adjustment mechanism, second grade lift adjustment mechanism and sampling actuating mechanism carry out 90 degrees rotations, make sampling drilling rod be in the vertical state, so that subsequent drilling soil sampling.
Further, the one-level lifting adjusting mechanism comprises a guide post rotationally connected to the first rotating support, limiting sliding grooves are formed in the front end and the rear end of the inner wall of the guide post, rectangular holes are formed in the limiting sliding grooves located at the rear end of the guide post, a first open slot is formed in the center of the outer side of the guide post, a supporting block is fixedly connected to the bottom of the rear end of the guide post, a speed reducer is mounted on the supporting block, a second servo motor is connected to the speed reducer, and a driving gear is mounted on an output shaft of the speed reducer.
Through above-mentioned technical scheme, one-level lift adjustment mechanism can drive second grade lift adjustment mechanism and sampling actuating mechanism and carry out vertical lift, when second servo motor during operation, can be through its output shaft with power take off to the reduction gear, the reduction gear increases the torsion through the speed reduction, can be with power transmission to drive gear to can drive the tooth's socket and the whole second grade lift adjustment mechanism of meshing with it through drive gear's rotation go up and down.
Further, second grade lift adjustment mechanism is including sliding the lift post that limits to be located the guide post, the lift post outer wall front and back end all is equipped with spacing arch, has seted up a plurality of evenly distributed's tooth's socket on the spacing arch that is located the rear end, drive gear meshes with the tooth's socket mutually, the center rotation of lift post is connected with ball, ball's both sides all are provided with the gag lever post, the third servo motor that is connected with ball is installed to lift post top center, install ball nut seat between ball and two gag lever posts, the second open slot has been seted up at lift post outside center, the one end of ball nut seat runs through the second open slot to outwards extend.
Through the technical scheme, the second-level lifting adjusting mechanism can drive the sampling driving mechanism and the sampling drill rod to carry out second-level vertical lifting, and specifically, when the third servo motor works, the ball screw can be driven to synchronously rotate through the output shaft of the third servo motor, the ball screw can drive the sampling driving mechanism connected with the ball nut seat to synchronously lift when rotating positively and negatively, and when sampling, the downward thrust can be provided for the sampling drill rod, so that the sampling drill rod can be drilled into the soil to finish sampling, and after the sampling is finished, the third servo motor can drive the sampling driving mechanism and the sampling drill rod to ascend, so that the sampling drill rod is taken out from the soil to finish storage and replacement of the sampling drill rod subsequently.
Further, the rotary adjusting mechanism comprises a second electric telescopic rod which is rotatably connected to the second rotary support, a rotary connecting seat is fixedly connected to the telescopic end of the second electric telescopic rod, a fixed rod is arranged on one side of the bottom of the front end of the guide post, and the rotary connecting seat is rotatably connected with the fixed rod.
According to the technical scheme, after sampling is completed, the telescopic end of the second electric telescopic rod extends to drive the primary lifting adjusting mechanism, the secondary lifting adjusting mechanism, the sampling driving mechanism and the sampling drill rod to rotate 90 degrees, at the moment, the sampling drill rod can be rotated to be in a horizontal state and is sent into the transmission frame through the bottom opening, and clamping and fixing of the sampling drill rod are completed by the aid of the first fixing clamp and the second fixing clamp; after the new sampling drill rod is replaced, the telescopic end of the second electric telescopic rod is contracted, so that the first-stage lifting adjusting mechanism, the second-stage lifting adjusting mechanism, the sampling driving mechanism and the sampling drill rod can be restored to a vertical state, and the subsequent soil drilling and sampling can be realized.
Further, the sampling driving mechanism comprises a supporting seat fixed on the ball nut seat, a fourth servo motor is installed at the top of the supporting seat, and the output end of the fourth servo motor is fixedly connected with a threaded connection joint.
Through the technical scheme, the fourth servo motor can be connected with the sampling drill rod through the threaded connection joint, and after the fourth servo motor is in threaded fixation with the sampling drill rod, the sampling drill rod can be driven to rotate to drill soil through rotation of an output shaft of the fourth servo motor, so that sampling is completed.
Furthermore, one end of the sampling drill rod is serrated, an internal thread is arranged in the center of the other end of the sampling drill rod, and the threaded connection joint is in threaded connection with the sampling drill rod.
Through the technical scheme, when the sampling drill rod with one end in a zigzag shape is in contact with soil, the sampling drill rod can be quickly drilled into the soil under the pushing of the secondary lifting adjusting mechanism, and collected soil is stored in the sampling drill rod, so that automatic soil sampling is completed.
The beneficial effects of the invention are as follows: (1) According to the invention, by designing the drill rod circulating transmission mechanism, the drill rod positioning mechanism, the two-stage lifting adjusting mechanism, the rotary adjusting mechanism and the sampling driving mechanism, the unmanned aerial vehicle equipment can be utilized to complete multipoint automatic sampling of a large-area pollution area, so that the sampling efficiency is greatly improved, and a large amount of manpower and material resources are saved; (2) According to the invention, by designing the automatic soil sampling device, high-density automatic sampling of a large-area sampling area can be completed, and meanwhile, the compact and simple structural design is convenient for daily maintenance; (3) According to the invention, by designing the unmanned aerial vehicle automatic sampling device, large-area sampling can be finished, meanwhile, unmanned aerial vehicle equipment can finish flying obstacle surmounting, the unmanned aerial vehicle device is less limited by terrains, and can quickly reach various complicated terrains or manually inconvenient to reach sampling points for automatic sampling, so that not only is manpower saved, but also the fatigue strength of operators is greatly reduced.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic diagram of a sample state architecture of the present invention;
FIG. 3 is a front view of the sampling state of the present invention;
FIG. 4 is a schematic view of the present invention in a drill pipe replacement state;
FIG. 5 is an enlarged view of a portion of FIG. 4 at A;
FIG. 6 is a schematic diagram of the main structure of the present invention;
FIG. 7 is a front view of the installation fixture and drill rod circulation mechanism of the present invention;
FIG. 8 is a cross-sectional view taken along line A-A of FIG. 7;
FIG. 9 is a cross-sectional view taken along B-B in FIG. 7;
FIG. 10 is a schematic view of the internal structure of the drill pipe circulation transmission mechanism of the present invention;
FIG. 11 is a schematic view of a storage state structure of a sampling drill rod according to the present invention;
FIG. 12 is a partial enlarged view at B in FIG. 11;
FIG. 13 is a schematic view showing the construction of the two-stage lift adjustment mechanism according to the present invention in an extended state;
FIG. 14 is an enlarged view of a portion of FIG. 13 at C;
FIG. 15 is a cross-sectional view of the secondary lift adjustment mechanism of the present invention;
fig. 16 is a partial enlarged view at D in fig. 13;
FIG. 17 is a schematic view of the main structure of the two-stage lift adjustment mechanism of the present invention;
fig. 18 is a partial enlarged view at E in fig. 17.
Reference numerals: 1. an unmanned aerial vehicle main body; 2. installing a chute; 3. installing a fixing mechanism; 301. a mounting frame; 302. a limit sliding block; 303. a locking bolt; 304. a connection part; 305. a first rotating bracket; 306. a second rotating bracket; 4. a drill rod circulating transmission mechanism; 401. a transmission rack; 402. a bottom opening; 403. rotating the material taking cover plate; 404. a drive shaft; 405. a transmission shaft; 406. a driving belt wheel; 407. an auxiliary belt wheel; 408. a first synchronization belt; 409. a second timing belt; 410. a first fixing clip; 411. the second fixing clamp; 412. a first servo motor; 5. a drill rod positioning mechanism; 501. a fixing frame; 502. a first electric telescopic rod; 503. a drill rod positioning clamping seat; 6. a first-stage lifting adjusting mechanism; 601. a guide post; 602. limiting sliding grooves; 603. a rectangular hole; 604. a first open slot; 605. a support block; 606. a speed reducer; 607. a second servo motor; 608. a drive gear; 7. a secondary lifting adjusting mechanism; 701. lifting columns; 702. a limit protrusion; 703. tooth slots; 704. a ball screw; 705. a limit rod; 706. a third servo motor; 707. a ball nut seat; 708. a second open slot; 8. a rotation adjustment mechanism; 801. a second electric telescopic rod; 802. rotating the connecting seat; 803. a fixed rod; 9. a sampling driving mechanism; 901. a support base; 902. a fourth servo motor; 903. a threaded connection joint; 10. and (5) sampling the drill rod.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1-18, an unmanned aerial vehicle sampling device for soil pollution treatment in this embodiment includes an unmanned aerial vehicle main body 1 and a sampling drill rod 10, wherein both sides of the bottom of the unmanned aerial vehicle main body 1 are provided with a mounting chute 2, and a mounting fixing mechanism 3 is mounted on the mounting chute 2; the installation fixed establishment 3 includes mounting bracket 301, mounting bracket 301 inner wall both sides all are provided with spacing slider 302, mounting bracket 301 passes through two spacing slider 302 slidable mounting between two installation spouts 2, and mounting bracket 301 passes through two lock bolt 303 and unmanned aerial vehicle main part 1 locking is fixed, mounting bracket 301 bottom fixedly connected with connecting portion 304, one side of mounting bracket 301 bottom is provided with first rotation support 305, the top that mounting bracket 301 outer wall is located same one side is provided with second rotation support 306, mounting bracket 301 can accomplish the connection fixedly with unmanned aerial vehicle main part 1 through spacing slider 302 and two lock bolt 303, make sampling equipment can accomplish the stable connection with unmanned aerial vehicle between, also be convenient for install fast or dismantle simultaneously, so as to maintain.
As shown in fig. 4-12, the bottom of the mounting and fixing mechanism 3 is provided with a drill rod circulating and conveying mechanism 4 for accommodating sampling drill rods 10, the drill rod circulating and conveying mechanism 4 comprises a conveying frame 401 fixed at the bottom of a connecting part 304, the center of the bottom of the conveying frame 401 is provided with a bottom opening 402, the bottom of the rear end of the conveying frame 401 is rotationally connected with a rotary material taking cover plate 403, the top end of the rotary material taking cover plate 403 is buckled and fixed with the conveying frame 401, the rear end and the front end between two sides of the inner wall of the conveying frame 401 are rotationally connected with a driving shaft 404 and a driving shaft 405 respectively, two sides of the outer wall of the driving shaft 404 are provided with driving belt wheels 406, two sides of the outer wall of the driving shaft 405 are provided with auxiliary belt wheels 407, a first synchronous belt 408 and a second synchronous belt 409 are respectively arranged between the two groups of driving belt wheels 406 and the auxiliary belt 407, a plurality of uniformly distributed first fixing hoops 410 are arranged on the periphery of the outer wall of the first synchronous belt 408, the second synchronous belt 409 is provided with a plurality of second fixing clamps 411 uniformly distributed on the periphery thereof, a first servo motor 412 connected with the driving shaft 404 is installed on one side of the outer wall of the transmission frame 401, the drill rod circulating transmission mechanism 4 is used for storing or replacing the sampling drill rods 10, the sampled sampling drill rods 10 can be clamped and fixed between a group of the first fixing clamps 410 and the second fixing clamps 411, thereby completing the fixing of the sampling drill rods 10, the driving shaft 404 and the two driving belt wheels 406 can be driven to synchronously rotate by the output shaft of the first servo motor 412 when the first servo motor 412 works, thereby further driving the first synchronous belt 408 and the second synchronous belt 409 to synchronously operate, further driving the plurality of sampling drill rods 10 to circularly operate between the first synchronous belt 408 and the second synchronous belt 409, and adjusting the clean sampling drill rods 10 to the position of the bottom opening 402 before sampling, then the sampling drill rod 10 stored with sample soil is returned to the drill rod circulating transmission mechanism 4 after the sampling is completed by the sampling driving mechanism 9, and the clamping and fixing are completed; at this point, the first timing belt 408 and the second timing belt 409 are operated in synchronization to move the next sampling drill pipe 10 to the bottom opening 402, thereby completing uninterrupted sampling and sample storage.
As shown in fig. 10, the first fixing clip 410 and the second fixing clip 411 are made of elastic plastic materials, and the first fixing clip 410 and the second fixing clip 411 made of elastic plastic materials can not only clamp and fix the sampling drill rod 10, but also facilitate the removal of the sampling drill rod 10.
As shown in fig. 12, a drill rod positioning mechanism 5 is arranged at the center of the bottom of one side of the drill rod circulating and conveying mechanism 4; the drill rod positioning mechanism 5 includes the mount 501 that is fixed in transmission frame 401 outer wall one side bottom, first electric telescopic handle 502 is installed in the outside of mount 501, the flexible end of first electric telescopic handle 502 runs through mount 501, and fixedly connected with drill rod positioning cassette 503, because the one end of sampling drill rod 10 is the cockscomb structure, consequently, through design and its assorted drill rod positioning cassette 503, when the flexible end of first electric telescopic handle 502 outwards extends, when driving drill rod positioning cassette 503 and sampling drill rod 10's drill bit looks chucking, can accomplish the locking fixed to sampling drill rod 10, sampling drill rod 10 can't rotate this moment, when sampling actuating mechanism 9 needs to install sampling drill rod 10, after the link of sampling drill rod 10 is aimed at to the rotatory actuating mechanism 9, drive sampling actuating mechanism 9 by second grade lift actuating mechanism 7 and remove to sampling drill rod 10, simultaneously, rotatory connecting seat 802 also can be fast with sampling drill rod 10's link quick threaded connection, thereby accomplish rotatory connecting seat 802 and sampling drill rod 10's stable connection fixedly, after the positioning cassette 503 resets, can drive one-level elevating mechanism 6, second grade elevating mechanism 7 and second grade actuating mechanism are in order to take a sample the vertical state and make the sample drill rod 10 take a sample the soil.
As shown in fig. 15-16, the center of one side of the outer wall of the installation fixing mechanism 3 far away from the drill rod positioning mechanism 5 is rotationally connected with a first-stage lifting adjusting mechanism 6, the first-stage lifting adjusting mechanism 6 comprises a guide post 601 rotationally connected to the first rotating support 305, limiting sliding grooves 602 are formed in the front end and the rear end of the inner wall of the guide post 601, rectangular holes 603 are formed in the limiting sliding grooves 602 at the rear end, a first opening groove 604 is formed in the center of the outer side of the guide post 601, a supporting block 605 is fixedly connected to the bottom of the rear end of the guide post 601, a speed reducer 606 is mounted on the supporting block 605, a second servo motor 607 is connected to the speed reducer 606, a driving gear 608 is mounted on an output shaft of the speed reducer 606, the first-stage lifting adjusting mechanism 6 can drive the second-stage lifting adjusting mechanism 7 and the sampling driving mechanism 9 to vertically lift, when the second servo motor 607 works, the power can be output to the speed reducer 606 through the output shaft, the power can be transmitted to the driving gear 608 through speed reduction and torque increase, and the power can be transmitted to the driving gear 608 through rotation of the driving gear 608 so that the meshed 703 and the whole second-stage lifting adjusting mechanism 7 can be driven by the rotation of the driving gear 608.
As shown in fig. 13-18, a secondary lifting adjusting mechanism 7 is slidably connected in the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7 comprises a lifting column 701 which is slidably limited in a guide column 601, limit protrusions 702 are arranged at the front end and the rear end of the outer wall of the lifting column 701, a plurality of evenly distributed tooth grooves 703 are formed in the limit protrusions 702 at the rear end, a driving gear 608 is meshed with the tooth grooves 703, a ball screw 704 is rotatably connected to the center of the lifting column 701, limit rods 705 are arranged on two sides of the ball screw 704, a third servo motor 706 connected with the ball screw 704 is mounted at the center of the top of the lifting column 701, a ball nut seat 707 is mounted between the ball screw 704 and the two limit rods 705, a second open groove 708 is formed in the center of the outer side of the lifting column 701, one end of the ball nut seat 707 penetrates through the second open groove 708 and extends outwards, the secondary lifting adjusting mechanism 7 can drive a sampling driving mechanism 9 and a sampling drill rod 10 to conduct secondary vertical lifting, in particular, the third servo motor 706 can drive the ball screw 704 to synchronously rotate through an output shaft thereof, the ball screw 704 can drive the ball screw 704 to rotate, when the ball screw 704 rotates, the ball screw 704 can drive the ball screw 704 to rotate in the forward and backward directions to drive the sampling mechanism 10 to rotate the sampling drill rod 10, the sampling mechanism 10 can be completely, and the sampling mechanism can be replaced by the sampling mechanism 10, and the sampling mechanism can be completely and the sampling can be completely replaced by the sampling mechanism 10, and the sampling mechanism 10 can be completely and sampled and sequentially by the sampling and 10.
As shown in fig. 14, a rotation adjusting mechanism 8 is disposed between the installation fixing mechanism 3 and the primary lifting adjusting mechanism 6, and is used for driving the primary lifting adjusting mechanism 6 to rotate 90 degrees, the rotation adjusting mechanism 8 includes a second electric telescopic rod 801 rotatably connected to the second rotating bracket 306, a rotation connecting seat 802 is fixedly connected to a telescopic end of the second electric telescopic rod 801, a fixing rod 803 on one side of a front end of the guide post 601 is rotatably connected to the fixing rod 803, after sampling is completed, the telescopic end of the second electric telescopic rod 801 extends to drive the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7, the sampling driving mechanism 9 and the sampling drill rod 10 to rotate 90 degrees, at this time, the sampling drill rod 10 can be rotated to a horizontal state and is sent into the transmission frame 401 through the bottom opening 402, and clamping and fixing of the sampling drill rod 10 are completed by using the first fixing clamp 410 and the second fixing clamp 411; after the new sampling drill rod 10 is replaced, the telescopic end of the second electric telescopic rod 801 can enable the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7, the sampling driving mechanism 9 and the sampling drill rod 10 to be restored to the vertical state through shrinkage so as to facilitate subsequent soil drilling and sampling.
As shown in fig. 18, a sampling driving mechanism 9 is fixedly installed on the secondary lifting adjusting mechanism 7, the sampling driving mechanism 9 comprises a supporting seat 901 fixed on a ball nut seat 707, a fourth servo motor 902 is installed on the top of the supporting seat 901, the output end of the fourth servo motor 902 is fixedly connected with a threaded connection joint 903, the fourth servo motor 902 can be connected with a sampling drill rod 10 through the threaded connection joint 903, and after the connection with the threaded connection joint, the sampling drill rod 10 can be driven to rotate through rotation of an output shaft of the fourth servo motor 902 to drill soil, so that sampling is completed.
As shown in fig. 12-13, the sampling drill rod 10 is detachably mounted at the bottom of the driving end of the sampling driving mechanism 9, one end of the sampling drill rod 10 is in a zigzag shape, an internal thread is provided at the center of the other end, the threaded connector 903 is in threaded connection with the sampling drill rod 10, and the sampling drill rod 10 with the zigzag shape at one end can be quickly drilled into soil under the pushing of the secondary lifting adjusting mechanism 7 when the sampling drill rod 10 is in contact with the soil, and the collected soil is stored in the sampling drill rod 10, so that automatic soil sampling is completed.
The working principle of this embodiment is as follows, a plurality of sampling drill rods 10 are clamped and fixed between a plurality of groups of first fixing clips 410 and second fixing clips 411 in a transmission frame 401, and then an operator can remotely control the unmanned aerial vehicle main body 1 to move to a sampling point through remote control equipment;
when the unmanned aerial vehicle main body 1 is stopped, the telescopic end of the first electric telescopic rod 502 extends outwards to drive the drill rod positioning clamping seat 503 to clamp the drill bit part of the sampling drill rod 10, at the moment, the sampling drill rod 10 cannot rotate, the telescopic end of the second electric telescopic rod 801 extends to synchronously drive the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7 and the sampling driving mechanism 9 to rotate 90 degrees, so that the unmanned aerial vehicle main body is in a horizontal state, and after the rotary connecting seat 802 is aligned with the connecting end of the sampling drill rod 10, the secondary lifting adjusting mechanism 7 drives the sampling driving mechanism 9 to move towards the sampling drill rod 10, and meanwhile, the rotary connecting seat 802 can be quickly connected with the connecting end of the sampling drill rod 10 in a quick threaded mode under the rotary driving of the fourth servo motor 902;
after the rotary connecting seat 802 is fixed with the sampling drill rod 10, the drill rod positioning clamping seat 503 is reset, and the telescopic end of the second electric telescopic rod 801 is contracted to drive the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7, the sampling driving mechanism 9 and the sampling drill rod 10 to rotate for 90 degrees, so that the vertical state is restored;
at the moment, the first-stage lifting adjusting mechanism 6 drives the second-stage lifting adjusting mechanism 7 to descend, then the second-stage lifting adjusting mechanism 7 drives the sampling driving mechanism 9 and the sampling drill rod 10 to continue to move downwards, and at the same time, the output shaft of the fourth servo motor 902 rotates, so that the sampling drill rod 10 is driven to quickly drill into soil, collected soil is stored in the sampling drill rod 10, and automatic soil sampling is completed;
after the sampling is completed, the primary lifting adjusting mechanism 6 and the secondary lifting adjusting mechanism 7 are sequentially lifted and reset, at the moment, the telescopic end of the second electric telescopic rod 801 extends to drive the primary lifting adjusting mechanism 6, the secondary lifting adjusting mechanism 7, the sampling driving mechanism 9 and the sampling drill rod 10 to rotate 90 degrees, at the moment, the sampling drill rod 10 can be rotated to be in a horizontal state and is sent into the transmission frame 401 through the bottom opening 402, and the clamping and fixing of the sampling drill rod 10 are completed by the aid of the first fixing clamp 410 and the second fixing clamp 411;
at this time, the telescopic end of the first electric telescopic rod 502 extends outwards to drive the drill rod positioning clamping seat 503 to clamp with the drill bit of the sampling drill rod 10, the output shaft of the fourth servo motor 902 rotates reversely, and the second-stage lifting adjusting mechanism 7 drives the sampling driving mechanism 9 to move outwards synchronously until the rotary connecting seat 802 is separated from the sampling drill rod 10, so that soil collection of one sampling point is completed, and when the first servo motor 412 works, the first synchronous belt 408 and the second synchronous belt 409 can be driven to run synchronously, and then a new sampling drill rod 10 can be driven to be adjusted to the position of the bottom opening 402, so that collection of different sampling points can be continuously completed according to the process;
after all samples are taken, the rotary take out cover 403 may be opened, and the operator may sequentially remove the sampled plurality of sample rods 10 from the transport frame 401 from that position.
The foregoing description is only of the preferred embodiments of the present invention, and is not intended to limit the scope of the present invention.
Claims (7)
1. The utility model provides a soil pollution is administered with unmanned aerial vehicle sampling device, includes unmanned aerial vehicle main part (1) and sampling drilling rod (10), its characterized in that: the two sides of the bottom of the unmanned aerial vehicle main body (1) are provided with mounting sliding grooves (2), and the mounting sliding grooves (2) are provided with mounting fixing mechanisms (3);
the bottom of the installation fixing mechanism (3) is provided with a drill rod circulating transmission mechanism (4) for accommodating a sampling drill rod (10), and a drill rod positioning mechanism (5) is arranged at the center of the bottom of one side of the drill rod circulating transmission mechanism (4);
the center of one side, far away from the drill rod positioning mechanism (5), of the outer wall of the installation fixing mechanism (3) is rotationally connected with a primary lifting adjusting mechanism (6), a secondary lifting adjusting mechanism (7) is slidably connected with the primary lifting adjusting mechanism (6), and a rotary adjusting mechanism (8) is arranged between the installation fixing mechanism (3) and the primary lifting adjusting mechanism (6) and used for driving the primary lifting adjusting mechanism (6) to rotate by 90 degrees;
the sampling driving mechanism (9) is fixedly arranged on the secondary lifting adjusting mechanism (7), and the sampling drill rod (10) is detachably arranged at the bottom of the driving end of the sampling driving mechanism (9);
the installation fixed establishment (3) includes mounting bracket (301), mounting bracket (301) inner wall both sides all are provided with spacing slider (302), mounting bracket (301) are through two spacing slider (302) slidable mounting between two installation spouts (2), and mounting bracket (301) are fixed with unmanned aerial vehicle main part (1) locking through two locking bolt (303), mounting bracket (301) bottom fixedly connected with connecting portion (304), one side of mounting bracket (301) bottom is provided with first rotation support (305), the top that mounting bracket (301) outer wall is located same one side is provided with second rotation support (306);
the drill rod circulating transmission mechanism (4) comprises a transmission frame (401) fixed at the bottom of a connecting part (304), a bottom opening (402) is formed in the center of the bottom of the transmission frame (401), a rotary material taking cover plate (403) is rotationally connected to the bottom of the rear end of the transmission frame (401), the top end of the rotary material taking cover plate (403) is fixedly buckled with the transmission frame (401), a driving shaft (404) and a transmission shaft (405) are rotationally connected to the rear end and the front end between the two sides of the inner wall of the transmission frame (401), driving pulleys (406) are respectively mounted on the two sides of the outer wall of the driving shaft (404), auxiliary pulleys (407) are respectively mounted on the two sides of the outer wall of the transmission shaft (405), a first synchronous belt (408) and a second synchronous belt (409) are respectively mounted between the two groups of driving pulleys (406) and the auxiliary pulleys (407), a plurality of uniformly distributed first fixing hoops (410) are arranged on the periphery of the outer wall of the first synchronous belt (408), a plurality of uniformly distributed second fixing hoops (411) are respectively arranged on the periphery of the outer wall of the second synchronous belt (409), and a motor (401) is connected with the driving shaft (404);
the first fixing clip (410) and the second fixing clip (411) are made of elastic plastic materials.
2. The unmanned aerial vehicle sampling device for soil pollution treatment according to claim 1, wherein the drill rod positioning mechanism (5) comprises a fixing frame (501) fixed at one side bottom of the outer wall of the transmission frame (401), a first electric telescopic rod (502) is installed on the outer side of the fixing frame (501), and a telescopic end of the first electric telescopic rod (502) penetrates through the fixing frame (501) and is fixedly connected with a drill rod positioning clamping seat (503).
3. The unmanned aerial vehicle sampling device for soil pollution treatment according to claim 1, wherein the primary lifting adjusting mechanism (6) comprises a guide post (601) rotationally connected to the first rotating support (305), limiting sliding grooves (602) are formed in the front end and the rear end of the inner wall of the guide post (601), rectangular holes (603) are formed in the limiting sliding grooves (602) located at the rear end of the guide post, a first open slot (604) is formed in the center of the outer side of the guide post (601), a supporting block (605) is fixedly connected to the bottom of the rear end of the guide post (601), a speed reducer (606) is mounted on the supporting block (605), a second servo motor (607) is connected to the speed reducer (606), and a driving gear (608) is mounted on an output shaft of the speed reducer (606).
4. The unmanned aerial vehicle sampling device for soil pollution control according to claim 3, wherein the secondary lifting adjusting mechanism (7) comprises a lifting column (701) with sliding limitation in a guide column (601), limiting protrusions (702) are arranged at the front end and the rear end of the outer wall of the lifting column (701), a plurality of evenly distributed tooth grooves (703) are formed in the limiting protrusions (702) at the rear end, the driving gear (608) is meshed with the tooth grooves (703), a ball screw (704) is rotatably connected to the center of the lifting column (701), limiting rods (705) are arranged on two sides of the ball screw (704), a third servo motor (706) connected with the ball screw (704) is arranged at the center of the top of the lifting column (701), a ball nut seat (707) is arranged between the ball screw (707) and the two limiting rods (707), a second opening groove (708) is formed in the center of the outer side of the lifting column (701), and one end of the ball nut seat (705) penetrates through the second opening groove (708) and extends outwards.
5. The unmanned aerial vehicle sampling device for soil pollution treatment according to claim 3, wherein the rotation adjusting mechanism (8) comprises a second electric telescopic rod (801) rotatably connected to a second rotating bracket (306), a rotation connecting seat (802) is fixedly connected to a telescopic end of the second electric telescopic rod (801), a fixed rod (803) is arranged on one side of the bottom of the front end of the guide post (601), and the rotation connecting seat (802) is rotatably connected with the fixed rod (803).
6. The unmanned aerial vehicle sampling device for soil pollution treatment according to claim 4, wherein the sampling driving mechanism (9) comprises a supporting seat (901) fixed on a ball nut seat (707), a fourth servo motor (902) is installed on the top of the supporting seat (901), and a threaded connection joint (903) is fixedly connected to the output end of the fourth servo motor (902).
7. The unmanned aerial vehicle sampling device for soil pollution control according to claim 6, wherein one end of the sampling drill rod (10) is serrated, an internal thread is arranged at the center of the other end, and the threaded connection joint (903) is in threaded connection with the sampling drill rod (10).
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