CN216386384U

CN216386384U - Geological disaster prevention, control, monitoring and sampling device

Info

Publication number: CN216386384U
Application number: CN202122858832.5U
Authority: CN
Inventors: 杜臻; 李华华; 张茂省
Original assignee: Xian Jiaotong University
Current assignee: Xian Jiaotong University
Priority date: 2021-11-22
Filing date: 2021-11-22
Publication date: 2022-04-26
Anticipated expiration: 2031-11-22

Abstract

The utility model discloses a geological disaster prevention, control, monitoring and sampling device which comprises an unmanned aerial vehicle main body, a camera and mechanical arms, wherein three supporting legs and supporting legs are arranged on the bottom surface of an installation bottom at the bottom of the unmanned aerial vehicle main body; the geological exploration acquisition is realized by matching the clamping jaws at the front ends of the two mechanical arms with the cutting knife; in addition, during collection, the camera is rotated to scan the periphery through the first motor, the second motor rotates by a certain angle and enables the camera to pitch up and down through the transmission of the worm rod and the worm wheel, so that the camera can search and observe the collection position conveniently, and the illuminating lamp can provide illumination; make three stabilizer blade rise and decline linkage along the landing leg through suspension arm, three-dimensional ball pivot support and connecting rod to realize that unmanned aerial vehicle lands on the ground in uneven collection department, reliable practical.

Description

Geological disaster prevention, control, monitoring and sampling device

Technical Field

The utility model relates to the technical field of unmanned aerial vehicle equipment, in particular to a geological disaster prevention, control, monitoring and sampling device.

Background

The unmanned aerial vehicle is an unmanned plane, which is called as an unmanned aerial vehicle for short, and is an unmanned aerial vehicle operated by utilizing a radio remote control device and a self-contained program control device, the unmanned aerial vehicle is a general name of the unmanned aerial vehicle actually, and the technical definition can be divided into: unmanned helicopters, unmanned fixed wing aircraft, unmanned multi-rotor aircraft, unmanned airships, and unmanned parawing aircraft; compared with manned aircraft, it has the advantages of small volume, low cost, convenient use, low requirement on environment, strong viability, etc.

The unmanned aerial vehicle technology is applied to data and sample collection, which has important significance for geological disaster prevention and monitoring, for the field of geological disaster prevention and monitoring, because investigation and research work is carried out on geological conditions such as rocks, stratum structures, mineral products, underground water, landforms and the like, geological sampling work is often carried out on the spot in related regions, manual collection is adopted, the collection workload is not increased, and the life safety of collection personnel is threatened, so that a device for applying the unmanned aerial vehicle technology to the field of geological exploration is needed; therefore, the monitoring and sampling device for geological disaster prevention and control is provided by the technical personnel in the field, so as to solve the problems in the background technology.

Disclosure of Invention

The utility model aims to provide a geological disaster prevention, control, monitoring and sampling device, which aims to solve the problems in the background technology.

In order to achieve the purpose, the utility model provides the following technical scheme:

a geological disaster prevention, control, monitoring and sampling device comprises an unmanned aerial vehicle main body, a camera and mechanical arms, wherein a plurality of rotors are arranged on the outer side of the unmanned aerial vehicle main body, the bottom of the unmanned aerial vehicle main body is fixedly connected with an installation bottom, three supporting legs are fixedly installed at the bottom of the installation bottom, supporting legs are slidably connected in sliding grooves formed in the inner sides of the lower portions of the supporting legs, a suspension rod is hinged to the center of the bottom surface of the installation bottom through a spherical hinge support, the lower end of the suspension rod is fixedly connected with the top of a three-way spherical hinge support, three connecting rods are hinged to the bottom of the three-way spherical hinge support, the other ends of the three connecting rods are respectively hinged to the upper ends of the inner side surfaces of the supporting legs through spherical hinge supports, and limiting blocks are fixedly installed on the bottom end surfaces of the supporting legs; the top of the unmanned aerial vehicle main body is provided with a bearing seat, a rotating shaft is connected in the bearing seat in a rolling manner through a bearing, the lower end of the rotating shaft penetrates through the bearing seat and is fixedly connected with the output end of a first motor arranged in the unmanned aerial vehicle main body, the upper end of the rotating shaft is fixedly connected with a frame which is communicated with the left side and the right side, a camera is arranged in the frame, the front side wall and the rear side wall of the camera are fixedly connected with round shafts, the other ends of the front round shaft and the rear round shaft are respectively connected with the front inner wall and the rear inner wall of the frame in a rolling manner through bearings, a turbine is fixedly sleeved on the round shaft on one side of the camera and is matched with a vertical worm arranged in the frame, the upper end of the worm is connected with the top wall of the frame in a rolling manner through a bearing, and the lower end of the worm is fixedly connected with the output end of a second motor fixed on the bottom wall of the frame; unmanned aerial vehicle main part outside symmetry is provided with two arms, and clamping jaw and cutting knife are installed to the front end branch of two arms.

As a still further scheme of the utility model: and an illuminating lamp is fixedly arranged at the top of the camera.

As a still further scheme of the utility model: the landing legs are arranged on the bottom surface of the mounting bottom in a one-hundred-twenty degree mode along the circumferential direction.

As a still further scheme of the utility model: the bottom end of the supporting leg is provided with a plurality of ground claws.

As a still further scheme of the utility model: the lower end of the supporting leg is provided with a pressure sensor with the model of 154N-001G-C, and the pressure sensor is electrically connected with a main control chip arranged in the unmanned aerial vehicle main body.

As a still further scheme of the utility model: the limiting block is characterized in that the inner side end of the limiting block is attached to the wall surface of the supporting leg, a mounting hole is formed in the limiting block, one end, close to the supporting leg, of the mounting hole is an opening, an electromagnet is fixedly mounted at one end, far away from the supporting leg, of the mounting hole, one end, open to the mounting hole, of the limiting magnet block is connected with the limiting magnet block in a sliding mode, the limiting magnet block is connected with the electromagnet through a spring, and the magnet block abuts against the wall surface of the supporting leg.

As a still further scheme of the utility model: the arm is equipped with a plurality of joints, and each joint department reaches the link of arm and unmanned aerial vehicle main part and is provided with gear motor.

Compared with the prior art, the utility model has the beneficial effects that:

the geological exploration sample collection device is reasonable in structural design, a collection sample is grabbed by the clamping jaw at the front end of one mechanical arm to complete a geological exploration collection task, and meanwhile, a cutting knife arranged at the front end of the other mechanical arm is convenient for cutting the collection sample from a collection position; in addition, during collection, the rotating shaft and the frame are driven to rotate through the first motor so that the camera rotates to scan the periphery, the second motor rotates for a certain angle and enables the camera in the frame to pitch up and down through the transmission of the worm and the turbine, so that the camera can search and observe the collection position conveniently, the illuminating lamp can provide illumination, and the situation that light is insufficient when the camera is collected in a deep pit is avoided; when unmanned aerial vehicle landed in the collection department, the rotor in the unmanned aerial vehicle main part outside made unmanned aerial vehicle hover and slowly fallen, made three stabilizer blade rise along the landing leg and descend the linkage through polished rod, three-dimensional ball pivot support and connecting rod to realize that unmanned aerial vehicle landed on the ground in uneven collection department, reliable practical.

Drawings

Fig. 1 is a schematic structural view of a geological disaster prevention, control, monitoring and sampling device.

Fig. 2 is an enlarged schematic structural view of a position a in the geological disaster prevention, control, monitoring and sampling device.

Fig. 3 is a left side view of the frame of the sampling device for geological disaster prevention, monitoring and control.

Fig. 4 is a schematic structural diagram of a three-way spherical hinge support in a geological disaster prevention, control, monitoring and sampling device.

Fig. 5 is a schematic structural diagram of a limiting block in the geological disaster prevention, control, monitoring and sampling device.

In the figure: unmanned aerial vehicle main part 1, rotor 101, the installation end 2, landing leg 3, stabilizer blade 4, ground claw 401, pressure sensor 402, restriction piece 5, mounting hole 501, electro-magnet 502, spring 503, restriction magnet piece 504, suspension rod 6, three-way ball pivot support 7, connecting rod 8, bearing frame 9, pivot 10, first motor 11, frame 12, camera 13, light 14, circle axle 15, worm 16, worm 17, second motor 18, arm 19, clamping jaw 20, cutting knife 21.

Detailed Description

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

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the utility model and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the utility model.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other suitable relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation. The use of the phrase "comprising one.. said element does not exclude the presence of other like elements in the process, method, article or apparatus that comprises the element.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

Referring to fig. 1 to 5, in the embodiment of the utility model, a geological disaster prevention, control, monitoring and sampling device comprises an unmanned aerial vehicle main body 1, a camera 13 and a mechanical arm 19, wherein a plurality of rotors 101 are arranged on the outer side of the unmanned aerial vehicle main body 1, an installation bottom 2 is fixedly connected to the bottom of the unmanned aerial vehicle main body 1, three support legs 3 are fixedly installed at the bottom of the installation bottom 2, support legs 14 are slidably connected in sliding grooves formed in the inner sides of the lower portions of the support legs 3, a suspension rod 6 is hinged to the center of the bottom surface of the installation bottom 2 through a spherical hinge support, the lower end of the suspension rod 6 is fixedly connected with the top of a three-way spherical hinge support 7, three connecting rods 8 are hinged to the bottom of the three-way spherical hinge support 7, the other ends of the three connecting rods 8 are respectively hinged to the upper ends of the inner side surfaces of the support legs 4 through spherical hinge supports, and limiting blocks 5 are fixedly installed on the bottom end surfaces of the support legs 3; the top of the unmanned aerial vehicle main body 1 is provided with a bearing seat 9, a rotating shaft 10 is connected in the bearing seat 9 in a rolling manner through a bearing, the lower end of the rotating shaft 10 penetrates through the bearing seat 9 and is fixedly connected with the output end of a first motor 11 arranged in the unmanned aerial vehicle main body 1, the upper end of the rotating shaft 10 is fixedly connected with a frame 12 which is through from left to right, a camera 13 is arranged in the frame 12, the front side wall and the rear side wall of the camera 13 are fixedly connected with circular shafts 15, the other ends of the front circular shaft and the rear circular shaft 15 are respectively connected with the front inner wall and the rear inner wall of the frame 12 in a rolling manner through bearings, a turbine 16 is fixedly sleeved on the circular shaft 15 at one side of the camera 13, the turbine 16 is matched with a vertical worm 17 arranged in the frame 12, the upper end of the worm 17 is connected with the top wall of the frame 12 in a rolling manner through a bearing, and the lower end of the worm 17 is fixedly connected with the output end of a second motor 18 fixed on the bottom wall of the frame 12; the unmanned aerial vehicle main part 1 outside (for the front and back side in fig. 1 of this embodiment) symmetry is provided with two arms 19, and clamping jaw 20 and cutting knife 21 are installed to the front end branch of two arms 19.

The top of the camera 13 is fixedly provided with an illuminating lamp 14, so that illumination is convenient during geological exploration and collection.

The supporting legs 3 are circumferentially distributed on the bottom surface of the mounting bottom 2 at one hundred twenty degrees.

The bottom end of the supporting leg 4 is provided with a plurality of ground claws 401, which are convenient for ground grabbing, so that the unmanned aerial vehicle is more stable after being landed.

The pressure sensor 402 with the model number of 154N-001G-C is arranged at the lower end of the supporting leg 4, the pressure sensor 402 is electrically connected with a main control chip arranged in the unmanned aerial vehicle main body 1, and the landing condition of the supporting leg 4 and the ground claw 401 is detected through the size of an electric signal transmitted by the pressure sensor 402.

The inner end of the limiting block 5 is attached to the wall surface of the supporting leg 4, a mounting hole 501 is formed in the limiting block 5, one end, close to the supporting leg 4, of the mounting hole 501 is provided with an opening, one end, far away from the supporting leg 4, of the mounting hole 501 is fixedly provided with an electromagnet 502, one end, open, of the mounting hole 501 is connected with a limiting magnet block 504 in a sliding mode, the limiting magnet block 504 is connected with the electromagnet 502 through a spring 503, and the magnet block 504 abuts against the wall surface of the supporting leg 4; the movement limiting magnet block 504 abuts against the support legs 4 to limit the three support legs 4 from shaking up and down.

The mechanical arm 19 is provided with a plurality of joints, a speed reduction motor is arranged at each joint and at the connecting end of the mechanical arm 19 and the unmanned aerial vehicle main body 1, the connecting end of the mechanical arm 19 and the unmanned aerial vehicle main body 1 can rotate and has a plurality of spatial degrees of freedom, in the embodiment, the mechanical arm is not less than four spatial degrees of freedom, so that the front end of the mechanical arm 19 can freely move in a horizontal plane and a vertical plane passing through the mechanical arm 19; in the present embodiment, the robot arm 19 and the reduction motor are conventional, and the structure and principle thereof are well known in the art, and will not be described in detail.

In this embodiment, the clamping jaw 20 and the cutting blade 21 are prior art, the clamping jaw 20 is a pneumatic clamping jaw, and the cutting blade 21 is a cutting blade driven by a motor to rotate, and the principles and structures of the clamping jaw 20 and the cutting blade are well known in the art and will not be described in detail herein.

The working principle of the utility model is as follows:

the utility model relates to a geological disaster prevention, control, monitoring and sampling device, wherein in work, under the coordination of the remote control of an external remote controller and a main control chip carried in an unmanned aerial vehicle main body 1, an unmanned aerial vehicle flies and stops at a collecting position, a clamping jaw 20 at the front end of one mechanical arm 19 is used for grabbing a collected sample to complete the collecting task of geological exploration, and a cutting knife 21 arranged at the front end of the other mechanical arm 19 is used for conveniently cutting the collected sample from the collecting position; in addition, during collection, the first motor 11 drives the rotating shaft 10 and the frame 12 to rotate, so that the camera 13 rotates to scan the periphery, the second motor 18 rotates for a certain angle and enables the camera 13 in the frame 12 to pitch up and down through the transmission of the worm 17 and the worm wheel 16, so that the camera 13 can search and observe a collection position conveniently, the illuminating lamp 14 can provide illumination, and the situation that light is insufficient when the light is collected in a deep pit is avoided; when the unmanned aerial vehicle lands at the collecting place, the rotor 101 at the outer side of the unmanned aerial vehicle main body 1 causes the unmanned aerial vehicle to hover and slowly fall, meanwhile, the electromagnetic core 502 in the limiting block 5 is electrified to attract the magnet block 504 and separate the magnet block 504 from the wall surface of the support leg 4, because the ground of the collecting place is probably uneven, the support leg 4 at the lower part of the three support legs 3, one support leg 4 lands first, the support leg 4 can touch the ground and slightly slide along the support leg 3, the lower end of the suspension rod 6 is pushed to swing towards the direction between the other two support legs 4 through the connecting rod 8 connected with the support leg 4 and the three-way ball hinge support 7, so that the included angle between the connecting rod 8 connected with the other two support legs 4 and the suspension rod 6 is enlarged, so that the other two connecting rods 8 push the other two support legs 4 to slightly descend along the support leg 3, and one of the other two support legs 4 can touch the ground, then the connecting rod 8 connected with the first two support legs 4 can push the lower end of the suspension rod 6 to swing towards the direction of the third support leg 4, let third stabilizer blade 4 along continuing descending slightly along landing leg 3 until reaching to earth to accomplish contacting to earth of three stabilizer blade 4, realize that unmanned aerial vehicle lands on uneven collection department ground, later the pressure sensor 402 of three landing leg 4 lower extreme all detects to touch to earth the signal and transmits for the inside main control chip from taking of unmanned aerial vehicle main part 1, electromagnetism in the restriction piece 5 breaks the power supply by table 502, magnet piece 504 is pressed to the wall of stabilizer blade 4 by spring 503, restrict stabilizer blade 4 again, prevent that unmanned aerial vehicle from rocking when gathering the sample, it is reliable practical.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. A geological disaster prevention, control, monitoring and sampling device comprises an unmanned aerial vehicle main body (1), a camera (13) and a mechanical arm (19), the unmanned aerial vehicle is characterized in that a plurality of rotors (101) are arranged on the outer side of a main body (1) of the unmanned aerial vehicle, the bottom of the main body (1) of the unmanned aerial vehicle is fixedly connected with an installation bottom (2), three supporting legs (3) are fixedly installed at the bottom of the installation bottom (2), supporting feet (4) are slidably connected in sliding grooves formed in the inner sides of the lower parts of the supporting legs (3), the center of the bottom surface of the installation bottom (2) is hinged with a suspension rod (6) through a spherical hinge support, the lower end of the suspension rod (6) is fixedly connected with the top of a three-way spherical hinge support (7), three connecting rods (8) are hinged at the bottom of the three-way spherical hinge support (7), the other ends of the three connecting rods (8) are respectively hinged with the upper ends of the inner side surfaces of the supporting feet (4) through the spherical hinge support, and a limiting block (5) is fixedly installed on the bottom end surface of the supporting legs (3); the top of the unmanned aerial vehicle main body (1) is provided with a bearing seat (9), a rotating shaft (10) is connected in the bearing seat (9) in a rolling way through a bearing, the lower end of the rotating shaft (10) penetrates through the bearing seat (9) and is fixedly connected with the output end of a first motor (11) arranged in the unmanned aerial vehicle main body (1), the upper end of the rotating shaft (10) is fixedly connected with a frame (12) which is through from left to right, a camera (13) is arranged in the frame (12), the front side wall and the rear side wall of the camera (13) are fixedly connected with a round shaft (15), the other ends of the front round shaft and the rear round shaft (15) are respectively connected with the front inner wall and the rear inner wall of the frame (12) in a rolling way through bearings, a turbine (16) is fixedly sleeved on the round shaft (15) on one side of the camera (13), the turbine (16) is matched with a vertical worm (17) arranged in the frame (12), the upper end of the worm (17) is connected with the top wall of the frame (12) in a rolling way through a bearing, the lower end of the worm (17) is fixedly connected with the output end of a second motor (18) fixed on the bottom wall of the frame (12); unmanned aerial vehicle main part (1) outside symmetry is provided with two arms (19), and clamping jaw (20) and cutting knife (21) are installed to the front end branch of two arms (19).

2. A geological disaster prevention, control, monitoring and sampling device as claimed in claim 1, characterized in that a lighting lamp (14) is fixedly mounted on the top of said camera (13).

3. A geological disaster prevention, control, monitoring and sampling device as claimed in claim 1, characterized in that said legs (3) are circumferentially distributed at one hundred twenty degrees on the bottom surface of the mounting base (2).

4. A sampling device for geological disaster prevention and control monitoring according to claim 1 characterized in that the bottom of said supporting leg (4) is provided with several ground claws (401).

5. A sampling device for geological disaster prevention and control monitoring according to claim 1 characterized in that the lower end of said supporting foot (4) is provided with a pressure sensor (402) with type 154N-001G-C.

6. A geological disaster prevention, control, monitoring and sampling device as defined in claim 1, wherein the inner end of the limiting block (5) is attached to the wall surface of the supporting leg (4), a mounting hole (501) is formed in the limiting block (5), one end of the mounting hole (501) close to the supporting leg (4) is open, one end of the mounting hole (501) far away from the supporting leg (4) is fixedly provided with an electromagnet (502), one open end of the mounting hole (501) is slidably connected with a limiting magnet block (504), the limiting magnet block (504) and the electromagnet (502) are connected through a spring (503), and the magnet block (504) abuts against the wall surface of the supporting leg (4).

7. A geological disaster prevention, control, monitoring and sampling device as defined in claim 1, characterized in that said mechanical arm (19) is provided with a plurality of joints, and each joint and the connecting end of the mechanical arm (19) and the unmanned aerial vehicle main body (1) are provided with a gear motor.