CN116718417B - Solid bulk sampling positioning rod capable of being automatically folded - Google Patents
Solid bulk sampling positioning rod capable of being automatically folded Download PDFInfo
- Publication number
- CN116718417B CN116718417B CN202310997177.2A CN202310997177A CN116718417B CN 116718417 B CN116718417 B CN 116718417B CN 202310997177 A CN202310997177 A CN 202310997177A CN 116718417 B CN116718417 B CN 116718417B
- Authority
- CN
- China
- Prior art keywords
- rod
- sample
- support
- support column
- suspension frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005070 sampling Methods 0.000 title claims abstract description 57
- 239000007787 solid Substances 0.000 title claims abstract description 20
- 239000000725 suspension Substances 0.000 claims abstract description 127
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000009471 action Effects 0.000 claims abstract description 7
- 230000006835 compression Effects 0.000 claims description 21
- 238000007906 compression Methods 0.000 claims description 21
- 238000000926 separation method Methods 0.000 claims description 17
- 230000000087 stabilizing effect Effects 0.000 claims description 11
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 210000000078 claw Anatomy 0.000 description 8
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 239000000463 material Substances 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000009825 accumulation Methods 0.000 description 2
- 230000005489 elastic deformation Effects 0.000 description 2
- 239000003381 stabilizer Substances 0.000 description 2
- 238000004804 winding Methods 0.000 description 2
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 description 1
- 235000010469 Glycine max Nutrition 0.000 description 1
- 244000068988 Glycine max Species 0.000 description 1
- NINIDFKCEFEMDL-UHFFFAOYSA-N Sulfur Chemical compound [S] NINIDFKCEFEMDL-UHFFFAOYSA-N 0.000 description 1
- HCHKCACWOHOZIP-UHFFFAOYSA-N Zinc Chemical compound [Zn] HCHKCACWOHOZIP-UHFFFAOYSA-N 0.000 description 1
- 238000004873 anchoring Methods 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000903 blocking effect Effects 0.000 description 1
- 239000003245 coal Substances 0.000 description 1
- 229910052802 copper Inorganic materials 0.000 description 1
- 239000010949 copper Substances 0.000 description 1
- 238000012938 design process Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 239000003337 fertilizer Substances 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 229910052717 sulfur Inorganic materials 0.000 description 1
- 239000011593 sulfur Substances 0.000 description 1
- 239000011701 zinc Substances 0.000 description 1
- 229910052725 zinc Inorganic materials 0.000 description 1
Classifications
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
- B64U10/16—Flying platforms with five or more distinct rotor axes, e.g. octocopters
-
- 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
-
- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T50/00—Aeronautics or air transport
- Y02T50/40—Weight reduction
Landscapes
- Engineering & Computer Science (AREA)
- General Health & Medical Sciences (AREA)
- Immunology (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Life Sciences & Earth Sciences (AREA)
- Pathology (AREA)
- Health & Medical Sciences (AREA)
- Mechanical Engineering (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention relates to the technical field of bulk sampling, in particular to a solid bulk sampling positioning rod capable of being automatically folded, which is suspended in the air through an unmanned aerial vehicle mechanism, wherein the sampling positioning rod is provided with a grab bucket mechanism, the sampling positioning rod comprises a suspension bracket and a plurality of pairs of struts, each pair of struts are arranged along the side wall of the suspension bracket, and after the grab bucket mechanism is folded, a cavity for accommodating all the struts can be formed; when the grab mechanism is folded, the suspension frame has a tendency to slide out of the sample, and the support column automatically expands under the action of the sample to enlarge the contact surface with the sample, so that the suspension frame cannot slide out continuously.
Description
Technical Field
The invention relates to the field of bulk sampling, in particular to a solid bulk sampling positioning rod capable of being automatically folded.
Background
Customs is used as a port law enforcement department, and a large amount of manpower and material resources are required to be input for on-site sampling work every year. At present, sampling modes for products such as soybean, grain, copper mine, lead mine, zinc mine, iron mine, coal, chemical fertilizer and sulfur mainly comprise manual sampling and automatic sampling of a belt conveyor, wherein the application range of the belt conveyor sampling is limited due to factors such as input cost, specificity, accuracy and places, and the like, so that the manual sampling is still the sampling mode mainly adopted at present. Unmanned aerial vehicles have been widely used in various fields such as military and civil use because of their advantages such as light weight, small size, low cost, and rapid reaction. In recent years, with the continuous progress of safety and operability, the industry application of unmanned aerial vehicles is expanding, for example, products can be sampled by using unmanned aerial vehicle traction grab buckets, but as the grab buckets mostly fall on the surface of a sample, the grab buckets are easy to jack up by the sample when the grab buckets dig into the sample.
In order to solve the problem in the prior art, for example, patent document with publication number CN114408195a discloses a mechanical claw and an unmanned aerial vehicle, wherein a positioning thorn is introduced in the design process of the mechanical claw, namely, a metal thorn extends out of a shell of the mechanical claw, when the mechanical claw lands on a slope in an open state, the positioning thorn can penetrate into a material and form triangular bulges on two lobes of the claw, so that the mechanical claw is prevented from sliding on the slope, and a positioning effect is achieved; in the folding process of the two halves of the mechanical claw, the deep positioning thorns 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 ensured to be grabbed.
There is also patent document CN201621136666.0, which discloses an earth anchor device with barbs, which is provided with a barb that can be easily drilled into the earth with a good grip.
However, the positioning thorn in the above patent document has limitations when in use, because the protrusion on the positioning thorn in the above patent is always present or cannot be automatically folded, this means that, because the protrusion on the positioning thorn cannot be automatically folded, the contact area between the protrusion of the positioning thorn and the sample is larger, when the positioning thorn is inserted into the sample, because the contact area between the positioning thorn and the sample is larger, the sample contacted with the protrusion of the positioning thorn is more than other parts of the positioning thorn, the depth of the positioning thorn inserted into the sample cannot meet the requirement, if the sample surface has a lump sample, the probability that the protrusion of the positioning thorn contacts the lump sample is also increased, and once the protrusion contacts the lump sample, the whole positioning thorn is more prone to incline.
Disclosure of Invention
The invention provides an automatic folding solid bulk sampling positioning rod, which aims to solve the problem that when a positioning thorn is inserted into a sample, the insertion depth of the positioning thorn is insufficient because more samples are contacted with the positioning thorn at the position of the positioning thorn compared with other positions of the positioning thorn because the protrusions on the positioning thorn cannot be folded automatically.
The technical scheme adopted for solving the technical problems is as follows: solid bulk cargo sampling locating rod capable of being automatically folded, wherein the sampling locating rod is suspended in the air through an unmanned aerial vehicle mechanism, a grab bucket mechanism is arranged on the sampling locating rod, and the sampling locating rod comprises
The grab bucket mechanism can be opened or closed on the suspension bracket, and the suspension bracket can carry the grab bucket mechanism to move to a required sampling position in a free falling manner;
the grab bucket mechanism is folded to form a cavity for accommodating all the struts;
the support rods are connected with the side walls of the suspension frame, and each support rod is in one-to-one corresponding rotary connection with each support column side wall;
the support column and the side wall of the suspension frame are in a set angle or parallel state;
when a set angle is formed between the support column and the side wall of the suspension frame, the suspension frame is inserted into a sample, and the sample pushes the support column to deflect towards one side of the suspension frame; when the suspension slides out of the sample, the struts tilt and push the sample towards the side of the drone.
Preferably, the device further comprises a closer; when the support column and the side wall of the suspension frame are in a parallel state, a movable cavity is arranged at the bottom end of the suspension frame, and the closer is arranged in the movable cavity;
the grab bucket mechanism comprises a pair of fluted discs symmetrically arranged on the suspension bracket and two grab buckets, each fluted disc is connected with each grab bucket in one-to-one correspondence through a connecting rod, and a gap is reserved between the fluted discs;
the closer comprises a pushing connecting rod which is connected in the movable cavity in a sliding way, one side surface of the pushing connecting rod is rotationally connected with a pair of pushing rods, the other side surface of the pushing connecting rod is provided with lifting tooth columns, the lifting tooth columns are arranged in the space, the pair of fluted discs are movably connected with the lifting tooth columns, and the fluted discs can drive the lifting tooth columns to move up and down in the movable cavity through autorotation;
the support is provided with two supports and symmetrically arranged relative to the suspension frame, each support is connected with each pushing rod in a corresponding rotating mode, and the surface of the suspension frame is provided with a through groove for accommodating the support.
Preferably, the movable cavity is internally and fixedly provided with a stabilizing block, the pushing connecting rod is arranged on the stabilizing block in a penetrating way, and one end, close to the lifting tooth column, of the pushing connecting rod is provided with a stabilizing piece.
Preferably, a compression member is disposed in the movable cavity, the compression member is disposed between the two struts, and the compression member is capable of blocking the through groove through elastic deformation after the struts are pushed out of the through groove by the push rod.
Preferably, one end of the supporting rod is fixedly connected with the side wall of the suspension bracket, and the other end of the supporting rod is connected with the side wall of the support column.
Preferably, the length of the other end of the supporting rod when being arranged on the reference separation line is longer than the length of the other end of the supporting rod when being arranged on the bottom end of the supporting column.
Preferably, when the other end of the support rod is disposed on the reference separation line, the bottom end of the support column is triangular.
Preferably, when the support rod is arranged at the bottom end of the support column away from one end of the suspension frame, the top end of the support column is rotationally connected with a sliding inclined rod, and one end of the sliding inclined rod away from the support column can slide along the suspension frame.
Preferably, the side wall of the suspension frame is provided with a push-out piece on one side of the fluted disc far away from the unmanned aerial vehicle, and the movable end of the push-out piece is rotationally connected with one end of the sliding inclined rod far away from the support column.
Preferably, the compression piece comprises a compression section arranged in the movable cavity and plugging sections arranged at two sides of the compression section;
the through groove comprises an accommodating groove for accommodating the support column and a corresponding groove corresponding to the pushing rod;
the two pushing rods are arranged in a crossing way.
The invention has the beneficial effects that the automatic folding operation of the support column is realized in the process of inserting and extracting the sample by setting the set angle, in particular, as the support column and the side wall of the suspension bracket are in the set angle, namely the support column and the suspension bracket are obliquely arranged, the support column can be automatically folded in the process of inserting the suspension bracket into the sample so as to reduce the contact surface with the sample, and the insertion process of the suspension bracket is not influenced; when the grab mechanism is folded, the suspension frame has a tendency to slide out of the sample, and the support column automatically expands under the action of the sample to enlarge the contact surface with the sample, so that the suspension frame cannot slide out continuously.
Drawings
The invention will be further described with reference to the drawings and examples.
FIG. 1 is a schematic view of the overall structure of a first embodiment of the present invention;
FIG. 2 is a schematic view of a structure of a strut in a first embodiment of the present invention when the strut is inclined;
FIG. 3 is a schematic diagram of the overall structure of a second embodiment of the present invention;
FIG. 4 is a schematic view of a closure structure in a second embodiment of the invention;
FIG. 5 is a schematic view of a compression member according to a second embodiment of the present invention;
FIG. 6 is a schematic view showing the overall structure of a third embodiment of the present invention;
fig. 7 is a schematic view of a sliding diagonal rod in a third embodiment of the present invention.
Reference numerals: 1. a suspension bracket; 2. a support post; 3. a support rod; 4. a movable cavity; 5. fluted disc; 6. a grab bucket; 7. pushing the connecting rod; 8. a push rod; 9. lifting the tooth column; 10. a through groove; 11. a stabilizing block; 12. a stabilizer; 13. a compression member; 14. sliding the diagonal rod; 15. a push-out member; 16. a closer; 17. a compression section; 18. plugging the section; 19. a receiving groove; 20. corresponding slots.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
As shown in fig. 1 to 7, the present invention provides a solid bulk sampling positioning rod capable of being automatically folded.
Solid bulk cargo sampling locating lever that can receive automatically, specifically, sampling locating lever is suspended in the sky through unmanned aerial vehicle mechanism, is equipped with grab bucket mechanism on the sampling locating lever, and sampling locating lever includes: the hanging frame 1, the grab bucket mechanism can be opened or closed on the hanging frame 1, and the hanging frame 1 can carry the grab bucket mechanism to move to a required sampling position in a free falling manner; the support posts 2 are arranged along the side wall of the suspension bracket 1, and the grab bucket mechanism can form a cavity for accommodating all the support posts 2 after being folded; the support rods 3 are connected with the side walls of the suspension frame 1, and each support rod 3 is in one-to-one corresponding rotary connection with the side wall of each support column 2;
the support column 2 and the side wall of the suspension bracket 1 are in a set angle or parallel state; when the support column 2 and the side wall of the suspension frame 1 form a set angle, and when the suspension frame 1 is inserted into a sample, the sample pushes the support column 2 to deflect towards one side of the suspension frame 1; when the suspension 1 slides out of the sample, the support column 2 tilts and pushes the sample toward the unmanned plane side.
The invention realizes the automatic folding operation of the support column 2 in the process of inserting and extracting the sample by setting the set angle, in particular, because the support column 2 and the side wall of the suspension bracket 1 are set at the set angle, namely the support column 2 and the suspension bracket 1 are obliquely arranged, when the suspension bracket 1 is inserted into the sample, the sample can push the inclined support column 2 to deflect towards one side of the suspension bracket 1 until the support column 2 is parallel to the suspension bracket 1, namely the support column 2 can be automatically bundled together to reduce the contact surface with the sample in the process of inserting the suspension bracket 1 into the sample, so that the insertion process of the suspension bracket 1 is not influenced; when the grab mechanism is folded, the grab mechanism is subjected to a reverse force away from the sample, at the moment, the suspension frame 1 has a trend of sliding out of the sample, then the sample pushes the support column 2 to incline until a set angle is formed between the support column 2 and the side wall of the suspension frame 1, if the suspension frame 1 continues to slide out, the support column 2 pushes the sample to move towards one side of the unmanned aerial vehicle, namely, when the grab mechanism is folded, the suspension frame 1 has a trend of sliding out of the sample, at the moment, the support column 2 can be automatically unfolded under the action of the sample so as to enlarge the contact surface with the sample, and the suspension frame 1 cannot continue to slide out.
In the invention, the set angle between the strut 2 and the side wall of the suspension frame 1 is 0-90 degrees, and 30, 45 or 60 degrees can be selected in specific operation. Based on the unmanned aerial vehicle, one end far away from the unmanned aerial vehicle can be regarded as the bottom end, and one end close to the unmanned aerial vehicle can be regarded as the top end.
In the invention, as shown in fig. 1, the unmanned aerial vehicle mechanism comprises an unmanned aerial vehicle and a fixing frame fixedly connected with the unmanned aerial vehicle, a fixed disc column is arranged on the fixing frame, a disc wire is wound on the side wall of the fixed disc column, one end of the disc wire, which is far away from the pay-off disc, is connected with a suspension frame 1 (a winding rod can be arranged on the suspension frame 1, and the disc wire end part is wound on the winding rod during connection), when sampling is needed, the fixed disc column is directly started to pay off, so that the suspension frame 1 is not subjected to upward traction, then the suspension frame 1 can be freely dropped to the sample, and after the sampling is completed, the fixed disc column is directly driven to take up (the prior art is omitted).
When the grab bucket mechanism is opened and falls on the surface of a sample, sampling is needed, the grab bucket mechanism is directly driven to fold at the moment, and when the grab bucket mechanism is folded, the grab bucket mechanism can be subjected to a reverse force away from the sample, so that the grab force is increased by adopting the positioning rod to play a role in resisting the reverse force, the phenomenon that the grab bucket mechanism is jacked up by the sample can not occur, and a plurality of embodiments are provided for the positioning rod:
example 1
When the sample is loose, the resistance of the suspension frame 1 for inserting the loose sample is smaller than the resistance of the suspension frame 1 for inserting the compact sample, so in order to adapt to the situation, please refer to fig. 1-2, the automatically foldable solid bulk sampling positioning rod is suspended in the air by the unmanned aerial vehicle mechanism, the sampling positioning rod is provided with the grab mechanism, the sampling positioning rod comprises the suspension frame 1, the grab mechanism can perform opening or closing action on the suspension frame 1, and the suspension frame 1 can move to the required sampling position in a free falling manner with the grab mechanism; the support posts 2 are arranged along the side wall of the suspension bracket 1, and the grab bucket mechanism can form a cavity for accommodating all the support posts 2 after being folded; the support rods 3 are connected with the side walls of the suspension frame 1, and each support rod 3 is in one-to-one corresponding rotary connection with the side wall of each support column 2; the support column 2 and the side wall of the suspension bracket 1 are in a set angle or parallel state;
when the support column 2 and the side wall of the suspension frame 1 form a set angle, the suspension frame 1 is inserted into a sample, and the sample pushes the support column 2 to deflect towards one side of the suspension frame 1 until the support column 2 is parallel to the suspension frame 1; when the suspension 1 slides out of the sample, the support column 2 tilts and pushes the sample toward the unmanned plane side.
When the hanger 1 is inserted in a free-falling motion into the sample, since the support post 2 is disposed obliquely to the hanger 1, once the hanger 1 is inserted with the support post 2, the sample applies a pushing force against the support post 2 from a side surface of the support post 2 remote from the support post 3, so that the support post 2 is deflected around the support post 3, i.e., the sample pushes the support post 2 toward the hanger 1 side until the support post 2 is parallel to the hanger 1, after which the support post 2 parallel to the hanger 1 is lowered together as the hanger 1 is further lowered until the hanger 1 is no longer moved.
When the grab mechanism grabs the sample, if the sample exerts a thrust to the grab mechanism, the suspension frame 1 can bring the support column 2 to slowly slide out of the sample, and when the support column 2 slides out, the sample and one side surface of the support column 2 close to the support rod 3 slide, meanwhile, the sample can exert a thrust to the top end of the support column 2, so that the support column 2 inclines until a set angle is formed between the support column 2 and the side wall of the suspension frame 1, then if the suspension frame 1 continues to slide out, the support column 2 can push the sample to move towards one side of the unmanned aerial vehicle, namely, when the grab mechanism is folded, the suspension frame 1 has a trend of sliding out of the sample, and at the moment, the support column 2 can be automatically unfolded under the action of the sample so as to enlarge the contact surface with the sample, and the suspension frame 1 can not continue to slide out.
One end of the supporting rod 3 is fixedly connected with the side wall of the suspension bracket 1, and the other end of the supporting rod 3 is connected with the side wall of the support post 2. Specifically, the connection position of the other end of the support rod 3 may be changed on the side wall of the support column 2, that is, the support column 2 uses the center line in the length direction as a reference separation line, and the other end of the support rod 3 is disposed between the reference separation line and the bottom end of the support column 2. The length of the other end of the support rod 3 when the support rod 3 is disposed at the reference separation line is longer than the length of the support rod 3 when the support rod 3 is connected to the bottom end of the support rod 2 (that is, the shorter the support rod 3 is disposed closer to the bottom end of the support rod 2, so that the situation that the bottom end of the support rod 2 cannot abut against the hanger 1 when the support rod 2 is inclined can be prevented). When the other end of the support rod 3 is arranged on the reference separation line, the bottom end of the support post 2 is triangular.
In this embodiment, the other end of the support rod 3 is selectively connected to the center line of the support rod 2 in the longitudinal direction as a reference separation line, and illustrated in fig. 1 and 2, at this time, the length of the support rod 3 disposed at this point is longest compared with the length of the other area, because if the other end of the support rod 3 is disposed at a position exceeding the reference separation line, that is, if the support rod 3 is used as a separation line, the length of the area below the support rod 2 exceeds the area above the support rod 2, when the suspension 1 is inserted into the sample, the sample contacting the area below the support rod 2 exceeds the sample contacting the area above the support rod 2, and this means that, when the connection point of the support rod 3 and the side wall of the support rod 2 is used as a deflection center, the sample pushing force of the area below the support rod 2 is greater than the pushing force of the area above the support rod 2, so that the support rod 2 cannot be pushed by the sample to deflect towards the suspension 1 side, that is still inclined, and insufficient insertion amount of the suspension 1 is likely to occur.
The triangular bottom end of the pillar 2 is designed to further reduce the sample thrust in the area below the pillar 2, and at the same time, when the pillar 2 is parallel to the hanger 1, the triangular pillar 2 reduces the friction resistance between the pillar 2 and the sample, so that the insertion of the hanger 1 is not greatly affected.
Example two
When the sample to be collected is stacked more tightly and the volume is larger and is easy to be pushed by the support rod 3, in order to enable the support column 2 to be folded freely and not to influence the insertion and extraction of the suspension frame 1, please refer to fig. 3-5, the solid bulk sampling positioning rod capable of being folded automatically is specifically suspended in the air through the unmanned aerial vehicle mechanism, the grab bucket mechanism is arranged on the sampling positioning rod, and the sampling positioning rod comprises: the hanging frame 1, the grab bucket mechanism can be opened or closed on the hanging frame 1, and the hanging frame 1 can carry the grab bucket mechanism to move to a required sampling position in a free falling manner; the support posts 2 are arranged along the side wall of the suspension bracket 1, and the grab bucket mechanism can form a cavity for accommodating all the support posts 2 after being folded; the support rods 3 are connected with the side walls of the suspension frame 1, and each support rod 3 is in one-to-one corresponding rotary connection with the side wall of each support column 2;
the support column 2 and the side wall of the suspension bracket 1 are in a set angle or parallel state; when the support column 2 and the side wall of the suspension frame 1 form a set angle, the suspension frame 1 is inserted into a sample, and the sample pushes the support column 2 to deflect towards one side of the suspension frame 1; when the suspension 1 slides out of the sample, the support column 2 tilts and pushes the sample toward the unmanned plane side.
In this embodiment, the pillar 2 is in an initial state when not deployed, the set angle is 0 degrees, and the set angle is at most 90 degrees after the pillar 2 is deployed.
The sampling positioning rod also includes a closure 16;
when the support column 2 and the side wall of the suspension frame 1 are in a parallel state, the bottom end of the suspension frame 1 is provided with a movable cavity 4, and a closer 16 is arranged in the movable cavity 4; the grab bucket mechanism comprises a pair of fluted discs 5 symmetrically arranged on the suspension bracket 1 and two grab buckets 6, each fluted disc 5 is connected with each grab bucket 6 in one-to-one correspondence through a connecting rod, and a space is reserved between the fluted discs 5; the closer 16 comprises a pushing connecting rod 7 which is slidably connected in the movable cavity 4, one side surface of the pushing connecting rod 7 is rotatably connected with a pair of pushing rods 8, the other side surface of the pushing connecting rod 7 is provided with lifting tooth columns 9, the lifting tooth columns 9 are arranged in the space, the pair of fluted discs 5 are movably connected with the lifting tooth columns 9, and the fluted discs 5 can drive the lifting tooth columns 9 to move up and down in the movable cavity 4 through autorotation; the two support posts 2 are symmetrically arranged about the suspension bracket 1, each support post 2 is respectively and correspondingly connected with each pushing rod 8 in a rotating way, and the surface of the suspension bracket 1 is provided with a through groove 10 for accommodating the support posts 2.
A stabilizing block 11 is fixedly arranged in the movable cavity 4, the pushing connecting rod 7 is arranged on the stabilizing block 11 in a penetrating mode, and a stabilizing piece 12 is arranged at one end, close to the lifting tooth column 9, of the pushing connecting rod 7.
The movable cavity 4 is internally provided with a compression piece 13, the compression piece 13 is positioned between the two struts 2, and the compression piece 13 can block the through groove 10 through elastic deformation after the struts 2 are pushed out of the through groove 10 by the pushing rod 8.
The compression piece 13 comprises a compression section 17 arranged in the movable cavity 4 and plugging sections 18 arranged at two sides of the compression section 17; the through slot 10 comprises a receiving slot 19 for receiving the post 2 and a corresponding slot 20 corresponding to the push rod 8 (the corresponding slot 20 being for guiding the push rod 8 to move);
the two pushing rods 8 are arranged in a crossing manner.
One end of the supporting rod 3 is fixedly connected with the side wall of the suspension frame 1, the other end of the supporting rod 3 is connected with the side wall of the supporting rod 2, the supporting rod 2 uses the center line in the length direction as a reference separation line, the other end of the supporting rod 3 is arranged between the reference separation line and the bottom end of the supporting rod 2, in the embodiment, the supporting rod 3 plays the same role as a rotating shaft, the supporting rod 3 is arranged at the bottom end of the supporting rod 2, specifically, taking fig. 3 as an example, the bottom of the containing groove 19 can be provided with a clamping groove, the supporting rod 3 is positioned in the clamping groove, the center position of the bottom end of the supporting rod 2 is rotationally connected with the supporting rod 3, when the supporting rod 2 is positioned in the containing groove 19, the surface of the supporting rod 2 is flush with the surface of the suspension frame 1, and the specific principle can refer to a hinge.
In this embodiment, as shown in fig. 3, the initial states of the two grippers 6 may be selected from a bucket shape, an arc shape, or other shapes, as long as the purpose of gripping the sample is satisfied.
The specific structure of the lifting tooth post 9 is shown in fig. 3-5, and is composed of a connecting section and a smooth section, wherein the connecting section and the fluted disc 5 can be in friction force or in gear engagement connection, and in this embodiment, the length of the connecting section of the lifting tooth post 9 and the fluted disc 5 is fixed, and is described below in connection with fig. 3.
Specifically, when the hanger 1 is inserted into the sample in a free falling motion, since the surface of the hanger 1 is flush with the surface of the pillar 2, the hanger 1 is not affected after being inserted into the sample, and then, the two toothed plates 5 are driven to rotate simultaneously, one of which rotates clockwise and one rotates counterclockwise, so that the two grab buckets 6 move simultaneously in the direction of the hanger 1, and when the two toothed plates 5 rotate simultaneously, the lifting tooth post 9 is driven to move downward along the inner wall of the movable cavity 4, when the lifting tooth post 9 descends, the push link 7 is pushed, when the push link 7 descends, the stabilizer 12 (preferably a spring) is compressed, and simultaneously, the descending push link 7 pushes the two push rods 8 to move together, and at this time, the two push rods 8 push the two pillars 2 respectively, so that the two pillars 2 are both rotated out of the corresponding accommodating grooves 19, and since the length of the connecting section is fixed, after the pillars 2 are rotated out of a certain angle, the connecting section cannot continue to be pushed, and thus, the maximum inclination angle of the pillars 2 is determined.
The two grippers 6 are then driven to continue to move until the sample is gripped (the principle of this is the same as in the first embodiment and will not be described in detail here).
When the two grab buckets 6 are released, the sample can fall off, and the stabilizing piece 12 resets and pushes the pushing connecting rod 7, the support column 2 and the lifting tooth column 9 to reset, so that the lifting tooth column 9 enters the space again.
Example III
On the basis of the first embodiment, the automatic folding manner of the pillar 2 is further defined as follows:
referring to fig. 6-7, the automatically retractable solid bulk sampling positioning rod, specifically, the sampling positioning rod is suspended in the air by an unmanned aerial vehicle mechanism, a grab bucket mechanism is arranged on the sampling positioning rod, and the sampling positioning rod comprises:
the hanging frame 1, the grab bucket mechanism can be opened or closed on the hanging frame 1, and the hanging frame 1 can carry the grab bucket mechanism to move to a required sampling position in a free falling manner; the support posts 2 are arranged along the side wall of the suspension bracket 1, and the grab bucket mechanism can form a cavity for accommodating all the support posts 2 after being folded; the support rods 3 are connected with the side walls of the suspension frame 1, and each support rod 3 is in one-to-one corresponding rotary connection with the side wall of each support column 2; the support column 2 and the side wall of the suspension bracket 1 are in a set angle or parallel state;
when the support column 2 and the side wall of the suspension frame 1 form a set angle, the suspension frame 1 is inserted into a sample, and the sample pushes the support column 2 to deflect towards one side of the suspension frame 1 until the support column 2 is parallel to the suspension frame 1; when the suspension 1 slides out of the sample, the support column 2 tilts and pushes the sample toward the unmanned plane side.
One end of the supporting rod 3 is fixedly connected with the side wall of the suspension frame 1, the other end of the supporting rod 3 is connected with the side wall of the supporting column 2, the supporting column 2 takes the central line in the length direction as a reference separation line, and the other end of the supporting rod 3 is arranged between the reference separation line and the bottom end of the supporting column 2.
The length of the other end of the supporting rod 3 when being arranged on the reference separation line is longer than the length of the other end of the supporting rod 3 when being arranged on the bottom end of the supporting column 2.
When the other end of the support rod 3 is arranged on the reference separation line, the bottom end of the support post 2 is triangular.
When the support rod 3 is far away from the end of the suspension frame 1 and is arranged at the bottom end of the support column 2, the top end of the support column 2 is rotationally connected with the sliding inclined rod 14, and the end of the sliding inclined rod 14 far away from the support column 2 can slide along the suspension frame 1.
The side wall of the suspension frame 1 is provided with a push-out piece 15 on one side of the fluted disc 5 far away from the unmanned aerial vehicle, and the movable end of the push-out piece 15 is rotatably connected with one end of the sliding inclined rod 14 far away from the support column 2.
In this embodiment, the support rod 3 is disposed at the bottom end of the pillar 2. The pushing-out piece 15 comprises a fixed cylinder fixed on the side wall of the suspension frame 1, a movable column is slidably connected in the fixed cylinder, a rebound piece (such as a sponge block or an air bag column) connected with the movable column is arranged in the fixed cylinder, and the sponge block or the air bag column is arranged at one end of the movable column close to the unmanned aerial vehicle.
The working principle of the third embodiment is as follows: when the hanger 1 is inserted in a free-falling motion into the sample, since the support post 2 is disposed obliquely to the hanger 1, once the hanger 1 is inserted with the support post 2, the sample will exert a pushing force against the support post 2 from a side surface of the support post 2 remote from the support post 3, so that the support post 2 is deflected around the support post 3, i.e., the sample pushes the support post 2 toward the hanger 1 side until the angle between the support post 2 and the hanger 1 is 15 degrees (a specific angle interval is 0-30, preferably 15 degrees), after which the support post 2 will descend together as the hanger 1 continues to descend until the hanger 1 is no longer moved. During deflection of the support column 2, the deflected support column 2 will push the sliding diagonal rod 14 to slide along the suspension frame 1, and the sliding diagonal rod 14 will push the movable column to compress the sponge block when sliding along the suspension frame 1.
Then when the grab mechanism snatches the sample, if the sample exerts a thrust to the grab mechanism, the suspension bracket 1 can bring the pillar 2 to slowly slide out of the sample at this moment, and the pillar 2 slides with the surface of one side of the pillar 2 close to the supporting rod 3 when the pillar 2 slides out, meanwhile, the sample can also exert a thrust to the top end of the pillar 2, so that the pillar 2 inclines until the pillar 2 and the side wall of the suspension bracket 1 form a set angle, but some samples are loose due to accumulation, so that the time for inclining the pillar 2 to the set angle is longer, the grabbing amount of the sample is influenced, so that when the suspension bracket 1 stops and has an ascending trend, the sponge block can be quickly reset, and the sliding inclined rod 14 and the pillar 2 are pushed to reset, so that the pillar 2 inclines to the set angle, and because of loose accumulation of the sample, the inclination of the pillar 2 is not influenced, then if the suspension bracket 1 continues to slide out, the sample can be pushed to move towards one side of the unmanned plane, namely, when the grab mechanism folds, the suspension bracket 1 can have a trend of sliding out of the sample, the pillar 2 can be automatically unfolded under the action of the sample, so that the contact surface of the pillar 2 and the sample can not continue to slide out.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
With the above-described preferred embodiments according to the present invention as an illustration, the above-described descriptions can be used by persons skilled in the relevant art to make various changes and modifications without departing from the scope of the technical idea of the present invention. The technical scope of the present invention is not limited to the description, but must be determined according to the scope of claims.
Claims (9)
1. Solid bulk cargo sampling locating rod capable of being automatically folded, the sampling locating rod is suspended in the air through an unmanned aerial vehicle mechanism, and a grab bucket mechanism is arranged on the sampling locating rod, and the sampling locating rod is characterized by comprising
The suspension bracket (1) can perform opening or closing actions on the suspension bracket (1), and the suspension bracket (1) can carry the grab mechanism to move to a required sampling position in a free falling manner;
the grab bucket mechanism is folded to form a cavity for accommodating all the struts (2);
the support rods (3) are connected with the side walls of the suspension frame (1), and each support rod (3) is in one-to-one corresponding rotary connection with the side wall of each support column (2);
the support column (2) is in a set angle or parallel state with the side wall of the suspension bracket (1);
when a set angle is formed between the support column (2) and the side wall of the suspension frame (1), the suspension frame (1) is inserted into a sample, and the sample pushes the support column (2) to deflect towards one side of the suspension frame (1); when the suspension frame (1) slides out of the sample, the support column (2) inclines and pushes the sample to move towards one side of the unmanned plane;
further comprising a closer (16);
when the support column (2) is parallel to the side wall of the suspension frame (1), the bottom end of the suspension frame (1) is provided with a movable cavity (4), and the closer (16) is arranged in the movable cavity (4);
the grab bucket mechanism comprises a pair of fluted discs (5) symmetrically arranged on the suspension bracket (1) and two grab buckets (6), each fluted disc (5) is connected with each grab bucket (6) in one-to-one correspondence through a connecting rod, and a distance is reserved between the fluted discs (5);
the closer (16) comprises a pushing connecting rod (7) which is slidably connected in the movable cavity (4), one side surface of the pushing connecting rod (7) is rotatably connected with a pair of pushing rods (8), the other side surface of the pushing connecting rod (7) is provided with lifting tooth columns (9), the lifting tooth columns (9) are arranged in a space, the pair of fluted discs (5) are movably connected with the lifting tooth columns (9), and the fluted discs (5) can drive the lifting tooth columns (9) to move up and down in the movable cavity (4) through autorotation;
the support posts (2) are arranged in two and symmetrically arranged relative to the suspension bracket (1), each support post (2) is connected with each push rod (8) in a corresponding rotating mode, and through grooves (10) for accommodating the support posts (2) are formed in the surface of the suspension bracket (1).
2. The automatically collapsible solid bulk sampling positioning rod of claim 1, wherein: the movable cavity (4) is internally and fixedly provided with a stabilizing block (11), the pushing connecting rod (7) is arranged on the stabilizing block (11) in a penetrating mode, and one end, close to the lifting tooth column (9), of the pushing connecting rod (7) is provided with a stabilizing piece (12).
3. The automatically collapsible solid bulk sampling positioning rod of claim 2, wherein: the movable cavity (4) is internally provided with a compression piece (13), the compression piece (13) is positioned between the two struts (2), and the compression piece (13) can be elastically deformed to block the through groove (10) after the struts (2) are pushed out of the through groove (10) by the push rod (8).
4. The automatically collapsible solid bulk sampling positioning rod of claim 1, wherein: one end of the supporting rod (3) is fixedly connected with the side wall of the suspension bracket (1), and the other end of the supporting rod (3) is connected with the side wall of the support column (2).
5. The automatically collapsible solid bulk sampling positioning rod of claim 4, wherein: the length of the other end of the supporting rod (3) when being arranged on the reference separation line is larger than the length of the other end of the supporting rod (3) when being arranged at the bottom end of the supporting column (2).
6. The automatically collapsible solid bulk sampling positioning rod of claim 5, wherein: when the other end of the supporting rod (3) is arranged on the reference separation line, the bottom end of the supporting column (2) is triangular.
7. The automatically collapsible solid bulk sampling positioning rod of claim 2, wherein: when the support rod (3) is far away from one end of the suspension bracket (1) and is arranged at the bottom end of the support post (2), the top end of the support post (2) is rotationally connected with a sliding inclined rod (14), and one end of the sliding inclined rod (14) far away from the support post (2) can slide along the suspension bracket (1).
8. The automatically collapsible solid bulk sampling positioning rod of claim 7, wherein: the side wall of the suspension frame (1) is provided with a push-out piece (15) on one side of the fluted disc (5) far away from the unmanned aerial vehicle, and the movable end of the push-out piece (15) is rotationally connected with one end of the sliding inclined rod (14) far away from the support column (2).
9. The automatically collapsible solid bulk sampling positioning rod of claim 3, wherein: the compression piece (13) comprises a compression section (17) arranged in the movable cavity (4), and plugging sections (18) arranged at two sides of the compression section (17);
the through groove (10) comprises a containing groove (19) for containing the strut (2) and a corresponding groove (20) corresponding to the pushing rod (8);
the two pushing rods (8) are arranged in a crossing way.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310997177.2A CN116718417B (en) | 2023-08-09 | 2023-08-09 | Solid bulk sampling positioning rod capable of being automatically folded |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310997177.2A CN116718417B (en) | 2023-08-09 | 2023-08-09 | Solid bulk sampling positioning rod capable of being automatically folded |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN116718417A CN116718417A (en) | 2023-09-08 |
| CN116718417B true CN116718417B (en) | 2023-10-31 |
Family
ID=87864747
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310997177.2A Active CN116718417B (en) | 2023-08-09 | 2023-08-09 | Solid bulk sampling positioning rod capable of being automatically folded |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116718417B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1545530A (en) * | 1975-07-11 | 1979-05-10 | Vnii Pi Zolotodobyvajuschej | Device for taking bottom soil samples in deep water |
| JPH06123681A (en) * | 1992-10-09 | 1994-05-06 | Nikkiso Co Ltd | Automatic sampling device, hopper device, receiver cleaning device, hopper cleaning device and receiver transfer device |
| JPH09124266A (en) * | 1995-10-30 | 1997-05-13 | Mitsubishi Heavy Ind Ltd | Automatic detachable hanging jig |
| US5873615A (en) * | 1997-12-08 | 1999-02-23 | Mccullough; Byron | Grapple |
| AU2002331464B2 (en) * | 2001-10-05 | 2007-06-28 | Sentek Pty Ltd. | Soil probe insertion arrangement and method of use |
| CN209231008U (en) * | 2018-12-24 | 2019-08-09 | 天津市职业大学 | A kind of topsoil sampler |
| CN110455573A (en) * | 2019-07-08 | 2019-11-15 | 青岛海洋地质研究所 | Deep-sea sediment in situ intubation device |
| CN111551392A (en) * | 2020-04-29 | 2020-08-18 | 默晓辉 | Grabbing type sampling mechanism for soil remediation |
| CN213301715U (en) * | 2020-10-16 | 2021-05-28 | 南京海关工业产品检测中心 | A import ore deposit automatic sampling device for customs |
| WO2021227605A1 (en) * | 2020-05-13 | 2021-11-18 | 中国科学院海洋研究所 | Rov-based in-situ detection system and method for acoustic parameters of deep sea sediment |
| CN114408195A (en) * | 2022-02-24 | 2022-04-29 | 中华人民共和国新生圩海关 | Mechanical gripper and unmanned aerial vehicle |
| CN114593933A (en) * | 2021-10-25 | 2022-06-07 | 江苏筑港建设集团有限公司 | Steel slag concrete sampling equipment and method for water transport engineering inspection |
| CN217033101U (en) * | 2022-02-19 | 2022-07-22 | 温州工程勘察院有限公司 | Underground engineering geology reconnaissance device |
| CN217403869U (en) * | 2022-06-13 | 2022-09-09 | 中国地质调查局昆明自然资源综合调查中心 | Sampling device for collecting soil samples under shallow water condition |
| WO2023082302A1 (en) * | 2021-11-10 | 2023-05-19 | 英飞智信（苏州）科技有限公司 | Full-face arbitrary depth quantitative sampler and sampling method |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050100432A1 (en) * | 2003-11-07 | 2005-05-12 | Mattson Randall D. | Grapple and boom assemblies with compact roller arm power tilt mechanisms |
| US20110179888A1 (en) * | 2010-01-28 | 2011-07-28 | Bijan Danesh | Undisturbed soil and sediment sampling |
| US11921015B2 (en) * | 2020-08-19 | 2024-03-05 | International Center For Bamboo And Rattan | Device for sampling soil of tropical lowland rainforest |
-
2023
- 2023-08-09 CN CN202310997177.2A patent/CN116718417B/en active Active
Patent Citations (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB1545530A (en) * | 1975-07-11 | 1979-05-10 | Vnii Pi Zolotodobyvajuschej | Device for taking bottom soil samples in deep water |
| JPH06123681A (en) * | 1992-10-09 | 1994-05-06 | Nikkiso Co Ltd | Automatic sampling device, hopper device, receiver cleaning device, hopper cleaning device and receiver transfer device |
| JPH09124266A (en) * | 1995-10-30 | 1997-05-13 | Mitsubishi Heavy Ind Ltd | Automatic detachable hanging jig |
| US5873615A (en) * | 1997-12-08 | 1999-02-23 | Mccullough; Byron | Grapple |
| AU2002331464B2 (en) * | 2001-10-05 | 2007-06-28 | Sentek Pty Ltd. | Soil probe insertion arrangement and method of use |
| CN209231008U (en) * | 2018-12-24 | 2019-08-09 | 天津市职业大学 | A kind of topsoil sampler |
| CN110455573A (en) * | 2019-07-08 | 2019-11-15 | 青岛海洋地质研究所 | Deep-sea sediment in situ intubation device |
| CN111551392A (en) * | 2020-04-29 | 2020-08-18 | 默晓辉 | Grabbing type sampling mechanism for soil remediation |
| WO2021227605A1 (en) * | 2020-05-13 | 2021-11-18 | 中国科学院海洋研究所 | Rov-based in-situ detection system and method for acoustic parameters of deep sea sediment |
| CN213301715U (en) * | 2020-10-16 | 2021-05-28 | 南京海关工业产品检测中心 | A import ore deposit automatic sampling device for customs |
| CN114593933A (en) * | 2021-10-25 | 2022-06-07 | 江苏筑港建设集团有限公司 | Steel slag concrete sampling equipment and method for water transport engineering inspection |
| WO2023082302A1 (en) * | 2021-11-10 | 2023-05-19 | 英飞智信（苏州）科技有限公司 | Full-face arbitrary depth quantitative sampler and sampling method |
| CN217033101U (en) * | 2022-02-19 | 2022-07-22 | 温州工程勘察院有限公司 | Underground engineering geology reconnaissance device |
| CN114408195A (en) * | 2022-02-24 | 2022-04-29 | 中华人民共和国新生圩海关 | Mechanical gripper and unmanned aerial vehicle |
| CN217403869U (en) * | 2022-06-13 | 2022-09-09 | 中国地质调查局昆明自然资源综合调查中心 | Sampling device for collecting soil samples under shallow water condition |
Also Published As
| Publication number | Publication date |
|---|---|
| CN116718417A (en) | 2023-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN116718417B (en) | Solid bulk sampling positioning rod capable of being automatically folded | |
| CA1075491A (en) | Device for taking bottom soil samples from deep water basins | |
| CN110455573B (en) | Deep-sea sediment in situ intubation device | |
| CN211504805U (en) | Light spring type ocean mud mining grab bucket | |
| CN117309461B (en) | Solid bulk cargo sampling device based on unmanned aerial vehicle | |
| CN118289638B (en) | Ore grabbing mechanical equipment | |
| CN1299244A (en) | Tilting umbrella | |
| CN117104563A (en) | Unmanned aerial vehicle is at stop device | |
| US4961365A (en) | Perforating gun with rotating charges including a mechanical link retaining mechanism | |
| CN106164404A (en) | There is the sectional door of hoisting mechanism | |
| EP0562917A2 (en) | Weight counterbalancing device for a door with a raisable curtain | |
| CN215474711U (en) | Material handling device with lift upset | |
| CN105259022B (en) | One kind prevents the secondary impact device that drops hammer | |
| CN216579864U (en) | Financial billing receiver | |
| CN108592709B (en) | A device capable of realizing V-T type combined empennage deployment | |
| CN107467833B (en) | Umbrella with umbrella cover | |
| CN214308408U (en) | Bridge blasting powder feeding device | |
| CN118776411B (en) | Two-stage climbing explosive bracket for dredging of mine | |
| SU1762158A1 (en) | Device for underwater sampling of floor deposits | |
| CN218522607U (en) | Foldable herringbone ladder | |
| CN102563294A (en) | Television swing arm lifter | |
| EP3396303B1 (en) | System for triggering an avalanche | |
| CN115959491A (en) | Novel movable coal breaking method and system for mine | |
| CN112493657B (en) | Schoolbag with protection function | |
| CN208583781U (en) | The opening-closing structure of top dustcloth for sandstone material dust cover |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |