CN110006689A - An undisturbed soil exploration well sampling robot - Google Patents

Abstract

The invention discloses a kind of not disturbed soil prospect pit sampling robots, first hoist and second hoist including installation on the ground, and cooperate and stretch to the sampling robots in prospect pit with first hoist and cooperate with second hoist and transfer to the sample pane on the sampling robots.The present invention realizes the fixation between sampling robots and prospect pit using support air bag expansion, utilize robot channeling sampling, using the acquisition soil sample of sampling mechanism exactly, using disturbance of the soil sample to sample pane during balance air bag balance setting-out, it can make worker under the premise of not entering in well, disturbed soil is taken out, to guarantee the personal safety of worker, small in size, light weight, intelligence degree are high, can be widely used for all kinds of soil body samplings, provide good research sample for scientific research and design.

Description

An undisturbed soil exploration well sampling robot

technical field

The invention belongs to the technical field of undisturbed soil exploration well sampling, and in particular relates to an undisturbed soil exploration well sampling robot.

Background technique

At present, in engineering and scientific research work, because the mechanical sampling of soil samples will disturb the soil body, in order to obtain the real physical and mechanical indicators of the soil body, it is usually necessary to conduct exploratory well sampling in the field. The general exploratory well sampling is to use Luoyang to shovel into the well to the design depth, and then experienced workers enter the well, and carve undisturbed soil samples of different depths on the well wall from top to bottom (generally, the diameter or side length is 20 cm to 30 cm), and then carry out wax-sealed storage or direct on-site physical index tests; exploratory well sampling has little effect on soil disturbance, and its test data is relatively more accurate, but this method has great potential safety hazards , especially as the excavation depth increases, the hidden danger also increases. In engineering, casualties caused by workers working underground are not uncommon, such as falling and smashing of gravel at the wellhead, suffocation and death due to hypoxia in the well, and even collapse and burial of the well wall. These hidden dangers have caused great harm to the personal safety of workers.

SUMMARY OF THE INVENTION

The technical problem to be solved by the present invention is to provide a non-disturbing soil exploration well sampling robot in view of the above-mentioned deficiencies in the prior art. Sampling, the sampling mechanism is used to obtain soil samples stably and accurately, and the balance airbag is used to balance the disturbance of the soil samples to the sample frame during the lofting process, so that the workers can take out the undisturbed soil without entering the well, so as to ensure the personal safety of the workers. At the same time, it also has the advantages of small size, light weight, high degree of intelligence, high efficiency, and low investment. It can be widely used in various soil sampling, providing high-quality research samples for scientific research and design, and is easy to promote and use.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is: a sampling robot that does not disturb the soil exploration well, which is characterized in that: it includes a first hoist and a second hoist installed on the ground, and cooperates with the first hoist and extends into the A sampling robot in the exploratory well and a sample frame that cooperates with the second hoist and is lowered to the sampling robot. The sample frame is a sample frame with an open top and front. The sampling robot includes a base, a The turntable and the limit seat of the hollow structure installed on the turntable and used to define the lifting path of the lifting column. And the support airbag used to fix the position of the base, the support airbag is located in the gap between the base and the exploration well, the bottom of the base is installed with a first air pump for supplying air to the support airbag, and the first air pump is used to supply air to the support airbag. A first solenoid valve is installed on the pipeline, a fuselage is fixedly installed on the top of the lifting column, a balance airbag is installed on the back of the fuselage, and an air outlet and an installation groove for matching with the sample frame are opened on the fuselage. It is an installation slot with open top and front. The bottom plate of the fuselage is provided with a sampling mechanism slide rail for the sampling mechanism to slide horizontally. The fuselage is provided with a balance airbag deflation pipe to provide the sampling mechanism with pushing and pulling power. The power mechanism and the second air pump for supplying air for the balance airbag, one end of the balance airbag deflation pipe is connected with the balance airbag, the other end of the balance airbag deflation pipe is connected with the air outlet, and the balance airbag deflation pipe is installed on the pipeline that communicates with the balance airbag There is a second solenoid valve, and two outer sides of the fuselage are respectively provided with mechanical arms, and one end of the mechanical arm away from the fuselage is installed with a scraper for cutting soil samples; A push plate is fixedly installed at one end away from the fuselage;

The sampling mechanism includes a support plate and a limit plate arranged on the upper part of the support plate and integrated with the fuselage. A limit block is arranged on the lower edge of the limit plate on the front side of the fuselage, and a limit block is formed between the support plate and the limit plate. There is an L-shaped push plate matched with the limit block on the support plate, the vertical panel of the L-shaped push plate is in contact with the limit block, the horizontal panel of the L-shaped push plate is provided with a sampling plate, and the L-shaped push plate A plurality of lifting piers are arranged between the horizontal panel of the plate and the sampling plate, and the sum of the thickness of the horizontal panel of the L-shaped push plate and the thickness of the sampling plate is less than the difference between the lower surface of the limit block and the upper surface of the supporting plate. spacing.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the sampling power mechanism is an electric automatic telescopic mechanism, and the electric automatic telescopic mechanism includes two rotating motors and a first push-pull telescopic mechanism for pushing and pulling the support plate The rod and a second push-pull telescopic rod for pushing and pulling the L-shaped push plate, the first push-pull telescopic rod is drivingly connected with one of the two rotary motors, and the second push-pull telescopic rod is rotated with the other of the two rotary motors Motor drive connection.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the base is provided with a first integrated circuit board, and the first integrated circuit board is integrated with a first microcontroller and an integrated circuit with the first microcontroller. The first motor connected to the controller, the output shaft of the first motor extends out of the base and is coaxially connected to the turntable, the lifting column is an electric lifting column, and the electric lifting column, the first air pump and the first solenoid valve are all connected by the first motor. a microcontroller control;

A second integrated circuit board is arranged in the fuselage, and a second microcontroller is integrated on the second integrated circuit board. The rotating motor, the second air pump, the second solenoid valve and the mechanical arm are all controlled by the second microcontroller. control;

A third integrated circuit board is arranged in the L-shaped push plate, and a third microcontroller is integrated on the third integrated circuit board. The lifting buttress is an electric lifting buttress. controller control;

A fourth integrated circuit board is arranged in the sample frame, and a fourth microcontroller is integrated on the fourth integrated circuit board. The rotating telescopic rod includes a second motor mounted on the outer side wall of the sample frame and a second motor connected to the second motor. The multi-section electric push rod is connected with the rotating shaft and rotates synchronously with the rotating shaft, the push plate is fixedly connected with the end of the multi-section electric push rod away from the rotating shaft, and the second motor is controlled by the fourth microcontroller.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the upper surface of the fuselage is connected with one end of the first hanging rope, the other end of the first hanging rope is connected with the wire rope of the first hoist, and the sample frame is A sample frame connecting frame is installed on the top end, the top end of the sample frame connecting frame is connected with one end of the second hanging rope, and the other end of the second hanging rope is connected with the wire rope of the second hoisting machine.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: two outer sides of the fuselage are respectively provided with scraper storage seats, the two scraper storage seats are respectively matched with two mechanical arms, and the scraper is made of iron Quality scraper, with magnets in the scraper storage seat.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the mechanical arm is a snake-shaped mechanical arm.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the ends of the support plate and the sampling plate away from the balance airbag are both wedge-shaped structures.

The above-mentioned undisturbed soil exploration well sampling robot is characterized in that: the outer surfaces of the support airbag and the balance airbag are provided with a wear-resistant protective layer.

Compared with the prior art, the present invention has the following advantages:

1. The present invention suspends the sampling robot extending into the exploratory well through the first hoist, and suspends the sample frame through the second hoist. When the sample frame carries the soil sample to the ground, the air bag supports the sampling robot while using the second hoist to suspend the sample frame. A hoist acts as a safe suspension for the sampling robot to prevent the sampling robot from losing contact with the ground. The purpose of the sample frame is that the top and front of the sample frame are open, on the one hand, it is convenient for soil samples to enter from the front of the sample frame. The sample frame, on the other hand, is convenient to observe the situation of soil samples entering the sample frame from the upper part of the ground; a rotating telescopic rod is installed on the outer side wall of the sample frame, and a push plate is fixedly installed at one end of the rotating telescopic rod away from the fuselage. It is convenient to push the soil sample and realize the movement of the soil sample into the sample frame. The second is to supplement the side plate for the sample frame containing the soil sample, so as to avoid the unbalanced placement of the soil sample in the sample frame. Invert; the rotating telescopic rod provides power for the push plate to push the soil sample and complement the side plate of the sample frame, and the use effect is good.

2. In the present invention, a support airbag with an annular structure and used to fix the position of the base is provided on the circumferential end face of the base, and the expansion of the support airbag is used to realize the fixation between the sampling robot and the exploration well. At the top of the column, adjust the height of the upper surface of the bottom plate of the sample frame and the bottom surface of the soil sample. By controlling the rotation of the turntable, the limit seat, the lifting column and the fuselage are driven to rotate synchronously until the front opening of the installation groove on the fuselage faces the soil. In the same way, the purpose of installing the balance airbag on the back of the fuselage is to use the balance airbag to balance the disturbance of the soil sample to the sample frame during the lofting process, which is reliable and stable, and has good use effect.

3. The design of the present invention is novel and reasonable, and the volume is small. The sampling mechanism is arranged in the bottom plate of the fuselage, and the sampling power mechanism is used to provide push-pull power for the sampling mechanism. The limit plate is integrated with the fuselage and the limit plate is located on the front side of the fuselage. The purpose of setting the limit block on the lower edge is to cooperate with the L-shaped push plate to prevent the L-shaped push plate from sliding out of the support plate when it moves on the support plate. A sampling plate is set on the horizontal panel of the L-shaped push plate, and the sampling plate The fixed force provided by the sampling power mechanism is directly inserted into the bottom of the soil sample. The purpose of setting multiple lifting buttresses between the horizontal panel of the L-shaped push plate and the sampling plate is to raise the bottom surface of the obtained soil sample to the bottom of the sample frame. The surface is flush, which is convenient for the push plate to push the soil sample smoothly without obstruction, which is convenient for popularization and use.

To sum up, the design of the present invention is novel and reasonable, using the expansion of the support airbag to realize the fixation between the sampling robot and the exploratory well, using the robot to notch sampling, using the sampling mechanism to obtain soil samples stably and accurately, and using the balance airbag to balance the soil samples during the lofting process. The disturbance of the sample frame can enable workers to take out the undisturbed soil without entering the well, so as to ensure the personal safety of workers. It can be widely used in all kinds of soil sampling, providing high-quality research samples for scientific research and design, and is easy to popularize and use.

The technical solutions of the present invention will be further described in detail below through the accompanying drawings and embodiments.

Description of drawings

FIG. 1 is a schematic structural diagram of the present invention.

FIG. 2 is a schematic structural diagram of the sampling mechanism of the present invention without extending.

FIG. 3 is a schematic structural diagram of the extension of the sampling mechanism of the present invention.

FIG. 4 is a schematic structural diagram of the present invention in which the sampling mechanism is extended and the sampling plate is raised.

Fig. 5 is a schematic diagram showing the positional relationship between the undisturbed soil exploration well sampling robot, the exploration well and the soil sample according to the present invention.

FIG. 6 is a use state diagram of the sampling mechanism extended and the sampling plate raised in FIG. 5 .

Figure 7 is a state diagram of the use of soil sample stakeout of the present invention.

Explanation of reference numbers:

1—Do not disturb the soil; 2—Exploration well; 3—The first hoist;

4—the first sling; 5—the second hoist; 6—the second sling;

7—sample frame connecting frame; 8—sample frame; 9—base;

10—turntable; 11—support airbag; 12—limit seat;

13—lifting column; 14—first air pump; 15—first solenoid valve;

16—fuselage; 17—sampling mechanism; 17-1—supporting plate;

17-2—Limiting plate; 17-3—Limiting block; 17-4—L-shaped push plate;

17-5—sampling plate; 17-6—lifting buttress; 17-7—clearance;

18—Sampling power mechanism; 18-1—Rotating motor;

18-2—the first push-pull telescopic rod; 18-3—the second push-pull telescopic rod;

19—second air pump; 20—balance air bag; 21—balance air bag deflation pipe;

22—Second solenoid valve; 23—Soil sample; 24—Push plate;

25—Robot arm; 26—Scraper; 27—Scraper storage seat;

28—rotating telescopic rod; 29—slide rail of sampling mechanism; 30—rotating shaft.

Detailed ways

As shown in FIGS. 1 to 7 , the present invention includes a first hoist 3 and a second hoist 5 installed on the ground, a sampling robot that cooperates with the first hoist 3 and extends into the exploratory well 2 , and a second hoist 5 . The sample frame 8 is matched and lowered to the sampling robot. The sample frame 8 is a sample frame with an open top and front. The sampling robot includes a base 9, a turntable 10 installed on the base 9, and a The limit seat 12 of the hollow structure on the turntable 10 and used to define the lifting path of the lifting column 13, the cross-sectional size of the base 9 and the turntable 10 is smaller than the cross-sectional size of the exploration well 2, and the circumferential end surface of the base 9 is provided with a ring The support air bag 11 is structured and used to fix the position of the base 9. The support air bag 11 is located in the gap between the base 9 and the exploration well 2. The bottom of the base 9 is installed with a first air pump 14 for supplying air to the support air bag 11. A first solenoid valve 15 is installed on the pipeline of the first air pump 14 for supplying air for supporting the airbag 11 , the top of the lifting column 13 is fixedly installed with the fuselage 16 , the back of the fuselage 16 is installed with a balance airbag 20 , and the fuselage 16 is provided with The air outlet and the installation slot for matching with the sample frame 8, the installation slot is an installation slot with an open top and front, and a sampling mechanism slide for the sampling mechanism 17 to slide horizontally is opened in the bottom plate of the fuselage 16. Rail 29, the fuselage 16 is provided with a balance airbag deflation pipe 21, a sampling power mechanism 18 that provides push-pull power for the sampling mechanism 17, and a second air pump 19 for supplying air to the balance airbag 20. One end of the balance airbag deflation pipe 21 is connected to the balance airbag. 20 is connected, the other end of the balance airbag deflation pipe 21 is communicated with the air outlet, a second solenoid valve 22 is installed on the pipeline connecting the balance airbag deflation pipe 21 and the balance airbag 20, and two outer sides of the fuselage 16 are respectively provided. The robotic arm 25, the end of the robotic arm 25 away from the fuselage 16 is installed with a spatula 26 for cutting the soil sample 23; the outer side wall of the sample frame 8 is installed with a rotating telescopic rod 28, and the end of the rotating telescopic rod 28 away from the fuselage 16 is fixedly installed There is a push plate 24;

The sampling mechanism 17 includes a support plate 17-1 and a limit plate 17-2 arranged on the upper part of the support plate 17-1 and integrated with the fuselage 16. The limit plate 17-2 is located on the lower edge of the front side of the fuselage 16. A limit block 17-3 is provided, a gap 17-7 is formed between the support plate 17-1 and the limit plate 17-2, and an L-shaped pusher matched with the limit block 17-3 is arranged on the support plate 17-1 Plate 17-4, the vertical panel of the L-shaped push plate 17-4 is in contact with the limit block 17-3, the horizontal panel of the L-shaped push plate 17-4 is provided with a sampling plate 17-5, and the L-shaped push plate 17 A plurality of lifting buttresses 17-6 are arranged between the horizontal panel of -4 and the sampling plate 17-5, and the sum of the thickness of the horizontal panel of the L-shaped push plate 17-4 and the thickness of the sampling plate 17-5 is smaller than the limit block The distance between the lower surface of 17-3 and the upper surface of the support plate 17-1.

It should be noted that the sampling robot extending into the exploration well 2 is suspended by the first hoist 3, and the sample frame 8 is suspended by the second hoist 5. When the sample frame 8 carries the soil sample 23 to the ground, the air bag 11 is supported. While supporting the sampling robot, the first hoist 3 is used to safely suspend the sampling robot to prevent the sampling robot from losing contact with the ground. The purpose of the sample frame 8 being a sample frame with an open top and front is to facilitate The soil sample 23 enters the sample frame 8 from the front of the sample frame 8, on the other hand, it is convenient to observe the situation of the soil sample 23 entering the sample frame 8 from the upper part of the ground; One end of the rod 28 away from the fuselage 16 is fixedly installed with a push plate 24. The setting of the push plate 24 is to facilitate the pushing of the soil sample 23, so that the soil sample 23 can be moved into the sample frame 8, and the second is to be a sample frame containing the soil sample 23. 8. Complement the side plate to avoid the overturning of the sample frame 8 during the rising process due to the unbalanced placement of the soil sample 23 in the sample frame 8; the rotating telescopic rod 28 pushes the soil sample 23 for the push plate 24 and complements the sample frame 8 side. The plate provides power, and the use effect is good; by arranging a support air bag 11 with an annular structure on the circumferential end face of the base 9 and used to fix the position of the base 9, the expansion of the support air bag 11 is used to realize the fixing between the sampling robot and the exploration well 2 , by fixing the body 16 on the top of the lifting column 13, adjusting the height of the upper surface of the bottom plate of the sample frame 8 and the bottom surface of the soil sample 23 to be equal, and by controlling the rotation of the turntable 10, the limit seat 12, the lifting column 13 and the body 16 are driven. Rotate synchronously until the front opening of the installation groove on the fuselage 16 faces the soil sample 23. The purpose of installing the balance airbag 20 on the back of the fuselage 16 is to use the balance airbag 20 to balance the disturbance of the soil sample 23 to the sample frame 8 during the setting out process. , reliable and stable; the sampling mechanism 17 is arranged in the bottom plate of the fuselage 16, and the sampling power mechanism 18 is used to provide push-pull power for the sampling mechanism 17, the limit plate 17-2 is integrated with the fuselage 16 and the limit plate 17-2 is located in the machine The purpose of setting the limit block 17-3 on the lower edge of the front side of the body 16 is to cooperate with the L-shaped push plate 17-4 to prevent the L-shaped push plate 17-4 from sliding out of the support plate when the L-shaped push plate 17-4 moves on the support plate 17-1. A sampling plate 17-5 is set on the horizontal panel of the plate 17-1 and the L-shaped push plate 17-4, and the sampling plate 17-5 is directly inserted into the bottom of the soil sample by the constant force provided by the sampling power mechanism 18, and the L-shaped push plate 17 The purpose of setting a plurality of lifting buttresses 17-6 between the horizontal panel of -4 and the sampling plate 17-5 is to raise the bottom surface of the obtained soil sample 23 to be flush with the upper surface of the bottom plate of the sample frame 8, so as to facilitate the pushing by the push plate 24 The process of soil sample 23 was smooth and unobstructed.

In this embodiment, the sampling power mechanism 18 is an electric automatic telescopic mechanism, and the electric automatic telescopic mechanism includes two rotating motors 18-1 and a first push-pull telescopic rod 18-1 for pushing and pulling the support plate 17-1. 2 and a second push-pull telescopic rod 18-3 for pushing and pulling the L-shaped push plate 17-4, the first push-pull telescopic rod 18-2 is drive-connected with one of the two rotating motors 18-1, The second push-pull telescopic rod 18-3 is drive-connected with the other of the two rotary electric machines 18-1.

It should be noted that the electric automatic telescopic mechanism adopts the first push-pull telescopic rod 18-2 and the second push-pull telescopic rod 18-3, which can realize the process of pushing and pulling the support plate 17-1 and the L-shaped push plate 17-4 independently of each other. , adapt to a variety of exploration well environmental conditions.

In this embodiment, the base 9 is provided with a first integrated circuit board, and the first integrated circuit board is integrated with a first microcontroller and a first motor connected to the first microcontroller. The output shaft of a motor extends out of the base 9 and is coaxially connected to the turntable 10. The lifting column 13 is an electric lifting column. The electric lifting column, the first air pump 14 and the first solenoid valve 15 are all controlled by the first microcontroller. control;

The body 16 is provided with a second integrated circuit board, the second integrated circuit board is integrated with a second microcontroller, the rotary motor 18-1, the second air pump 18, the second solenoid valve 22 and the mechanical arm 25 are all composed of the second microcontroller controls;

A third integrated circuit board is arranged in the L-shaped push plate 17-4, and a third microcontroller is integrated on the third integrated circuit board. The lifting buttress 17-6 is an electric lifting buttress. controlled by the third microcontroller;

A fourth integrated circuit board is arranged in the sample frame 8, and a fourth microcontroller is integrated on the fourth integrated circuit board. The rotating telescopic rod 28 includes a second motor installed on the outer side wall of the sample frame 8 and a The rotating shaft 30 of the second motor is connected to the multi-section electric push rod and rotates synchronously with the rotating shaft 30. The push plate 24 is fixedly connected to the end of the multi-section electric push rod away from the rotating shaft 30. Controller control.

It should be noted that the first microcontroller, the second microcontroller, the third microcontroller and the fourth microcontroller all use DSP microcontrollers or ARM microcontrollers, and the cooperation of the four microcontrollers can realize sampling Automatic operation of the robot.

In this embodiment, the upper surface of the body 16 is connected to one end of the first hanging rope 4 , the other end of the first hanging rope 4 is connected to the wire rope of the first hoist 3 , and the top of the sample frame 8 is installed with a sample frame Connecting frame 7 , the top end of sample frame connecting frame 7 is connected with one end of second hanging rope 6 , and the other end of second hanging rope 6 is connected with the wire rope of second hoist 5 .

In this embodiment, two outer sides of the body 16 are respectively provided with scraper storage seats 27, the two scraper storage seats 27 are respectively matched with the two mechanical arms 25, the scraper 26 is an iron scraper, A magnet is provided in the shovel storage seat 27 .

It should be noted that the purpose of disposing the scraper storage seats 27 on the two outer sides of the fuselage 16 is to facilitate the storage of the scrapers 26 on the two mechanical arms 25, so as to avoid scratches on the balance airbag 20 by the scrapers 26. 26 is an iron spatula, and the purpose of arranging a magnet in the spatula storage seat 27 is to attract the spatula 26 and to fix the spatula 26 quickly and easily.

In this embodiment, the robotic arm 25 is a serpentine robotic arm.

It should be noted that the purpose of using a serpentine mechanical arm for the manipulator 25 is to facilitate the free turning of the manipulator 25 without disturbing the soil, so as to scrape the side away from the exploration well 2 during the process of scraping the soil sample 23 .

In this embodiment, the ends of the support plate 17-1 and the sampling plate 17-5 away from the balance airbag 20 are both wedge-shaped structures.

It should be noted that the end of the support plate 17-1 away from the balance airbag 20 is a wedge-shaped structure for the purpose of buffering the vibration force when the support plate 17-1 is in contact with the undisturbed soil, and the sampling plate 17-5 is away from the balance airbag 20. The purpose of the wedge-shaped structure at the end of the sample plate 17-5 is to facilitate the rapid insertion of the sampling plate 17-5 to cut the bottom of the soil sample 23 and obtain the soil sample 23.

In this embodiment, the outer surfaces of the support airbag 11 and the balance airbag are provided with a wear-resistant protective layer.

It should be noted that the purpose of setting the wear-resistant protective layer on the outer surfaces of the support airbag 11 and the balance airbag 20 is to improve the strength of the support airbag 11 and the balance airbag 20 and avoid the puncture of the support airbag 11 and the balance airbag 20 by rough soil. .

When the present invention is used, the undisturbed soil body 1 on the site is explored to obtain the position of the soil sample 23 to be taken; the hole forming tool is used to form a hole on the side of the soil sample 23 to be taken in the vertical direction to obtain the exploration well 2 , connect the sampling robot with the wire rope of the first hoist 3, and use the first hoist 3 to lower the sampling robot into the exploration well 2, until the height of the upper surface of the installation groove on the fuselage 16 is lower than the bottom height of the soil sample 23 to be taken , the first winch 3 stops the wire rope lowering work, uses the first winch 3 to continuously suspend the sampling robot, opens the first solenoid valve 15, opens the first air pump 14, and uses the first air pump 14 to inflate the support air bag 11, so that the support air bag 11 It gradually expands and squeezes with the inner wall of the exploration well 2 until the frictional force between the expanded support airbag 11 and the inner wall of the exploration well 2 is greater than the self-weight of the sampling robot, so that the sampling robot is fixed in the exploration well 2, and the first air pump 14 and the first air pump 14 are turned off. A solenoid valve 15; control the lifting column 13 to rise until the initial height of the upper surface of the sampling plate 17-5 is consistent with the bottom surface height of the soil sample 23 to be taken; control the rotation of the turntable 10, and the rotation of the turntable 10 drives the limit seat 12 and the lifting column 13 Rotate synchronously with the fuselage 16 until the front part of the installation groove on the fuselage 16 is open to the soil sample 23 to be taken; turn on the second air pump 19, and use the second air pump 19 to inflate the balance airbag 20, so that the balance airbag 20 is gradually inflated , and squeezed with the inner wall of the exploration well 2;

Connect the sample frame 8 to the wire rope of the second hoist 5, and use the second hoist 5 to lower the sample frame 8 into the installation groove on the fuselage 16, wherein the top opening of the sample frame 8 and the top opening position of the installation groove Consistent, the position of the front opening of the sample frame 8 is the same as that of the front opening of the installation slot, and the rotating telescopic rod 28 rotates and raises the push plate 24 to the top of the front side of the sample frame 8;

According to the size of the sample frame 8 and the sampling requirements, the two mechanical arms 25 on the two outer sides of the fuselage 16 drive the two scrapers 26 to carry out notching sampling on the soil sample 23 of a specified height by grooving. Including the left edge position, right edge position, upper edge position, lower edge position and rear edge position of the soil sample 23; use a rotary motor 18-1 to push the first push-pull telescopic rod 18-2 to extend until the support plate 17 -1 is in contact with the undisturbed soil body 1 at the lower part of the soil sample 23, and another rotating motor 18-1 is used to push the second push-pull telescopic rod 18-3 to extend until the L-shaped push plate 17-4 and the limit block 17 -3 abuts and provides power to the sampling plate 17-5, so that the sampling plate 17-5 is inserted into the bottom of the soil sample 23; control the lifting buttress 17-6 to rise until the upper surface of the sampling plate 17-5 is in contact with the sample frame 8 The inner bottom surface is flush; the first push-pull telescopic rod 18-2 is controlled to retract, so that the sampling plate 17-5 is in contact with the sample frame 8, at this time, the upper surface of the sampling plate 17-5 and the inner bottom surface of the sample frame 8 are connected into one A continuous plane; the rotating telescopic rod 28 rotates the push plate 24 to the rear of the soil sample 23, controls the rotating telescopic rod 28 to retract, and the push plate 24 pushes the soil sample 23 into the sample frame 8 smoothly until the push plate 24 and the sample frame 8 Abut, complete the staking of soil sample 23;

The push plate 24 protects the soil sample 23 in the sample frame 8, and the second hoist 5 is used to lift the sample frame 8 from the installation groove and lift it to the ground to complete the transportation of the soil sample 23; control the second push-pull expansion and contraction The rod 18-3 is retracted, the sampling mechanism 17 is restored to its initial state, the second solenoid valve 22 is controlled to open, the gas in the balance airbag 20 is discharged to the outside through the balance airbag deflation pipe 21 and the air outlet, and at the same time, the gas supporting the airbag 11 is controlled. When discharged to the outside world, the support airbag 11 shrinks to realize the separation of the sampling robot and the exploration well 2, and simultaneously realize the lowering of the soil slag on the sampling robot. The first hoist 3 is used to lift the sampling robot from the exploration well 2 to the ground.

The above are only preferred embodiments of the present invention and do not limit the present invention. Any simple modifications, changes and equivalent structural changes made to the above embodiments according to the technical essence of the present invention still belong to the technology of the present invention. within the scope of the program.

Claims (8)

1. a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: including install first hoist (3) on the ground and Second hoist (5), and cooperate with first hoist (3) and stretch to sampling robots and and volume Two in prospect pit (2) It raises machine (5) cooperation and transfers to the sample pane (8) on the sampling robots, sample pane (8) is that top and front are open Sample pane, the sampling robots include pedestal (9), the turntable (10) being mounted on pedestal (9) and are mounted on turntable (10) And the limit base (12) of the hollow structure for limiting lifting column (13) lift path, the cross section of pedestal (9) and turntable (10) Size is less than the cross sectional dimensions of prospect pit (2), ring structure is provided in the circumferential end faces of pedestal (9) and for fixed pedestal (9) support air bag (11) of position, support air bag (11) are located in the gap between pedestal (9) and prospect pit (2), pedestal (9) Bottom is equipped with for the first air pump (14) for support air bag (11) gas supply, and the first air pump (14) is support air bag (11) gas supply Pipeline on be equipped with the first solenoid valve (15), the top of lifting column (13) is fixedly installed with fuselage (16), the back of fuselage (16) Portion is equipped with balance air bag (20), and venthole and the mounting groove for cooperating with sample pane (8) are offered on fuselage (16), described Mounting groove is top and front is open mounting groove, is offered in the bottom plate of fuselage (16) for for sampling mechanism (17) water Smoothly dynamic sampling mechanism sliding rail (29), fuselage (16) is interior to be provided with balance air bag bleeder pipe (21), mentions for sampling mechanism (17) For the second air pump (19) for pushing and pulling the sampling power mechanism (18) of power and being supplied for balance air bag (20), balance air bag bleeder pipe (21) one end is connected to balance air bag (20), and the other end of balance air bag bleeder pipe (21) is connected to the venthole, balance It is equipped on the pipeline that air bag bleeder pipe (21) is connected to balance air bag (20) second solenoid valve (22), two outsides of fuselage (16) It is respectively arranged on face mechanical arm (25), mechanical arm (25) is equipped with the spatula for cutting soil sample (23) far from the one end of fuselage (16) (26)；It is equipped on the lateral wall of sample pane (8) rotating extensible arm (28), the one end of rotating extensible arm (28) far from fuselage (16) It is fixedly installed with push plate (24)；

Sampling mechanism (17) includes supporting plate (17-1) and is arranged on the supporting plate top (17-1) and is integrated with fuselage (16) Limit plate (17-2), the lower edge that limit plate (17-2) is located on front side of fuselage (16) are provided with limited block (17-3), supporting plate Gap (17-7) is formed between (17-1) and limit plate (17-2), is provided on supporting plate (17-1) and cooperates with limited block (17-3) L shape pushing plate (17-4), the vertical panel of L shape pushing plate (17-4) abuts with limited block (17-3), L shape pushing plate (17-4) Horizontal panel on be provided with sampling plate (17-5), set between the horizontal panel and sampling plate (17-5) of L shape pushing plate (17-4) Be equipped with multiple lifting buttresses (17-6), the thickness of the thickness of the horizontal panel of L shape pushing plate (17-4) and sampling plate (17-5) it Spacing between the upper surface of the lower surface and supporting plate (17-1) less than limited block (17-3).

2. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the sampling engine Structure (18) is electronic auto-telescopic mechanism, and the electronic auto-telescopic mechanism includes two rotating electric machines (18-1) and a use It is pushed away in the first push-and-pull telescopic rod (18-2) of push-and-pull supporting plate (17-1) and one for pushing and pulling the second of L shape pushing plate (17-4) It draws telescopic rod (18-3), the first push-and-pull telescopic rod (18-2) and a rotating electric machine (18-1) in two rotating electric machines (18-1) Transmission connection, the second push-and-pull telescopic rod (18-3) are driven with another rotating electric machine (18-1) in two rotating electric machines (18-1) Connection.

3. a kind of not disturbed soil prospect pit sampling robots according to claim 2, it is characterised in that: in the pedestal (9) Be provided with the first integrated circuit board, be integrated on first integrated circuit board the first microcontroller and with first microcontroller The output shaft of the first motor of device connection, first motor stretches out pedestal (9) and turntable (10) is coaxially connected, and lifting column (13) is electricity Dynamic lifting column, the electric lifting pole, the first air pump (14) and the first solenoid valve (15) are controlled by first microcontroller；

It is provided with the second integrated circuit board in fuselage (16), the second microcontroller is integrated on second integrated circuit board, is revolved Rotating motor (18-1), the second air pump (18), second solenoid valve (22) and mechanical arm (25) are controlled by second microcontroller；

It is provided with third integrated circuit board in L shape pushing plate (17-4), is integrated with third micro-control on the third integrated circuit board Device processed, lifting buttress (17-6) are electric up-down buttress, and the electric up-down buttress is controlled by the third microcontroller；

It is provided with the 4th integrated circuit board in sample pane (8), is integrated with the 4th microcontroller on the 4th integrated circuit board, is revolved Turning telescopic rod (28) includes the second motor being mounted on the lateral wall of sample pane (8) and the shaft (30) with second motor Connection and the multi-lengthed electric push-bar rotated synchronously with shaft (30), push plate (24) and the multi-lengthed electric push-bar are far from shaft (30) One end be fixedly connected, second motor is controlled by the 4th microcontroller.

4. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the fuselage (16) It is connect on upper surface with one end of the first lifting rope (4), the other end of the first lifting rope (4) and the wirerope of first hoist (3) connect It connects, the top of sample pane (8) is equipped with sample pane connection frame (7), top and the second lifting rope (6) of sample pane connection frame (7) One end connection, the other end of the second lifting rope (6) are connect with the wirerope of second hoist (5).

5. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the fuselage (16) Spatula storage seat (27) is respectively arranged on two lateral surfaces, two spatula storages seat (27) are matched with two mechanical arms (25) respectively It closes, spatula (26) is irony spatula, is provided with magnet in spatula storage seat (27).

6. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the mechanical arm (25) For Snakelike mechanical arm.

7. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the supporting plate (17- 1) and the end of sampling plate (17-5) far from balance air bag (20) is wedge structure.

8. a kind of not disturbed soil prospect pit sampling robots described in accordance with the claim 1, it is characterised in that: the support air bag (11) and the outer surface of balance air bag is provided with wear-resistant protective layer.