CN110006689A - A kind of not disturbed soil prospect pit sampling robots - Google Patents
A kind of not disturbed soil prospect pit sampling robots Download PDFInfo
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- CN110006689A CN110006689A CN201910394264.2A CN201910394264A CN110006689A CN 110006689 A CN110006689 A CN 110006689A CN 201910394264 A CN201910394264 A CN 201910394264A CN 110006689 A CN110006689 A CN 110006689A
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- 238000005070 sampling Methods 0.000 title claims abstract description 126
- 239000002689 soil Substances 0.000 title claims abstract description 95
- 230000007246 mechanism Effects 0.000 claims abstract description 38
- 238000012546 transfer Methods 0.000 claims abstract description 4
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 38
- 238000003860 storage Methods 0.000 claims description 11
- 230000005540 biological transmission Effects 0.000 claims description 5
- 239000011241 protective layer Substances 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000014759 maintenance of location Effects 0.000 claims description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 2
- 238000009434 installation Methods 0.000 abstract description 7
- 238000011160 research Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 6
- 230000005465 channeling Effects 0.000 abstract description 4
- 102000001999 Transcription Factor Pit-1 Human genes 0.000 description 13
- 108010040742 Transcription Factor Pit-1 Proteins 0.000 description 13
- 238000000034 method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 3
- 230000001737 promoting effect Effects 0.000 description 3
- 238000012360 testing method Methods 0.000 description 3
- 239000002775 capsule Substances 0.000 description 2
- 238000007790 scraping Methods 0.000 description 2
- 238000005303 weighing Methods 0.000 description 2
- 206010002660 Anoxia Diseases 0.000 description 1
- 241000976983 Anoxia Species 0.000 description 1
- 206010003497 Asphyxia Diseases 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
- 230000007953 anoxia Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 238000009933 burial Methods 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000002893 slag Substances 0.000 description 1
- 238000005527 soil sampling Methods 0.000 description 1
Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N1/00—Sampling; Preparing specimens for investigation
- G01N1/02—Devices for withdrawing samples
- G01N1/04—Devices for withdrawing samples in the solid state, e.g. by cutting
- G01N1/08—Devices for withdrawing samples in the solid state, e.g. by cutting involving an extracting tool, e.g. core bit
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- Physics & Mathematics (AREA)
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Biochemistry (AREA)
- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
- Immunology (AREA)
- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
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
Technical field
The invention belongs to not disturbed soil prospect pit sampling technique fields, and in particular to a kind of not disturbed soil prospect pit sampling machine
People.
Background technique
Currently, in engineering and research work, since machinery takes soil sample that can generate disturbance to the soil body, so, it is terrible
To the true mechanics index of physics of the soil body, it usually needs carry out prospect pit sampling in field.General prospect pit sampling, is to use Luoyang Spade
After Cheng Jingzhi projected depth, then underground entered by veteran worker, top-down carve on the borehole wall takes out different depth
Undisturbed sample (test block that general diameter or side length are 20 centimetres to 30 centimetres), then carrying out sealing with wax storage or directly carries out
The test of site physical index；Prospect pit sampling influences very little to the perturbation of soil, and test data is relatively more accurate, but this method
There are biggish security risks, and in particular with the increase of cutting depth, hidden danger is also increased with it.Because worker is in underground in engineering
Casualty accident is also commonplace caused by operation, injures by a crashing object as well head rubble is fallen, and anoxia asphyxia is dead in well or even the borehole wall collapses
Collapse burial etc., these hidden danger cause great harm the personal safety of worker.
Summary of the invention
In view of the above-mentioned deficiencies in the prior art, the technical problem to be solved by the present invention is that providing a kind of not disturbed soil
Prospect pit sampling robots, it is novel in design that the fixation realized between sampling robots and prospect pit is rationally expanded using support air bag,
Using robot channeling sampling, using the acquisition soil sample of sampling mechanism exactly, during balance air bag balance setting-out
Disturbance of the soil sample to sample pane, can make worker under the premise of not entering in well, disturbed soil be taken out, to guarantee the people of worker
Body safety, while also having the advantages that small in size, light weight, intelligence degree be high, high-efficient, less investment, it can be widely used for respectively
The sampling of the class soil body, provides good research sample for scientific research and design, convenient for promoting the use of.
In order to solve the above technical problems, the technical solution adopted by the present invention is that: a kind of not disturbed soil prospect pit sampling robots,
It is characterized by comprising the first hoist and second hoist of installation on the ground, and cooperate and stretch with first hoist
Enter the sampling robots to prospect pit and cooperates with second hoist and transfer to the sample pane on the sampling robots, sample
Frame is the open sample pane in top and front, and the sampling robots include pedestal, installation turntable on the base and installation
The cross sectional dimensions of the limit base of hollow structure on turntable and for limiting lifting column lift path, pedestal and turntable is less than
The cross sectional dimensions of prospect pit is provided with ring structure in the circumferential end faces of pedestal and is used for the support air bag of fixed pedestal position,
For support air bag in the gap between pedestal and prospect pit, the bottom of pedestal is equipped with the first gas for supplying for support air bag
Pump, the first air pump are equipped with the first solenoid valve on the pipeline for support air bag gas supply, and the top of lifting column is fixedly installed with fuselage,
The back of fuselage is equipped with balance air bag, and venthole and the mounting groove for cooperating with sample pane, the peace are offered on fuselage
Tankage is top and front is open mounting groove, offers in the bottom plate of fuselage and takes for what is slided for sampling mechanism level
Model machine structure sliding rail, balance air bag bleeder pipe is provided in fuselage, provided for sampling mechanism push-and-pull power sampling power mechanism and
For the second air pump of balance air bag gas supply, one end of balance air bag bleeder pipe is connected to balance air bag, balance air bag bleeder pipe
The other end is connected to the venthole, is equipped with second solenoid valve on the pipeline that balance air bag bleeder pipe is connected to balance air bag,
Mechanical arm is respectively arranged on two lateral surfaces of fuselage, mechanical arm is equipped with the spatula for cutting soil sample far from one end of fuselage；Sample
Rotating extensible arm is installed, rotating extensible arm is fixedly installed with push plate far from one end of fuselage on the lateral wall of this frame；
Sampling mechanism includes supporting plate and supporting plate top is arranged in and is integrated with fuselage limit plate, and limit plate is located at
Lower edge on front side of fuselage is provided with limited block, forms gap between supporting plate and limit plate, is provided with and limits on supporting plate
The L shape pushing plate of block cooperation, the vertical panel of L shape pushing plate are abutted with limited block, are provided on the horizontal panel of L shape pushing plate
Sampling plate is provided with multiple lifting buttresses, the horizontal panel of L shape pushing plate between the horizontal panel and sampling plate of L shape pushing plate
Thickness and the sum of the thickness of sampling plate be less than the spacing between the lower surface of limited block and the upper surface of supporting plate.
A kind of above-mentioned not disturbed soil prospect pit sampling robots, it is characterised in that: the sampling power mechanism be it is electronic oneself
Dynamic telescoping mechanism, the electronic auto-telescopic mechanism include that two rotating electric machines and one push away for pushing and pulling the first of supporting plate
Draw telescopic rod and a second push-and-pull telescopic rod for pushing and pulling L shape pushing plate, the first push-and-pull telescopic rod and two rotating electric machines
In a rotating electric machine transmission connection, second push-and-pull telescopic rod and two rotating electric machines in another rotating electric machine transmission company
It connects.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: it is integrated that first is provided in the pedestal
Circuit board, the first electricity for being integrated with the first microcontroller on first integrated circuit board and being connect with first microcontroller
The output shaft of machine, first motor stretches out pedestal and turntable is coaxially connected, and lifting column is electric lifting pole, the electric lifting pole,
First air pump and the first solenoid valve are controlled by first microcontroller；
It is provided with the second integrated circuit board in fuselage, the second microcontroller is integrated on second integrated circuit board, revolves
Rotating motor, the second air pump, second solenoid valve and mechanical arm are controlled by second microcontroller；
It is provided with third integrated circuit board in L shape pushing plate, is integrated with third microcontroller on the third integrated circuit board
Device, lifting buttress 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, is integrated with the 4th microcontroller on the 4th integrated circuit board,
Rotating extensible arm include the second motor being mounted on the lateral wall of sample pane and connect with the shaft of second motor and with
The multi-lengthed electric push-bar that shaft rotates synchronously, push plate is fixedly connected with the multi-lengthed electric push-bar far from one end of shaft, described
Second motor is controlled by the 4th microcontroller.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: with first on the upper surface of the fuselage
One end of lifting rope connects, and the other end of the first lifting rope and the wirerope of first hoist connect, and the top of sample pane is equipped with sample
This frame connection frame, the top of sample pane connection frame are connect with one end of the second lifting rope, the other end of the second lifting rope and the second elevator
The wirerope of machine connects.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: on two lateral surfaces of the fuselage respectively
It is provided with spatula storage seat, two spatula storage seats cooperate with two mechanical arms respectively, and spatula is irony spatula, and spatula stores seat
Inside it is provided with magnet.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: the mechanical arm is Snakelike mechanical arm.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: the supporting plate and sampling plate are far from flat
The end of weighing apparatus air bag is wedge structure.
Above-mentioned a kind of not disturbed soil prospect pit sampling robots, it is characterised in that: the support air bag and balance air bag
Outer surface is provided with wear-resistant protective layer.
Compared with the prior art, the present invention has the following advantages:
1, the present invention stretches to the sampling robots in prospect pit by first hoist suspention, is suspended in midair by second hoist
Sample pane while support air bag supports sampling robots, utilizes the first elevator when sample pane carries soil sample on ground
Machine is that sampling robots play the role of suspending in midair safely, avoids sampling robots and ground lost contact, and sample pane is top and front
The purpose of open sample pane is on the one hand to carry out from the front of sample pane into sample pane convenient for soil sample, on the other hand convenient for from
The case where ground top observation soil sample enters sample pane；Rotating extensible arm, rotating extensible arm are installed on the lateral wall of sample pane
One end far from fuselage is fixedly installed with push plate, and the setting one of push plate is easy for pushing soil sample, realizes that soil sample is moved to sample pane
It is interior, second is that being the sample pane completion side plate equipped with soil sample, avoids placing imbalance in sample pane due to soil sample, lead to sample pane
Overturning in uphill process；Rotating extensible arm pushes soil sample and completion sample pane side plate to provide power, using effect for push plate
It is good.
2, the present invention in the circumferential end faces of pedestal by being arranged ring structure and for the support gas of fixed pedestal position
Capsule realizes the fixation between sampling robots and prospect pit using the expansion of support air bag, by the way that fuselage is fixedly mounted on lifting
The top of column, adjusts sample pane plate upper surface and soil sample bottom surface is contour, is rotated by control turntable, and then drive limit base,
Lifting column and body synch rotation, until the mounting groove front opening face soil sample on fuselage, Balance Air is installed at the back of fuselage
The purpose of capsule is using disturbance of the soil sample to sample pane during balance air bag balance setting-out, and reliable and stable, using effect is good.
3, the present invention is novel in design reasonable, and small in size, sampling mechanism is arranged in the bottom plate of fuselage, utilizes sampling engine
Structure provides push-and-pull power for sampling mechanism, and limit plate and fuselage are integrated and limit plate is located at the setting of the lower edge on front side of fuselage and limits
The purpose of position block is cooperated with L shape pushing plate, avoids L shape pushing plate when moving on supporting plate, skids off supporting plate, the push of L shape
Sampling plate, and the bottom determined power and be inserted directly into soil sample that sampling plate is provided by sampling power mechanism are set on the horizontal panel of plate
Portion, the purpose that multiple lifting buttresses are arranged between the horizontal panel and sampling plate of L shape pushing plate is the soil sample bottom surface liter that will acquire
It is up to concordant with sample pane plate upper surface, it pushes the process of soil sample steady convenient for push plate, does not stop, convenient for promoting the use of.
In conclusion the present invention is novel in design rationally, is expanded and realized between sampling robots and prospect pit using support air bag
Fixation using the acquisition soil sample of sampling mechanism exactly, balance air bag is utilized to balance setting-out using robot channeling sampling
Disturbance of the soil sample to sample pane in the process can make worker under the premise of not entering in well, disturbed soil be taken out, to guarantee work
The personal safety of people, while also having the advantages that small in size, light weight, intelligence degree be high, high-efficient, less investment, it can be extensive
It is sampled for all kinds of soil bodys, provides good research sample for scientific research and design, convenient for promoting the use of.
Below by drawings and examples, technical scheme of the present invention will be described in further detail.
Detailed description of the invention
Fig. 1 is the structural diagram of the present invention.
Fig. 2 is the structural schematic diagram that sampling mechanism of the present invention does not extend out.
Fig. 3 is the structural schematic diagram that sampling mechanism of the present invention stretches out.
Fig. 4 is the structural schematic diagram that sampling mechanism of the present invention stretches out and sampling plate rises.
Fig. 5 is the positional diagram of not disturbed soil prospect pit sampling robots, prospect pit and soil sample of the invention.
Fig. 6 is the usage state diagram that sampling mechanism stretches out in Fig. 5 and sampling plate rises.
Fig. 7 is the usage state diagram of soil sample setting-out of the present invention.
Description of symbols:
1-not disturbed soil；2-prospect pits；3-first hoist；
4-the first lifting rope；5-second hoist；6-the second lifting rope；
7-sample pane connection frames；8-sample panes；9-pedestals；
10-turntables；11-support air bags；12-limit bases；
13-lifting columns；14-the first air pump；15-the first solenoid valve；
16-fuselages；17-sampling mechanisms；17-1-supporting plate；
17-2-limit plate；17-3-limited block；17-4-L shape pushing plate；
17-5-sampling plate；17-6-lifting buttress；17-7-gap；
18-sampling power mechanisms；18-1-rotating electric machine；
18-2-first pushes and pulls telescopic rod；18-3-second pushes and pulls telescopic rod；
19-the second air pump；20-balance air bags；21-balance air bag bleeder pipes；
22-second solenoid valves；23-soil samples；24-push plates；
25-mechanical arms；26-spatuves；27-spatuves store seat；
28-rotating extensible arms；29-sampling mechanism sliding rails；30-shafts.
Specific embodiment
As shown in Figures 1 to 7, the present invention includes the first hoist 3 and second hoist 5 of installation on the ground, and
Cooperate with the cooperation of first hoist 3 and the sampling robots stretched in prospect pit 2 and with second hoist 5 and decentralization takes to described
Sample pane 8 in sample robot, sample pane 8 are the open sample pane in top and front, and the sampling robots include pedestal
9, the turntable 10 that is mounted on pedestal 9 and it is mounted on hollow structure on turntable 10 and for limiting 13 lift path of lifting column
The cross sectional dimensions of limit base 12, pedestal 9 and turntable 10 is less than the cross sectional dimensions of prospect pit 2, is arranged in the circumferential end faces of pedestal 9
There is ring structure and is used for the support air bag 11 of 9 position of fixed pedestal, sky of the support air bag 11 between pedestal 9 and prospect pit 2
In gap, the bottom of pedestal 9 is equipped with the first air pump 14 for supplying for support air bag 11, and the first air pump 14 is support air bag 11
First solenoid valve 15 is installed, the top of lifting column 13 is fixedly installed with fuselage 16, the back peace of fuselage 16 on the pipeline of gas supply
Equipped with balance air bag 20, venthole and the mounting groove for cooperating with sample pane 8 are offered on fuselage 16, the mounting groove is top
Portion and front are open mounting groove, are offered in the bottom plate of fuselage 16 for the sampler for the horizontal sliding of sampling mechanism 17
Structure sliding rail 29 is provided with balance air bag bleeder pipe 21 in fuselage 16, provides the sampling engine of push-and-pull power for sampling mechanism 17
Structure 18 and the second air pump 19 supplied for balance air bag 20, one end of balance air bag bleeder pipe 21 are connected to balance air bag 20, are put down
The other end of weighing apparatus air bag bleeder pipe 21 is connected to the venthole, the pipeline that balance air bag bleeder pipe 21 is connected to balance air bag 20
On second solenoid valve 22 is installed, mechanical arm 25 is respectively arranged on two lateral surfaces of fuselage 16, mechanical arm 25 is far from fuselage 16
One end the spatula 26 for cutting soil sample 23 is installed；Rotating extensible arm 28, rotating extensible arm are installed on the lateral wall of sample pane 8
28 one end far from fuselage 16 are fixedly installed with push plate 24；
Sampling mechanism 17 includes supporting plate 17-1 and the limit that the top supporting plate 17-1 is arranged in and is integrated with fuselage 16
The lower edge that plate 17-2, limit plate 17-2 are located at 16 front side of fuselage is provided with limited block 17-3, supporting plate 17-1 and limit plate 17-
Gap 17-7 is formed between 2, and L shape pushing plate 17-4, L the shape pushing plate with limited block 17-3 cooperation is provided on supporting plate 17-1
The vertical panel of 17-4 is abutted with limited block 17-3, is provided with sampling plate 17-5, L shape on the horizontal panel of L shape pushing plate 17-4
The water of multiple lifting buttress 17-6, L shape pushing plate 17-4 is provided between the horizontal panel and sampling plate 17-5 of pushing plate 17-4
The sum of thickness and the thickness of sampling plate 17-5 of surface plate are less than the lower surface and the upper surface of supporting plate 17-1 of limited block 17-3
Between spacing.
It should be noted that suspending the sampling robots stretched in prospect pit 2 in midair by first hoist 3, pass through volume Two
It raises machine 5 and suspends sample pane 8 in midair, when sample pane 8 carries soil sample 23 on ground, support air bag 11 supports the same of sampling robots
When, it is that sampling robots play the role of suspending in midair safely using first hoist 3, avoids sampling robots and ground lost contact, sample
This frame 8 is that the purpose of the open sample pane in top and front is on the one hand to be entered convenient for soil sample 23 from the front of sample pane 8
Sample pane 8, on the other hand convenient for the case where soil sample 23 enters sample pane 8 from the top of ground；Pacify on the lateral wall of sample pane 8
Equipped with rotating extensible arm 28, rotating extensible arm 28 is fixedly installed with push plate 24, the setting one of push plate 24 far from one end of fuselage 16
It is easy for pushing soil sample 23, realizes that soil sample 23 is moved in sample pane 8, second is that be the 8 completion side plate of sample pane equipped with soil sample 23,
It avoids placing imbalance in sample pane 8 due to soil sample 23, leads to the overturning in 8 uphill process of sample pane；Rotating extensible arm 28
Soil sample 23 and 8 side plate of completion sample pane is pushed to provide power for push plate 24, using effect is good；By at the circumferential end of pedestal 9
Ring structure is set on face and is used for the support air bag 11 of 9 position of fixed pedestal, realizes sampling using the expansion of support air bag 11
Fixation between robot and prospect pit 2 adjusts 8 bottom plate of sample pane by the way that fuselage 16 to be fixedly mounted on to the top of lifting column 13
Upper surface and 23 bottom surface of soil sample are contour, are rotated by control turntable 10, and then drive limit base 12, lifting column 13 and fuselage 16 same
Step rotation, until the mounting groove front opening face soil sample 23 on fuselage 16, the mesh of the back installation balance air bag 20 of fuselage 16
Be using balance air bag 20 balance setting-out during disturbance of the soil sample 23 to sample pane 8, it is reliable and stable；Sampling mechanism 17 is arranged
It is that sampling mechanism 17 provides push-and-pull power, limit plate 17-2 and fuselage using sampling power mechanism 18 in the bottom plate of fuselage 16
16 are integrated and the purpose of lower edge setting limited block 17-3 that limit plate 17-2 is located at the front side of fuselage 16 is and L shape pushing plate
17-4 cooperation, avoids L shape pushing plate 17-4 when moving on supporting plate 17-1, skids off supporting plate 17-1, L shape pushing plate 17-4's
Sampling plate 17-5 is set on horizontal panel, and sampling plate 17-5 is inserted directly into soil sample by the power of determining that sampling power mechanism 18 provides
Bottom, be arranged between the horizontal panel and sampling plate 17-5 of L shape pushing plate 17-4 it is multiple lifting buttress 17-6 purposes be by
23 bottom surface of soil sample of acquisition be increased to it is concordant with 8 plate upper surface of sample pane, convenient for push plate 24 push soil sample 23 process it is steady,
Do not stop.
In the present embodiment, the sampling power mechanism 18 is electronic auto-telescopic mechanism, the electronic auto-telescopic mechanism
It is used to push and pull the first push-and-pull telescopic rod 18-2 of supporting plate 17-1 including two rotating electric machine 18-1 and one and one is used for
It pushes and pulls in the second push-and-pull telescopic rod 18-3, the first push-and-pull telescopic rod 18-2 and two rotating electric machine 18-1 of L shape pushing plate 17-4
A rotating electric machine 18-1 transmission connection, second push-and-pull telescopic rod 18-3 and two rotating electric machine 18-1 in another rotate
Motor 18-1 transmission connection.
It should be noted that electronic auto-telescopic mechanism is using the first push-and-pull telescopic rod 18-2 and the second push-and-pull telescopic rod
18-3, it can be achieved that push-and-pull supporting plate 17-1 and push and pull L shape pushing plate 17-4 process it is mutually indepedent, adapt to various prospect pit environment items
Part.
In the present embodiment, it is provided with the first integrated circuit board in the pedestal 9, is integrated on first integrated circuit board
First microcontroller and the first motor connecting with first microcontroller, the output shaft of first motor stretch out pedestal 9 and turn
Disk 10 is coaxially connected, lifting column 13 be electric lifting pole, the electric lifting pole, the first air pump 14 and the first solenoid valve 15 by
The first microcontroller control；
It is provided with the second integrated circuit board in fuselage 16, is integrated with the second microcontroller on second integrated circuit board,
Rotating electric machine 18-1, the second air pump 18, second solenoid valve 22 and mechanical arm 25 are controlled by second microcontroller；
Third integrated circuit board is provided in L shape pushing plate 17-4, it is micro- to be integrated with third on the third integrated circuit board
Controller, 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,
Rotating extensible arm 28 includes the second motor being mounted on the lateral wall of sample pane 8 and connect with the shaft 30 of second motor
And the multi-lengthed electric push-bar rotated synchronously with shaft 30, push plate 24 are fixed with the multi-lengthed electric push-bar far from one end of shaft 30
Connection, second motor are controlled by the 4th microcontroller.
It should be noted that the first microcontroller, the second microcontroller, third microcontroller and the 4th microcontroller are adopted
The automatic running of sampling robots can be achieved with the cooperation of DSP microcontroller or ARM microcontroller, four microcontrollers.
In the present embodiment, connect on the upper surface of the fuselage 16 with one end of the first lifting rope 4, the first lifting rope 4 it is another
End is connect with the wirerope of first hoist 3, and the top of sample pane 8 is equipped with sample pane connection frame 7, sample pane connection frame 7
Top is connect with one end of the second lifting rope 6, and the other end of the second lifting rope 6 is connect with the wirerope of second hoist 5.
In the present embodiment, spatula storage seat 27, two spatula storages are respectively arranged on two lateral surfaces of the fuselage 16
Seat 27 cooperates with two mechanical arms 25 respectively, and spatula 26 is irony spatula, is provided with magnet in spatula storage seat 27.
It should be noted that the purpose that spatula storage seat 27 is respectively set on two lateral surfaces of fuselage 16 is easy for storage two
Spatula 26 on a mechanical arm 25 avoids scratch of the spatula 26 to balance air bag 20, and spatula 26 is irony spatula, and spatula stores seat
The purpose of setting magnet is the attraction realized to spatula 26 in 27, convenient for efficiently fixing spatula 26.
In the present embodiment, the mechanical arm 25 is Snakelike mechanical arm.
It should be noted that mechanical arm 25 is easy for mechanical arm 25 in not disturbed soil using the purpose of Snakelike mechanical arm
It freely turns, realizes during scraping soil sampling 23 to the scraping of the one side far from prospect pit 2.
In the present embodiment, the end of the supporting plate 17-1 and sampling plate 17-5 far from balance air bag 20 is wedge-shaped knot
Structure.
It should be noted that the purpose that end of the supporting plate 17-1 far from balance air bag 20 is wedge structure is buffering support
Plate 17-1 and shaking force when disturbed soil does not contact, end of the sampling plate 17-5 far from balance air bag 20 are the purpose of wedge structure
Sampling plate 17-5 quick insertion is easy for the bottom of the soil sample 23 cut, obtains soil sample 23.
In the present embodiment, the outer surface of the support air bag 11 and balance air bag is provided with wear-resistant protective layer.
It should be noted that the purpose that the outer surface of support air bag 11 and balance air bag 20 is respectively provided with wear-resistant protective layer is to mention
The intensity of high support air bag 11 and balance air bag 20 avoids coarse soil property stabbing to support air bag 11 and balance air bag 20.
The present invention in use, to scene not disturbed soil 1 explore, obtain the position of soil sample 23 to be taken；It utilizes
Flow pore-forming tool carries out pore-forming in the side of 23 vertical direction of soil sample to be taken, and prospect pit 2 is obtained, by sampling robots and the first elevator
The wirerope of machine 3 connects, and is transferred sampling robots to prospect pit 2 using first hoist 3, until the mounting groove on fuselage 16
Upper level be lower than soil sample 23 to be taken bottom level, first hoist 3 stop wirerope transfer work, utilize first
Hoist engine 3 persistently suspends sampling robots in midair, opens the first solenoid valve 15, opens the first air pump 14, is using the first air pump 14
Support air bag 11 is inflated, and expands support air bag 11 gradually, and is squeezed with the inner wall of prospect pit 2, until the support air bag after expansion
Frictional force between 11 and 2 inner wall of prospect pit is self-possessed greater than sampling robots, and sampling robots are fixed in prospect pit 2 by realization, is closed
Close the first air pump 14 and the first solenoid valve 15；Control lifting column 13 rise, until sampling plate 17-5 upper surface elemental height with to
The floor height of the soil sample 23 taken is consistent；It controls turntable 10 to rotate, the rotation of turntable 10 drives limit base 12, lifting column 13 and fuselage
16 rotate synchronously, until the mounting groove front opening on fuselage 16 just treats the soil sample 23 taken；The second air pump 19 is opened, utilizes
Two air pumps 19 are the inflation of balance air bag 20, expand balance air bag 20 gradually, and are squeezed with the inner wall of prospect pit 2；
Sample pane 8 is connect with the wirerope of second hoist 5, is transferred sample pane 8 to fuselage using second hoist 5
In mounting groove on 16, wherein the open top of sample pane 8 and the open top position consistency of mounting groove, the front of sample pane 8
Open consistent with the front open position of mounting groove, rotating extensible arm 28 rises to the rotation of push plate 24 on the front side of sample pane 8
Side；
According to the size of sample pane 8 and sampling demand, two mechanical arms 25 on two lateral surfaces of fuselage 16 drive two
A spatula 26 carries out channeling sampling to the soil sample of specified altitude assignment 23 by way of cutting, and cutting position includes the left side of soil sample 23
Edge position, right edge position, upper marginal position, lower edge position and back edge position；It is worked using a rotating electric machine 18-1
The first push-and-pull telescopic rod 18-2 is pushed to stretch out, until supporting plate 17-1 abuts with the not disturbed soil 1 of 23 lower part of soil sample, using another
One rotating electric machine 18-1 Work Promote second pushes and pulls telescopic rod 18-3 and stretches out, until L shape pushing plate 17-4 and limited block 17-3
It abuts, and sampling plate 17-5 power is provided, sampling plate 17-5 is made to be inserted into 23 bottom of soil sample；Control lifting buttress 17-6 rises,
Until the upper surface of sampling plate 17-5 is concordant with the inner bottom surface of sample pane 8；The first push-and-pull of control telescopic rod 18-2 is retracted, and makes to sample
Plate 17-5 is contacted with sample pane 8, at this point, the upper surface of sampling plate 17-5 is connected continuous for one with the inner bottom surface of sample pane 8
Plane；Rotating extensible arm 28 rotates push plate 24 to the rear of soil sample 23, controls rotating extensible arm 28 and retracts, push plate 24 pushes soil
Sample 23 steadily enters in sample pane 8, until push plate 24 is abutted with sample pane 8, completes the setting-out of soil sample 23；
Push plate 24 carries out enclosing protection to the soil sample 23 in sample pane 8, using second hoist 5 by sample pane 8 from installation
Lift in slot, and be promoted on ground, completes the transport of soil sample 23；The second push-and-pull of control telescopic rod 18-3 is retracted, and makes sampler
Structure 17 restPoses, and control second solenoid valve 22 is opened, and the gas in balance air bag 20 is through 21 He of balance air bag bleeder pipe
Venthole is emitted into the external world, meanwhile, the gas of control support air bag 11 is emitted into the external world, and support air bag 11 is shunk, and realizes sampling
The separation of robot and prospect pit 2, while realizing the decentralization of native slag on sampling robots, machine will be sampled using first hoist 3
People is promoted to ground from prospect pit 2.
The above is only presently preferred embodiments of the present invention, is not intended to limit the invention in any way, it is all according to the present invention
Technical spirit any simple modification to the above embodiments, change and equivalent structural changes, still fall within skill of the present invention
In the protection scope of art scheme.
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.
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| CN201910394264.2A CN110006689B (en) | 2019-05-13 | 2019-05-13 | Sampling robot without disturbing earth exploratory well |
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| CN201910394264.2A CN110006689B (en) | 2019-05-13 | 2019-05-13 | Sampling robot without disturbing earth exploratory well |
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| CN116972226A (en) * | 2023-08-21 | 2023-10-31 | 江苏江中集团有限公司 | Installation equipment for splicing auxiliary air pipes in narrow vertical shaft and construction method of installation equipment |
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