CN110006689B - Sampling robot without disturbing earth exploratory well - Google Patents
Sampling robot without disturbing earth exploratory well Download PDFInfo
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- CN110006689B CN110006689B CN201910394264.2A CN201910394264A CN110006689B CN 110006689 B CN110006689 B CN 110006689B CN 201910394264 A CN201910394264 A CN 201910394264A CN 110006689 B CN110006689 B CN 110006689B
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- 238000005070 sampling Methods 0.000 title claims abstract description 125
- 239000002689 soil Substances 0.000 claims abstract description 86
- 239000000523 sample Substances 0.000 claims description 139
- 229910000831 Steel Inorganic materials 0.000 claims description 9
- 239000010959 steel Substances 0.000 claims description 9
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 6
- 229910052742 iron Inorganic materials 0.000 claims description 4
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 claims description 3
- 238000007790 scraping Methods 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims 3
- 238000000034 method Methods 0.000 abstract description 13
- 238000011160 research Methods 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 4
- 238000012360 testing method Methods 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000001276 controlling effect Effects 0.000 description 2
- 239000010410 layer Substances 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 206010003497 Asphyxia Diseases 0.000 description 1
- 208000025962 Crush injury Diseases 0.000 description 1
- 206010021143 Hypoxia Diseases 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 238000009412 basement excavation Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000000295 complement effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000007954 hypoxia 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
- 239000011241 protective layer Substances 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/30—Assessment of water resources
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- General Health & Medical Sciences (AREA)
- General Physics & Mathematics (AREA)
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- Pathology (AREA)
- Sampling And Sample Adjustment (AREA)
Abstract
The invention discloses a sampling robot without disturbing a soil exploratory well, which comprises a first winch and a second winch which are arranged on the ground, a sampling robot which is matched with the first winch and stretches into the exploratory well, and a sample frame which is matched with the second winch and descends onto the sampling robot. According to the invention, the support air bag is used for expanding to realize the fixation between the sampling robot and the exploratory well, the robot is used for grooving and sampling, the sampling mechanism is used for stably and accurately acquiring the soil sample, and the balance air bag is used for balancing the disturbance of the soil sample to the sample frame in the sampling process, so that a worker can take out undisturbed soil on the premise of not entering the well, thereby ensuring the personal safety of the worker, and the soil sampler is small in volume, light in weight and high in intelligent degree, can be widely used for sampling various soil bodies, and provides a high-quality research sample for scientific research design.
Description
Technical Field
The invention belongs to the technical field of undisturbed soil exploratory well sampling, and particularly relates to a undisturbed soil exploratory well sampling robot.
Background
At present, in engineering and scientific research work, soil body is disturbed due to the fact that soil samples are mechanically taken, so that in order to obtain real physical and mechanical indexes of the soil body, exploratory well sampling is usually needed in the field. The general exploratory well sampling is that after a Luoyang shovel is used for well formation to a designed depth, a worker with rich experience enters the well, undisturbed soil samples with different depths (test blocks with general diameters or side lengths of 20 cm to 30 cm) are carved out from top to bottom on the well wall, and then wax sealing storage or direct on-site physical index test is carried out; the disturbance effect of the exploratory well sampling on the soil is small, the test data are relatively more accurate, but the method has larger potential safety hazards, and particularly the potential hazards are increased along with the increase of the excavation depth. Casualties caused by underground operation of workers in engineering are frequent, such as falling and crushing of broken stones at a wellhead, death due to hypoxia and asphyxia in the well, even collapse and burying of a well wall and the like, and the hidden dangers cause great harm to personal safety of the workers.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides the undisturbed soil exploratory well sampling robot which is novel and reasonable in design, realizes the fixation between the sampling robot and the exploratory well by using the expansion of the supporting air bag, stably and accurately acquires a soil sample by using the robot grooving sampling, balances the disturbance of the soil sample to a sample frame in the sampling process by using the balancing air bag, can enable workers to take out undisturbed soil on the premise of not entering the well, ensures the personal safety of the workers, has the advantages of small volume, light weight, high intelligent degree, high efficiency and less investment, can be widely used for sampling various soil bodies, provides high-quality research samples for scientific research design, and is convenient to popularize and use.
In order to solve the technical problems, the invention adopts the following technical scheme: the utility model provides a non-disturbing soil probe well sampling robot which characterized in that: the device comprises a first winch and a second winch which are installed on the ground, a sampling robot matched with the first winch and extending into a exploratory well, and a sample frame matched with the second winch and downwards placed on the sampling robot, wherein the sample frame is a sample frame with the top and the front being opened, the sampling robot comprises a base, a turntable installed on the base and a limit seat of a hollow structure installed on the turntable and used for limiting a lifting path of a lifting column, the cross section size of the base and the turntable is smaller than the cross section size of the exploratory well, a supporting air bag which is provided with an annular structure and used for fixing the position of the base is arranged on the circumferential end face of the base, the supporting air bag is located in a gap between the base and the exploratory well, a first air pump used for supporting the air bag is installed at the bottom of the base, a first electromagnetic valve is installed on a pipeline for supporting the air bag for supplying air, a balance air bag is fixedly installed at the top end of the lifting column, a balancing air bag is installed at the back of the machine body, an air outlet hole and a mounting groove matched with the sample frame are formed in the machine body, the mounting groove is a bottom plate of the top and the front is provided with the hollow structure, the cross section size of the base is smaller than the cross section size of the exploratory well, the base is provided with a vent mechanism, the vent mechanism is arranged in the machine body is provided with a vent tube, the two side of the air bags is provided with a vent tube and the two side of the air bags and the air vent mechanism is provided with the vent mechanism and the air vent mechanism is arranged far from the side of the air sampling mechanism and the air sampling mechanism is arranged in the air vent mechanism and the air vent mechanism is arranged far from the side of the air well and the air well; a rotary telescopic rod is arranged on the outer side wall of the sample frame, and a push plate is fixedly arranged at one end of the rotary telescopic rod, which is far away from the machine body;
the sampling mechanism comprises a supporting plate and a limiting plate which is arranged on the upper portion of the supporting plate and integrated with the machine body, a limiting block is arranged on the lower edge of the limiting plate, a gap is formed between the supporting plate and the limiting plate, an L-shaped pushing plate matched with the limiting block is arranged on the supporting plate, a vertical panel of the L-shaped pushing plate is abutted to the limiting block, a sampling plate is arranged on a horizontal panel of the L-shaped pushing plate, a plurality of lifting buttresses are arranged between the horizontal panel of the L-shaped pushing plate and the sampling plate, and the sum of the thickness of the horizontal panel of the L-shaped pushing plate and the thickness of the sampling plate is smaller than the interval between the lower surface of the limiting block and the upper surface of the supporting plate.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: the sampling power mechanism is an electric automatic telescopic mechanism, the electric automatic telescopic mechanism comprises two rotating motors, a first push-pull telescopic rod used for pushing and pulling the supporting plate and a second push-pull telescopic rod used for pushing and pulling the L-shaped pushing plate, the first push-pull telescopic rod is in transmission connection with one of the two rotating motors, and the second push-pull telescopic rod is in transmission connection with the other of the two rotating motors.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: a first integrated circuit board is arranged in the base, a first microcontroller and a first motor connected with the first microcontroller are integrated on the first integrated circuit board, an output shaft of the first motor extends out of the base and is coaxially connected with the turntable, the lifting column is an electric lifting column, and the electric lifting column, the first air pump and the first electromagnetic valve are controlled by the first microcontroller;
a second integrated circuit board is arranged in the machine body, a second microcontroller is integrated on the second integrated circuit board, and the rotating motor, the second air pump, the second electromagnetic valve and the mechanical arm are controlled by the second microcontroller;
a third integrated circuit board is arranged in the L-shaped pushing plate, a third microcontroller is integrated on the third integrated circuit board, the lifting buttress is an electric lifting buttress, and the electric lifting buttress is controlled by the third microcontroller;
the sample frame is internally provided with a fourth integrated circuit board, a fourth microcontroller is integrated on the fourth integrated circuit board, the rotary telescopic rod comprises a second motor arranged on the outer side wall of the sample frame and a plurality of sections of electric push rods connected with a rotating shaft of the second motor and synchronously rotating along with the rotating shaft, a push plate is fixedly connected with one end, far away from the rotating shaft, of the plurality of sections of electric push rods, and the second motor is controlled by the fourth microcontroller.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: the upper surface of the machine body is connected with one end of a first lifting rope, the other end of the first lifting rope is connected with a steel wire rope of a first winch, a sample frame connecting frame is installed at the top end of a sample frame, the top end of the sample frame connecting frame is connected with one end of a second lifting rope, and the other end of the second lifting rope is connected with the steel wire rope of a second winch.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: two outer side surfaces of the machine body are respectively provided with a spatula containing seat, the two spatula containing seats are respectively matched with the two mechanical arms, the spatula is an iron spatula, and a magnet is arranged in the spatula containing seat.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: the mechanical arm is a snake-shaped mechanical arm.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: the end parts of the bearing plate and the sampling plate, which are far away from the balance air bags, are of wedge-shaped structures.
Foretell a do not disturb soil probe well sampling robot, its characterized in that: the outer surfaces of the supporting air bag and the balance air bag are provided with wear-resistant protection layers.
Compared with the prior art, the invention has the following advantages:
1. according to the invention, the sampling robot extending into the exploratory well is suspended by the first winch, the sample frame is suspended by the second winch, when the sample frame carries a soil sample to the ground, the sampling robot is supported by the supporting air bag, and meanwhile, the sampling robot is safely suspended by the first winch, so that the sampling robot is prevented from being in a non-connection with the ground, and the purpose that the sample frame is the sample frame with the top and the front open is to facilitate the soil sample to enter the sample frame from the front of the sample frame, and to observe the condition that the soil sample enters the sample frame from the upper part of the ground; the outer side wall of the sample frame is provided with a rotary telescopic rod, one end of the rotary telescopic rod, which is far away from the machine body, is fixedly provided with a push plate, the push plate is arranged to facilitate pushing of a soil sample, the soil sample can move into the sample frame, and the side plate is complemented for the sample frame filled with the soil sample, so that the phenomenon that the sample frame is overturned in the rising process due to unbalanced placement of the soil sample in the sample frame is avoided; the rotary telescopic rod provides power for pushing the soil sample by the push plate and complementing the side plate of the sample frame, so that the use effect is good.
2. According to the invention, the annular structure is arranged on the circumferential end surface of the base and is used for fixing the supporting air bag at the base position, the fixing between the sampling robot and the exploratory well is realized by utilizing the expansion of the supporting air bag, the upper surface of the bottom plate of the sample frame is regulated to be equal to the bottom surface of the soil sample by fixedly mounting the machine body at the top end of the lifting column, the rotation of the rotary table is controlled, and the limit seat, the lifting column and the machine body are driven to synchronously rotate until the front opening of the mounting groove on the machine body is opposite to the soil sample, and the purpose of installing the balance air bag at the back of the machine body is to utilize the disturbance of the soil sample to the sample frame in the balance lofting process of the balance air bag, so that the sampling machine is reliable and stable and has a good use effect.
3. The invention has novel and reasonable design and small volume, the sampling mechanism is arranged in the bottom plate of the machine body, the sampling power mechanism is utilized to provide push-pull power for the sampling mechanism, the limiting plate is integrated with the machine body, the limiting plate is arranged at the lower edge of the front side of the machine body, the limiting plate is matched with the L-shaped pushing plate, the L-shaped pushing plate is prevented from sliding out of the supporting plate when moving on the supporting plate, the sampling plate is arranged on the horizontal plate of the L-shaped pushing plate, the sampling plate is directly inserted into the bottom of a soil sample through the fixed force provided by the sampling power mechanism, and a plurality of lifting buttresses are arranged between the horizontal plate of the L-shaped pushing plate and the sampling plate, so that the bottom surface of the acquired soil sample is lifted to be flush with the upper surface of the bottom plate of the sample frame, the process of pushing the soil sample is stable, no blocking is avoided, and the popularization and the use is convenient.
In summary, the invention has novel and reasonable design, realizes the fixation between the sampling robot and the exploratory well by using the expansion of the supporting air bag, uses the grooving and sampling of the robot, adopts the sampling mechanism to stably and accurately acquire the soil sample, uses the disturbance of the soil sample to the sample frame in the balanced lofting process of the balancing air bag, can lead workers to take out the undisturbed soil on the premise of not entering the well so as to ensure the personal safety of the workers, has the advantages of small volume, light weight, high intelligent degree, high efficiency and less investment, can be widely used for sampling various soil bodies, provides high-quality research samples for scientific research design, and is convenient to popularize and use.
The technical scheme of the invention is further described in detail through the drawings and the embodiments.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic illustration of the sampling mechanism of the present invention shown in an unextended configuration.
FIG. 3 is a schematic view showing the structure of the sampling mechanism according to the present invention.
FIG. 4 is a schematic view of the structure of the invention with the sampling mechanism extended and the sampling plate raised.
FIG. 5 is a schematic diagram of the position relationship of the undisturbed earth exploratory well sampling robot, exploratory well and soil sample according to the present invention.
FIG. 6 is a view of the sampling mechanism of FIG. 5 in use with the sampling plate raised.
FIG. 7 is a view showing the state of use of the soil sample layout according to the present invention.
Reference numerals illustrate:
Detailed Description
As shown in fig. 1 to 7, the present invention comprises a first hoist 3 and a second hoist 5 installed on the ground, and a sampling robot mated with the first hoist 3 and extended into the exploratory well 2, and a sample frame 8 mated with the second hoist 5 and lowered onto the sampling robot, the sample frame 8 being a sample frame with both top and front open, the sampling robot comprising a base 9, a turntable 10 installed on the base 9, and a limit seat 12 installed on the turntable 10 and used for defining a hollow structure of a lifting path of a lifting column 13, the cross-sectional dimensions of the base 9 and the turntable 10 are smaller than the cross-sectional dimensions of the exploratory well 2, a support airbag 11 having a ring-shaped structure and used for fixing the position of the base 9 is provided on a circumferential end surface of the base 9, the support airbag 11 is located in a gap between the base 9 and the exploratory well 2, a first air pump 14 for supplying air to the support airbag 11 is installed at the bottom of the base 9, the first air pump 14 is provided with a first electromagnetic valve 15 on a pipeline for supporting the air bag 11 to supply air, the top end of the lifting column 13 is fixedly provided with a machine body 16, the back of the machine body 16 is provided with a balance air bag 20, the machine body 16 is provided with an air outlet hole and a mounting groove for being matched with the sample frame 8, the mounting groove is an open mounting groove at the top and the front, the bottom plate of the machine body 16 is provided with a sampling mechanism sliding rail 29 for horizontally sliding the sampling mechanism 17, the machine body 16 is internally provided with a balance air bag air release pipe 21, a sampling power mechanism 18 for providing push-pull power for the sampling mechanism 17 and a second air pump 19 for supplying air for the balance air bag 20, one end of the balance air bag air release pipe 21 is communicated with the balance air bag 20, the other end of the balance air bag air release pipe 21 is communicated with the air outlet hole, the pipeline for communicating the balance air bag air release pipe 21 with the balance air bag 20 is provided with a second electromagnetic valve 22, mechanical arms 25 are respectively arranged on the two outer side surfaces of the machine body 16, and a spatula 26 for cutting soil samples 23 is arranged at one end of the mechanical arms 25 away from the machine body 16; a rotary telescopic rod 28 is arranged on the outer side wall of the sample frame 8, and a push plate 24 is fixedly arranged at one end, far away from the machine body 16, of the rotary telescopic rod 28;
the sampling mechanism 17 comprises a supporting plate 17-1 and a limiting plate 17-2 which is arranged on the upper portion of the supporting plate 17-1 and integrated with the machine body 16, a limiting block 17-3 is arranged at the lower edge of the limiting plate 17-2, which is positioned on the front side of the machine body 16, a gap 17-7 is formed between the supporting plate 17-1 and the limiting plate 17-2, an L-shaped pushing plate 17-4 which is matched with the limiting block 17-3 is arranged on the supporting plate 17-1, a vertical panel of the L-shaped pushing plate 17-4 is abutted with the limiting block 17-3, a sampling plate 17-5,L is arranged on a horizontal panel of the L-shaped pushing plate 17-4, a plurality of lifting support piers 17-6 are arranged between the horizontal panel of the L-shaped pushing plate 17-4 and the sampling plate 17-5, and the sum of the thickness of the horizontal panel of the L-shaped pushing plate 17-4 is smaller than the interval between the lower surface of the limiting block 17-3 and the upper surface of the supporting plate 17-1.
It should be noted that, the sampling robot extending into the exploratory well 2 is suspended by the first winch 3, the sample frame 8 is suspended by the second winch 5, when the sample frame 8 carries the soil sample 23 to the ground, the supporting air bag 11 supports the sampling robot, and meanwhile, the first winch 3 is utilized to play a role of safe suspension for the sampling robot, so as to avoid the loss of the sampling robot from the ground, and the purpose of the sample frame 8 being a sample frame with both open top and front is to facilitate the soil sample 23 entering the sample frame 8 from the front of the sample frame 8 on one hand, and to observe the condition that the soil sample 23 enters the sample frame 8 from the upper part of the ground on the other hand; the outer side wall of the sample frame 8 is provided with a rotary telescopic rod 28, one end of the rotary telescopic rod 28, which is far away from the machine body 16, is fixedly provided with a push plate 24, the push plate 24 is arranged to facilitate pushing the soil sample 23, so that the soil sample 23 can move into the sample frame 8, and the side plate is complemented for the sample frame 8 filled with the soil sample 23, so that the phenomenon that the sample frame 8 is overturned in the rising process due to unbalance of the soil sample 23 placed in the sample frame 8 is avoided; the rotary telescopic rod 28 provides power for the push plate 24 to push the soil sample 23 and complement the side plate of the sample frame 8, so that the use effect is good; the annular structure is arranged on the circumferential end face of the base 9, the supporting air bags 11 are used for fixing the position of the base 9, the fixing between the sampling robot and the exploratory well 2 is realized by utilizing the expansion of the supporting air bags 11, the upper surface of the bottom plate of the sample frame 8 is regulated to be equal to the bottom surface of the soil sample 23 by fixedly mounting the body 16 at the top end of the lifting column 13, the limiting seat 12, the lifting column 13 and the body 16 are driven to synchronously rotate by controlling the rotation of the rotary table 10 until the front part of the mounting groove on the body 16 is open and faces the soil sample 23, and the purpose of installing the balance air bags 20 on the back of the body 16 is to balance disturbance of the soil sample 23 to the sample frame 8 in the lofting process by utilizing the balance air bags 20, so that the sampling is reliable and stable; the sampling mechanism 17 is arranged in the bottom plate of the machine body 16, the sampling power mechanism 18 is utilized to provide push-pull power for the sampling mechanism 17, the limiting plate 17-2 is integrated with the machine body 16, the limiting block 17-3 is arranged at the lower edge of the front side of the limiting plate 17-2, which is positioned on the machine body 16, is matched with the L-shaped pushing plate 17-4, when the L-shaped pushing plate 17-4 moves on the supporting plate 17-1, the sampling plate 17-5 is prevented from sliding out of the supporting plate 17-1, the horizontal plane plate of the L-shaped pushing plate 17-4 is provided with the sampling plate 17-5, the sampling plate 17-5 is directly inserted into the bottom of a soil sample through the fixed force provided by the sampling power mechanism 18, and a plurality of lifting support piers 17-6 are arranged between the horizontal plane plate of the L-4 and the sampling plate 17-5, so that the bottom surface of the obtained soil sample 23 is lifted to be flush with the upper surface of the bottom plate of the sample frame 8, the process of pushing plate 24 is convenient to push the soil sample 23 is stable, and no blocking is caused.
In this embodiment, the sampling power mechanism 18 is an electric automatic telescopic mechanism, and the electric automatic telescopic mechanism includes two rotating electric machines 18-1, a first push-pull telescopic rod 18-2 for pushing and pulling the supporting plate 17-1, and a second push-pull telescopic rod 18-3 for pushing and pulling the L-shaped pushing plate 17-4, where the first push-pull telescopic rod 18-2 is in transmission connection with one rotating electric machine 18-1 of the two rotating electric machines 18-1, and the second push-pull telescopic rod 18-3 is in transmission connection with the other rotating electric machine 18-1 of the two rotating 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, so that the processes of pushing and pulling the supporting plate 17-1 and the L-shaped pushing and pulling plate 17-4 are mutually independent, and the electric automatic telescopic mechanism is suitable for various exploratory well environmental conditions.
In this embodiment, a first integrated circuit board is disposed in the base 9, a first microcontroller and a first motor connected to the first microcontroller are integrated on the first integrated circuit board, an output shaft of the first motor extends out of the base 9 and is coaxially connected to the turntable 10, the lifting column 13 is an electric lifting column, and the electric lifting column, the first air pump 14 and the first electromagnetic valve 15 are controlled by the first microcontroller;
a second integrated circuit board is arranged in the machine body 16, a second microcontroller is integrated on the second integrated circuit board, and the rotating motor 18-1, the second air pump 19, the second electromagnetic valve 22 and the mechanical arm 25 are controlled by the second microcontroller;
a third integrated circuit board is arranged in the L-shaped pushing plate 17-4, a third microcontroller is integrated on the third integrated circuit board, the lifting support pier 17-6 is an electric lifting support pier, and the electric lifting support pier is controlled by the third microcontroller;
a fourth integrated circuit board is arranged in the sample frame 8, a fourth microcontroller is integrated on the fourth integrated circuit board, the rotary telescopic rod 28 comprises a second motor arranged on the outer side wall of the sample frame 8 and a plurality of sections of electric push rods which are connected with the rotating shaft 30 of the second motor and synchronously rotate along with the rotating shaft 30, the push plate 24 is fixedly connected with one end, far away from the rotating shaft 30, of the plurality of sections of electric push rods, and the second motor is controlled by the fourth microcontroller.
It should be noted that the first microcontroller, the second microcontroller, the third microcontroller and the fourth microcontroller all adopt DSP microcontrollers or ARM microcontrollers, and the cooperation of the four microcontrollers can realize the automatic operation of the sampling robot.
In this embodiment, the upper surface of the body 16 is connected to one end of the first lifting rope 4, the other end of the first lifting rope 4 is connected to the steel wire rope of the first hoist 3, the sample frame connecting frame 7 is mounted on the top end of the sample frame 8, the top end of the sample frame connecting frame 7 is connected to one end of the second lifting rope 6, and the other end of the second lifting rope 6 is connected to the steel wire rope of the second hoist 5.
In this embodiment, two outer sides of the machine body 16 are respectively provided with a spatula containing seat 27, the two spatula containing seats 27 are respectively matched with the two mechanical arms 25, the spatula 26 is an iron spatula, and a magnet is arranged in the spatula containing seat 27.
It should be noted that, the purpose of setting up the spatula receptacle 27 on two lateral surfaces of the machine body 16 is to be convenient for accomodate the spatula 26 on two arms 25 respectively, avoid the spatula 26 to the scratch of balanced gasbag 20, the spatula 26 is the iron spatula, set up the purpose of magnet in the spatula receptacle 27 and realize the attraction to the spatula 26, the swift fixed spatula 26 of being convenient for.
In this embodiment, the mechanical arm 25 is a serpentine mechanical arm.
It should be noted that, the purpose of the serpentine mechanical arm 25 is to facilitate free turning of the mechanical arm 25 in the undisturbed soil, so as to scrape the surface far away from the exploratory well 2 in 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, which are far away from the balance air bag 20, are wedge-shaped structures.
It should be noted that the end of the support plate 17-1 far from the balance air bag 20 is in a wedge structure to buffer the vibration force when the support plate 17-1 contacts with undisturbed soil, and the end of the sampling plate 17-5 far from the balance air bag 20 is in a wedge structure to facilitate the rapid insertion of the sampling plate 17-5 to cut the bottom of the soil sample 23, thereby obtaining the soil sample 23.
In this embodiment, the outer surfaces of the supporting air bag 11 and the balancing air bag are provided with wear-resistant protection layers.
The purpose of providing the abrasion-resistant protective layers 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 to avoid the crush injury of the support airbag 11 and the balance airbag 20 due to rough soil.
When the invention is used, the site undisturbed soil body 1 is explored, and the position of a soil sample 23 to be taken is obtained; the method comprises the steps of forming holes on the side of a soil sample 23 to be taken in the vertical direction by using a hole forming tool, obtaining a exploratory well 2, connecting a sampling robot with a steel wire rope of a first winch 3, lowering the sampling robot into the exploratory well 2 by using the first winch 3 until the upper surface height of a mounting groove on a machine body 16 is lower than the bottom height of the soil sample 23 to be taken, stopping the lowering work of the steel wire rope by the first winch 3, continuously suspending the sampling robot by using the first winch 3, opening a first electromagnetic valve 15, opening a first air pump 14, inflating a supporting air bag 11 by using the first air pump 14, gradually expanding the supporting air bag 11, extruding the supporting air bag with the inner wall of the exploratory well 2 until the friction force between the expanded supporting air bag 11 and the inner wall of the exploratory well 2 is larger than the self weight of the sampling robot, and closing the first air pump 14 and the first electromagnetic valve 15; the lifting column 13 is controlled to lift until the initial height of the upper surface of the sampling plate 17-5 is consistent with the height of the bottom surface of the soil sample 23 to be sampled; the rotary table 10 is controlled to rotate, and the rotary table 10 rotates to drive the limiting seat 12, the lifting column 13 and the machine body 16 to synchronously rotate until the front opening of the mounting groove on the machine body 16 is opposite to the soil sample 23 to be taken; the second air pump 19 is started, the balance air bag 20 is inflated by the second air pump 19, so that the balance air bag 20 is gradually inflated and extruded with the inner wall of the exploratory well 2;
connecting the sample frame 8 with a steel wire rope of the second winch 5, and lowering the sample frame 8 into a mounting groove on the machine body 16 by using the second winch 5, wherein the top opening of the sample frame 8 is consistent with the top opening of the mounting groove, the front opening of the sample frame 8 is consistent with the front opening of the mounting groove, and rotating the telescopic rod 28 to rotationally lift the push plate 24 to the position above the front side of the sample frame 8;
according to the size of the sample frame 8 and the sampling requirement, two mechanical arms 25 on two outer side surfaces of the machine body 16 drive two scraping blades 26 to score and sample the soil sample 23 with a specified height in a grooving mode, wherein the grooving positions comprise a left edge position, a right edge position, an upper edge position, a lower edge position and a rear edge position of the soil sample 23; the first push-pull telescopic rod 18-2 is pushed to extend by using one rotating motor 18-1 until the supporting plate 17-1 is abutted against the undisturbed soil body 1 at the lower part of the soil sample 23, and the second push-pull telescopic rod 18-3 is pushed to extend by using the other rotating motor 18-1 until the L-shaped pushing plate 17-4 is abutted against the limiting block 17-3, and power is provided for the sampling plate 17-5, so that the sampling plate 17-5 is inserted into the bottom of the soil sample 23; lifting the lifting buttress 17-6 until the upper surface of the sampling plate 17-5 is flush with the inner bottom surface of the sample frame 8; controlling the first push-pull telescopic rod 18-2 to retract to enable the sampling plate 17-5 to be in contact with the sample frame 8, wherein the upper surface of the sampling plate 17-5 is connected with the inner bottom surface of the sample frame 8 to form a continuous plane; the rotary telescopic rod 28 rotates the push plate 24 to the rear of the soil sample 23, the rotary telescopic rod 28 is controlled to retract, the push plate 24 pushes the soil sample 23 to stably enter the sample frame 8 until the push plate 24 is abutted with the sample frame 8, and the lofting of the soil sample 23 is completed;
the pushing plate 24 is used for enclosing and protecting the soil sample 23 in the sample frame 8, the sample frame 8 is lifted from the mounting groove by the second winch 5 and lifted to the ground, and the conveying of the soil sample 23 is completed; the second push-pull telescopic rod 18-3 is controlled to retract, the sampling mechanism 17 is enabled to recover to an initial state, the second electromagnetic valve 22 is controlled to open, gas in the balance air bag 20 is discharged to the outside through the balance air bag deflation pipe 21 and the gas outlet hole, meanwhile, the gas of the support air bag 11 is controlled to be discharged to the outside, the support air bag 11 is controlled to retract, the separation of the sampling robot and the exploring well 2 is achieved, meanwhile, the soil residue on the sampling robot is lowered, and the sampling robot is lifted to the ground from the exploring well 2 by the first winch 3.
The foregoing description is only a preferred embodiment of the present invention, and is not intended to limit the present invention, and any simple modification, variation and equivalent structural changes made to the above embodiment according to the technical substance of the present invention still fall within the scope of the technical solution of the present invention.
Claims (5)
1. The utility model provides a non-disturbing soil probe well sampling robot which characterized in that: the device comprises a first winch (3) and a second winch (5) which are arranged on the ground, a sampling robot which is matched with the first winch (3) and stretches into a exploratory well (2), and a sample frame (8) which is matched with the second winch (5) and is lowered onto the sampling robot, wherein the sample frame (8) is a sample frame with an open top and a front, the sampling robot comprises a base (9), a rotary table (10) which is arranged on the base (9) and a limit seat (12) which is arranged on the rotary table (10) and is used for limiting a hollow structure of a lifting column (13) lifting path, the cross section size of the base (9) and the rotary table (10) is smaller than the cross section size of the exploratory well (2), a supporting air bag (11) which is provided with a ring-shaped structure and is used for fixing the position of the base (9) is arranged on the circumferential end face of the base (9), the supporting air bag (11) is positioned in a gap between the base (9) and the exploratory well (2), a first air pump (14) for supplying air for supporting the air bag (11) is arranged at the bottom of the base (9), a balancing air pump (16) is arranged on the base (14), a balancing air pump (16) is arranged on the first air bag (13) for supporting the air bag (13), a main body (20) is arranged on the lifting top of the air pump (16), the machine body (16) is provided with an air outlet hole and an installation groove matched with the sample frame (8), the installation groove is an installation groove with an open top and an open front, a sampling mechanism sliding rail (29) for horizontally sliding a sampling mechanism (17) is arranged in a bottom plate of the machine body (16), a balance air bag air release pipe (21), a sampling power mechanism (18) for providing push-pull power for the sampling mechanism (17) and a second air pump (19) for providing air for the balance air bag (20) are arranged in the machine body (16), one end of the balance air bag air release pipe (21) is communicated with the balance air bag (20), the other end of the balance air bag air release pipe (21) is communicated with the air outlet hole, a second electromagnetic valve (22) is arranged on a pipeline communicated with the balance air bag (20), mechanical arms (25) are respectively arranged on two outer side surfaces of the machine body (16), and a scraping shovel (26) for cutting a soil sample (23) is arranged at one end of the mechanical arm (25) away from the machine body (16); a rotary telescopic rod (28) is arranged on the outer side wall of the sample frame (8), and a push plate (24) is fixedly arranged at one end, far away from the machine body (16), of the rotary telescopic rod (28);
the sampling mechanism (17) comprises a supporting plate (17-1) and a limiting plate (17-2) which is arranged on the upper part of the supporting plate (17-1) and integrated with the machine body (16), wherein a limiting block (17-3) is arranged at the lower edge of the front side of the machine body (16) of the limiting plate (17-2), a gap (17-7) is formed between the supporting plate (17-1) and the limiting plate (17-2), an L-shaped pushing plate (17-4) matched with the limiting block (17-3) is arranged on the supporting plate (17-1), a vertical panel of the L-shaped pushing plate (17-4) is abutted with the limiting block (17-3), a sampling plate (17-5) is arranged on a horizontal panel of the L-shaped pushing plate (17-4), a plurality of lifting piers (17-6) are arranged between the horizontal panel of the L-shaped pushing plate (17-4) and the sampling plate (17-5), and the sum of the thickness of the horizontal panel of the L-shaped pushing plate (17-5) and the thickness of the sampling plate (17-5) is smaller than the distance between the upper surface of the supporting plate (17-1) of the limiting plate (17-3);
the sampling power mechanism (18) is an electric automatic telescopic mechanism, the electric automatic telescopic mechanism comprises two rotating motors (18-1), a first push-pull telescopic rod (18-2) for pushing and pulling a supporting plate (17-1) and a second push-pull telescopic rod (18-3) for pushing and pulling an L-shaped pushing and pulling plate (17-4), the first push-pull telescopic rod (18-2) is in transmission connection with one rotating motor (18-1) of the two rotating motors (18-1), and the second push-pull telescopic rod (18-3) is in transmission connection with the other rotating motor (18-1) of the two rotating motors (18-1);
a first integrated circuit board is arranged in the base (9), a first microcontroller and a first motor connected with the first microcontroller are integrated on the first integrated circuit board, an output shaft of the first motor extends out of the base (9) and is coaxially connected with the turntable (10), the lifting column (13) is an electric lifting column, and the electric lifting column, the first air pump (14) and the first electromagnetic valve (15) are controlled by the first microcontroller;
a second integrated circuit board is arranged in the machine body (16), a second microcontroller is integrated on the second integrated circuit board, and the rotating motor (18-1), the second air pump (19), the second electromagnetic valve (22) and the mechanical arm (25) are controlled by the second microcontroller;
a third integrated circuit board is arranged in the L-shaped pushing plate (17-4), a third microcontroller is integrated on the third integrated circuit board, the lifting buttress (17-6) is an electric lifting buttress, and the electric lifting buttress is controlled by the third microcontroller;
a fourth integrated circuit board is arranged in the sample frame (8), a fourth microcontroller is integrated on the fourth integrated circuit board, the rotary telescopic rod (28) comprises a second motor arranged on the outer side wall of the sample frame (8) and a plurality of sections of electric push rods which are connected with a rotating shaft (30) of the second motor and synchronously rotate along with the rotating shaft (30), a push plate (24) is fixedly connected with one end, far away from the rotating shaft (30), of the plurality of sections of electric push rods, and the second motor is controlled by the fourth microcontroller;
the upper surface of the machine body (16) is connected with one end of a first lifting rope (4), the other end of the first lifting rope (4) is connected with a steel wire rope of a first winch (3), a sample frame connecting frame (7) is arranged at the top end of a sample frame (8), the top end of the sample frame connecting frame (7) is connected with one end of a second lifting rope (6), and the other end of the second lifting rope (6) is connected with a steel wire rope of a second winch (5).
2. A non-disturbing earth-exploratory well sampling robot according to claim 1, wherein: two outer side surfaces of the machine body (16) are respectively provided with a spatula containing seat (27), the two spatula containing seats (27) are respectively matched with the two mechanical arms (25), the spatula (26) is an iron spatula, and a magnet is arranged in the spatula containing seat (27).
3. A non-disturbing earth-exploratory well sampling robot according to claim 1, wherein: the mechanical arm (25) is a serpentine mechanical arm.
4. A non-disturbing earth-exploratory well sampling robot according to claim 1, wherein: the end parts of the bearing plate (17-1) and the sampling plate (17-5) far away from the balance air bag (20) are of wedge-shaped structures.
5. A non-disturbing earth-exploratory well sampling robot according to claim 1, wherein: the outer surfaces of the supporting air bags (11) and the balance air bags are respectively provided with a wear-resistant protection layer.
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| CN112729907B (en) * | 2020-12-04 | 2023-11-10 | 河南中核五院研究设计有限公司 | Underground automatic soil sampling device for collapsible loess exploratory well |
| CN116122772B (en) * | 2023-01-29 | 2024-07-30 | 湖南大学 | Deep well residue cleaning robot with airbag wall supporting device |
| CN116972226B (en) * | 2023-08-21 | 2024-04-05 | 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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