CN113752232A - Multifunctional soil taking robot - Google Patents
Multifunctional soil taking robot Download PDFInfo
- Publication number
- CN113752232A CN113752232A CN202111018779.6A CN202111018779A CN113752232A CN 113752232 A CN113752232 A CN 113752232A CN 202111018779 A CN202111018779 A CN 202111018779A CN 113752232 A CN113752232 A CN 113752232A
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- China
- Prior art keywords
- boom
- frame
- drill boom
- soil
- adjusting
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
Abstract
The invention discloses a multifunctional soil taking robot, which comprises a drill rod drill boom and a frame, wherein the drill boom is connected with the frame, a power mechanism is fixedly arranged on the frame, a traveling mechanism is fixedly arranged below the frame, a direct pushing mechanism is arranged on one side of the drill boom in parallel along the length direction and is of a telescopic rod-shaped structure, one end of the direct pushing mechanism is fixedly connected with the top end of the drill boom, the other end of the direct pushing mechanism is fixedly provided with a puller and a rotary impact mechanism, and the puller and the rotary impact mechanism are both in sliding connection with the drill boom and slide along the length direction of the telescopic drill boom of the direct pushing mechanism. The multifunctional soil taking robot can select different soil taking modes according to terrain and geological conditions, ensure and accurately control soil taking depth, and can normally work in various complicated and severe working environments.
Description
Technical Field
The invention belongs to the field of soil detection equipment, and particularly relates to a multifunctional soil taking robot.
Background
In order to survey geology, soil and the like to know the properties of the geology, soil and the like, the soil sampling device is generally used for lifting and detecting original soil of the lower layer soil, sometimes even sampling the original soil at a deeper position, so as to ensure the authenticity and accuracy of detection data. Therefore, the soil taking robot is widely applied to various fields such as environmental protection, geological exploration, emergency, military affairs and scientific research. The automatic soil sampling and transferring equipment is used, and secondary pollution can be effectively avoided in the sampling process.
However, the existing soil-taking drilling machine mostly adopts direct pushing or other single modes to take soil, the existing soil-taking mode is single, the existing soil-taking drilling machine cannot be suitable for taking soil in all terrains, and the soil-taking work cannot be normally completed under the condition of complex terrains or poor geology. In addition, the problems that the soil sampling depth is shallow, the accuracy of the soil sampling depth is low, and the soil sampling device cannot normally work in severe environments such as strong acid, alkali, high temperature, low temperature, soft soil, rainwater and the like exist.
Based on the above description, there is an urgent need for a multifunctional soil-taking robot, which can select different soil-taking modes according to terrain and geological conditions, ensure and accurately control soil-taking depth, and simultaneously can work normally in various complicated and harsh working environments.
Disclosure of Invention
The invention aims to provide a multifunctional soil taking robot, which aims to solve the problems that the soil taking mode is single, and the multifunctional soil taking robot cannot be applied to various copied terrains, geologies and various severe working environments.
In order to solve the technical problems, the specific technical scheme of the multifunctional soil taking robot is as follows:
the utility model provides a multi-functional soil taking robot, including drilling rod drill boom and frame, drill boom and connected to the frame, fixed mounting has power unit on the frame, the fixed running gear that sets up under the frame, wherein, drill boom one side is equipped with along length direction parallel and directly pushes away the mechanism, directly push away the mechanism and be telescopic shaft-like structure, directly push away mechanism one end and drill boom top fixed connection, the other end is fixed to be set up and pulls out ware and gyration impact mechanism, pull out ware and gyration impact mechanism all with drill boom sliding connection to follow the flexible drill boom length direction who directly pushes away the mechanism and slide.
Furthermore, the extractor is a hydraulic extractor, the rotary impact mechanism comprises a hydraulic rotary cylinder and a double-acting hydraulic impact hammer, and the direct-pushing mechanism is a telescopic hydraulic rod.
And an adjusting mechanism is arranged between the drill boom and the frame, the drill boom and the frame are movably connected through the adjusting mechanism, and the drill boom moves in the length direction of the drill boom relative to the frame and can also adjust the angle relative to the horizontal plane.
Furthermore, the adjusting unit comprises a vertical adjusting rod, an angle adjusting rod and an adjusting seat, the vertical adjusting rod and the angle adjusting rod are telescopic hydraulic rods, one end of each vertical adjusting hydraulic rod is hinged to the drill boom, the other end of each vertical adjusting hydraulic rod is fixedly connected with the adjusting seat, one end of each angle adjusting hydraulic rod is hinged to the adjusting seat, the other end of each angle adjusting hydraulic rod is hinged to the frame, the adjusting seat is connected with the drill boom in a sliding mode, the adjusting seat and the drill boom can slide relatively in the length direction of the drill boom, and the adjusting seat is hinged to the frame.
Further, the running mechanism is a crawler-type running chassis.
Further, the crawler-type walking chassis comprises a crawler belt which is in contact with the ground, and the material of the crawler belt comprises ethylene propylene diene monomer rubber, glass fiber ropes and nylon elastic cloth.
Further, the drill boom is of a hollow box structure.
Furthermore, the frame includes frame and the frame of getting on, is equipped with the bearing between frame and the frame of getting on, and frame can rotate around the bearing axis for the frame of getting off.
Further, the bearing is a slewing bearing.
Furthermore, a protective cover is arranged outside the power mechanism and is arranged in a sealing mode, and a rubber gasket is arranged at the joint of the protective cover and the frame.
The multifunctional soil taking robot has the following advantages:
1. the multifunctional soil taking robot is provided with the pulling device, the rotary impact mechanism and the direct pushing mechanism, three modes of direct pushing type soil taking, rotary type soil taking or drop hammer type soil taking can be selected according to different geological conditions, soil taking environments, soil taking depths and the like, the adaptability of the multifunctional soil taking robot is improved, the working efficiency is improved, and meanwhile, the three modes are combined for soil taking, so that the soil taking depths can be increased.
2. The extractor, the rotary impact mechanism and the direct pushing mechanism are all controlled by hydraulic pressure, and can accurately control the depth, the force and the torque, thereby accurately controlling the soil sampling depth and meeting the exploration and detection requirements.
3. The invention is provided with the adjusting mechanism, can realize the movement of the drill boom along the length direction and the angle adjustment relative to the horizontal plane, thereby realizing the soil sampling of various terrains, improving the adaptability, and simultaneously, the drill boom can be horizontally placed and is convenient to transport.
4. The drill boom adopts a hollow box type structure, and has higher rigidity and lighter weight under the condition that the structural strength meets the requirement, so that the weight of the whole soil taking robot is greatly reduced, the pressure on the ground is reduced, and the robot is more favorable for running and working under the environment of soft ground.
5. The crawler-type soil taking robot adopts the crawler-type traveling chassis, can travel at high speed, is preferably made of three main materials, namely ethylene propylene diene monomer, glass fiber cord and nylon elastic cloth, has the characteristics of good electrical insulation, chemical resistance, impact elasticity and acid and alkali resistance, large traction force, small vibration, low noise, good wet field trafficability, difficulty in damaging road surfaces, high traveling speed and the like, and has a wide use temperature range of about-50 ℃ to + 150 ℃, so that the multifunctional soil taking robot has wider environmental adaptability.
6. The invention adopts the design of the upper frame and the lower frame, and the upper frame and the lower frame can rotate relatively, so that any position around the soil-taking robot can be selected for taking soil during soil taking, and the operation is convenient.
7. The invention adopts the fully-sealed protective cover, and the rubber gaskets are arranged at the positions of the protective cover and the frame, so that the invention can adapt to weather such as rainwater, prevent failures caused by rain or water inflow and improve the reliability.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
In the figure:
1. a puller; 2. a rotary impact mechanism; 3. a slider; 4. a direct pushing mechanism; 5. a drill boom; 6. an adjustment mechanism; 7. a power mechanism; 8. a frame; 9. a traveling mechanism; 10. a protective cover; 51. a slide rail; 61. a vertical adjusting rod; 62. an angle adjusting rod; 63. an adjusting seat.
Detailed Description
In order to better understand the control system and the control method thereof of the present invention, a multifunctional soil-taking robot of the present invention is further described in detail below with reference to the accompanying drawings. For convenience of description, the directions of "up" and "down" are the same as the directions in the drawings, but this should not be construed as limiting the technical solution of the present invention.
As shown in figure 1, the multifunctional soil taking robot comprises a drill boom 5 and a vehicle frame 8, wherein one side of the drill boom 5 is provided with a slide rail 51 along the length direction of the drill boom, and a slide block 3 is arranged on the slide rail 51 and can slide along the slide rail. The slider is fixedly provided with a puller 1 and a rotary impact mechanism 2 through screws. The direct pushing mechanism 4 is arranged in parallel with the drill boom 5, one end of the direct pushing mechanism is fixedly connected with the top end of the drill boom, and the other end of the direct pushing mechanism is fixedly connected with the sliding block. The extension of the direct pushing mechanism can drive the sliding block 3 to slide along the sliding rail 51, so as to drive the extractor 1 and the rotary impact mechanism 2 to slide along the sliding rail 51.
The other side of the drill boom 5 is connected with the frame 8 through the adjusting structure 6, and through the adjusting mechanism 6, the drill boom 5 can move along the length direction of the drill boom and adjust the angle relative to the horizontal plane, so that soil taking in various terrains is realized, for example, soil taking from a sloping terrain, and in addition, the drill boom can be horizontally placed and is convenient to transport. And a power mechanism 7 is fixedly arranged on the frame and used for providing power for the multifunctional soil taking robot. A walking mechanism 9 is fixedly arranged under the frame and connected with the power mechanism 7 for realizing the movement of the multifunctional soil taking robot.
The extractor 1 can select a hydraulic extractor capable of realizing automatic drill lifting.
The rotary impact mechanism 2 comprises a hydraulic rotary oil cylinder and a double-acting hydraulic impact hammer, and the drilling mode can be selected according to the requirement. The hydraulic rotary oil cylinder can apply very high hydraulic torque in a very small space, connect the drill rod with the hydraulic rotary oil cylinder and drive the drill rod to rotate at a high speed, so that the drill rod can drill into the soil, and the hydraulic rotary oil cylinder is high in power and easy and accurate to control. The double-acting hydraulic impact hammer can obtain acceleration energy from a hydraulic system to improve impact speed so as to strike a drill rod, and has the advantages of small hammer core weight, high impact speed, short hammering action time and large impact energy. When the double-acting hydraulic impact hammer is used, the double-acting hydraulic impact hammer is vertically aligned with the drill rod, and the acceleration energy obtained by the hydraulic cylinder is adjusted by adjusting the oil pressure of the hydraulic pump through the driver, so that the impact force of hammering can be adjusted according to the required soil taking depth, and the required soil taking depth is more accurate.
The direct pushing mechanism 4 is a rod-shaped mechanism capable of controlling extension and retraction, preferably a telescopic hydraulic rod, and has the characteristics of large pushing force and easiness in operation and control.
Based on the structure, when the multifunctional soil taking robot works, three modes of direct push type soil taking, rotary type soil taking and drop hammer type soil taking can be selected according to different geological conditions, soil taking environments, soil taking depths and the like. When the direct pushing type soil taking is carried out, the direct pushing mechanism 4 pushes the extractor 1 to push the drill rod into the soil for soil taking; when the soil is taken out in a rotary mode, the drill rod is drilled into the soil to take out the soil under the action of the direct pushing mechanism 4 and the rotary impact mechanism 2; when the hammer type soil sampling is carried out, the rotary impact mechanism 2 can also be used for carrying out high-frequency hammering soil sampling on the drill rod. When the soil is taken by the direct pushing type or the rotary type, the operator of the robot can control the size of the direct pushing force through the driving device of the direct pushing mechanism 4, so that the soil taking depth is accurately controlled. After soil taking is completed, the straight pushing mechanism 4 drives the pulling device 1 to pull up the drill rod, and then the inner core is taken out.
The adjusting unit 6 comprises a vertical adjusting rod 61, an angle adjusting rod 62 and an adjusting seat 63, the vertical adjusting rod 61 and the angle adjusting rod 62 are telescopic hydraulic rods, one end of the vertical adjusting hydraulic rod 61 is hinged to the drill boom 5, the other end of the vertical adjusting hydraulic rod is fixedly connected with the adjusting seat 63, one end of the angle adjusting hydraulic rod 62 is hinged to the adjusting seat, the other end of the angle adjusting hydraulic rod is hinged to the frame 8, the adjusting seat 63 is connected with the drill boom 5 in a sliding mode, the adjusting seat and the drill boom can slide relatively in the length direction of the drill boom, and the adjusting seat 63 is hinged to the frame 8. By means of the vertical adjustment rod 61, the extension and retraction of the angle adjustment rod 62 and the rotation of the articulations, a movement along the length of the boom and an angle adjustment relative to the horizontal plane can be achieved.
The power mechanism 7 comprises a high-power servo motor and a high-capacity battery pack (not shown in the figure), and the high-capacity battery pack can simultaneously supply power to the servo motor and the electromagnetic valve of the hydraulic device. The hydraulic device includes, but is not limited to, the above hydraulic lifting device, hydraulic rotary cylinder, double-acting hydraulic impact hammer, and telescopic hydraulic rod.
The walking mechanism 9 preferably adopts a crawler-type walking chassis, and can walk at high speed. The track is preferably made of three main materials, namely ethylene propylene diene monomer rubber, glass fiber ropes and nylon elastic cloth, has good electrical insulation, chemical resistance, impact elasticity and acid and alkali resistance, has the characteristics of large traction force, small vibration, low noise, good wet field trafficability, difficulty in damaging a road surface, high running speed and the like, and has a wide use temperature range of about-50 ℃ to + 150 ℃. By using the preferable scheme, the soil taking robot can work in the conventional environment, can work in the acid and alkaline environment at the temperature of between 50 ℃ below zero and 150 ℃ below zero, and has wider environmental adaptability.
Preferably, the drill boom 5 can adopt a hollow box structure, and under the condition that the structural strength meets the requirement, the rigidity is higher, the weight is lighter, so that the weight of the whole soil taking robot is greatly reduced, the pressure on the ground is reduced, and the robot is more beneficial to running and working under the environment that the ground is soft.
Preferably, the frame 8 includes an upper frame and a lower frame (not shown), the upper frame is connected to the adjusting unit 6 and the power mechanism 7, the lower frame is connected to the traveling mechanism 9, a bearing is disposed between the upper frame and the lower frame, the upper frame can rotate around a bearing axis relative to the lower frame, and the bearing includes but is not limited to a slewing bearing. The frame 8 is also provided with a motor which can be fixed on the lower frame and connected with the upper frame, or vice versa, the relative rotation of the upper frame and the lower frame is realized through the force applied by the motor, so that when soil is taken, any position around the soil taking robot can be selected to take soil, and the operation is convenient.
Preferably, power unit 7 outside is equipped with safety cover 10, and safety cover 10 is equipped with the rubber gasket with frame 8 junction, all uses the sealing member laminating to seal at spare part through-penetrating position (not marked in the figure) and carries out water repellent treatment, can prevent that liquid from splashing in and leading to the robot to break down to prevent to cause to break down because of the robot operation in-process unexpected drenching with rain or walking in-process puddle spill sewage.
Preferably, the top of the drill boom 5 is provided with a cloud deck 11, the cloud deck can realize 360-degree horizontal rotation and 180-degree pitching, and the cloud deck is provided with a high-definition camera 12, so that an earth-taking robot operator can remotely obtain real-time images of the environment where the earth-taking robot is located and the work earth-taking when the earth-taking robot walks, and the earth-taking robot operator can more easily operate the earth-taking robot.
Preferably, the multifunctional soil taking robot provided by the invention adopts a remote operation control mode, and an operator can remotely control the movement and work of the soil taking robot, so that the purpose of taking soil is achieved.
It will be understood by those skilled in the art that various changes may be made and equivalents may be substituted for elements thereof without departing from the spirit and scope of the invention. In addition, many modifications may be made to adapt a particular situation to the teachings of the invention without departing from the essential scope thereof. Therefore, it is intended that the invention not be limited to the particular embodiment disclosed, but that the invention will include all embodiments falling within the scope of the appended claims.
Claims (10)
1. The utility model provides a multi-functional soil sampling robot, including drilling rod boom (5) and frame (8), boom (5) are connected with frame (8), fixed mounting has power unit (7) on the frame, fixed running gear (9) that set up under the frame, a serial communication port, boom (5) one side is equipped with straight pushing mechanism (4) along length direction parallel, straight pushing mechanism (4) are telescopic shaft-like structure, straight pushing mechanism (4) one end and boom (5) top fixed connection, the other end is fixed to be set up puller (1) and gyration impact mechanism (2), puller (1) and gyration impact mechanism (2) all with boom (5) sliding connection to follow the flexible boom length direction that directly pushes away the mechanism and slide.
2. The multifunctional soil taking robot as claimed in claim 1, wherein the extractor (1) is a hydraulic extractor, the rotary impact mechanism (2) comprises a hydraulic rotary cylinder and a double-acting hydraulic impact hammer, and the direct pushing mechanism (4) is a telescopic hydraulic rod.
3. A multifunctional soil-sampling robot as claimed in claim 1, characterized in that an adjusting mechanism (6) is arranged between the drill boom (5) and the carriage (8), the drill boom (5) and the carriage (8) are movably connected through the adjusting mechanism (6), and the drill boom (5) moves relative to the carriage (8) in the length direction of the drill boom and can also adjust the angle relative to the horizontal plane.
4. The multifunctional soil taking robot as claimed in claim 3, wherein the adjusting unit (6) comprises a vertical adjusting rod (61), an angle adjusting rod (62) and an adjusting seat (63), the vertical adjusting rod (61) and the angle adjusting rod (62) are telescopic hydraulic rods, one end of the vertical adjusting hydraulic rod (61) is hinged to the drill boom (5), the other end of the vertical adjusting hydraulic rod is fixedly connected with the adjusting seat (63), one end of the angle adjusting hydraulic rod (62) is hinged to the adjusting seat, the other end of the angle adjusting hydraulic rod is hinged to the vehicle frame (8), the adjusting seat (63) is connected with the drill boom (5) in a sliding mode, the adjusting seat and the drill boom can slide relatively in the length direction of the drill boom, and the adjusting seat (63) is hinged to the vehicle frame (8).
5. A multi-functional soil-sampling robot according to claim 1, characterized in that said walking mechanism (9) is a crawler-type walking chassis.
6. The multi-functional soil-taking robot of claim 5, wherein the tracked running chassis comprises tracks in contact with the ground, and the track material comprises ethylene propylene diene monomer, glass fiber cord and nylon elastic cloth.
7. A multi-functional soil-working robot according to any one of claims 1-6, wherein said boom (5) is of a hollow box-like structure.
8. A multi-functional soil-sampling robot as claimed in claim 3, wherein said carriage (8) comprises an upper carriage and a lower carriage, a bearing being provided between the upper carriage and the lower carriage, the upper carriage being rotatable relative to the lower carriage about the bearing axis.
9. The multi-functional earth-moving robot as claimed in claim 8, wherein the bearing is a slewing bearing.
10. The multifunctional soil taking robot as claimed in claim 1, wherein a protective cover (10) is arranged outside the power mechanism (7), the protective cover is arranged in a sealing manner, and a rubber gasket is arranged at the joint of the protective cover (10) and the frame (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111018779.6A CN113752232A (en) | 2021-09-01 | 2021-09-01 | Multifunctional soil taking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111018779.6A CN113752232A (en) | 2021-09-01 | 2021-09-01 | Multifunctional soil taking robot |
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| Publication Number | Publication Date |
|---|---|
| CN113752232A true CN113752232A (en) | 2021-12-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111018779.6A Pending CN113752232A (en) | 2021-09-01 | 2021-09-01 | Multifunctional soil taking robot |
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| CN (1) | CN113752232A (en) |
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Application publication date: 20211207 |
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