CN116713970A - Novel soil sampling robot - Google Patents
Novel soil sampling robot Download PDFInfo
- Publication number
- CN116713970A CN116713970A CN202310914466.1A CN202310914466A CN116713970A CN 116713970 A CN116713970 A CN 116713970A CN 202310914466 A CN202310914466 A CN 202310914466A CN 116713970 A CN116713970 A CN 116713970A
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- CN
- China
- Prior art keywords
- sampling
- assembly
- support
- motor
- screw rod
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000005527 soil sampling Methods 0.000 title claims abstract description 16
- 238000005070 sampling Methods 0.000 claims abstract description 57
- 238000003466 welding Methods 0.000 claims description 21
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 239000002689 soil Substances 0.000 abstract description 10
- 238000010276 construction Methods 0.000 abstract description 8
- 238000010586 diagram Methods 0.000 description 3
- 241000251133 Sphyrna tiburo Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- 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
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- 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)
- Investigation Of Foundation Soil And Reinforcement Of Foundation Soil By Compacting Or Drainage (AREA)
Abstract
The invention discloses a novel soil sampling robot, and belongs to the technical field of soil sampling. The device comprises a base assembly, a roller assembly and a sampling assembly, wherein the roller assembly is fixedly arranged on the base assembly, the sampling assembly is connected with the roller assembly through a pull rope, the roller assembly comprises a rope guider and a guide frame arranged in front of the rope guider, and the sampling assembly comprises a supporting arm and a columnar coring manipulator. The invention provides a novel soil depth sampling robot which can adapt to the field entering and exiting construction of various complex roads, is not limited by an external power supply, is convenient to operate and can be monitored in real time, and solves the problems of low working efficiency, single function, more manpower required, unsuitable field entering and exiting construction of complex roads and the like in the prior art.
Description
Technical Field
The invention relates to the technical field of soil sampling, in particular to a novel soil sampling robot.
Background
In the prior art, deep soil sampling is performed by a traditional Luoyang shovel, and the sampling mode has the following problems: 1. because the Luoyang shovel is lifted to a certain height by a winch, and then falls freely by self weight, the shovel is pricked into soil by impact force to sample, the depth is shallow, the working efficiency is low, and the function is single; 2. because the Luoyang shovel head is provided with no monitoring facility, the underground soil taking condition cannot be monitored in real time, the sampling is uncontrollable, more people are needed to cooperate, and more manpower is needed; 3. because the Luoyang shovel provides running power by virtue of the winch, the Luoyang shovel is not suitable for the construction of a complex road in and out of a field.
Disclosure of Invention
The invention aims to provide a novel soil depth sampling robot which can adapt to the field entering and exiting construction of various complex roads, is not limited by an external power supply, is convenient to operate and can be monitored in real time, thereby solving the problems in the background technology.
The technical scheme adopted by the invention is as follows:
the utility model provides a novel soil sampling robot, includes base assembly, cylinder assembly and sampling assembly 8, cylinder assembly fixed mounting is on the base assembly, sampling assembly 8 is connected with the cylinder assembly through stay cord 7, the cylinder assembly includes rope guide 5 and sets up the leading-in frame 6 in rope guide 5 the place ahead, sampling assembly 8 includes support arm 81 and column coring manipulator 82.
The base assembly comprises a base 1, a crawler chassis 2, a diesel engine 3 and a leveling support frame 4, wherein the crawler chassis 2 is arranged at the bottom of the base 1, the diesel engine 3 is fixed on the base 1 through bolts, the leveling support frame 4 comprises a hydraulic cylinder, and the leveling support frame 4 is fixed on supporting arms at the front end and the rear end of the base 1.
The rope guide 5 is fixedly arranged in the middle of the machine base 1, the leading-in frame 6 is fixedly arranged at the front end of the machine base 1, the leading-in frame 6 comprises a stand column and an arc-shaped extending frame which extends forwards and is fixed at the top end of the stand column, a stay bar is arranged between the stand column and the arc-shaped extending frame, and a pull rope 6 led out from the rope guide 5 is positioned on the arc-shaped extending frame.
The sampling assembly 8 further comprises a welding support 83, a rotating motor a84, a screw a85 and a gear 86, the welding support 83 comprises an upper plate, a lower plate and a connecting rod for connecting the upper plate and the lower plate, the rotating motor a84 is inversely installed on the middle of the upper plate of the welding support 83, the upper end of the screw a85 is connected with an output shaft of the rotating motor a84 through a coupler, the lower end of the screw a85 is connected with the lower plate of the welding support 83 through a bearing, three supporting arms 81 are evenly installed around the screw a85, the upper end of each supporting arm 81 is fixedly provided with the gear 86 through a bolt, the upper end of each supporting arm 81 is hinged to the lower plate of the welding support 83 through a fixing frame 87, the gear 86 is meshed with the screw a85, the lower plate of the welding support 83 is fixedly provided with a connecting plate 88, and the columnar coring manipulator 82 is installed on the connecting plate 88.
The columnar coring manipulator 82 comprises a 90-degree rotary cylinder 821, a motion support 822, a motor b823, a screw rod b824, a motion block 825, a motor c826, a rotary shaft 827 and a zigzag sampling tube 828, wherein the 90-degree rotary cylinder 821 is installed on the connecting plate 88, the motion support 822 is fixedly connected to the rotary shaft of the 90-degree rotary cylinder 821, the motion support 822 is U-shaped, the motor b823 is installed on the outer side of the left end of the motion support 822, the screw rod b824 is connected with an output shaft of the motor b823 through a coupler, the screw rod b824 is installed in the motion support 822 through a bearing, a threaded hole is formed in the motion block 825, threads of the threaded hole are formed in the screw rod b824, the motor c826 is installed on the left end of the motion block 825, the left end of the rotary shaft 827 movably penetrates through the motion block 825 to be connected with the output shaft of the motor c826, the right end of the rotary shaft 827 is connected with the zigzag sampling tube 828, and the opening of the right end of the zigzag sampling tube 828 is provided with sawteeth.
The camera 9 is mounted on the connecting plate 88 through bolts.
In summary, due to the adoption of the technical scheme, the beneficial effects of the invention are as follows:
the invention provides a novel soil depth sampling robot which can adapt to the field entering and exiting construction of various complex roads, is not limited by an external power supply, is convenient to operate and can be monitored in real time, and solves the problems of low working efficiency, single function, more manpower required, unsuitable field entering and exiting construction of complex roads and the like in the prior art. The sampling assembly provided by the invention has the advantages of simple and novel structure, compact structure when being retracted, stable structure when being sampled, convenience and rapidness in sampling and high sampling efficiency, and can be easily placed into a hole with smaller diameter; the roller assembly provided by the invention can drop the sampling assembly into a deeper hole for sampling, so that the sampling assembly is convenient to control.
Drawings
FIG. 1 is a schematic diagram of the structure of the present invention;
FIG. 2 is a top view of the present invention;
FIG. 3 is a schematic view of the structure of the base assembly of the present invention;
FIG. 4 is a schematic view of a drum assembly according to the present invention;
FIG. 5 is a schematic diagram of a sampling assembly according to the present invention;
FIG. 6 is a bottom view of the sampling assembly of the present invention;
FIG. 7 is a schematic view of the working state of the sampling assembly according to the present invention;
FIG. 8 is a schematic diagram of the working principle of the present invention;
the figure shows: a base 1; a crawler chassis 2; a diesel engine 3; leveling support frames 4; a rope guide 5; an introduction rack 6; a pull rope 7; a sampling assembly 8; a camera 9; a support arm 81; a column coring robot 82; welding the support 83; a rotating electric machine a84; a screw a85; a gear 86; a fixing frame 87; a connection plate 88; a 90-degree rotary cylinder 821; a kinematic mount 822; motor b823, screw b824; a motion block 825; motor c826; a rotation shaft 827; serrated sampling cartridge 828.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Example 1
As shown in fig. 1-6, the embodiment provides a novel soil sampling robot, which comprises a base assembly, a roller assembly and a sampling assembly 8, wherein the roller assembly is fixedly installed on the base assembly, the sampling assembly 8 is connected with the roller assembly through a pull rope 7, the roller assembly comprises a rope guider 5 and a guide frame 6 arranged in front of the rope guider 5, and the sampling assembly 8 comprises a supporting arm 81 and a columnar coring manipulator 82.
The base assembly comprises a base 1, a crawler chassis 2, a diesel engine 3 and a leveling support frame 4, wherein the crawler chassis 2 is arranged at the bottom of the base 1, the diesel engine 3 is fixed on the base 1 through bolts, the leveling support frame 4 comprises a hydraulic cylinder, and the leveling support frame 4 is fixed on supporting arms at the front end and the rear end of the base 1.
The rope guide 5 is fixedly arranged in the middle of the machine base 1, the leading-in frame 6 is fixedly arranged at the front end of the machine base 1, the leading-in frame 6 comprises a stand column and an arc-shaped extending frame which extends forwards and is fixed at the top end of the stand column, a stay bar is arranged between the stand column and the arc-shaped extending frame, and a pull rope 6 led out from the rope guide 5 is positioned on the arc-shaped extending frame.
The sampling assembly 8 further comprises a welding support 83, a rotating motor a84, a screw a85 and a gear 86, the welding support 83 comprises an upper plate, a lower plate and a connecting rod for connecting the upper plate and the lower plate, the rotating motor a84 is inversely installed on the middle of the upper plate of the welding support 83, the upper end of the screw a85 is connected with an output shaft of the rotating motor a84 through a coupler, the lower end of the screw a85 is connected with the lower plate of the welding support 83 through a bearing, three supporting arms 81 are evenly installed around the screw a85, the upper end of each supporting arm 81 is fixedly provided with the gear 86 through a bolt, the upper end of each supporting arm 81 is hinged to the lower plate of the welding support 83 through a fixing frame 87, the gear 86 is meshed with the screw a85, the lower plate of the welding support 83 is fixedly provided with a connecting plate 88, and the columnar coring manipulator 82 is installed on the connecting plate 88.
The fixing frame 87 is in an inverted U-shaped configuration, the bottom end of the fixing frame is welded on the lower plate of the welding support 83, the horizontal section of the upper end of the fixing frame movably passes through the center of the gear 86, namely, the rotation of the screw rod a85 drives the gear 86 to rotate around the horizontal section of the fixing frame 87, and the rotating gear 86 drives the support arm fixedly connected with the rotating gear to rotate by taking the horizontal section of the fixing frame 87 as a rotation center line.
Three U-shaped grooves are uniformly distributed on the edge of the lower plate of the welding support 83, and three support arms 81 are movably arranged in the three grooves.
The columnar coring manipulator 82 comprises a 90-degree rotary cylinder 821, a motion support 822, a motor b823, a screw rod b824, a motion block 825, a motor c826, a rotary shaft 827 and a zigzag sampling tube 828, wherein the 90-degree rotary cylinder 821 is installed on the connecting plate 88, the motion support 822 is fixedly connected to the rotary shaft of the 90-degree rotary cylinder 821, the motion support 822 is U-shaped, the motor b823 is installed on the outer side of the left end of the motion support 822, the screw rod b824 is connected with an output shaft of the motor b823 through a coupler, the screw rod b824 is installed in the motion support 822 through a bearing, a threaded hole is formed in the motion block 825, threads of the threaded hole are formed in the screw rod b824, the motor c826 is installed on the left end of the motion block 825, the left end of the rotary shaft 827 movably penetrates through the motion block 825 to be connected with the output shaft of the motor c826, the right end of the rotary shaft 827 is connected with the zigzag sampling tube 828, and the opening of the right end of the zigzag sampling tube 828 is provided with sawteeth. Wherein, the 90-degree rotary cylinder 821 can control the motion support 822 to rotate, so that the serrated sampling cylinder 828 moves from a vertical position to a horizontal position for sampling; motor b823 may control the serrated sampling cartridge 828 to advance or back in a horizontal position; the motor c826 can control the serrated sampling tube 828 to rotate, so that the end with the saw teeth of the serrated sampling tube can easily enter the soil for sampling.
The camera 9 is mounted on the connecting plate 88 through bolts. The camera is used for observing sampling conditions in real time.
7-8, the soil sampling robot runs to the periphery of a drilled hole, the crawler chassis moves back and forth and left and right to adjust the sampling assembly 8 to align with the hole, then the leveling support frame 4 is grounded and leveled, the sampling assembly 8 is rotated and lowered to a preset depth through a winding drum of the rope guider 5, the rotating motor a controls three supporting arms 81 to rotate upwards and stretch out, the supporting arms are firmly fixed by utilizing the periphery of a well wall, the 90-degree rotating cylinder 821 controls a columnar coring manipulator to rotate upwards to be horizontal, the motor b823 controls a serrated sampling tube with saw teeth at the front end, the motor c826 controls the serrated sampling tube to rotate to grab sampling soil, the serrated sampling tube is retracted after grabbing the sampling soil, the supporting arms are closed to loosen the periphery support of the well wall, and the sampling assembly is lifted back to the ground to take down the sampling soil.
The invention provides a novel soil depth sampling robot which can adapt to the field entering and exiting construction of various complex roads, is not limited by an external power supply, is convenient to operate and can be monitored in real time, and solves the problems of low working efficiency, single function, more manpower required, unsuitable field entering and exiting construction of complex roads and the like in the prior art.
Claims (6)
1. The utility model provides a novel soil sampling robot, includes base assembly, cylinder assembly and sampling assembly (8), its characterized in that, cylinder assembly fixed mounting is on the base assembly, sampling assembly (8) are connected with the cylinder assembly through stay cord (7), the cylinder assembly includes rope guide (5) and sets up leading-in frame (6) in the place ahead of rope guide (5), sampling assembly (8) include support arm (81) and column coring manipulator (82).
2. The novel soil sampling robot of claim 1, wherein: the base assembly comprises a base (1), a crawler chassis (2), a diesel engine (3) and a leveling support frame (4), wherein the crawler chassis (2) is arranged at the bottom of the base (1), the diesel engine (3) is fixed on the base (1) through bolts, the leveling support frame (4) comprises a hydraulic cylinder, and the leveling support frame (4) is fixed on supporting arms at the front end and the rear end of the base (1).
3. The novel soil sampling robot of claim 2, wherein: the rope guide device is characterized in that the rope guide device (5) is fixedly arranged on the middle of the machine base (1), the guide frame (6) is fixedly arranged on the front end of the machine base (1), the guide frame (6) comprises a stand column and an arc-shaped extension frame which extends forwards and is fixed at the top end of the stand column, a stay bar is arranged between the stand column and the arc-shaped extension frame, and a pull rope (6) led out from the rope guide device (5) is positioned on the arc-shaped extension frame.
4. A novel soil sampling robot as claimed in claim 3, wherein: the sampling assembly (8) further comprises a welding support (83), a rotating motor a (84), a screw rod a (85) and a gear (86), the welding support (83) comprises an upper plate, a lower plate and a connecting rod for connecting the upper plate and the lower plate, the rotating motor a (84) is inversely installed on the middle of the upper plate of the welding support (83), the upper end of the screw rod a (85) is connected with the output shaft of the rotating motor a (84) through a coupling, the lower end of the screw rod a (85) is connected onto the lower plate of the welding support (83) through a bearing, the number of the supporting arms (81) is three, the three supporting arms (81) are evenly arranged around the circumference of the screw rod a (85), the upper end of the supporting arm (81) is fixedly provided with the gear (86) through a bolt, the upper end of the supporting arm (81) is hinged onto the lower plate of the welding support (83) through a fixing frame (87), the gear (86) is meshed with the screw rod a (85), the lower plate of the welding support (83) is fixedly provided with a connecting plate (88), and the columnar coring manipulator (82) is installed on the connecting plate (88).
5. The novel soil sampling robot of claim 4, wherein: the columnar coring manipulator (82) comprises a 90-degree rotary cylinder (821), a motion support (822), a motor b (823), a screw rod b (824), a motion block (825), a motor c (826), a rotating shaft (827) and a zigzag sampling cylinder (828), wherein the 90-degree rotary cylinder (821) is installed on the connecting plate (88), the motion support (822) is fixedly connected to the rotating shaft of the 90-degree rotary cylinder (821), the motion support (822) is U-shaped, the motor b (823) is installed on the outer side of the left end of the motion support (822), the screw rod b (824) is connected with an output shaft of the motor b (823) through a coupler, the screw rod b (824) is installed in the motion support (822) through a bearing, a threaded hole is formed in the motion block (825), threads of the screw rod b (824), the motor c (826) is installed on the left end of the motion block (825), the left end of the rotating shaft (827) movably penetrates through the output shaft of the motion block (825) to be connected with the motor c (826), and the zigzag sampling cylinder (828) is connected with the right end of the zigzag sampling cylinder (828).
6. The novel soil sampling robot of claim 5, wherein: a camera (9) is mounted on the connecting plate (88) through bolts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310914466.1A CN116713970A (en) | 2023-07-21 | 2023-07-21 | Novel soil sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310914466.1A CN116713970A (en) | 2023-07-21 | 2023-07-21 | Novel soil sampling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116713970A true CN116713970A (en) | 2023-09-08 |
Family
ID=87875338
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310914466.1A Pending CN116713970A (en) | 2023-07-21 | 2023-07-21 | Novel soil sampling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116713970A (en) |
-
2023
- 2023-07-21 CN CN202310914466.1A patent/CN116713970A/en active Pending
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