CN209894525U - Undisturbed soil exploration well sampling robot - Google Patents
Undisturbed soil exploration well sampling robot Download PDFInfo
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- CN209894525U CN209894525U CN201920681921.7U CN201920681921U CN209894525U CN 209894525 U CN209894525 U CN 209894525U CN 201920681921 U CN201920681921 U CN 201920681921U CN 209894525 U CN209894525 U CN 209894525U
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Abstract
The utility model discloses a do not disturb soil exploration well sampling robot, including installing at subaerial first hoist engine and second hoist engine to and with the cooperation of first hoist engine and stretch into to the sampling robot in the exploration well and with the cooperation of second hoist engine and transfer to last sample frame of sampling robot. The utility model discloses utilize and support the gasbag inflation and realize that sampling robot and exploratory well between fixed, utilize the grooving sample of robot, adopt the steady accurate acquirement soil sample of sampling mechanism, utilize the disturbance of balanced lofting in-process soil sample of balanced gasbag to the sample frame, enable the workman under the prerequisite in not getting into the well, will not disturb soil and take out, with the personal safety of guaranteeing the workman, small, the quality is light, intelligent degree is high, can extensively be used for all kinds of soil body samples, provide high-quality research sample for scientific research design.
Description
Technical Field
The utility model belongs to the technical field of do not disturb native exploratory well sample, concretely relates to do not disturb native exploratory well sampling robot.
Background
At present, in engineering and scientific research work, because a mechanical soil sample is adopted to disturb a soil body, in order to obtain a real physical mechanical index of the soil body, a well exploration sampling is generally needed in the field. The general exploration well sampling is that after a well is formed to a designed depth by using a Luoyang shovel, an experienced worker enters the well, undisturbed soil samples (test blocks with general diameters or side lengths of 20 cm to 30 cm) with different depths are taken out from the wall of the well from top to bottom, and then wax sealing storage is carried out or a field physical index test is directly carried out; the influence of the exploratory well sampling on the disturbance of soil is small, the test data is relatively more accurate, but the method has larger potential safety hazard, and particularly, the potential safety hazard is increased along with the increase of the excavation depth. Casualty accidents caused by underground operation of workers in engineering are frequent, such as broken stones falling from a well head and smashing, oxygen deficiency and suffocation in the well and death, even collapse and burying of the well wall and the like, and the hidden troubles cause great harm to the personal safety of the workers.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that not enough among the prior art is directed against, a do not disturb soil exploratory well sampling robot is provided, its novel in design is reasonable, utilize and support gasbag inflation realization sampling robot and exploratory well between fixed, utilize the carving groove of robot to take a sample, adopt the steady accurate soil sample that acquires of sampling mechanism, utilize the balanced lofting in-process soil sample of balanced gasbag to the disturbance of sample frame, enable the workman under the prerequisite in not getting into the well, will not disturb soil and take out, with the personal safety of guaranteeing the workman, the while still has small, the quality is light, intelligent degree is high, high efficiency, the advantage that drops into fewly, can extensively be used for all kinds of soil body samples, provide high-quality research sample for scientific research design, and convenient to popularize and use.
In order to solve the technical problem, the utility model discloses a technical scheme is: the utility model provides a do not disturb soil exploration well sampling robot which characterized in that: the sampling robot comprises a base, a turntable arranged on the base and a hollow-structure limiting seat arranged on the turntable and used for limiting the lifting path of a lifting column, wherein the cross section sizes of the base and the turntable are smaller than that of the exploratory well, a supporting air bag of an annular structure and used for fixing the position of the base is arranged on the circumferential end surface of the base, the supporting air bag is positioned in a gap between the base and the exploratory well, a first air pump used for supplying air for the supporting air bag is arranged at the bottom of the base, a first electromagnetic valve is arranged on a pipeline for supplying air for the supporting air bag, and a machine body is fixedly arranged at the top end of the lifting column, the back of the machine body is provided with a balance air bag, the machine body is provided with an air outlet and a mounting groove matched with the sample frame, the top and the front of the mounting groove are open mounting grooves, a sampling mechanism sliding rail for the horizontal sliding of the sampling mechanism is arranged in a bottom plate of the machine body, a balance air bag air release pipe, a sampling power mechanism for providing push-pull power for the sampling mechanism and a second air pump for supplying air to the balance air bag are arranged in the machine body, one end of the balance air bag air release pipe is communicated with the balance air bag, the other end of the balance air bag air release pipe is communicated with the air outlet, a second electromagnetic valve is arranged on a pipeline for communicating the balance air bag air release pipe and the balance air bag, mechanical arms are respectively arranged on two outer side surfaces of the machine body; a rotating 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 rotating telescopic rod, which is far away from the machine body;
sampling mechanism includes the bearing board and sets up at bearing board upper portion and with fuselage limiting plate as an organic whole, the lower limb that the limiting plate is located the fuselage front side is provided with the stopper, form the clearance between bearing board and the limiting plate, be provided with on the bearing board with stopper complex L shape push plate, the vertical panel and the stopper butt of L shape push plate, be provided with the sampling plate on the horizontal panel of L shape push plate, be provided with a plurality of lift buttresses between the horizontal panel of L shape push plate and the sampling plate, the horizontal plane plate thickness of L shape push plate and the thickness sum of sampling plate are less than the interval between the lower surface of stopper and the upper surface of bearing board.
Foretell undisturbed soil exploration well sampling robot which 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 and a second push-pull telescopic rod, the first push-pull telescopic rod is used for pushing and pulling the bearing plate, the second push-pull telescopic rod is used for pushing and pulling the L-shaped push plate, the first push-pull telescopic rod is in transmission connection with one rotating motor of the two rotating motors, and the second push-pull telescopic rod is in transmission connection with the other rotating motor of the two rotating motors.
Foretell undisturbed soil exploration well sampling robot which 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 to be 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 all 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 all 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;
be provided with the fourth integrated circuit board in the sample frame, the integration has fourth microcontroller on the fourth integrated circuit board, rotatory telescopic link including install on the lateral wall of sample frame the second motor and with the pivot of second motor is connected and along with the synchronous pivoted multisection electric putter of pivot, the push pedal with the one end fixed connection of pivot is kept away from to multisection electric putter, the second motor by fourth microcontroller control.
Foretell undisturbed soil exploration well sampling robot which 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 undisturbed soil exploration well sampling robot which characterized in that: be provided with the spatula storage seat on two lateral surfaces of fuselage respectively, two spatula storage seats respectively with two arm cooperations, the spatula is the iron spatula, is provided with magnet in the spatula storage seat.
Foretell undisturbed soil exploration well sampling robot which characterized in that: the mechanical arm is a snake-shaped mechanical arm.
Foretell undisturbed soil exploration well sampling robot which characterized in that: the end parts of the supporting plate and the sampling plate far away from the balance air bag are both wedge-shaped structures.
Foretell undisturbed soil exploration well sampling robot which characterized in that: and wear-resistant protective layers are arranged on the outer surfaces of the supporting air bag and the balance air bag.
Compared with the prior art, the utility model has the following advantage:
1. the utility model discloses a first hoist engine suspends in midair and stretches into the sampling robot in exploring the well, suspend the sample frame through the second hoist engine, when the sample frame carries the soil sample to go up to subaerial, support the gasbag and support the effect that sampling robot was simultaneously played safe suspension for sampling robot, avoid sampling robot and ground to lose the antithetical couplet, the purpose that the sample frame is the sample frame that top and front portion are all open is on the one hand to be convenient for the soil sample to go into the sample frame from the front portion of sample frame, on the other hand is convenient for observe the condition that the soil sample got into the sample frame from ground upper portion; 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 to move the soil sample into the sample frame, and the side plate is supplemented for the sample frame filled with the soil sample, so that overturning of the sample frame in the lifting process due to unbalanced placement of the soil sample in the sample frame is avoided; the rotary telescopic rod provides power for pushing the push plate to push the soil sample and fill the sample frame side plate, and the using effect is good.
2. The utility model discloses a set up the support gasbag that loop configuration just was used for the fixed baseplate position on the circumference terminal surface of base, utilize the inflation of support gasbag to realize the fixed between sampling robot and the exploratory well, through the top with fuselage fixed mounting at the lift post, adjust sample frame bottom plate upper surface and height such as soil sample bottom surface, rotate through the control carousel, and then drive spacing seat, lift post and fuselage rotate in step, it is uncovered just to soil sample until the mounting groove front portion on the fuselage, the purpose of the balanced gasbag of back installation of fuselage is the disturbance of utilizing the balanced lofting in-process soil sample of balanced gasbag to the sample frame, and is reliable and stable, excellent in use effect.
3. The utility model relates to a novel reasonable, small, sampling mechanism sets up in the bottom plate of fuselage, utilize sample power unit to provide push-and-pull power for sampling mechanism, limiting plate and fuselage as an organic whole and the lower limb that the limiting plate is located the fuselage front side set up the purpose of stopper with L shape push plate cooperation, when avoiding L shape push plate to move on the bearing board, roll-off bearing board, set up the sampling plate on the horizontal panel of L shape push plate, and the sampling plate passes through the bottom of the dead force disect insertion soil sample that sample power unit provided, the purpose that sets up a plurality of lift buttresses between the horizontal panel of L shape push plate and the sampling plate is that the soil sample bottom surface that will acquire risees to with sample frame bottom plate upper surface parallel and level, the process that the push pedal of being convenient for promoted soil sample is steady, do not block, convenient for popularize and.
To sum up, the utility model relates to a novelty is reasonable, utilize and support gasbag inflation to realize fixing between sampling robot and the exploratory well, utilize the grooving of robot to take a sample, adopt the steady accurate acquirement soil sample of sampling mechanism, utilize the disturbance of balanced lofting in-process soil sample to the sample frame of balanced gasbag, enable the workman under the prerequisite that does not get into in the well, will not disturb soil and take out, with the personal safety of guaranteeing the workman, still have simultaneously small, the quality is light, intelligent degree is high, high efficiency, the less advantage of input, can extensively be used for all kinds of soil body samples, provide high-quality research sample for scientific research design, and convenient to popularize and use.
The technical solution of the present invention is further described in detail by the accompanying drawings and examples.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic structural diagram of the sampling mechanism of the present invention not extending out.
Fig. 3 is a schematic structural view of the sampling mechanism of the present invention.
Fig. 4 is a schematic structural view of the sampling mechanism of the present invention extending out and the sampling plate rising.
Fig. 5 is the utility model discloses do not disturb the position relation sketch map of soil exploratory well sampling robot, exploratory well and soil sample.
Fig. 6 is a view showing the sampling mechanism of fig. 5 in a state of use with the sampling plate being extended and the sampling plate being raised.
Fig. 7 is a using state diagram of the soil sample laying of the utility model.
Description of reference numerals:
1-undisturbed soil mass; 2, exploratory well; 3-a first hoist;
4-a first lifting rope; 5-a second winch; 6-a second lifting rope;
7-sample frame connection rack; 8, a sample frame; 9-a base;
10, a turntable; 11-a support airbag; 12-a limiting seat;
13-a lifting column; 14-a first air pump; 15-a first solenoid valve;
16-a fuselage; 17-a sampling mechanism; 17-1-a support plate;
17-2-limiting plate; 17-3-a limiting block; 17-4-L-shaped pusher plate;
17-5-sampling plate; 17-6-lifting buttress; 17-7-clearance;
18-a sampling power mechanism; 18-1 — a rotating electrical machine;
18-2-a first push-pull telescopic rod; 18-3-a second push-pull telescopic rod;
19-a second air pump; 20-balancing air bag; 21-balance air bag air release pipe;
22-a second solenoid valve; 23-soil sample; 24-a push plate;
25-a mechanical arm; 26-scraping; 27-a spatula container;
28-rotating the telescopic rod; 29-sampling mechanism slide rail; 30-a rotating shaft.
Detailed Description
As shown in fig. 1 to 7, the present invention includes a first winch 3 and a second winch 5 installed on the ground, a sampling robot engaged with the first winch 3 and extending into a manhole 2, and a sample frame 8 engaged with the second winch 5 and lowered onto the sampling robot, wherein the sample frame 8 is a sample frame with both the top and the front open, the sampling robot includes a base 9, a turntable 10 installed on the base 9, and a hollow stopper 12 installed on the turntable 10 and used for limiting the 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 dimension of the manhole 2, a support airbag 11 having an annular structure and used for fixing the position of the base 9 is provided on the circumferential end surface of the base 9, the support airbag 11 is located in the gap between the base 9 and the manhole 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 characterized in that a first electromagnetic valve 15 is installed on a pipeline for supplying air to the supporting air bag 11, 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 and an installation groove for being matched with the sample frame 8, the installation groove is an installation groove with the top and the front being open, a sampling mechanism slide rail 29 for enabling the sampling mechanism 17 to horizontally slide is arranged in the 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 supplying air to 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, two outer side surfaces of the machine body 16 are respectively provided with a mechanical arm 25, and one end of the mechanical arm 25, which is far away from the machine body 16, is provided with a scraper 26 for cutting the soil sample 23; a rotating 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 rotating telescopic rod 28;
the sampling mechanism 17 comprises a bearing plate 17-1 and a limiting plate 17-2 which is arranged at the upper part of the bearing plate 17-1 and integrated with the machine body 16, the lower edge of the limiting plate 17-2, which is positioned at the front side of the machine body 16, is provided with a limiting block 17-3, a gap 17-7 is formed between the bearing plate 17-1 and the limiting plate 17-2, the bearing plate 17-1 is provided with an L-shaped push plate 17-4 matched with the limiting block 17-3, the vertical panel of the L-shaped push plate 17-4 is abutted against the limiting block 17-3, the horizontal panel of the L-shaped push plate 17-4 is provided with a sampling plate 17-5, a plurality of lifting buttresses 17-6 are arranged between the horizontal panel of the L-shaped push plate 17-4 and the sampling plate 17-5, and the sum of the thickness of the horizontal plane of the L-shaped push plate 17-4 and the thickness of The spacing between the upper surfaces of the support plates 17-1.
It should be noted that, the sampling robot extending into the manhole 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 support airbag 11 supports the sampling robot, and the first winch 3 plays a role in safety suspension for the sampling robot, so as to avoid the sampling robot from being disconnected with the ground, and the purpose that the sample frame 8 is a sample frame with both an open top and an open front is that on one hand, the soil sample 23 can enter the sample frame 8 from the front of the sample frame 8, and on the other hand, the condition that the soil sample 23 enters the sample frame 8 can be observed from the upper part of the ground; 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 of the soil sample 23, so that the soil sample 23 is moved into the sample frame 8, and the sample frame 8 provided with the soil sample 23 is supplemented with side plates, so that overturning of the sample frame 8 in the lifting process due to unbalanced placement of the soil sample 23 in the sample frame 8 is avoided; the telescopic rod 28 is rotated to provide power for the push plate 24 to push the soil sample 23 and the side plate of the complete sample frame 8, so that the using effect is good; the annular structure is arranged on the circumferential end face of the base 9, the supporting air bag 11 is used for fixing the position of the base 9, the sampling robot and the exploration well 2 are fixed by means of expansion of the supporting air bag 11, the machine body 16 is fixedly installed at the top end of the lifting column 13, the upper surface of the bottom plate of the sample frame 8 is adjusted to be equal to the bottom surface of the soil sample 23 in height, the limiting seat 12, the lifting column 13 and the machine body 16 are driven to rotate synchronously by controlling the rotation of the rotary table 10 until the front opening of the installation groove in the machine body 16 is opposite to the soil sample 23, and the balancing air bag 20 is installed on the back of the machine body 16 to balance disturbance of the soil sample 23 to the sample frame 8 in the lofting process by means of the; the sampling mechanism 17 is arranged in a bottom plate of the machine body 16, a sampling power mechanism 18 is utilized to provide push-pull power for the sampling mechanism 17, the limit plate 17-2 and the machine body 16 are integrated, the limit block 17-3 is arranged at the lower edge of the limit plate 17-2, which is positioned at the front side of the machine body 16, and is used for matching with the L-shaped push plate 17-4, so that the L-shaped push plate 17-4 is prevented from sliding out of the bearing plate 17-1 when moving on the bearing plate 17-1, the sampling plate 17-5 is arranged on a horizontal panel of the L-shaped push plate 17-4, the sampling plate 17-5 is directly inserted into the bottom of the soil sample through the fixed force provided by the sampling power mechanism 18, and a plurality of lifting piers 17-6 are arranged between the horizontal panel of the L-shaped push plate 17-4 and the sampling plate 17-5, so that the bottom surface of the obtained soil sample, the process that the push plate 24 pushes the soil sample 23 is convenient to realize is stable and has no blockage.
In this embodiment, the sampling power mechanism 18 is an electric automatic telescopic mechanism, the electric automatic telescopic mechanism includes two rotating motors 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, 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.
It should be noted that the electric automatic telescoping mechanism adopts the first push-pull telescoping rod 18-2 and the second push-pull telescoping rod 18-3, so that the processes of pushing and pulling the bearing plate 17-1 and the L-shaped pushing plate 17-4 can be independent, and the electric automatic telescoping mechanism is suitable for various well exploration environmental conditions.
In this embodiment, 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 all 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;
be provided with the fourth integrated circuit board in the sample frame 8, the integration has fourth microcontroller on the fourth integrated circuit board, rotatory telescopic link 28 including install on the lateral wall of sample frame 8 the second motor and with the pivot 30 of second motor is connected and along with pivot 30 synchronous pivoted multisection electric putter, push pedal 24 with the one end fixed connection of pivot 30 is kept away from to multisection electric putter, the second motor by fourth microcontroller controls.
It should be noted that the first microcontroller, the second microcontroller, the third microcontroller and the fourth microcontroller all adopt a DSP microcontroller or an ARM microcontroller, and the cooperation of the four microcontrollers can realize the automatic operation of the sampling robot.
In this embodiment, the upper surface of the machine 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 winch 3, the sample frame connecting frame 7 is installed 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 winch 5.
In this embodiment, two outer side surfaces of the body 16 are respectively provided with a spatula storage seat 27, the two spatula storage 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 storage seat 27.
It should be noted that, the purpose of setting up spatula storage seat 27 on two lateral surfaces of fuselage 16 respectively is to be convenient for accomodate spatula 26 on two arms 25, avoids spatula 26 to the scratch of balanced gasbag 20, and spatula 26 is the iron spatula, and the purpose of setting up magnet in spatula storage seat 27 is to realize the attraction to spatula 26, convenient and fast's fixed spatula 26.
In this embodiment, the robotic arm 25 is a serpentine robotic arm.
It should be noted that the purpose of the serpentine mechanical arm 25 is to facilitate the free turning of the mechanical arm 25 in the undisturbed soil, so as to scrape the side far from the exploratory well 2 in the process of scraping the soil sample 23.
In this embodiment, the end portions of the support plate 17-1 and the sampling plate 17-5 far away from the balancing air bag 20 are both wedge-shaped structures.
It should be noted that the end of the support plate 17-1 away from the balancing airbag 20 is wedge-shaped to buffer the shock force when the support plate 17-1 contacts with the undisturbed soil, and the end of the sampling plate 17-5 away from the balancing airbag 20 is wedge-shaped to facilitate the rapid insertion of the sampling plate 17-5 to cut the bottom of the soil sample 23 to obtain the soil sample 23.
In this embodiment, the outer surfaces of the supporting airbag 11 and the balancing airbag are both provided with wear-resistant protective layers.
It should be noted that the purpose of providing the outer surfaces of the support airbag 11 and the balancing airbag 20 with the wear-resistant protective layer is to improve the strength of the support airbag 11 and the balancing airbag 20 and avoid the pricking injury of the support airbag 11 and the balancing airbag 20 by the coarse soil.
When the utility model is used, the undisturbed soil body 1 on the spot is explored to obtain the position of the soil sample 23 to be taken; utilizing a pore-forming tool to form pores on the side of the vertical direction of the soil sample 23 to be taken, obtaining the exploratory well 2, connecting the sampling robot with a steel wire rope of a first winch 3, utilizing the first winch 3 to lower the sampling robot into the exploratory well 2 until the height of the upper surface of a mounting groove on the body 16 is lower than the height of the bottom of the soil sample 23 to be taken, stopping the lowering work of the steel wire rope by the first winch 3, utilizing the first winch 3 to suspend the sampling robot continuously, opening a first electromagnetic valve 15, starting a first air pump 14, utilizing the first air pump 14 to inflate the supporting air bag 11, and enabling the supporting air bag 11 to expand gradually, the sample robot is fixed in the exploratory well 2, and the first air pump 14 and the first electromagnetic valve 15 are closed; controlling the lifting column 13 to rise 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 rotating disc 10 is controlled to rotate, the rotating disc 10 rotates to drive the limiting seat 12, the lifting column 13 and the machine body 16 to synchronously rotate until the front part of the mounting groove on the machine body 16 is opened and a soil sample 23 to be taken is obtained; starting the second air pump 19, and inflating the balance air bag 20 by using the second air pump 19 to gradually expand the balance air bag 20 and extrude the balance air bag 20 and the inner wall of the manhole 2;
connecting the sample frame 8 with a steel wire rope of a 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 position of a top opening of the sample frame 8 is consistent with that of a top opening of the mounting groove, the position of a front opening of the sample frame 8 is consistent with that of a front opening of the mounting groove, and rotating the telescopic rod 28 to rotatably lift the push plate 24 to the upper part of 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 scrapers 26 to perform grooving sampling on the soil sample 23 with the specified height in a grooving mode, wherein the grooving position comprises 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 the work of one rotating motor 18-1 until the bearing plate 17-1 is abutted to the undisturbed soil body 1 at the lower part of the soil sample 23, the second push-pull telescopic rod 18-3 is pushed to extend by the work of the other rotating motor 18-1 until the L-shaped push plate 17-4 is abutted to 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; controlling the lifting buttress 17-6 to ascend 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 so that the sampling plate 17-5 is contacted with the sample frame 8, and at the moment, 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 rotating telescopic rod 28 rotates the push plate 24 to the rear of the soil sample 23, the rotating 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 against the sample frame 8, and lofting of the soil sample 23 is completed;
the push plate 24 is used for protecting the soil sample 23 in the sample frame 8 in a surrounding way, the second winch 5 is used for lifting the sample frame 8 from the installation groove and lifting the sample frame to the ground, and the soil sample 23 is conveyed; the retraction of the second push-pull telescopic rod 18-3 is controlled, the sampling mechanism 17 is enabled to recover the initial state, the second electromagnetic valve 22 is controlled to be opened, the gas in the balance airbag 20 is discharged to the outside through the balance airbag air-discharging pipe 21 and the air outlet, meanwhile, the gas in the support airbag 11 is controlled to be discharged to the outside, the support airbag 11 is controlled to be retracted, the sampling robot is separated from the exploratory well 2, meanwhile, the soil residues on the sampling robot are discharged, and the sampling robot is lifted to the ground from the exploratory well 2 by the first winch 3.
The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do any restriction, all according to the utility model discloses the technical entity all still belongs to any simple modification, change and the equivalent structure change of doing above embodiment the utility model discloses technical scheme's within the scope of protection.
Claims (8)
1. The utility model provides a do not disturb soil exploration well sampling robot which characterized in that: the sampling robot comprises a first winch (3) and a second winch (5) which are installed on the ground, a sampling robot which is matched with the first winch (3) and extends into a manhole (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 the top and the front open, the sampling robot comprises a base (9), a rotary disc (10) installed on the base (9) and a hollow-structure limiting seat (12) which is installed on the rotary disc (10) and is used for limiting the lifting path of a lifting column (13), the cross section sizes of the base (9) and the rotary disc (10) are smaller than that of the manhole (2), a supporting air bag (11) which is of an annular structure and is used for fixing the position of the base (9) is arranged on the circumferential end face of the base (9), and the supporting air bag (11) is located in a gap between the base (9) and the manhole (2), a first air pump (14) used for supplying air for the supporting air bag (11) is installed at the bottom of the base (9), a first electromagnetic valve (15) is installed on a pipeline for supplying air for the supporting air bag (11) of the first air pump (14), a machine body (16) is fixedly installed at the top end of the lifting column (13), a balance air bag (20) is installed at the back of the machine body (16), an air outlet hole and a mounting groove matched with the sample frame (8) are formed in the machine body (16), the mounting groove is an open mounting groove at the top and the front, a sampling mechanism sliding rail (29) used for enabling the sampling mechanism (17) to horizontally slide is formed in a bottom plate of the machine body (16), a balance air bag air release pipe (21), a sampling power mechanism (18) providing push-pull power for the sampling mechanism (17) and a second air pump (19) for supplying air for the balance air bag (20) are arranged in the machine body (16), one end of the balance air, 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 for communicating the balance air bag air release pipe (21) with the balance air bag (20), mechanical arms (25) are respectively arranged on two outer side surfaces of the machine body (16), and a scraper (26) for cutting a soil sample (23) is arranged at one end, far away from the machine body (16), of each mechanical arm (25); a rotary telescopic rod (28) is installed on the outer side wall of the sample frame (8), and a push plate (24) is fixedly installed at one end, far away from the machine body (16), of the rotary telescopic rod (28);
the sampling mechanism (17) comprises a bearing plate (17-1) and a limiting plate (17-2) which is arranged at the upper part of the bearing plate (17-1) and integrated with the machine body (16), the lower edge of the limiting plate (17-2) positioned at the front side of the machine body (16) is provided with a limiting block (17-3), a gap (17-7) is formed between the bearing plate (17-1) and the limiting plate (17-2), the bearing plate (17-1) is provided with an L-shaped push plate (17-4) matched with the limiting block (17-3), the vertical panel of the L-shaped push plate (17-4) is abutted against the limiting block (17-3), the horizontal panel of the L-shaped push plate (17-4) is provided with a sampling plate (17-5), and a plurality of lifting buttresses (17-6) are arranged between the horizontal panel of the L-shaped push plate (17-4) and the sampling plate (17-5), the sum of the thickness of the horizontal plane plate of the L-shaped pushing plate (17-4) and the thickness of the sampling plate (17-5) is smaller than the distance between the lower surface of the limiting block (17-3) and the upper surface of the bearing plate (17-1).
2. The undisturbed soil exploratory well sampling robot of claim 1 wherein: 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) used for pushing and pulling the bearing plate (17-1) and a second push-pull telescopic rod (18-3) used for pushing and pulling the L-shaped push 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).
3. The undisturbed soil exploratory well sampling robot of claim 2 wherein: 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) to be coaxially connected with the rotary table (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 all 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;
be provided with the fourth integrated circuit board in sample frame (8), the integration has fourth microcontroller on the fourth integrated circuit board, rotatory telescopic link (28) including install on the lateral wall of sample frame (8) the second motor and with pivot (30) of second motor are connected and along with pivot (30) synchronous pivoted multisection electric putter, push pedal (24) with multisection electric putter keeps away from the one end fixed connection of pivot (30), the second motor by fourth microcontroller control.
4. The undisturbed soil exploratory well sampling robot of claim 1 wherein: the upper surface of the machine body (16) is connected with one end of the first lifting rope (4), the other end of the first lifting rope (4) is connected with a steel wire rope of the first winch (3), the top end of the sample frame (8) is provided with a sample frame connecting frame (7), the top end of the sample frame connecting frame (7) is connected with one end of the second lifting rope (6), and the other end of the second lifting rope (6) is connected with the steel wire rope of the second winch (5).
5. The undisturbed soil exploratory well sampling robot of claim 1 wherein: two outer side surfaces of the machine body (16) are respectively provided with a scraping blade storage seat (27), the two scraping blade storage seats (27) are respectively matched with the two mechanical arms (25), the scraping blade (26) is an iron scraping blade, and magnets are arranged in the scraping blade storage seats (27).
6. The undisturbed soil exploratory well sampling robot of claim 1 wherein: the mechanical arm (25) is a snake-shaped mechanical arm.
7. The undisturbed soil exploratory well sampling robot of claim 1 wherein: the end parts of the supporting plate (17-1) and the sampling plate (17-5) far away from the balance air bag (20) are both wedge-shaped structures.
8. The undisturbed soil exploratory well sampling robot of claim 1 wherein: and wear-resistant protective layers are arranged on the outer surfaces of the supporting air bag (11) and the balancing air bag.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920681921.7U CN209894525U (en) | 2019-05-13 | 2019-05-13 | Undisturbed soil exploration well sampling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920681921.7U CN209894525U (en) | 2019-05-13 | 2019-05-13 | Undisturbed soil exploration well sampling robot |
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| Publication Number | Publication Date |
|---|---|
| CN209894525U true CN209894525U (en) | 2020-01-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920681921.7U Expired - Fee Related CN209894525U (en) | 2019-05-13 | 2019-05-13 | Undisturbed soil exploration well sampling robot |
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| Country | Link |
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| CN (1) | CN209894525U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006689A (en) * | 2019-05-13 | 2019-07-12 | 长安大学 | A kind of not disturbed soil prospect pit sampling robots |
-
2019
- 2019-05-13 CN CN201920681921.7U patent/CN209894525U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110006689A (en) * | 2019-05-13 | 2019-07-12 | 长安大学 | A kind of not disturbed soil prospect pit sampling robots |
| CN110006689B (en) * | 2019-05-13 | 2024-02-13 | 长安大学 | Sampling robot without disturbing earth exploratory well |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
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Granted publication date: 20200103 Termination date: 20200513 |